+ python -m lidar_slam --no-model /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 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 0.024340128 Adjusted end_distance from 9.223372036854776e+18 to 59.974340128 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [0, True] SLAMing on 0.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99999955e-01 -2.15753450e-04 2.10498256e-04 2.97589624e-02] [ 2.15754423e-04 9.99999977e-01 -4.59839576e-06 -1.46594832e-03] [-2.10497259e-04 4.64381148e-06 9.99999978e-01 3.23222125e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99999998e-01 1.49374601e-05 -6.30483971e-05 6.03227076e-02] [-1.49374099e-05 1.00000000e+00 7.96601672e-07 -4.17646796e-03] [ 6.30484090e-05 -7.95659891e-07 9.99999998e-01 2.97857024e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11434012800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 9.99999869e-01 -1.63956531e-04 -4.85117633e-04 9.05133674e-02] [ 1.63961925e-04 9.99999986e-01 1.10797943e-05 -5.89879025e-03] [ 4.85115809e-04 -1.11593337e-05 9.99999882e-01 5.17273192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 9.99999713e-01 7.54689384e-05 -7.53665121e-04 1.19517816e-01] [-7.54560196e-05 9.99999997e-01 1.71697591e-05 -7.69721513e-03] [ 7.53666415e-04 -1.71128856e-05 9.99999716e-01 5.56757234e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:0.00 [[ 9.99999271e-01 5.82182342e-04 -1.05783104e-03 1.50299233e-01] [-5.82157104e-04 9.99999830e-01 2.41653243e-05 -9.20997217e-03] [ 1.05784493e-03 -2.35494829e-05 9.99999440e-01 5.37735384e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:0.00 [[ 9.99996681e-01 2.25588849e-03 -1.24446078e-03 1.79645117e-01] [-2.25585464e-03 9.99997455e-01 2.86083061e-05 -1.18088102e-02] [ 1.24452215e-03 -2.58008885e-05 9.99999225e-01 3.96459487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.01, Z:0.00 [[ 9.99992795e-01 3.53556790e-03 -1.38202393e-03 2.08920520e-01] [-3.53552720e-03 9.99993749e-01 3.18939965e-05 -1.33002416e-02] [ 1.38212805e-03 -2.70075835e-05 9.99999044e-01 6.40071635e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.02, Z:0.00 [[ 9.99980873e-01 6.13384374e-03 -7.93423712e-04 2.38876969e-01] [-6.13383118e-03 9.99981188e-01 1.82621625e-05 -1.53822138e-02] [ 7.93520804e-04 -1.33950861e-05 9.99999685e-01 6.91287132e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29434012800000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.02, Z:0.00 [[ 9.99970090e-01 7.69533711e-03 -7.74595554e-04 2.67867985e-01] [-7.69532591e-03 9.99970390e-01 1.74481791e-05 -1.66552962e-02] [ 7.74706889e-04 -1.14868920e-05 9.99999700e-01 1.00227488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32434012800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.02, Z:0.00 [[ 9.99959886e-01 8.95647635e-03 -8.94661028e-05 2.98148557e-01] [-8.95647620e-03 9.99959890e-01 2.03809506e-06 -1.79694957e-02] [ 8.94807684e-05 -1.23671229e-06 9.99999996e-01 1.06510744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35434012800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.02, Z:0.00 [[ 9.99949291e-01 1.00649320e-02 3.34849004e-04 3.28297272e-01] [-1.00649300e-02 9.99949347e-01 -7.62807454e-06 -1.92359986e-02] [-3.34908819e-04 4.25745595e-06 9.99999944e-01 1.26925933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38434012800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.02, Z:0.00 [[ 9.99924121e-01 1.22991759e-02 6.94525601e-04 3.58227698e-01] [-1.22991677e-02 9.99924362e-01 -1.60309812e-05 -2.14804823e-02] [-6.94670236e-04 7.48767793e-06 9.99999759e-01 1.23043495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41434012800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.02, Z:0.00 [[ 9.99913444e-01 1.31119288e-02 1.08682054e-03 3.89234215e-01] [-1.31119091e-02 9.99914035e-01 -2.52102915e-05 -2.36119482e-02] [-1.08705767e-03 1.09578172e-05 9.99999409e-01 1.63112155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44434012800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.03, Z:0.00 [[ 9.99916997e-01 1.27554756e-02 1.81551037e-03 4.20605823e-01] [-1.27554205e-02 9.99918645e-01 -4.19212911e-05 -2.50136273e-02] [-1.81589740e-03 1.87602132e-05 9.99998351e-01 1.79994648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.03, Z:0.00 [[ 9.99920915e-01 1.24371255e-02 1.86593388e-03 4.52814589e-01] [-1.24370612e-02 9.99922656e-01 -4.60607596e-05 -2.70532063e-02] [-1.86636242e-03 2.28503831e-05 9.99998258e-01 2.12589827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.03, Z:0.00 [[ 9.99928136e-01 1.18265569e-02 1.96356943e-03 4.84860000e-01] [-1.18264834e-02 9.99930063e-01 -4.90503611e-05 -2.89336157e-02] [-1.96401220e-03 2.58247150e-05 9.99998071e-01 2.42788712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.03, Z:0.00 [[ 9.99954661e-01 9.33564070e-03 1.87662012e-03 5.15588004e-01] [-9.33556835e-03 9.99956422e-01 -4.73119795e-05 -3.14586788e-02] [-1.87698002e-03 2.97905191e-05 9.99998238e-01 1.77049288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.03, Z:0.00 [[ 9.99966114e-01 8.01583194e-03 1.87543248e-03 5.46934886e-01] [-8.01575674e-03 9.99967872e-01 -4.76076743e-05 -3.32855190e-02] [-1.87575384e-03 3.25730506e-05 9.99998240e-01 1.81601768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.03, Z:0.00 [[ 9.99979647e-01 6.21946732e-03 1.42286112e-03 5.77713425e-01] [-6.21942083e-03 9.99980659e-01 -3.70958822e-05 -3.48340721e-02] [-1.42306432e-03 2.82457551e-05 9.99998987e-01 2.50489652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.04, Z:0.00 [[ 9.99989036e-01 4.53959232e-03 1.14867557e-03 6.09401399e-01] [-4.53956274e-03 9.99989696e-01 -2.83568973e-05 -3.63758247e-02] [-1.14879246e-03 2.31421016e-05 9.99999340e-01 2.64098394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.03, Z:0.00 [[ 0.99999643 0.00175105 -0.00201616 0.64104479] [-0.0017663 0.99996969 -0.00758292 -0.03447949] [ 0.00200282 0.00758645 0.99996922 0.00174665] [ 0. 0. 0. 1. ]] SLAMing on 0.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.04, Z:0.00 [[ 9.99995070e-01 9.85583468e-04 -2.98135088e-03 6.70731375e-01] [-9.76513301e-04 9.99994896e-01 3.04222858e-03 -4.19904578e-02] [ 2.98433403e-03 -3.03930226e-03 9.99990928e-01 3.30497205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.04, Z:0.01 [[ 9.99994975e-01 5.19283523e-04 -3.12736467e-03 6.99586850e-01] [-5.04387137e-04 9.99988534e-01 4.76214578e-03 -4.34418878e-02] [ 3.12980172e-03 -4.76054445e-03 9.99983771e-01 6.22451181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.04, Z:0.00 [[ 0.99998379 0.00122525 -0.00556071 0.72860644] [-0.00127177 0.99996417 -0.00836957 -0.03660763] [ 0.00555026 0.0083765 0.99994951 0.00389352] [ 0. 0. 0. 1. ]] SLAMing on 0.7743401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.04, Z:0.01 [[ 9.99978585e-01 2.09094771e-03 -6.20147294e-03 7.56201344e-01] [-2.08508405e-03 9.99997373e-01 9.51840844e-04 -4.31990113e-02] [ 6.20344690e-03 -9.38889868e-04 9.99980318e-01 5.74416920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.804340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.05, Z:0.01 [[ 0.99997342 0.00288792 -0.00669485 0.78486272] [-0.00286546 0.99999024 0.00336249 -0.045723 ] [ 0.0067045 -0.00334322 0.99997194 0.00751592] [ 0. 0. 0. 1. ]] SLAMing on 0.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.05, Z:0.01 [[ 0.99997087 0.00412675 -0.00642071 0.81241522] [-0.00409675 0.99998066 0.00467906 -0.04799021] [ 0.00643989 -0.00465262 0.99996844 0.00642075] [ 0. 0. 0. 1. ]] SLAMing on 0.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.04, Z:0.01 [[ 0.99995477 0.00477382 -0.00822594 0.84297048] [-0.00483032 0.99996479 -0.00686253 -0.0422527 ] [ 0.00819289 0.00690195 0.99994262 0.00767802] [ 0. 0. 0. 1. ]] SLAMing on 0.8943401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.05, Z:0.01 [[ 0.99994523 0.00565565 -0.00880631 0.86818639] [-0.00559118 0.99995751 0.00732906 -0.05039867] [ 0.00884739 -0.00727942 0.99993436 0.01086707] [ 0. 0. 0. 1. ]] SLAMing on 0.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.05, Z:0.01 [[ 9.99932595e-01 5.58351205e-03 -1.01799180e-02 8.97290781e-01] [-5.58137030e-03 9.99984396e-01 2.38787247e-04 -4.70116903e-02] [ 1.01810924e-02 -1.81953260e-04 9.99948155e-01 8.21098367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.05, Z:0.01 [[ 9.99923307e-01 6.50858516e-03 -1.05365337e-02 9.24472312e-01] [-6.50635222e-03 9.99978803e-01 2.46187930e-04 -4.69928047e-02] [ 1.05379127e-02 -1.77614650e-04 9.99944459e-01 1.12851695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.04, Z:0.01 [[ 0.99991624 0.00711419 -0.01081243 0.95525774] [-0.00721192 0.99993325 -0.00902689 -0.04139835] [ 0.01074749 0.00910411 0.9999008 0.00749842] [ 0. 0. 0. 1. ]] SLAMing on 1.0143401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.05, Z:0.01 [[ 0.99992002 0.00732934 -0.0103073 0.98135938] [-0.00723291 0.99993002 0.00936195 -0.0520071 ] [ 0.01037519 -0.00928665 0.99990305 0.00911215] [ 0. 0. 0. 1. ]] SLAMing on 1.044340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.04, Z:0.01 [[ 0.99991155 0.00753906 -0.01095698 1.01102447] [-0.00768039 0.99988711 -0.012914 -0.039659 ] [ 0.01085838 0.01299701 0.99985658 0.00850973] [ 0. 0. 0. 1. ]] SLAMing on 1.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.06, Z:0.01 [[ 0.99992156 0.00742344 -0.01008842 1.03712117] [-0.00728753 0.9998831 0.0134418 -0.05547491] [ 0.01018702 -0.01336722 0.99985876 0.00983517] [ 0. 0. 0. 1. ]] SLAMing on 1.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.04, Z:0.01 [[ 0.99991218 0.00719703 -0.01112808 1.06559644] [-0.00732424 0.99990781 -0.01143358 -0.04183565] [ 0.01104477 0.01151408 0.99987271 0.00908374] [ 0. 0. 0. 1. ]] SLAMing on 1.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.06, Z:0.01 [[ 0.99991733 0.00630697 -0.01120535 1.09260449] [-0.00617555 0.9999122 0.01172449 -0.05620775] [ 0.01127831 -0.01165432 0.99986848 0.01085716] [ 0. 0. 0. 1. ]] SLAMing on 1.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.05, Z:0.01 [[ 9.99916567e-01 5.96887380e-03 -1.14556095e-02 1.12125815e+00] [-5.96641290e-03 9.99982170e-01 2.48984327e-04 -4.99182269e-02] [ 1.14568914e-02 -1.80614658e-04 9.99934351e-01 1.04509582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1943401280000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.04, Z:0.01 [[ 0.99991499 0.00409124 -0.01238068 1.15152573] [-0.00429042 0.99986112 -0.01610399 -0.0417414 ] [ 0.01231307 0.01615574 0.99979367 0.00965634] [ 0. 0. 0. 1. ]] SLAMing on 1.2243401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.05, Z:0.01 [[ 0.99990596 0.00291338 -0.01340075 1.18073581] [-0.00293906 0.99999388 -0.00189717 -0.05056104] [ 0.01339514 0.00193638 0.99990841 0.01097287] [ 0. 0. 0. 1. ]] SLAMing on 1.2543401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.05, Z:0.01 [[ 0.99989128 0.00248714 -0.01453394 1.20772611] [-0.00245543 0.99999457 0.00219978 -0.05346963] [ 0.01453933 -0.00216386 0.99989196 0.01263623] [ 0. 0. 0. 1. ]] SLAMing on 1.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.06, Z:0.02 [[ 0.99984356 0.00285004 -0.01745673 1.23542703] [-0.00271049 0.99996423 0.00801219 -0.05773524] [ 0.01747895 -0.00796362 0.99981552 0.01544716] [ 0. 0. 0. 1. ]] SLAMing on 1.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.05, Z:0.01 [[ 9.99831085e-01 3.32859247e-03 -1.80754733e-02 1.26357802e+00] [-3.33568971e-03 9.99994371e-01 -3.62509365e-04 -5.35065563e-02] [ 1.80741649e-02 4.22742302e-04 9.99836560e-01 1.49785321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.05, Z:0.02 [[ 9.99824487e-01 3.61899660e-03 -1.83820251e-02 1.29068056e+00] [-3.61792803e-03 9.99993451e-01 9.13860630e-05 -5.39737267e-02] [ 1.83822354e-02 -2.48651797e-05 9.99831032e-01 1.54429201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.06, Z:0.02 [[ 0.99979949 0.00445534 -0.01952242 1.31960699] [-0.0043645 0.99997946 0.004693 -0.0575542 ] [ 0.01954293 -0.00460685 0.99979841 0.01829642] [ 0. 0. 0. 1. ]] SLAMing on 1.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.06, Z:0.02 [[ 9.99803872e-01 5.49247210e-03 -1.90276148e-02 1.34660411e+00] [-5.51821244e-03 9.99983929e-01 -1.30054835e-03 -5.54658959e-02] [ 1.90201658e-02 1.40529170e-03 9.99818113e-01 1.74104375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.06, Z:0.02 [[ 0.99978177 0.0067118 -0.01978268 1.37441024] [-0.00667557 0.99997592 0.00189694 -0.05955413] [ 0.01979493 -0.00176447 0.9998025 0.01931582] [ 0. 0. 0. 1. ]] SLAMing on 1.4643401280000001 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.06, Z:0.02 [[ 0.99976114 0.0071131 -0.02066547 1.40254572] [-0.00717587 0.99996986 -0.00296485 -0.05752707] [ 0.02064376 0.00311243 0.99978205 0.02014302] [ 0. 0. 0. 1. ]] SLAMing on 1.4943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.06, Z:0.02 [[ 0.99973972 0.00845204 -0.021191 1.42946725] [-0.00837306 0.99995767 0.00381334 -0.0623997 ] [ 0.02122234 -0.00363492 0.99976817 0.02201604] [ 0. 0. 0. 1. ]] SLAMing on 1.5243401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.06, Z:0.02 [[ 9.99737209e-01 8.79464269e-03 -2.11699677e-02 1.45662622e+00] [-8.81273551e-03 9.99960877e-01 -7.61502351e-04 -6.04125234e-02] [ 2.11624423e-02 9.47867561e-04 9.99775601e-01 2.27489260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.07, Z:0.02 [[ 0.99976092 0.00966317 -0.01961433 1.48315095] [-0.00951296 0.99992482 0.00773736 -0.06808448] [ 0.01968763 -0.00754892 0.99977768 0.02461655] [ 0. 0. 0. 1. ]] SLAMing on 1.584340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.06, Z:0.03 [[ 0.9997614 0.00927363 -0.01977751 1.51103164] [-0.00933131 0.99995247 -0.00282637 -0.06326797] [ 0.01975036 0.00301025 0.99980041 0.02509201] [ 0. 0. 0. 1. ]] SLAMing on 1.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.07, Z:0.03 [[ 9.99751568e-01 9.54822568e-03 -2.01403378e-02 1.53879877e+00] [-9.55181544e-03 9.99954377e-01 -8.20443957e-05 -6.71539457e-02] [ 2.01386356e-02 2.74400803e-04 9.99797159e-01 2.69919354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.08, Z:0.03 [[ 0.99978145 0.01012411 -0.01829076 1.56550791] [-0.00995611 0.99990762 0.00925313 -0.07628449] [ 0.01838275 -0.009069 0.99978989 0.02874198] [ 0. 0. 0. 1. ]] SLAMing on 1.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.07, Z:0.03 [[ 0.99974508 0.01272421 -0.01865149 1.59293931] [-0.01279282 0.99991182 -0.00356379 -0.0722221 ] [ 0.0186045 0.00380149 0.99981969 0.03054726] [ 0. 0. 0. 1. ]] SLAMing on 1.7043401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.07, Z:0.03 [[ 0.99972684 0.01138982 -0.02040855 1.62287759] [-0.01145015 0.99993041 -0.00284186 -0.07342965] [ 0.02037476 0.00307476 0.99978768 0.03085118] [ 0. 0. 0. 1. ]] SLAMing on 1.7343401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.08, Z:0.03 [[ 0.9996996 0.01229899 -0.02120021 1.65163879] [-0.01222399 0.99991857 0.00366387 -0.08080196] [ 0.02124355 -0.00340362 0.99976854 0.03350721] [ 0. 0. 0. 1. ]] SLAMing on 1.7643401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.07, Z:0.03 [[ 0.99977107 0.01278909 -0.01715357 1.67901876] [-0.01317084 0.9996639 -0.0223297 -0.06811802] [ 0.01686223 0.02255052 0.99960349 0.02641069] [ 0. 0. 0. 1. ]] SLAMing on 1.7943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.10, Z:0.04 [[ 0.99970493 0.0139167 -0.01990916 1.70683867] [-0.01345499 0.99964169 0.02313988 -0.09840971] [ 0.02022406 -0.02286518 0.99953398 0.03796442] [ 0. 0. 0. 1. ]] SLAMing on 1.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.09, Z:0.04 [[ 9.99671612e-01 1.30040749e-02 -2.20808264e-02 1.73473702e+00] [-1.29996124e-02 9.99915442e-01 3.45630840e-04 -9.04588061e-02] [ 2.20834539e-02 -5.84751542e-05 9.99756129e-01 3.71063254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.09, Z:0.04 [[ 0.99963838 0.01364446 -0.02317201 1.76308851] [-0.01369832 0.99990383 -0.00216707 -0.09218918] [ 0.02314021 0.00248371 0.99972914 0.03882822] [ 0. 0. 0. 1. ]] SLAMing on 1.884340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.10, Z:0.04 [[ 0.99964133 0.01396887 -0.02284913 1.79027056] [-0.01386618 0.99989306 0.00464686 -0.09876571] [ 0.02291159 -0.00432836 0.99972813 0.03993985] [ 0. 0. 0. 1. ]] SLAMing on 1.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.09, Z:0.03 [[ 0.99968454 0.01435577 -0.02060881 1.81900967] [-0.01469826 0.99975476 -0.01656464 -0.09151843] [ 0.02036596 0.01686233 0.99965038 0.03285676] [ 0. 0. 0. 1. ]] SLAMing on 1.9443401280000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.11, Z:0.04 [[ 0.99959271 0.01508184 -0.0242271 1.84669527] [-0.01470471 0.99976908 0.01567004 -0.11338573] [ 0.02445784 -0.0153074 0.99958366 0.04298844] [ 0. 0. 0. 1. ]] SLAMing on 1.9743401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.11, Z:0.04 [[ 9.99619034e-01 1.54566065e-02 -2.28665538e-02 1.87378244e+00] [-1.54530540e-02 9.99880539e-01 3.32063209e-04 -1.08356142e-01] [ 2.28689547e-02 2.14213854e-05 9.99738471e-01 4.15482531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0043401280000004 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.11, Z:0.04 [[ 9.99585644e-01 1.59352401e-02 -2.39709776e-02 1.90047765e+00] [-1.59319123e-02 9.99873025e-01 3.29808665e-04 -1.14166516e-01] [ 2.39731895e-02 5.22315067e-05 9.99712600e-01 4.23620735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.12, Z:0.04 [[ 9.99607315e-01 1.62641370e-02 -2.28187217e-02 1.92904051e+00] [-1.62607873e-02 9.99867729e-01 3.32351743e-04 -1.17369313e-01] [ 2.28211088e-02 3.88291457e-05 9.99739564e-01 4.35357249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.11, Z:0.04 [[ 0.99967521 0.01548624 -0.02024003 1.95845486] [-0.01582329 0.99973699 -0.0166003 -0.11006173] [ 0.01997763 0.01691517 0.99965733 0.03523585] [ 0. 0. 0. 1. ]] SLAMing on 2.0943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.12, Z:0.04 [[ 0.99966296 0.01616302 -0.02031572 1.98579475] [-0.01620807 0.99986653 -0.00205505 -0.12455638] [ 0.0202798 0.00238364 0.9997915 0.03839408] [ 0. 0. 0. 1. ]] SLAMing on 2.124340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.13, Z:0.04 [[ 0.99963344 0.01715061 -0.02094845 2.01480701] [-0.01730757 0.99982331 -0.00733445 -0.12549994] [ 0.02081896 0.00769432 0.99975365 0.03927857] [ 0. 0. 0. 1. ]] SLAMing on 2.1543401280000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.15, Z:0.05 [[ 0.99959661 0.0175874 -0.02230025 2.04223892] [-0.01697214 0.99947812 0.02748524 -0.14887131] [ 0.02277201 -0.02709567 0.99937343 0.05158216] [ 0. 0. 0. 1. ]] SLAMing on 2.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:0.04 [[ 0.99961302 0.01648662 -0.02240517 2.07145488] [-0.01697014 0.99962342 -0.02156469 -0.12390743] [ 0.02204121 0.02193657 0.99951637 0.04021876] [ 0. 0. 0. 1. ]] SLAMing on 2.2143401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.14, Z:0.04 [[ 9.99593658e-01 1.76379823e-02 -2.23924335e-02 2.10019128e+00] [-1.76802600e-02 9.99842261e-01 -1.69145241e-03 -1.42551825e-01] [ 2.23590676e-02 2.08666914e-03 9.99747827e-01 4.42918035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.15, Z:0.05 [[ 0.99962443 0.01748182 -0.02110433 2.1268704 ] [-0.01735581 0.99983053 0.00613918 -0.15025598] [ 0.02120807 -0.00577059 0.99975843 0.04578128] [ 0. 0. 0. 1. ]] SLAMing on 2.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.16, Z:0.05 [[ 0.99960217 0.01716209 -0.02238221 2.15633877] [-0.01674454 0.9996847 0.01871161 -0.16118603] [ 0.02269629 -0.01832939 0.99957437 0.05435955] [ 0. 0. 0. 1. ]] SLAMing on 2.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.16, Z:0.05 [[ 9.99616323e-01 1.66788442e-02 -2.21138662e-02 2.18295963e+00] [-1.66765933e-02 9.99860895e-01 2.86211576e-04 -1.57508308e-01] [ 2.21155637e-02 8.26821887e-05 9.99755418e-01 5.27238839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.334340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.16, Z:0.05 [[ 9.99632044e-01 1.63173524e-02 -2.16684289e-02 2.21106886e+00] [-1.63151683e-02 9.99866860e-01 2.77586940e-04 -1.60849143e-01] [ 2.16700735e-02 7.60392634e-05 9.99765173e-01 5.32938896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3643401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.17, Z:0.05 [[ 9.99640595e-01 1.58537515e-02 -2.16180537e-02 2.23896682e+00] [-1.58515254e-02 9.99874319e-01 2.74339291e-04 -1.66560186e-01] [ 2.16196861e-02 6.84384357e-05 9.99766265e-01 5.42882013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.17, Z:0.05 [[ 9.99650438e-01 1.54679984e-02 -2.14415982e-02 2.26551003e+00] [-1.54657779e-02 9.99880361e-01 2.69393341e-04 -1.69425463e-01] [ 2.14432000e-02 6.23118247e-05 9.99770066e-01 5.41265272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4243401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.17, Z:0.05 [[ 9.99653231e-01 1.44999321e-02 -2.19811046e-02 2.29359425e+00] [-1.44974308e-02 9.99894869e-01 2.73151414e-04 -1.72301243e-01] [ 2.19827544e-02 4.56128494e-05 9.99758349e-01 5.46469129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.454340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.18, Z:0.06 [[ 9.99665562e-01 1.32413063e-02 -2.22133177e-02 2.32114271e+00] [-1.32385018e-02 9.99912330e-01 2.73312540e-04 -1.75243252e-01] [ 2.22149892e-02 2.08499105e-05 9.99753216e-01 5.52279829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4843401280000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.18, Z:0.06 [[ 9.99714314e-01 1.02768589e-02 -2.15795264e-02 2.34783521e+00] [-1.02735796e-02 9.99947191e-01 2.62826972e-04 -1.80856865e-01] [ 2.15810879e-02 -4.10529043e-05 9.99767100e-01 5.58670492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.18, Z:0.06 [[ 9.99743334e-01 8.51984441e-03 -2.09923563e-02 2.37539251e+00] [-8.51641228e-03 9.99963703e-01 2.52890166e-04 -1.83481406e-01] [ 2.09937489e-02 -7.40456971e-05 9.99779604e-01 5.61487850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.18, Z:0.05 [[ 0.99973467 0.00676126 -0.02201976 2.40156232] [-0.00714705 0.99982151 -0.01748891 -0.17831914] [ 0.02189758 0.01764165 0.99960456 0.05080215] [ 0. 0. 0. 1. ]] SLAMing on 2.5743401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.20, Z:0.06 [[ 0.99976091 0.00496534 -0.02129484 2.4303673 ] [-0.00458789 0.99983216 0.01773731 -0.20047926] [ 0.02137934 -0.01763537 0.99961589 0.06015493] [ 0. 0. 0. 1. ]] SLAMing on 2.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.19, Z:0.06 [[ 9.99746676e-01 3.66020319e-03 -2.22077903e-02 2.45896686e+00] [-3.65534413e-03 9.99993286e-01 2.59389656e-04 -1.93044829e-01] [ 2.22085906e-02 -1.78146830e-04 9.99753343e-01 5.74818757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6343401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.19, Z:0.05 [[ 0.99975262 0.00284425 -0.02205931 2.48692289] [-0.00324931 0.99982638 -0.01834802 -0.18597521] [ 0.02200329 0.01841516 0.99958828 0.04988915] [ 0. 0. 0. 1. ]] SLAMing on 2.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.20, Z:0.06 [[ 9.99692311e-01 3.95513546e-03 -2.44875670e-02 2.51383657e+00] [-3.89711997e-03 9.99989487e-01 2.41645108e-03 -2.00203430e-01] [ 2.44968670e-02 -2.32027658e-03 9.99697214e-01 5.78608561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6943401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.20, Z:0.06 [[ 0.9997378 0.00500245 -0.0223452 2.54146584] [-0.00494114 0.99998388 0.00279818 -0.20300308] [ 0.02235883 -0.00268703 0.9997464 0.05762218] [ 0. 0. 0. 1. ]] SLAMing on 2.724340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.21, Z:0.06 [[ 0.99975368 0.00596988 -0.02137631 2.57085919] [-0.00567407 0.99988768 0.01387197 -0.2107933 ] [ 0.02145672 -0.01374726 0.99967526 0.0628363 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7543401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.20, Z:0.06 [[ 9.99747213e-01 6.42306251e-03 -2.15465498e-02 2.59905889e+00] [-6.41950660e-03 9.99979367e-01 2.34197465e-04 -2.04059877e-01] [ 2.15476095e-02 -9.58200440e-05 9.99767819e-01 6.05481847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.21, Z:0.06 [[ 9.99737884e-01 7.22444316e-03 -2.17248681e-02 2.62576835e+00] [-7.22107846e-03 9.99973900e-01 2.33322784e-04 -2.05463355e-01] [ 2.17259868e-02 -7.63846492e-05 9.99763960e-01 6.10372910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.21, Z:0.06 [[ 9.99736345e-01 8.14188511e-03 -2.14697660e-02 2.65282640e+00] [-8.13887432e-03 9.99966853e-01 2.27611449e-04 -2.07793098e-01] [ 2.14709076e-02 -5.28117103e-05 9.99769472e-01 6.11164314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8443401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.20, Z:0.06 [[ 0.99967122 0.010196 -0.02352645 2.67931171] [-0.01052103 0.99985034 -0.01373332 -0.20155129] [ 0.0233829 0.01397633 0.99962888 0.05828438] [ 0. 0. 0. 1. ]] SLAMing on 2.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.22, Z:0.07 [[ 0.99973924 0.0087033 -0.02111153 2.71077242] [-0.00841095 0.99986805 0.01389777 -0.21723239] [ 0.0212297 -0.01371657 0.99968053 0.0651257 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9043401280000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.21, Z:0.06 [[ 9.99745547e-01 8.74351268e-03 -2.07940437e-02 2.73910989e+00] [-8.74102148e-03 9.99961774e-01 2.10692593e-04 -2.10556962e-01] [ 2.07950911e-02 -2.88777989e-05 9.99783758e-01 6.27199685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.21, Z:0.06 [[ 9.99735228e-01 8.70977219e-03 -2.12982009e-02 2.76625042e+00] [-8.70721054e-03 9.99962069e-01 2.13008350e-04 -2.11226593e-01] [ 2.12992483e-02 -2.75040320e-05 9.99773145e-01 6.36588589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9643401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.21, Z:0.06 [[ 9.99758751e-01 8.07600249e-03 -2.04259114e-02 2.79440491e+00] [-8.07356859e-03 9.99967388e-01 2.01619627e-04 -2.11725931e-01] [ 2.04268736e-02 -3.66609890e-05 9.99791349e-01 6.40020331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.21, Z:0.07 [[ 9.99790186e-01 6.42443839e-03 -1.94502181e-02 2.82192179e+00] [-6.42195980e-03 9.99979361e-01 1.89890608e-04 -2.13310838e-01] [ 1.94510366e-02 -6.49422477e-05 9.99810809e-01 6.51790496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0243401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.21, Z:0.07 [[ 9.99804280e-01 5.11605795e-03 -1.91109494e-02 2.85015294e+00] [-5.11346913e-03 9.99986909e-01 1.84326594e-04 -2.14223245e-01] [ 1.91116422e-02 -8.65672677e-05 9.99817352e-01 6.60176558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.22, Z:0.07 [[ 9.99817207e-01 3.71631361e-03 -1.87547699e-02 2.87841771e+00] [-3.71361624e-03 9.99993089e-01 1.78648031e-04 -2.15019441e-01] [ 1.87553042e-02 -1.08967357e-04 9.99824098e-01 6.64957534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.22, Z:0.07 [[ 9.99817576e-01 3.61553264e-03 -1.87547906e-02 2.90693159e+00] [-3.61285874e-03 9.99993458e-01 1.76451586e-04 -2.15147152e-01] [ 1.87553058e-02 -1.08660988e-04 9.99824098e-01 6.69310692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1143401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.22, Z:0.07 [[ 9.99805136e-01 2.13424467e-03 -1.96248611e-02 2.93464574e+00] [-2.13107345e-03 9.99997713e-01 1.82503454e-04 -2.16070230e-01] [ 1.96252057e-02 -1.40645870e-04 9.99807397e-01 6.76055858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.22, Z:0.07 [[ 9.99799347e-01 1.62935721e-03 -1.99652200e-02 2.96116414e+00] [-1.62602395e-03 9.99998661e-01 1.83185925e-04 -2.16564467e-01] [ 1.99654918e-02 -1.50685243e-04 9.99800658e-01 6.78007886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1743401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.22, Z:0.07 [[ 9.99798749e-01 1.13042183e-03 -2.00295812e-02 2.98882055e+00] [-1.12701761e-03 9.99999348e-01 1.81246460e-04 -2.16929725e-01] [ 2.00297731e-02 -1.58636293e-04 9.99799371e-01 6.81799039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.22, Z:0.07 [[ 9.99809939e-01 1.28200006e-03 -1.94535833e-02 3.01557036e+00] [-1.27886568e-03 9.99999167e-01 1.73560545e-04 -2.18117994e-01] [ 1.94537896e-02 -1.48649038e-04 9.99810746e-01 6.83271186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2343401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.22, Z:0.07 [[ 9.99814487e-01 1.07767321e-03 -1.92309864e-02 3.04329494e+00] [-1.07465246e-03 9.99999409e-01 1.67410695e-04 -2.18600882e-01] [ 1.92311555e-02 -1.46713012e-04 9.99815053e-01 6.88824030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.22, Z:0.07 [[ 9.99815312e-01 1.47563186e-03 -1.91615394e-02 3.07119217e+00] [-1.47281313e-03 9.99998902e-01 1.61214808e-04 -2.19235306e-01] [ 1.91617563e-02 -1.32963667e-04 9.99816388e-01 6.95621335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2943401280000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.22, Z:0.07 [[ 9.99805624e-01 2.96102825e-03 -1.94922208e-02 3.09866999e+00] [-2.95849838e-03 9.99995611e-01 1.58624165e-04 -2.19916128e-01] [ 1.94926050e-02 -1.00925628e-04 9.99809996e-01 6.98827602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3243401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.22, Z:0.07 [[ 9.99799105e-01 3.73682189e-03 -1.96922838e-02 3.12690085e+00] [-3.73444087e-03 9.99993015e-01 1.57683308e-04 -2.20431106e-01] [ 1.96927355e-02 -8.41119604e-05 9.99806076e-01 7.01975800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.22, Z:0.07 [[ 9.99794698e-01 4.31203614e-03 -1.97982097e-02 3.15520413e+00] [-4.30978707e-03 9.99990701e-01 1.56265568e-04 -2.20709882e-01] [ 1.97986994e-02 -7.09074184e-05 9.99803984e-01 7.05216605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3843401280000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.22, Z:0.07 [[ 9.99779129e-01 5.17570880e-03 -2.03692294e-02 3.18225787e+00] [-5.17355722e-03 9.99986605e-01 1.58324166e-04 -2.21184044e-01] [ 2.03697759e-02 -5.29078238e-05 9.99792513e-01 7.13240943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.22, Z:0.07 [[ 9.99796104e-01 4.95253572e-03 -1.95760592e-02 3.21035750e+00] [-4.95055112e-03 9.99987735e-01 1.49838847e-04 -2.21558051e-01] [ 1.95765612e-02 -5.28960136e-05 9.99808359e-01 7.15267349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4443401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.22, Z:0.07 [[ 9.99798597e-01 4.56431013e-03 -1.95431057e-02 3.23728374e+00] [-4.56229638e-03 9.99989582e-01 1.47625447e-04 -2.22037680e-01] [ 1.95435759e-02 -5.84342743e-05 9.99809004e-01 7.21908828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.22, Z:0.07 [[ 0.99978332 0.00336214 -0.02054297 3.26379003] [-0.00358846 0.99993317 -0.01099024 -0.21649196] [ 0.02050465 0.01106158 0.99972856 0.06728326] [ 0. 0. 0. 1. ]] SLAMing on 3.5043401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.23, Z:0.08 [[ 9.99786513e-01 2.93792713e-03 -2.04523074e-02 3.29352310e+00] [-2.73332975e-03 9.99946019e-01 1.00244100e-02 -2.29903374e-01] [ 2.04806543e-02 -9.96636700e-03 9.99740574e-01 7.62278790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.23, Z:0.07 [[ 9.99791521e-01 1.80448682e-03 -2.03386083e-02 3.32032227e+00] [-1.80178300e-03 9.99998365e-01 1.51263970e-04 -2.25508120e-01] [ 2.03388481e-02 -1.14586676e-04 9.99793138e-01 7.45874025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5643401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.23, Z:0.08 [[ 9.99785992e-01 3.81803673e-04 -2.06839337e-02 3.34741446e+00] [-3.78761426e-04 9.99999917e-01 1.50999991e-04 -2.28281945e-01] [ 2.06839896e-02 -1.43133399e-04 9.99786053e-01 7.54773228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.23, Z:0.08 [[ 9.99784690e-01 -6.19274110e-04 -2.07410186e-02 3.37400818e+00] [ 6.22498025e-04 9.99999795e-01 1.48980706e-04 -2.29689233e-01] [ 2.07409221e-02 -1.61859872e-04 9.99784871e-01 7.56826408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.22, Z:0.07 [[ 9.99755906e-01 -1.12417330e-03 -2.20650252e-02 3.40193091e+00] [ 8.30621501e-04 9.99911092e-01 -1.33086003e-02 -2.23822037e-01] [ 2.20780247e-02 1.32870241e-02 9.99667953e-01 7.03399480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6543401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.24, Z:0.08 [[ 9.99768700e-01 -1.74502966e-03 -2.14359772e-02 3.43024951e+00] [ 2.03315210e-03 9.99907792e-01 1.34266366e-02 -2.40849423e-01] [ 2.14105708e-02 -1.34671136e-02 9.99680061e-01 7.99133382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.24, Z:0.08 [[ 9.99769159e-01 -2.76397032e-03 -2.13070079e-02 3.45794268e+00] [ 2.76760123e-03 9.99996160e-01 1.40923096e-04 -2.36250289e-01] [ 2.13065366e-02 -1.99859867e-04 9.99772970e-01 7.69421164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7143401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.24, Z:0.08 [[ 9.99772313e-01 -3.14921765e-03 -2.11046047e-02 3.48546430e+00] [ 3.15280232e-03 9.99995021e-01 1.36581509e-04 -2.37824527e-01] [ 2.11040695e-02 -2.03089058e-04 9.99777264e-01 7.74521553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.24, Z:0.08 [[ 9.99771808e-01 -3.45604743e-03 -2.10805009e-02 3.51308095e+00] [ 3.45958426e-03 9.99994007e-01 1.31310384e-04 -2.41369702e-01] [ 2.10799207e-02 -2.04210189e-04 9.99777773e-01 7.79183194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7743401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.24, Z:0.08 [[ 9.99767854e-01 -3.86462749e-03 -2.11967643e-02 3.54142774e+00] [ 3.86815165e-03 9.99992511e-01 1.25260965e-04 -2.43258327e-01] [ 2.11961215e-02 -2.07224185e-04 9.99775316e-01 7.83873258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.25, Z:0.08 [[ 9.99782278e-01 -4.14567771e-03 -2.04501997e-02 3.56907123e+00] [ 4.14889445e-03 9.99991387e-01 1.14871343e-04 -2.45393939e-01] [ 2.04495473e-02 -1.99692053e-04 9.99790866e-01 7.84594524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.24, Z:0.07 [[ 0.99980924 -0.00519792 -0.01882706 3.59676369] [ 0.00479092 0.99975524 -0.02159879 -0.23680878] [ 0.01893472 0.02150448 0.99958943 0.06799338] [ 0. 0. 0. 1. ]] SLAMing on 3.8643401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.26, Z:0.08 [[ 0.99980934 -0.00458127 -0.01898154 3.62516327] [ 0.00499134 0.99975396 0.02161263 -0.26432608] [ 0.01887786 -0.02170326 0.99958621 0.08452797] [ 0. 0. 0. 1. ]] SLAMing on 3.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.24, Z:0.07 [[ 0.99981344 -0.00554372 -0.01850255 3.65331526] [ 0.00517827 0.99979172 -0.01974087 -0.24250785] [ 0.01860813 0.01964137 0.99963391 0.07038644] [ 0. 0. 0. 1. ]] SLAMing on 3.9243401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.27, Z:0.09 [[ 0.999841 -0.0054574 -0.01697641 3.68175763] [ 0.00579229 0.99978836 0.01974034 -0.26933584] [ 0.01686508 -0.01983553 0.999661 0.08537654] [ 0. 0. 0. 1. ]] SLAMing on 3.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.25, Z:0.07 [[ 0.99982538 -0.00543671 -0.01787882 3.70897474] [ 0.00508192 0.99979046 -0.01982971 -0.24894424] [ 0.01798288 0.01973539 0.9996435 0.07214462] [ 0. 0. 0. 1. ]] SLAMing on 3.9843401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.27, Z:0.09 [[ 0.99985548 -0.00542764 -0.0161108 3.73779667] [ 0.0057466 0.9997871 0.01981767 -0.27329588] [ 0.0159998 -0.01990739 0.9996738 0.0860405 ] [ 0. 0. 0. 1. ]] SLAMing on 4.014340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.26, Z:0.08 [[ 9.99846694e-01 -5.50081203e-03 -1.66231652e-02 3.76578060e+00] [ 5.50285697e-03 9.99984856e-01 7.72792988e-05 -2.64333920e-01] [ 1.66224883e-02 -1.68742352e-04 9.99861823e-01 8.09087440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.044340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.27, Z:0.08 [[ 9.99848220e-01 -4.98370858e-03 -1.66943278e-02 3.79374267e+00] [ 4.98566798e-03 9.99987569e-01 7.57521404e-05 -2.68875148e-01] [ 1.66937428e-02 -1.58973018e-04 9.99860637e-01 8.03190990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.26, Z:0.07 [[ 0.99981745 -0.00445399 -0.01858025 3.82150231] [ 0.00405998 0.99976722 -0.02119004 -0.25923752] [ 0.01867031 0.02111074 0.9996028 0.07134602] [ 0. 0. 0. 1. ]] SLAMing on 4.1043401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.28, Z:0.08 [[ 9.99801272e-01 -3.56825698e-03 -1.96133771e-02 3.84783251e+00] [ 3.60233960e-03 9.99992062e-01 1.70266764e-03 -2.76802282e-01] [ 1.96071459e-02 -1.77298332e-03 9.99806189e-01 7.84010397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.134340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.28, Z:0.08 [[ 9.99788518e-01 -3.73565272e-03 -2.02228785e-02 3.87486721e+00] [ 3.82569521e-03 9.99982933e-01 4.41565096e-03 -2.80208179e-01] [ 2.02060380e-02 -4.49208370e-03 9.99785746e-01 8.04070164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.28, Z:0.08 [[ 0.9997488 -0.00426254 -0.02200398 3.90403194] [ 0.00413974 0.99997562 -0.00562361 -0.27931741] [ 0.02202742 0.0055311 0.99974207 0.07818029] [ 0. 0. 0. 1. ]] SLAMing on 4.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.29, Z:0.08 [[ 9.99747971e-01 -4.29099556e-03 -2.20359325e-02 3.93270096e+00] [ 4.31114853e-03 9.99990331e-01 8.67125671e-04 -2.85577488e-01] [ 2.20319986e-02 -9.61907308e-04 9.99756803e-01 8.04940076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.30, Z:0.09 [[ 0.9997937 -0.00527331 -0.01961517 3.96071364] [ 0.0056462 0.99980347 0.01900369 -0.29818504] [ 0.0195111 -0.01911052 0.99962698 0.08790312] [ 0. 0. 0. 1. ]] SLAMing on 4.254340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.29, Z:0.08 [[ 9.99783805e-01 -7.83056311e-03 -1.92620146e-02 3.98860951e+00] [ 7.83333459e-03 9.99969317e-01 6.84364771e-05 -2.92394954e-01] [ 1.92608877e-02 -2.19307487e-04 9.99814468e-01 8.28368653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.284340128000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.28, Z:0.08 [[ 0.99970376 -0.00878947 -0.02269673 4.01590472] [ 0.00834231 0.9997707 -0.01972194 -0.28376091] [ 0.02286487 0.01952676 0.99954785 0.07672312] [ 0. 0. 0. 1. ]] SLAMing on 4.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.30, Z:0.08 [[ 0.99975506 -0.01090799 -0.01925689 4.04522229] [ 0.01102275 0.99992206 0.00586322 -0.30015743] [ 0.01919144 -0.00607405 0.99979738 0.08243068] [ 0. 0. 0. 1. ]] SLAMing on 4.344340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.31, Z:0.09 [[ 0.99972163 -0.01214018 -0.02023054 4.07362278] [ 0.01243319 0.99981871 0.01442125 -0.3090729 ] [ 0.0200518 -0.01466876 0.99969133 0.09004422] [ 0. 0. 0. 1. ]] SLAMing on 4.374340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.31, Z:0.09 [[ 9.99684473e-01 -1.56790474e-02 -1.96245087e-02 4.10215249e+00] [ 1.56833107e-02 9.99877007e-01 6.33472980e-05 -3.05362223e-01] [ 1.96211018e-02 -3.71104577e-04 9.99807419e-01 8.63149683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.30, Z:0.08 [[ 0.99959826 -0.01639308 -0.02312125 4.12761361] [ 0.01598154 0.99971253 -0.01787284 -0.29630377] [ 0.02340759 0.01749615 0.99957289 0.08148191] [ 0. 0. 0. 1. ]] SLAMing on 4.4343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.31, Z:0.09 [[ 9.99599367e-01 -1.66805746e-02 -2.28662390e-02 4.15685010e+00] [ 1.65864029e-02 9.99853182e-01 -4.30187442e-03 -3.09810725e-01] [ 2.29346396e-02 3.92088229e-03 9.99729278e-01 8.56211422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.464340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.31, Z:0.09 [[ 9.99572293e-01 -1.78856811e-02 -2.31372696e-02 4.18385948e+00] [ 1.79415241e-02 9.99836599e-01 2.20820165e-03 -3.14416332e-01] [ 2.30939938e-02 -2.62237507e-03 9.99729859e-01 8.76875271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.32, Z:0.09 [[ 9.99567416e-01 -1.74335191e-02 -2.36865676e-02 4.21194815e+00] [ 1.74423346e-02 9.99847857e-01 1.65605112e-04 -3.16551342e-01] [ 2.36800768e-02 -5.78682512e-04 9.99719420e-01 8.85758760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.33, Z:0.09 [[ 0.99961702 -0.018111 -0.02092375 4.2396162 ] [ 0.0184042 0.99973391 0.01390645 -0.32615387] [ 0.02066632 -0.01428621 0.99968435 0.09225981] [ 0. 0. 0. 1. ]] SLAMing on 4.554340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.32, Z:0.09 [[ 0.99961967 -0.01833614 -0.0205986 4.27177317] [ 0.01843825 0.99981858 0.00477854 -0.32401248] [ 0.02050724 -0.00515653 0.99977641 0.09033647] [ 0. 0. 0. 1. ]] SLAMing on 4.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.31, Z:0.08 [[ 0.99951937 -0.01748273 -0.02560043 4.29487776] [ 0.01702098 0.99969047 -0.01814532 -0.30992181] [ 0.02590974 0.01770086 0.99950756 0.08323733] [ 0. 0. 0. 1. ]] SLAMing on 4.614340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.32, Z:0.09 [[ 9.99539475e-01 -1.63354071e-02 -2.55732929e-02 4.32358965e+00] [ 1.62834225e-02 9.99864908e-01 -2.23970989e-03 -3.20680139e-01] [ 2.56064247e-02 1.82225771e-03 9.99670441e-01 8.76820042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6443401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.34, Z:0.09 [[ 0.99963067 -0.01598753 -0.02197532 4.35543031] [ 0.01639158 0.9996976 0.01833089 -0.33679118] [ 0.02167561 -0.01868433 0.99959045 0.09279349] [ 0. 0. 0. 1. ]] SLAMing on 4.674340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.32, Z:0.08 [[ 0.99953633 -0.01286554 -0.02759718 4.38042799] [ 0.01233964 0.99974061 -0.01914295 -0.31823128] [ 0.0278363 0.01879354 0.99943581 0.08224675] [ 0. 0. 0. 1. ]] SLAMing on 4.704340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.35, Z:0.10 [[ 0.99963901 -0.00771168 -0.02573665 4.40975313] [ 0.00836646 0.99964155 0.02543174 -0.34556431] [ 0.02553131 -0.02563788 0.99934521 0.09816331] [ 0. 0. 0. 1. ]] SLAMing on 4.734340128 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.33, Z:0.08 [[ 0.9997131 -0.00739749 -0.02278149 4.4405329 ] [ 0.00721906 0.9999427 -0.00790485 -0.32689092] [ 0.02283867 0.00773812 0.99970922 0.08395717] [ 0. 0. 0. 1. ]] SLAMing on 4.764340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.33, Z:0.09 [[ 9.99736077e-01 -4.90074780e-03 -2.24445671e-02 4.46703596e+00] [ 4.90316001e-03 9.99987978e-01 5.24432245e-05 -3.31626029e-01] [ 2.24440403e-02 -1.62478687e-04 9.99748088e-01 8.72847610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.794340128000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.33, Z:0.09 [[ 9.99759428e-01 -1.54972538e-03 -2.18788730e-02 4.49526153e+00] [ 1.55111587e-03 9.99998796e-01 4.65836054e-05 -3.31927192e-01] [ 2.18787744e-02 -8.05090656e-05 9.99760628e-01 8.79947394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.33, Z:0.09 [[ 9.99746017e-01 -9.16220844e-04 -2.25180297e-02 4.52336607e+00] [ 9.17375606e-04 9.99999578e-01 4.09516599e-05 -3.33057557e-01] [ 2.25179827e-02 -6.15987501e-05 9.99746436e-01 8.91330346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8543401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.33, Z:0.09 [[ 9.99730498e-01 -9.95370570e-04 -2.31935476e-02 4.55050355e+00] [ 9.96457192e-04 9.99999503e-01 3.52929947e-05 -3.34715628e-01] [ 2.31935009e-02 -5.83948605e-05 9.99730993e-01 9.01566736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.884340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.34, Z:0.09 [[ 9.99723237e-01 -2.91616326e-03 -2.33440734e-02 4.57730303e+00] [ 2.91768090e-03 9.99995743e-01 3.09519601e-05 -3.37724991e-01] [ 2.33438838e-02 -9.90539508e-05 9.99727490e-01 9.10631166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.34, Z:0.09 [[ 9.99709263e-01 -4.62093665e-03 -2.36651072e-02 4.60521923e+00] [ 4.62288806e-03 9.99989314e-01 2.77514513e-05 -3.37681722e-01] [ 2.36647261e-02 -1.37144524e-04 9.99719942e-01 9.17554845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.944340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.34, Z:0.09 [[ 9.99704705e-01 -6.28254289e-03 -2.34740801e-02 4.63202359e+00] [ 6.28477186e-03 9.99980250e-01 2.11802442e-05 -3.37006389e-01] [ 2.34734835e-02 -1.68703228e-04 9.99724446e-01 9.15239654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.974340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.34, Z:0.09 [[ 9.99685979e-01 -8.38485357e-03 -2.36143615e-02 4.66002064e+00] [ 8.38761180e-03 9.99964823e-01 1.77559454e-05 -3.35717018e-01] [ 2.36133819e-02 -2.15818467e-04 9.99721142e-01 9.18903345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.004340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.34, Z:0.09 [[ 9.99683652e-01 -8.65777766e-03 -2.36143648e-02 4.68858946e+00] [ 8.66045111e-03 9.99962498e-01 1.09432142e-05 -3.35545280e-01] [ 2.36133844e-02 -2.15450804e-04 9.99721142e-01 9.24713254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.034340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.33, Z:0.09 [[ 9.99635630e-01 -1.36418884e-02 -2.32917767e-02 4.71645702e+00] [ 1.36456940e-02 9.99906893e-01 4.44986915e-06 -3.34395309e-01] [ 2.32895474e-02 -3.22280706e-04 9.99728710e-01 9.29447984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.33, Z:0.09 [[ 9.99588898e-01 -1.67536695e-02 -2.32669149e-02 4.74472258e+00] [ 1.67581503e-02 9.99859572e-01 -2.40076576e-06 -3.34738501e-01] [ 2.32636878e-02 -3.87510678e-04 9.99729289e-01 9.40605962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.094340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.34, Z:0.10 [[ 9.99540539e-01 -1.94526299e-02 -2.32444877e-02 4.77327364e+00] [ 1.94576734e-02 9.99810682e-01 -9.19950189e-06 -3.35358920e-01] [ 2.32402661e-02 -4.43088375e-04 9.99729810e-01 9.53623752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.124340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.34, Z:0.10 [[ 9.99405638e-01 -2.55451468e-02 -2.31477217e-02 4.80070345e+00] [ 2.55516363e-02 9.99673504e-01 -1.54236309e-05 -3.35730272e-01] [ 2.31405581e-02 -5.76047703e-04 9.99732055e-01 9.69301469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.154340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.34, Z:0.10 [[ 9.99325892e-01 -2.84717571e-02 -2.31758529e-02 4.82854300e+00] [ 2.84789707e-02 9.99594392e-01 -1.88094505e-05 -3.35223394e-01] [ 2.31669881e-02 -6.41227666e-04 9.99731404e-01 9.80116385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1843401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.33, Z:0.10 [[ 9.99232835e-01 -3.14352833e-02 -2.33573236e-02 4.85555309e+00] [ 3.14432734e-02 9.99505538e-01 -2.51938646e-05 -3.34161265e-01] [ 2.33465663e-02 -7.09256178e-04 9.99727180e-01 9.89946024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.214340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.33, Z:0.10 [[ 9.99058187e-01 -3.65847961e-02 -2.33300409e-02 4.88274795e+00] [ 3.65941028e-02 9.99330211e-01 -2.80336274e-05 -3.31783555e-01] [ 2.33154403e-02 -8.25734689e-04 9.99727817e-01 9.95461755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.244340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.33, Z:0.10 [[ 9.98952337e-01 -3.91095302e-02 -2.37628485e-02 4.91109663e+00] [ 3.91198181e-02 9.99234526e-01 -3.19501783e-05 -3.31177416e-01] [ 2.37459082e-02 -8.97681604e-04 9.99717623e-01 1.00572935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.33, Z:0.10 [[ 9.98855446e-01 -4.14931773e-02 -2.37931595e-02 4.93915809e+00] [ 4.15040098e-02 9.99138337e-01 -3.85774809e-05 -3.30949714e-01] [ 2.37742585e-02 -9.48978198e-04 9.99716902e-01 1.01426396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.304340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.33, Z:0.10 [[ 9.98733416e-01 -4.41911582e-02 -2.40562979e-02 4.96570879e+00] [ 4.42028414e-02 9.99022576e-01 -4.61386096e-05 -3.31290804e-01] [ 2.40348236e-02 -1.01727655e-03 9.99710604e-01 1.04153519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.334340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.33, Z:0.11 [[ 9.98713887e-01 -4.46435565e-02 -2.40317491e-02 4.99335789e+00] [ 4.46552177e-02 9.99002457e-01 -5.14536905e-05 -3.30840567e-01] [ 2.40100735e-02 -1.02175548e-03 9.99711194e-01 1.05232965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.364340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.33, Z:0.11 [[ 9.98714275e-01 -4.47907684e-02 -2.37399310e-02 5.02120431e+00] [ 4.48020205e-02 9.98995884e-01 -5.79581779e-05 -3.29841241e-01] [ 2.37186893e-02 -1.00571321e-03 9.99718166e-01 1.06156512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3943401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.33, Z:0.11 [[ 9.98804126e-01 -4.31182085e-02 -2.30464261e-02 5.04820586e+00] [ 4.31282186e-02 9.99069544e-01 -6.27478438e-05 -3.27047448e-01] [ 2.30276880e-02 -9.31278501e-04 9.99734394e-01 1.07654925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.424340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.33, Z:0.11 [[ 9.98876072e-01 -4.17818990e-02 -2.23800272e-02 5.07633004e+00] [ 4.17909306e-02 9.99126375e-01 -6.41938931e-05 -3.25932162e-01] [ 2.23631576e-02 -8.71160421e-04 9.99749534e-01 1.08800418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.454340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.32, Z:0.11 [[ 9.99046635e-01 -3.78132863e-02 -2.18168705e-02 5.10398954e+00] [ 3.78207817e-02 9.99284536e-01 -6.91017794e-05 -3.24292282e-01] [ 2.18038742e-02 -7.56095194e-04 9.99761981e-01 1.10367643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.484340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.32, Z:0.11 [[ 9.99123898e-01 -3.57630935e-02 -2.17356289e-02 5.13058416e+00] [ 3.57699083e-02 9.99360049e-01 -7.53014620e-05 -3.23192711e-01] [ 2.17244122e-02 -7.02245961e-04 9.99763750e-01 1.11426680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.514340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.33, Z:0.11 [[ 0.9992191 -0.0330166 -0.0217049 5.16131577] [ 0.03315348 0.9994324 0.00597718 -0.32682117] [ 0.02149523 -0.00669211 0.99974655 0.11465787] [ 0. 0. 0. 1. ]] SLAMing on 5.544340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.32, Z:0.11 [[ 9.99264195e-01 -3.13099079e-02 -2.21530589e-02 5.18998511e+00] [ 3.13780416e-02 9.99503847e-01 2.73461574e-03 -3.23032832e-01] [ 2.20564471e-02 -3.42772320e-03 9.99750851e-01 1.14392094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.31, Z:0.11 [[ 0.99933994 -0.02825554 -0.02283238 5.21622451] [ 0.02807772 0.99957316 -0.00807136 -0.3124129 ] [ 0.02305069 0.00742495 0.99970672 0.11153105] [ 0. 0. 0. 1. ]] SLAMing on 5.6043401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.32, Z:0.11 [[ 9.99357336e-01 -2.73616236e-02 -2.31572344e-02 5.24452961e+00] [ 2.73666718e-02 9.99625458e-01 -9.89487694e-05 -3.15104157e-01] [ 2.31512684e-02 -5.34851254e-04 9.99731830e-01 1.14908283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.634340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.32, Z:0.11 [[ 9.99440053e-01 -2.51570215e-02 -2.20613906e-02 5.27130009e+00] [ 2.51609225e-02 9.99683409e-01 -1.00774795e-04 -3.15288716e-01] [ 2.20569413e-02 -4.54366573e-04 9.99756613e-01 1.13797309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.32, Z:0.12 [[ 9.99517544e-01 -2.28447582e-02 -2.10427393e-02 5.29524127e+00] [ 2.29284644e-02 9.99730093e-01 3.74524406e-03 -3.15442317e-01] [ 2.09515005e-02 -4.22591484e-03 9.99771562e-01 1.15782125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.694340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.31, Z:0.12 [[ 9.99367854e-01 -2.71375799e-02 -2.29661439e-02 5.32702869e+00] [ 2.70485871e-02 9.99625394e-01 -4.17682403e-03 -3.07300887e-01] [ 2.30708896e-02 3.55298192e-03 9.99727518e-01 1.16287748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.31, Z:0.12 [[ 9.99323024e-01 -2.92726715e-02 -2.22846016e-02 5.35824810e+00] [ 2.92716280e-02 9.99571424e-01 -3.73088790e-04 -3.06910582e-01] [ 2.22859723e-02 -2.79470349e-04 9.99751598e-01 1.15881480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.754340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.31, Z:0.12 [[ 9.99298679e-01 -2.98536962e-02 -2.26032691e-02 5.38381252e+00] [ 2.98674174e-02 9.99553833e-01 2.69618239e-04 -3.05265792e-01] [ 2.25851351e-02 -9.44530420e-04 9.99744477e-01 1.18499901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.784340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.30, Z:0.12 [[ 9.99237237e-01 -3.21105709e-02 -2.22228639e-02 5.41282884e+00] [ 3.21334642e-02 9.99483360e-01 6.73750968e-04 -3.03839797e-01] [ 2.21897481e-02 -1.38733466e-03 9.99752815e-01 1.17769866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.30, Z:0.11 [[ 9.99231200e-01 -3.31176098e-02 -2.09817036e-02 5.44205425e+00] [ 3.30497969e-02 9.99447328e-01 -3.57065291e-03 -3.00345936e-01] [ 2.10883591e-02 2.87446675e-03 9.99773484e-01 1.14410433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.844340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.30, Z:0.12 [[ 9.99083629e-01 -3.74843722e-02 -2.06597179e-02 5.46931395e+00] [ 3.74892711e-02 9.99297019e-01 -1.50262451e-04 -2.98796388e-01] [ 2.06508270e-02 -6.24393011e-04 9.99786554e-01 1.17985860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.874340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.32, Z:0.14 [[ 0.9990152 -0.03589672 -0.02607776 5.50115091] [ 0.03667291 0.99887925 0.0299222 -0.31716572] [ 0.02497443 -0.03084908 0.999212 0.13623717] [ 0. 0. 0. 1. ]] SLAMing on 5.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.28, Z:0.11 [[ 0.99898314 -0.04135994 -0.01794526 5.52681502] [ 0.04080157 0.99870351 -0.03043901 -0.27789582] [ 0.01918095 0.02967587 0.99937552 0.10832663] [ 0. 0. 0. 1. ]] SLAMing on 5.9343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.29, Z:0.11 [[ 9.98936973e-01 -4.27793170e-02 -1.71712955e-02 5.55622375e+00] [ 4.27266422e-02 9.99080936e-01 -3.42300388e-03 -2.89982504e-01] [ 1.73019477e-02 2.68569334e-03 9.99846703e-01 1.14581833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.964340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.29, Z:0.11 [[ 9.98864405e-01 -4.41337155e-02 -1.79475757e-02 5.58359607e+00] [ 4.40542552e-02 9.99017613e-01 -4.79907308e-03 -2.86477859e-01] [ 1.81417452e-02 4.00295619e-03 9.99827412e-01 1.14171089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.28, Z:0.11 [[ 9.98842926e-01 -4.36130275e-02 -2.02660653e-02 5.61005158e+00] [ 4.35449542e-02 9.99044286e-01 -3.78842574e-03 -2.84227162e-01] [ 2.04119215e-02 2.90155737e-03 9.99787445e-01 1.14236699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.024340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.28, Z:0.11 [[ 9.98798485e-01 -4.46883162e-02 -2.01131758e-02 5.63896863e+00] [ 4.46919081e-02 9.99000781e-01 -2.71097692e-04 -2.83885119e-01] [ 2.01051933e-02 -6.28124242e-04 9.99797673e-01 1.14778594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.054340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.29, Z:0.12 [[ 0.9987834 -0.04319541 -0.02378835 5.66905129] [ 0.04336893 0.9990358 0.00682709 -0.28768813] [ 0.02347051 -0.00785046 0.99969371 0.12051792] [ 0. 0. 0. 1. ]] SLAMing on 6.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.28, Z:0.12 [[ 9.98813720e-01 -4.19736920e-02 -2.46852613e-02 5.69475720e+00] [ 4.18614991e-02 9.99110689e-01 -5.04449350e-03 -2.77991545e-01] [ 2.48750445e-02 4.00514728e-03 9.99682545e-01 1.16205004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.114340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.28, Z:0.12 [[ 0.99889801 -0.03980717 -0.02486272 5.72387301] [ 0.03998813 0.99917685 0.00682385 -0.28406599] [ 0.02457061 -0.00781054 0.99966758 0.1213315 ] [ 0. 0. 0. 1. ]] SLAMing on 6.1443401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.28, Z:0.12 [[ 9.98963511e-01 -3.85617548e-02 -2.41846179e-02 5.75002509e+00] [ 3.87089385e-02 9.99234570e-01 5.64733490e-03 -2.81191455e-01] [ 2.39483351e-02 -6.57764238e-03 9.99691558e-01 1.20727189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.174340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.27, Z:0.12 [[ 0.99885036 -0.04054924 -0.02556803 5.78208185] [ 0.04017773 0.99908174 -0.01488059 -0.26675941] [ 0.02614795 0.01383622 0.99956233 0.11582434] [ 0. 0. 0. 1. ]] SLAMing on 6.204340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.28, Z:0.12 [[ 0.9990258 -0.0371726 -0.02378326 5.80569677] [ 0.03745252 0.99923298 0.01143468 -0.28013189] [ 0.02333996 -0.01231428 0.99965174 0.12166016] [ 0. 0. 0. 1. ]] SLAMing on 6.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.27, Z:0.12 [[ 9.98969459e-01 -3.95049189e-02 -2.23468640e-02 5.83520046e+00] [ 3.95963043e-02 9.99209050e-01 3.66164111e-03 -2.73924218e-01] [ 2.21845359e-02 -4.54272086e-03 9.99743572e-01 1.18642527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.264340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.27, Z:0.12 [[ 9.98933070e-01 -3.92199291e-02 -2.43827601e-02 5.86778516e+00] [ 3.90767431e-02 9.99216216e-01 -6.32160623e-03 -2.68593942e-01] [ 2.46115822e-02 5.36206267e-03 9.99682709e-01 1.16606033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.294340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.26, Z:0.12 [[ 0.99882587 -0.04200808 -0.02412879 5.89500325] [ 0.04171339 0.9990503 -0.01258927 -0.26295848] [ 0.02463473 0.011568 0.99962959 0.11725024] [ 0. 0. 0. 1. ]] SLAMing on 6.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.27, Z:0.12 [[ 9.98792924e-01 -4.23273399e-02 -2.49217158e-02 5.92364199e+00] [ 4.23703529e-02 9.99101253e-01 1.20017184e-03 -2.69093666e-01] [ 2.48485174e-02 -2.25466503e-03 9.99688685e-01 1.22451404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3543401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.27, Z:0.12 [[ 9.98848276e-01 -4.17946717e-02 -2.35653920e-02 5.95153451e+00] [ 4.18727227e-02 9.99118950e-01 2.82823137e-03 -2.68943744e-01] [ 2.34264247e-02 -3.81172115e-03 9.99718297e-01 1.20568211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.384340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.27, Z:0.12 [[ 9.98873022e-01 -4.18220955e-02 -2.24409868e-02 5.97917048e+00] [ 4.18767951e-02 9.99120834e-01 1.97290548e-03 -2.67147358e-01] [ 2.23387464e-02 -2.91043867e-03 9.99746223e-01 1.21584033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.26, Z:0.12 [[ 9.98818031e-01 -4.43559064e-02 -1.98769778e-02 6.00547796e+00] [ 4.42967065e-02 9.99012603e-01 -3.40898711e-03 -2.61912568e-01] [ 2.00085601e-02 2.52447314e-03 9.99796622e-01 1.19319991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.444340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.26, Z:0.12 [[ 9.98830389e-01 -4.25402226e-02 -2.29822423e-02 6.03362260e+00] [ 4.24781263e-02 9.99092325e-01 -3.18361030e-03 -2.62770614e-01] [ 2.30968134e-02 2.20364412e-03 9.99730804e-01 1.23592805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.26, Z:0.13 [[ 9.98830560e-01 -4.25553318e-02 -2.29467947e-02 6.06204684e+00] [ 4.25424475e-02 9.99094109e-01 -1.04958324e-03 -2.63145610e-01] [ 2.29706728e-02 7.21430005e-05 9.99736137e-01 1.25561787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.504340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.26, Z:0.13 [[ 9.98782699e-01 -4.33286644e-02 -2.35742907e-02 6.09037226e+00] [ 4.33296911e-02 9.99060719e-01 -4.67489631e-04 -2.61969282e-01] [ 2.35724035e-02 -5.54546180e-04 9.99721978e-01 1.26640809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.534340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.27, Z:0.13 [[ 0.99885628 -0.04191294 -0.02300953 6.11784861] [ 0.04210874 0.99908027 0.00809171 -0.26549796] [ 0.02264922 -0.00905135 0.9997025 0.12864987] [ 0. 0. 0. 1. ]] SLAMing on 6.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.26, Z:0.13 [[ 9.98818959e-01 -4.17524522e-02 -2.48479261e-02 6.14754935e+00] [ 4.16111031e-02 9.99114777e-01 -6.17891605e-03 -2.56549367e-01] [ 2.50839150e-02 5.13766888e-03 9.99672147e-01 1.25324817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.594340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.26, Z:0.13 [[ 9.98782878e-01 -4.18104370e-02 -2.61658058e-02 6.17275530e+00] [ 4.19687445e-02 9.99103618e-01 5.53029267e-03 -2.61908977e-01] [ 2.59111273e-02 -6.62170765e-03 9.99642319e-01 1.31059008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.624340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.26, Z:0.13 [[ 9.98856994e-01 -4.02330781e-02 -2.58070897e-02 6.20333069e+00] [ 4.03968282e-02 9.99166559e-01 5.85529699e-03 -2.62487141e-01] [ 2.55500043e-02 -6.89112892e-03 9.99649793e-01 1.28497780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.25, Z:0.13 [[ 0.99870373 -0.04327032 -0.02680573 6.23026906] [ 0.04294394 0.99899759 -0.01263431 -0.24970466] [ 0.02732555 0.01146678 0.99956082 0.12664199] [ 0. 0. 0. 1. ]] SLAMing on 6.6843401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.26, Z:0.13 [[ 0.99875454 -0.04223138 -0.02656835 6.25730697] [ 0.0424917 0.99905343 0.00931072 -0.26218221] [ 0.02615 -0.01042805 0.99960364 0.13359157] [ 0. 0. 0. 1. ]] SLAMing on 6.714340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.26, Z:0.14 [[ 9.98698389e-01 -4.20238292e-02 -2.89054695e-02 6.28695686e+00] [ 4.21840038e-02 9.99097578e-01 4.95375879e-03 -2.60155676e-01] [ 2.86712086e-02 -6.16665936e-03 9.99569875e-01 1.36061647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.25, Z:0.13 [[ 0.99870713 -0.04367748 -0.02600653 6.31281626] [ 0.04348506 0.99902269 -0.00791933 -0.25069798] [ 0.02632701 0.00677819 0.9996304 0.13062812] [ 0. 0. 0. 1. ]] SLAMing on 6.774340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.25, Z:0.13 [[ 9.98711342e-01 -4.20067581e-02 -2.84796002e-02 6.34175384e+00] [ 4.19112154e-02 9.99113556e-01 -3.94370871e-03 -2.53350387e-01] [ 2.86200171e-02 2.74501195e-03 9.99586594e-01 1.33892811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.804340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.26, Z:0.14 [[ 0.99879007 -0.03980709 -0.02887544 6.36913054] [ 0.04009879 0.99914966 0.00959427 -0.25982397] [ 0.02846897 -0.01074053 0.99953697 0.13997459] [ 0. 0. 0. 1. ]] SLAMing on 6.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.25, Z:0.13 [[ 0.9988734 -0.0389142 -0.02715894 6.39671504] [ 0.03870773 0.99921785 -0.00808732 -0.24941054] [ 0.02745241 0.00702695 0.99959841 0.1340749 ] [ 0. 0. 0. 1. ]] SLAMing on 6.864340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.25, Z:0.14 [[ 9.98901323e-01 -3.77510274e-02 -2.77670198e-02 6.42397615e+00] [ 3.76473983e-02 9.99282066e-01 -4.24563900e-03 -2.50490533e-01] [ 2.79073621e-02 3.19561836e-03 9.99605406e-01 1.36465370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8943401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.26, Z:0.14 [[ 0.99900193 -0.0357094 -0.02683252 6.4520945 ] [ 0.03600056 0.99929716 0.01044717 -0.25758609] [ 0.0264406 -0.01140273 0.99958535 0.14195738] [ 0. 0. 0. 1. ]] SLAMing on 6.924340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.25, Z:0.14 [[ 9.98986720e-01 -3.62681324e-02 -2.66487574e-02 6.48061302e+00] [ 3.62679192e-02 9.99341982e-01 -4.91493905e-04 -2.50748345e-01] [ 2.66490476e-02 -4.75499096e-04 9.99644738e-01 1.39585399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.954340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.25, Z:0.14 [[ 9.99091513e-01 -3.27237187e-02 -2.73003229e-02 6.50868438e+00] [ 3.27561043e-02 9.99463101e-01 7.39785975e-04 -2.50371771e-01] [ 2.72614568e-02 -1.63336611e-03 9.99627003e-01 1.41455311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.25, Z:0.14 [[ 9.99094015e-01 -3.16299792e-02 -2.84726689e-02 6.53685508e+00] [ 3.16267888e-02 9.99499590e-01 -5.62500894e-04 -2.48848473e-01] [ 2.84762128e-02 -3.38507808e-04 9.99594413e-01 1.43121377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.014340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.25, Z:0.14 [[ 9.99140277e-01 -3.10990600e-02 -2.74144954e-02 6.56351062e+00] [ 3.10960530e-02 9.99516257e-01 -5.36104548e-04 -2.47998956e-01] [ 2.74179062e-02 -3.16838956e-04 9.99624008e-01 1.42447859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.044340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.25, Z:0.15 [[ 9.99087578e-01 -3.12011785e-02 -2.91633127e-02 6.59164801e+00] [ 3.12399357e-02 9.99511532e-01 8.74182621e-04 -2.48532882e-01] [ 2.91217918e-02 -1.78444501e-03 9.99574278e-01 1.45727210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.25, Z:0.14 [[ 9.99084822e-01 -3.30391904e-02 -2.71648577e-02 6.61891895e+00] [ 3.29975495e-02 9.99453472e-01 -1.97986087e-03 -2.46238401e-01] [ 2.72154243e-02 1.08167521e-03 9.99629007e-01 1.43615352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.104340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.25, Z:0.14 [[ 9.99049459e-01 -3.46216776e-02 -2.64861833e-02 6.64555744e+00] [ 3.46195815e-02 9.99400418e-01 -5.37823835e-04 -2.46910675e-01] [ 2.64889230e-02 -3.79627969e-04 9.99649035e-01 1.44620111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.134340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.25, Z:0.15 [[ 9.98917928e-01 -3.91959606e-02 -2.50329541e-02 6.67336226e+00] [ 3.91954388e-02 9.99231433e-01 -5.11701982e-04 -2.47160535e-01] [ 2.50337712e-02 -4.70029336e-04 9.99686496e-01 1.46076537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.25, Z:0.15 [[ 9.98837687e-01 -4.16238683e-02 -2.43048977e-02 6.70145672e+00] [ 4.16239272e-02 9.99133222e-01 -5.03700491e-04 -2.46779200e-01] [ 2.43047967e-02 -5.08550261e-04 9.99704465e-01 1.47060691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.194340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.25, Z:0.15 [[ 9.98685245e-01 -4.54959005e-02 -2.36199849e-02 6.72842773e+00] [ 4.54968727e-02 9.98964358e-01 -4.96510835e-04 -2.46392060e-01] [ 2.36181123e-02 -5.78777401e-04 9.99720886e-01 1.48363542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.24, Z:0.15 [[ 9.98581752e-01 -4.67950189e-02 -2.53911607e-02 6.75665096e+00] [ 4.66141247e-02 9.98883521e-01 -7.67034292e-03 -2.41768169e-01] [ 2.57217458e-02 6.47587774e-03 9.99648166e-01 1.47099450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.254340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.25, Z:0.15 [[ 9.98580895e-01 -4.80672140e-02 -2.29290093e-02 6.78483287e+00] [ 4.81066494e-02 9.98841518e-01 1.17108988e-03 -2.45316203e-01] [ 2.28461555e-02 -2.27246579e-03 9.99736410e-01 1.47356205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.284340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.25, Z:0.15 [[ 9.98641468e-01 -4.64828689e-02 -2.35491228e-02 6.81184349e+00] [ 4.66005708e-02 9.98903584e-01 4.47397040e-03 -2.46590994e-01] [ 2.33153402e-02 -5.56529493e-03 9.99712670e-01 1.49441044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.314340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.24, Z:0.15 [[ 9.98669056e-01 -4.56934587e-02 -2.39212066e-02 6.84004891e+00] [ 4.56940746e-02 9.98955344e-01 -5.21141162e-04 -2.42890791e-01] [ 2.39200299e-02 -5.72609848e-04 9.99713711e-01 1.48216502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.344340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.24, Z:0.15 [[ 9.98768599e-01 -4.22529048e-02 -2.59995828e-02 6.86758540e+00] [ 4.22522665e-02 9.99106809e-01 -5.74160147e-04 -2.41775920e-01] [ 2.60006201e-02 -5.25088175e-04 9.99661789e-01 1.49290808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.374340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.24, Z:0.15 [[ 9.98834707e-01 -4.03847504e-02 -2.64253842e-02 6.89548147e+00] [ 4.03832279e-02 9.99184090e-01 -5.91497319e-04 -2.40398715e-01] [ 2.64277110e-02 -4.76334261e-04 9.99650614e-01 1.49401555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.24, Z:0.15 [[ 9.98856752e-01 -3.88849022e-02 -2.78056383e-02 6.92378383e+00] [ 3.88032567e-02 9.99240845e-01 -3.47007359e-03 -2.37279236e-01] [ 2.79194630e-02 2.38715712e-03 9.99607325e-01 1.49514009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.24, Z:0.15 [[ 9.99031224e-01 -3.39915504e-02 -2.79497429e-02 6.95212630e+00] [ 3.40656217e-02 9.99417225e-01 2.17815167e-03 -2.39659661e-01] [ 2.78594157e-02 -3.12816690e-03 9.99606957e-01 1.51223705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.464340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.24, Z:0.15 [[ 9.99120033e-01 -3.14030068e-02 -2.78030897e-02 6.98018504e+00] [ 3.13972545e-02 9.99506778e-01 -6.43532726e-04 -2.37555109e-01] [ 2.78095854e-02 -2.29974245e-04 9.99613212e-01 1.50759013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.24, Z:0.15 [[ 9.99139967e-01 -3.09680180e-02 -2.75736780e-02 7.00799989e+00] [ 3.09619630e-02 9.99520354e-01 -6.46616928e-04 -2.38395284e-01] [ 2.75804768e-02 -2.07674382e-04 9.99619565e-01 1.51913637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.524340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.24, Z:0.15 [[ 9.99161201e-01 -3.02836246e-02 -2.75643987e-02 7.03883637e+00] [ 3.02147428e-02 9.99539188e-01 -2.91212022e-03 -2.39227442e-01] [ 2.76398863e-02 2.07682632e-03 9.99615788e-01 1.51170161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.554340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.24, Z:0.15 [[ 9.99146477e-01 -3.06793484e-02 -2.76603568e-02 7.06746311e+00] [ 3.06791273e-02 9.99529191e-01 -4.32470403e-04 -2.39653373e-01] [ 2.76606019e-02 -4.16494328e-04 9.99617286e-01 1.52536390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.23, Z:0.15 [[ 0.99914121 -0.0327037 -0.02544245 7.09599098] [ 0.03251037 0.99943957 -0.00797577 -0.23397064] [ 0.02568902 0.00714177 0.99964447 0.14933262] [ 0. 0. 0. 1. ]] SLAMing on 7.614340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.24, Z:0.16 [[ 0.99911137 -0.03328702 -0.02585418 7.12220294] [ 0.03353649 0.99939445 0.00927583 -0.24234399] [ 0.02552976 -0.01013465 0.99962269 0.15755767] [ 0. 0. 0. 1. ]] SLAMing on 7.644340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.24, Z:0.15 [[ 9.99099979e-01 -3.36847527e-02 -2.57792335e-02 7.15191731e+00] [ 3.36021367e-02 9.99428692e-01 -3.63138177e-03 -2.35538153e-01] [ 2.58868278e-02 2.76187612e-03 9.99661065e-01 1.54070018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.674340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.23, Z:0.15 [[ 9.99105602e-01 -3.49018360e-02 -2.38716875e-02 7.17937210e+00] [ 3.47326070e-02 9.99368742e-01 -7.46749449e-03 -2.33561432e-01] [ 2.41172476e-02 6.63168964e-03 9.99687141e-01 1.52572210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.704340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.24, Z:0.16 [[ 9.99071153e-01 -3.50503044e-02 -2.50660489e-02 7.20572052e+00] [ 3.50982265e-02 9.99382780e-01 1.47430357e-03 -2.39280921e-01] [ 2.49989029e-02 -2.35270803e-03 9.99684710e-01 1.55299282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.734340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.24, Z:0.16 [[ 9.99072064e-01 -3.44427565e-02 -2.58593933e-02 7.23478395e+00] [ 3.44898625e-02 9.99404098e-01 1.37768520e-03 -2.39485332e-01] [ 2.57965324e-02 -2.26829372e-03 9.99664641e-01 1.56919173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.764340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.24, Z:0.16 [[ 9.99074827e-01 -3.48033250e-02 -2.52630044e-02 7.26269980e+00] [ 3.48150854e-02 9.99393771e-01 2.56969113e-05 -2.38068001e-01] [ 2.52467949e-02 -9.05206793e-04 9.99680839e-01 1.56596559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.794340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.24, Z:0.16 [[ 9.99091348e-01 -3.44709966e-02 -2.50644734e-02 7.28927938e+00] [ 3.44909029e-02 9.99404946e-01 3.62196022e-04 -2.37537460e-01] [ 2.50370734e-02 -1.22636323e-03 9.99685771e-01 1.57097912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.24, Z:0.16 [[ 9.99033371e-01 -3.64009627e-02 -2.46433303e-02 7.31904623e+00] [ 3.64581248e-02 9.99333424e-01 1.87412115e-03 -2.38052060e-01] [ 2.45586838e-02 -2.77075918e-03 9.99694550e-01 1.58153839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.854340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.24, Z:0.16 [[ 9.99014767e-01 -3.69955752e-02 -2.45116683e-02 7.34525768e+00] [ 3.69920927e-02 9.99315381e-01 -5.95652598e-04 -2.36959282e-01] [ 2.45169237e-02 -3.11672165e-04 9.99699366e-01 1.57357795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.884340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.23, Z:0.16 [[ 0.99873218 -0.04144038 -0.02857856 7.37136183] [ 0.0411846 0.99910656 -0.00948183 -0.23311359] [ 0.02894596 0.00829281 0.99954658 0.15755322] [ 0. 0. 0. 1. ]] SLAMing on 7.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.24, Z:0.16 [[ 9.98657108e-01 -4.28519594e-02 -2.91151356e-02 7.40158898e+00] [ 4.29428616e-02 9.99074392e-01 2.50380762e-03 -2.39970281e-01] [ 2.89808933e-02 -3.75073252e-03 9.99572929e-01 1.61467402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.24, Z:0.16 [[ 9.98548384e-01 -4.49670394e-02 -2.96494671e-02 7.42970047e+00] [ 4.49776438e-02 9.98987946e-01 -3.09508492e-04 -2.38787891e-01] [ 2.96333779e-02 -1.02450397e-03 9.99560310e-01 1.61689879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9743401280000015 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.24, Z:0.16 [[ 9.98480988e-01 -4.66318039e-02 -2.93460547e-02 7.45743509e+00] [ 4.67071685e-02 9.98906841e-01 1.88753739e-03 -2.40489133e-01] [ 2.92259556e-02 -3.25534132e-03 9.99567530e-01 1.63037121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.24, Z:0.16 [[ 9.98408774e-01 -4.89061450e-02 -2.80732690e-02 7.48511018e+00] [ 4.90107932e-02 9.98793588e-01 3.05136941e-03 -2.42103155e-01] [ 2.78901704e-02 -4.42240718e-03 9.99601211e-01 1.63518558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.24, Z:0.16 [[ 9.98385497e-01 -4.97575090e-02 -2.73968933e-02 7.51110904e+00] [ 4.98266580e-02 9.98756173e-01 1.84668339e-03 -2.41761208e-01] [ 2.72709299e-02 -3.20879754e-03 9.99622929e-01 1.63304700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.24, Z:0.16 [[ 9.98198667e-01 -5.29831024e-02 -2.81462554e-02 7.54201825e+00] [ 5.29560979e-02 9.98595387e-01 -1.70450095e-03 -2.39138015e-01] [ 2.81970306e-02 2.10914720e-04 9.99602362e-01 1.63619082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.24, Z:0.16 [[ 9.98099143e-01 -5.34160120e-02 -3.07380841e-02 7.56961062e+00] [ 5.32312403e-02 9.98559066e-01 -6.79898223e-03 -2.38173385e-01] [ 3.10569671e-02 5.14983199e-03 9.99504349e-01 1.63116837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.25, Z:0.17 [[ 9.98289067e-01 -5.15031740e-02 -2.76832234e-02 7.59548199e+00] [ 5.16387241e-02 9.98656984e-01 4.20360316e-03 -2.45292025e-01] [ 2.74295455e-02 -5.62593741e-03 9.99607908e-01 1.65366079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.154340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.24, Z:0.17 [[ 9.98138164e-01 -5.37509696e-02 -2.88277418e-02 7.62261634e+00] [ 5.37483655e-02 9.98554137e-01 -8.65767121e-04 -2.43639780e-01] [ 2.88325966e-02 -6.85288799e-04 9.99584019e-01 1.65040098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.24, Z:0.17 [[ 9.98129113e-01 -5.36539076e-02 -2.93177835e-02 7.64963888e+00] [ 5.36510502e-02 9.98559353e-01 -8.84655711e-04 -2.44224131e-01] [ 2.93230121e-02 -6.89929251e-04 9.99569750e-01 1.66162187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.214340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.24, Z:0.17 [[ 9.98164291e-01 -5.32917175e-02 -2.87757084e-02 7.67724061e+00] [ 5.32886871e-02 9.98578767e-01 -8.72716132e-04 -2.44273354e-01] [ 2.87813199e-02 -6.62305641e-04 9.99585513e-01 1.66647164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.25, Z:0.17 [[ 0.99836986 -0.05073482 -0.02614558 7.7044583 ] [ 0.05097775 0.99866181 0.0087099 -0.25012334] [ 0.02566869 -0.01002854 0.9996202 0.1690969 ] [ 0. 0. 0. 1. ]] SLAMing on 8.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.24, Z:0.17 [[ 0.99839241 -0.04981206 -0.02704371 7.73341127] [ 0.04955957 0.99872182 -0.00992812 -0.238502 ] [ 0.02750368 0.00857188 0.99958495 0.1659347 ] [ 0. 0. 0. 1. ]] SLAMing on 8.304340128000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.24, Z:0.17 [[ 9.98350145e-01 -4.96910732e-02 -2.87712639e-02 7.76332277e+00] [ 4.96542713e-02 9.98764478e-01 -1.99260666e-03 -2.42234136e-01] [ 2.88347311e-02 5.60703008e-04 9.99584035e-01 1.69764297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.334340128000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.24, Z:0.17 [[ 9.98491508e-01 -4.69946312e-02 -2.83938834e-02 7.79062640e+00] [ 4.69219163e-02 9.98893363e-01 -3.22218268e-03 -2.42553732e-01] [ 2.85138869e-02 1.88502662e-03 9.99591619e-01 1.70381532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.24, Z:0.17 [[ 9.98527244e-01 -4.60269558e-02 -2.87204237e-02 7.81892253e+00] [ 4.60686384e-02 9.98937964e-01 7.90969153e-04 -2.44821670e-01] [ 2.86535156e-02 -2.11291506e-03 9.99587171e-01 1.72668896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.394340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.27, Z:0.19 [[ 0.99846857 -0.04271353 -0.0351579 7.85026037] [ 0.04389134 0.9984765 0.0334398 -0.26559772] [ 0.03367601 -0.03493171 0.99882216 0.19255467] [ 0. 0. 0. 1. ]] SLAMing on 8.424340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.23, Z:0.16 [[ 0.99851689 -0.04722971 -0.02708072 7.87454101] [ 0.0464436 0.99850109 -0.02895784 -0.2281793 ] [ 0.02840779 0.02765716 0.99921373 0.16435087] [ 0. 0. 0. 1. ]] SLAMing on 8.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.24, Z:0.17 [[ 9.98473353e-01 -4.84589805e-02 -2.65083200e-02 7.90215457e+00] [ 4.83182992e-02 9.98814430e-01 -5.92247414e-03 -2.40096295e-01] [ 2.67638896e-02 4.63259567e-03 9.99631049e-01 1.70424324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.484340128000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.24, Z:0.17 [[ 9.98384131e-01 -4.99581463e-02 -2.70797145e-02 7.93012946e+00] [ 4.99518717e-02 9.98751213e-01 -9.08544960e-04 -2.42905636e-01] [ 2.70912870e-02 -4.45605557e-04 9.99632864e-01 1.73282000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.24, Z:0.17 [[ 9.98254128e-01 -5.31001263e-02 -2.58664388e-02 7.95756261e+00] [ 5.30952636e-02 9.98589068e-01 -8.75248085e-04 -2.44457142e-01] [ 2.58764188e-02 -4.99665372e-04 9.99665025e-01 1.74247666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.544340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.25, Z:0.18 [[ 0.99814449 -0.05384529 -0.02843009 7.98735064] [ 0.05411329 0.99849653 0.00874236 -0.25052424] [ 0.02791662 -0.01026458 0.99955755 0.18192975] [ 0. 0. 0. 1. ]] SLAMing on 8.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.24, Z:0.17 [[ 0.9981341 -0.05596882 -0.0244092 8.01383293] [ 0.05572909 0.99839182 -0.01039404 -0.23888147] [ 0.02495169 0.00901435 0.99964802 0.17329995] [ 0. 0. 0. 1. ]] SLAMing on 8.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.24, Z:0.18 [[ 9.98065001e-01 -5.71891031e-02 -2.44061445e-02 8.04169932e+00] [ 5.71856874e-02 9.98363208e-01 -8.38444220e-04 -2.44191581e-01] [ 2.44141466e-02 -5.58860319e-04 9.99701774e-01 1.77143673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.634340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.24, Z:0.18 [[ 9.98014741e-01 -5.73943227e-02 -2.59320042e-02 8.06978586e+00] [ 5.74023619e-02 9.98351030e-01 -4.34901864e-04 -2.43631010e-01] [ 2.59142040e-02 -1.05451982e-03 9.99663614e-01 1.78700601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.24, Z:0.18 [[ 9.98043010e-01 -5.72781900e-02 -2.50870292e-02 8.09805848e+00] [ 5.72613395e-02 9.98358256e-01 -1.39013245e-03 -2.42195749e-01] [ 2.51254670e-02 -4.91049157e-05 9.99684304e-01 1.77662942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.24, Z:0.18 [[ 9.98116442e-01 -5.42362425e-02 -2.86705163e-02 8.12105963e+00] [ 5.43446894e-02 9.98517679e-01 3.01637594e-03 -2.44371265e-01] [ 2.84644205e-02 -4.56878472e-03 9.99584365e-01 1.81923956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.24, Z:0.18 [[ 9.98084202e-01 -5.46818000e-02 -2.89452463e-02 8.15047377e+00] [ 5.45154915e-02 9.98491739e-01 -6.50451068e-03 -2.37478821e-01] [ 2.92572677e-02 4.91408501e-03 9.99559835e-01 1.79151754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.24, Z:0.18 [[ 9.98184467e-01 -5.37975364e-02 -2.70849476e-02 8.18230260e+00] [ 5.38074652e-02 9.98551263e-01 -3.62633583e-04 -2.40698415e-01] [ 2.70652174e-02 -1.09539716e-03 9.99633070e-01 1.80328775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.784340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.24, Z:0.18 [[ 9.98253908e-01 -5.20246634e-02 -2.79744322e-02 8.20694999e+00] [ 5.19232640e-02 9.98641649e-01 -4.33947751e-03 -2.37951726e-01] [ 2.81621930e-02 2.87937656e-03 9.99599220e-01 1.79956595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.814340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.24, Z:0.18 [[ 9.98243849e-01 -5.21290769e-02 -2.81385325e-02 8.23553014e+00] [ 5.21147198e-02 9.98640330e-01 -1.24384679e-03 -2.38564465e-01] [ 2.81651140e-02 -2.24769335e-04 9.99603259e-01 1.81674599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.24, Z:0.19 [[ 0.99817835 -0.0530882 -0.02866394 8.2628878 ] [ 0.05336321 0.99853537 0.00891533 -0.24171631] [ 0.02814866 -0.01042868 0.99954935 0.18692189] [ 0. 0. 0. 1. ]] SLAMing on 8.874340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.24, Z:0.18 [[ 9.98226206e-01 -5.28820685e-02 -2.73482862e-02 8.28907127e+00] [ 5.28439938e-02 9.98600543e-01 -2.11358375e-03 -2.35193503e-01] [ 2.74217841e-02 6.64642020e-04 9.99623731e-01 1.83295862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.24, Z:0.18 [[ 9.98200815e-01 -5.32567888e-02 -2.75471958e-02 8.31822820e+00] [ 5.32574019e-02 9.98580564e-01 -7.11950758e-04 -2.36692486e-01] [ 2.75460105e-02 -7.56422251e-04 9.99620250e-01 1.84857492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.934340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.23, Z:0.18 [[ 9.98187025e-01 -5.46959100e-02 -2.51201214e-02 8.34778083e+00] [ 5.45402576e-02 9.98488139e-01 -6.84072982e-03 -2.33317347e-01] [ 2.54563032e-02 5.45826986e-03 9.99661035e-01 1.81835344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.964340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.24, Z:0.18 [[ 9.98141433e-01 -5.54240024e-02 -2.53349477e-02 8.37465765e+00] [ 5.54186314e-02 9.98462788e-01 -9.14615484e-04 -2.36412105e-01] [ 2.53466941e-02 -4.91112518e-04 9.99678600e-01 1.84598522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.24, Z:0.19 [[ 9.98077037e-01 -5.61756316e-02 -2.62016465e-02 8.40007779e+00] [ 5.63515285e-02 9.98392821e-01 6.02325854e-03 -2.40449574e-01] [ 2.58211754e-02 -7.48817887e-03 9.99638532e-01 1.89325355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.23, Z:0.19 [[ 9.97988096e-01 -5.78365121e-02 -2.59749483e-02 8.42847973e+00] [ 5.77260604e-02 9.98320026e-01 -4.98276881e-03 -2.33839758e-01] [ 2.62194970e-02 3.47331253e-03 9.99650176e-01 1.85799852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.054340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.24, Z:0.19 [[ 9.97910076e-01 -5.94159367e-02 -2.54013121e-02 8.45792798e+00] [ 5.94379788e-02 9.98231994e-01 1.12948579e-04 -2.37584100e-01] [ 2.53496915e-02 -1.62251518e-03 9.99677328e-01 1.87526483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.23, Z:0.19 [[ 9.97786131e-01 -6.20593231e-02 -2.39055957e-02 8.48741330e+00] [ 6.19433746e-02 9.98064171e-01 -5.56132403e-03 -2.33853644e-01] [ 2.42044505e-02 4.06821872e-03 9.99698752e-01 1.85106648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.24, Z:0.19 [[ 9.97799260e-01 -6.14147711e-02 -2.49972532e-02 8.51390321e+00] [ 6.14962703e-02 9.98104172e-01 2.50402209e-03 -2.38620714e-01] [ 2.47960787e-02 -4.03574922e-03 9.99684384e-01 1.89740637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.144340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.24, Z:0.19 [[ 9.97760563e-01 -6.21032959e-02 -2.48402832e-02 8.54149453e+00] [ 6.21242394e-02 9.98068421e-01 7.15634393e-05 -2.37107826e-01] [ 2.47878579e-02 -1.61458688e-03 9.99691430e-01 1.90051030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.23, Z:0.19 [[ 9.97640040e-01 -6.42962361e-02 -2.40903258e-02 8.57064849e+00] [ 6.41909764e-02 9.97924507e-01 -5.11829556e-03 -2.33878799e-01] [ 2.43694136e-02 3.55983506e-03 9.99696684e-01 1.87897657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.24, Z:0.19 [[ 9.97795818e-01 -6.14157380e-02 -2.51319113e-02 8.59662562e+00] [ 6.14857570e-02 9.98105913e-01 2.02212725e-03 -2.37881317e-01] [ 2.49601189e-02 -3.56292471e-03 9.99682098e-01 1.91128870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.23, Z:0.19 [[ 9.97868493e-01 -6.06895268e-02 -2.39844198e-02 8.62314998e+00] [ 6.06663482e-02 9.98156664e-01 -1.69352269e-03 -2.34615887e-01] [ 2.40429875e-02 2.34865769e-04 9.99710898e-01 1.89296763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.23, Z:0.19 [[ 9.97928226e-01 -5.93004231e-02 -2.49542649e-02 8.65287601e+00] [ 5.92935618e-02 9.98240073e-01 -1.01544782e-03 -2.33200607e-01] [ 2.49705637e-02 -4.66283207e-04 9.99688078e-01 1.90584808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.294340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.23, Z:0.19 [[ 9.97994820e-01 -5.82973433e-02 -2.46527539e-02 8.68087669e+00] [ 5.82810341e-02 9.98299262e-01 -1.38015143e-03 -2.30512028e-01] [ 2.46912852e-02 -5.94040147e-05 9.99695122e-01 1.90378605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.23, Z:0.19 [[ 9.98073590e-01 -5.67106149e-02 -2.51597886e-02 8.70986557e+00] [ 5.67066685e-02 9.98390502e-01 -8.70874340e-04 -2.29327978e-01] [ 2.51686818e-02 -5.57531113e-04 9.99683063e-01 1.90851530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.23, Z:0.19 [[ 9.98096594e-01 -5.66640672e-02 -2.43387003e-02 8.73658676e+00] [ 5.65751442e-02 9.98388966e-01 -4.32729506e-03 -2.25582414e-01] [ 2.45446919e-02 2.94209299e-03 9.99694404e-01 1.89249934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.384340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.23, Z:0.19 [[ 9.98009931e-01 -5.84306261e-02 -2.37073874e-02 8.76658086e+00] [ 5.84381820e-02 9.98290959e-01 -3.74557299e-04 -2.26842854e-01] [ 2.36887561e-02 -1.01160472e-03 9.99718870e-01 1.91287153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.22, Z:0.19 [[ 9.98072978e-01 -5.76601941e-02 -2.29266738e-02 8.78913010e+00] [ 5.75812635e-02 9.98332450e-01 -4.08867477e-03 -2.22176566e-01] [ 2.31241962e-02 2.76064896e-03 9.99728788e-01 1.88909362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.23, Z:0.19 [[ 9.97983676e-01 -5.92072776e-02 -2.28709572e-02 8.82200471e+00] [ 5.92674933e-02 9.98240206e-01 1.96344520e-03 -2.25700825e-01] [ 2.27144588e-02 -3.31499057e-03 9.99736497e-01 1.93146482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.22, Z:0.19 [[ 9.98011684e-01 -5.94320181e-02 -2.09884420e-02 8.84463864e+00] [ 5.93003633e-02 9.98216744e-01 -6.84091744e-03 -2.17691173e-01] [ 2.13575837e-02 5.58269330e-03 9.99756314e-01 1.89259803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.22, Z:0.19 [[ 9.98039644e-01 -5.88874917e-02 -2.11927547e-02 8.87387962e+00] [ 5.88673282e-02 9.98264573e-01 -1.57457047e-03 -2.19779458e-01] [ 2.12486988e-02 3.23922898e-04 9.99774168e-01 1.92004656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.534340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.21, Z:0.19 [[ 9.97938791e-01 -6.10670016e-02 -1.97228464e-02 8.90211790e+00] [ 6.09211233e-02 9.98111201e-01 -7.91499216e-03 -2.11390638e-01] [ 2.01689388e-02 6.69713975e-03 9.99774156e-01 1.87257653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.22, Z:0.19 [[ 9.98057928e-01 -5.81407608e-02 -2.23612129e-02 8.93041757e+00] [ 5.83076824e-02 9.98274910e-01 6.88611938e-03 -2.19767666e-01] [ 2.19222736e-02 -8.17657654e-03 9.99726241e-01 1.94718876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.21, Z:0.19 [[ 9.98050031e-01 -5.83583423e-02 -2.21458851e-02 8.95882330e+00] [ 5.83493071e-02 9.98295671e-01 -1.05449922e-03 -2.14269300e-01] [ 2.21696801e-02 -2.39754074e-04 9.99754194e-01 1.92827065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.624340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.20, Z:0.18 [[ 0.99796899 -0.06067865 -0.01939052 8.98462462] [ 0.06039138 0.99806097 -0.01507271 -0.20234381] [ 0.02026751 0.01387108 0.99969837 0.18479442] [ 0. 0. 0. 1. ]] SLAMing on 9.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.21, Z:0.19 [[ 9.97987241e-01 -6.01098088e-02 -2.02059062e-02 9.01422168e+00] [ 6.00902729e-02 9.98191707e-01 -1.57315538e-03 -2.09177794e-01] [ 2.02639300e-02 3.55810580e-04 9.99794602e-01 1.90041557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.22, Z:0.20 [[ 0.99806878 -0.05776249 -0.02285162 9.04223465] [ 0.05798706 0.99827412 0.0092892 -0.21615813] [ 0.02227561 -0.01059636 0.99969571 0.19760425] [ 0. 0. 0. 1. ]] SLAMing on 9.714340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.21, Z:0.19 [[ 9.97955088e-01 -6.01422214e-02 -2.16461340e-02 9.07156202e+00] [ 6.00551860e-02 9.98184231e-01 -4.64926425e-03 -2.06048567e-01] [ 2.18864467e-02 3.33979431e-03 9.99754885e-01 1.92749821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.20, Z:0.19 [[ 9.97879052e-01 -6.18930790e-02 -2.01654228e-02 9.09916130e+00] [ 6.18016937e-02 9.98075293e-01 -5.12448331e-03 -2.03856203e-01] [ 2.04437803e-02 3.86735726e-03 9.99783524e-01 1.91615165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.21, Z:0.20 [[ 9.97712561e-01 -6.44078822e-02 -2.05248934e-02 9.12889534e+00] [ 6.45182654e-02 9.97905168e-01 4.76130457e-03 -2.08988893e-01] [ 2.01752317e-02 -6.07464389e-03 9.99778005e-01 1.98761970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.804340128000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.21, Z:0.20 [[ 9.97650776e-01 -6.48910133e-02 -2.19564266e-02 9.15734571e+00] [ 6.49673111e-02 9.97883523e-01 2.77892966e-03 -2.07515467e-01] [ 2.17296288e-02 -4.19885134e-03 9.99755066e-01 2.00294383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.20, Z:0.20 [[ 9.97520669e-01 -6.70238152e-02 -2.14551300e-02 9.18525157e+00] [ 6.69249570e-02 9.97743968e-01 -5.29381280e-03 -2.01096456e-01] [ 2.17615380e-02 3.84480404e-03 9.99755797e-01 1.96534034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.20, Z:0.20 [[ 9.97264669e-01 -7.00824706e-02 -2.34867478e-02 9.21024757e+00] [ 7.01868274e-02 9.97527194e-01 3.64771099e-03 -2.02263612e-01] [ 2.31730290e-02 -5.28619360e-03 9.99717494e-01 1.98681824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.894340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.20, Z:0.20 [[ 9.97137701e-01 -7.18711567e-02 -2.34721354e-02 9.24008947e+00] [ 7.17768625e-02 9.97408989e-01 -4.83646000e-03 -1.95419414e-01] [ 2.37589208e-02 3.13786038e-03 9.99712793e-01 1.97399071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.20, Z:0.20 [[ 9.97088564e-01 -7.24084568e-02 -2.39042020e-02 9.26804328e+00] [ 7.24309139e-02 9.97373429e-01 7.38388189e-05 -1.95896956e-01] [ 2.38360694e-02 -1.80502704e-03 9.99714251e-01 2.00309089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.20, Z:0.20 [[ 9.97092936e-01 -7.23832205e-02 -2.37980164e-02 9.29726805e+00] [ 7.24234517e-02 9.97373627e-01 8.31877224e-04 -1.95049966e-01] [ 2.36753000e-02 -2.55299339e-03 9.99716441e-01 2.01561188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.19, Z:0.20 [[ 9.97239521e-01 -7.01580449e-02 -2.43143447e-02 9.32393210e+00] [ 7.01060311e-02 9.97535076e-01 -2.98612772e-03 -1.92074395e-01] [ 2.44639125e-02 1.27330238e-03 9.99699903e-01 2.01140791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.19, Z:0.20 [[ 9.97190159e-01 -7.04970947e-02 -2.53366754e-02 9.35225227e+00] [ 7.05315402e-02 9.97509440e-01 4.67317119e-04 -1.89573866e-01] [ 2.52406284e-02 -2.25303877e-03 9.99678866e-01 2.03242182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.19, Z:0.20 [[ 9.97263738e-01 -6.96593289e-02 -2.47510568e-02 9.37984643e+00] [ 6.96427471e-02 9.97570819e-01 -1.53236003e-03 -1.86582173e-01] [ 2.47976752e-02 -1.95564496e-04 9.99692471e-01 2.02623723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.19, Z:0.20 [[ 9.97349891e-01 -6.84387404e-02 -2.46846955e-02 9.40844618e+00] [ 6.84358338e-02 9.97655055e-01 -9.63506941e-04 -1.86322457e-01] [ 2.46927524e-02 -7.28364176e-04 9.99694822e-01 2.04036558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.18, Z:0.21 [[ 9.97317022e-01 -6.89135927e-02 -2.46915978e-02 9.43586243e+00] [ 6.89012053e-02 9.97622570e-01 -1.35311561e-03 -1.83309195e-01] [ 2.47261433e-02 -3.51795616e-04 9.99694200e-01 2.05141231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.134340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.18, Z:0.20 [[ 9.97551864e-01 -6.67547126e-02 -2.08347337e-02 9.46733877e+00] [ 6.65987157e-02 9.97747009e-01 -8.09426302e-03 -1.79023178e-01] [ 2.13281235e-02 6.68688066e-03 9.99750167e-01 2.01029585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.18, Z:0.21 [[ 9.97510743e-01 -6.61891438e-02 -2.43169695e-02 9.49332940e+00] [ 6.64274778e-02 9.97749513e-01 9.12682505e-03 -1.82955837e-01] [ 2.36581478e-02 -1.07194210e-02 9.99662636e-01 2.12227035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.18, Z:0.21 [[ 9.97524141e-01 -6.65829996e-02 -2.26338785e-02 9.52344804e+00] [ 6.66300557e-02 9.97776862e-01 1.33042532e-03 -1.75871922e-01] [ 2.24949765e-02 -2.83522796e-03 9.99742936e-01 2.09855813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.17, Z:0.21 [[ 9.97594910e-01 -6.54949185e-02 -2.26894314e-02 9.54990259e+00] [ 6.54376202e-02 9.97851339e-01 -3.25945680e-03 -1.70529976e-01] [ 2.28541573e-02 1.76687512e-03 9.99737248e-01 2.09181808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.17, Z:0.21 [[ 9.97653037e-01 -6.49337019e-02 -2.17263054e-02 9.57787548e+00] [ 6.49074222e-02 9.97889456e-01 -1.91332958e-03 -1.68166675e-01] [ 2.18046907e-02 4.98640583e-04 9.99762125e-01 2.11167197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.284340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.16, Z:0.21 [[ 9.97743937e-01 -6.45494927e-02 -1.84498931e-02 9.60921916e+00] [ 6.44092423e-02 9.97890711e-01 -8.09805044e-03 -1.64745528e-01] [ 1.89337020e-02 6.89143710e-03 9.99796991e-01 2.06447226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.314340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.17, Z:0.22 [[ 9.97711392e-01 -6.40688760e-02 -2.16138032e-02 9.63743558e+00] [ 6.42803960e-02 9.97889125e-01 9.23709615e-03 -1.74265431e-01] [ 2.09763688e-02 -1.06052999e-02 9.99723722e-01 2.17639066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.16, Z:0.21 [[ 9.97496691e-01 -6.81692157e-02 -1.87965431e-02 9.66390379e+00] [ 6.81678911e-02 9.97673610e-01 -7.11924022e-04 -1.63040427e-01] [ 1.88013463e-02 -5.71178845e-04 9.99823076e-01 2.13888852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.374340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.16, Z:0.21 [[ 9.97508027e-01 -6.84079024e-02 -1.72654527e-02 9.69307087e+00] [ 6.82905190e-02 9.97638771e-01 -7.29982812e-03 -1.58029714e-01] [ 1.77240510e-02 6.10257042e-03 9.99824293e-01 2.09479110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.16, Z:0.22 [[ 9.97427574e-01 -6.92208892e-02 -1.86199698e-02 9.71943853e+00] [ 6.93423513e-02 9.97575131e-01 5.95788526e-03 -1.62588143e-01] [ 1.81624086e-02 -7.23371153e-03 9.99808882e-01 2.16567764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.16, Z:0.21 [[ 9.97344389e-01 -7.03926114e-02 -1.86828617e-02 9.74594592e+00] [ 7.03915041e-02 9.97519183e-01 -7.17689951e-04 -1.55981150e-01] [ 1.86870330e-02 -5.99330691e-04 9.99825203e-01 2.14184451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.464340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.15, Z:0.21 [[ 9.97377949e-01 -7.03198721e-02 -1.70980133e-02 9.77618346e+00] [ 7.01693848e-02 9.97492218e-01 -9.24833399e-03 -1.50922120e-01] [ 1.77054769e-02 8.02432731e-03 9.99811045e-01 2.09014312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.16, Z:0.22 [[ 9.97237911e-01 -7.17534556e-02 -1.91830879e-02 9.80210145e+00] [ 7.19159501e-02 9.97379262e-01 7.91860322e-03 -1.56700077e-01] [ 1.85646269e-02 -9.27630133e-03 9.99784629e-01 2.17701754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.15, Z:0.22 [[ 9.97172437e-01 -7.25669784e-02 -1.95234290e-02 9.83010227e+00] [ 7.25659659e-02 9.97363325e-01 -7.61227376e-04 -1.50144144e-01] [ 1.95271920e-02 -6.57661524e-04 9.99809110e-01 2.15490967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.554340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.15, Z:0.21 [[ 9.97174125e-01 -7.27208594e-02 -1.88531214e-02 9.85870141e+00] [ 7.26330297e-02 9.97344634e-01 -5.30315517e-03 -1.47348166e-01] [ 1.91887094e-02 3.91880979e-03 9.99808200e-01 2.12001915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.14, Z:0.21 [[ 9.96982549e-01 -7.55239242e-02 -1.79425251e-02 9.88864452e+00] [ 7.54002018e-02 9.97125330e-01 -7.47567279e-03 -1.42120034e-01] [ 1.84555384e-02 6.10024530e-03 9.99811072e-01 2.09343153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.14, Z:0.21 [[ 9.96954332e-01 -7.57860075e-02 -1.83994752e-02 9.91742382e+00] [ 7.57865859e-02 9.97123838e-01 -6.66843918e-04 -1.44597961e-01] [ 1.83970927e-02 -7.29620473e-04 9.99830493e-01 2.12207839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.14, Z:0.22 [[ 9.96883326e-01 -7.63253151e-02 -1.99519745e-02 9.94348295e+00] [ 7.64106969e-02 9.97070104e-01 3.55151621e-03 -1.44526402e-01] [ 1.96224467e-02 -5.06499156e-03 9.99794632e-01 2.15345662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.14, Z:0.22 [[ 9.96753630e-01 -7.74077932e-02 -2.21412606e-02 9.96973470e+00] [ 7.74566844e-02 9.96994794e-01 1.35784964e-03 -1.40809131e-01] [ 2.19696134e-02 -3.06843018e-03 9.99753930e-01 2.17879892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.14, Z:0.22 [[ 9.96756060e-01 -7.74656108e-02 -2.18273956e-02 9.99899027e+00] [ 7.75830603e-02 9.96975348e-01 4.58512129e-03 -1.40697675e-01] [ 2.14061861e-02 -6.26368358e-03 9.99751240e-01 2.18917848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.734340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.14, Z:0.22 [[ 9.96727744e-01 -7.78982479e-02 -2.15793034e-02 1.00274251e+01] [ 7.78993791e-02 9.96960914e-01 -7.89456059e-04 -1.36248861e-01] [ 2.15752193e-02 -8.94141583e-04 9.99766828e-01 2.18027010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.13, Z:0.22 [[ 9.96577222e-01 -8.00348286e-02 -2.06945902e-02 1.00518132e+01] [ 8.00038374e-02 9.96791850e-01 -2.32248301e-03 -1.31207274e-01] [ 2.08140784e-02 6.58887036e-04 9.99783146e-01 2.17197325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.794340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.13, Z:0.22 [[ 9.96529645e-01 -8.06181431e-02 -2.07215148e-02 1.00792389e+01] [ 8.06174132e-02 9.96744738e-01 -8.71932138e-04 -1.30577787e-01] [ 2.07243544e-02 -8.01608695e-04 9.99784906e-01 2.17794502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.13, Z:0.22 [[ 9.96442360e-01 -8.14504561e-02 -2.16436400e-02 1.01094424e+01] [ 8.14044748e-02 9.96676638e-01 -2.99855955e-03 -1.27754995e-01] [ 2.18159444e-02 1.22600261e-03 9.99761252e-01 2.17566923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.13, Z:0.22 [[ 9.96529960e-01 -8.01869959e-02 -2.23178286e-02 1.01379227e+01] [ 8.02221332e-02 9.96776777e-01 6.82133750e-04 -1.27743752e-01] [ 2.21911950e-02 -2.47015054e-03 9.99750694e-01 2.18896477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.12, Z:0.22 [[ 9.96568041e-01 -7.98775321e-02 -2.17191096e-02 1.01638784e+01] [ 7.98907502e-02 9.96803592e-01 -2.59792883e-04 -1.23639225e-01] [ 2.16704380e-02 -1.47625467e-03 9.99764079e-01 2.18992764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.12, Z:0.22 [[ 9.96636077e-01 -7.84571109e-02 -2.36856994e-02 1.01940588e+01] [ 7.84111532e-02 9.96916991e-01 -2.86429214e-03 -1.20516814e-01] [ 2.38374003e-02 9.97433874e-04 9.99715351e-01 2.18168254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.12, Z:0.22 [[ 9.96829832e-01 -7.57820820e-02 -2.42355658e-02 1.02208223e+01] [ 7.57715300e-02 9.97124285e-01 -1.35473893e-03 -1.15917353e-01] [ 2.42685362e-02 -4.85921728e-04 9.99705358e-01 2.18323208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.974340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.11, Z:0.21 [[ 9.96997577e-01 -7.40500305e-02 -2.26368041e-02 1.02484906e+01] [ 7.38325715e-02 9.97217491e-01 -1.02969796e-02 -1.08086311e-01] [ 2.33363087e-02 8.59473027e-03 9.99690726e-01 2.11511505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.11, Z:0.22 [[ 9.97228839e-01 -6.91233897e-02 -2.75063583e-02 1.02746151e+01] [ 6.91079338e-02 9.97608041e-01 -1.51327846e-03 -1.10139248e-01] [ 2.75451671e-02 -3.91822665e-04 9.99620483e-01 2.19045699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.034340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.11, Z:0.22 [[ 9.97323548e-01 -6.84136826e-02 -2.57935627e-02 1.03064559e+01] [ 6.85794387e-02 9.97629962e-01 5.59634195e-03 -1.12659260e-01] [ 2.53495646e-02 -7.35027166e-03 9.99651626e-01 2.19226546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.11, Z:0.22 [[ 9.97354130e-01 -6.79345841e-02 -2.58772598e-02 1.03337403e+01] [ 6.79201945e-02 9.97689724e-01 -1.43562392e-03 -1.06727308e-01] [ 2.59150047e-02 -3.25763072e-04 9.99664097e-01 2.17768676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.11, Z:0.22 [[ 9.97452956e-01 -6.66512477e-02 -2.54010288e-02 1.03607626e+01] [ 6.66952792e-02 9.97772995e-01 8.89269039e-04 -1.07037896e-01] [ 2.52851897e-02 -2.58113274e-03 9.99676946e-01 2.18047312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.11, Z:0.22 [[ 9.97489620e-01 -6.60828386e-02 -2.54463493e-02 1.03887361e+01] [ 6.61723949e-02 9.97804572e-01 2.69266735e-03 -1.06006986e-01] [ 2.52125445e-02 -4.36975361e-03 9.99672563e-01 2.21632944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.154340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.10, Z:0.22 [[ 9.97487584e-01 -6.62830283e-02 -2.50015995e-02 1.04186487e+01] [ 6.60527191e-02 9.97766736e-01 -9.92870953e-03 -9.75115834e-02] [ 2.56038693e-02 8.25234086e-03 9.99638105e-01 2.16606480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.11, Z:0.23 [[ 0.99751958 -0.06374265 -0.02985902 10.45163094] [ 0.06416909 0.99784708 0.01354712 -0.11257672] [ 0.02893121 -0.01542954 0.99946231 0.2291523 ] [ 0. 0. 0. 1. ]] SLAMing on 11.214340128000002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.09, Z:0.22 [[ 0.99744346 -0.06709285 -0.02459877 10.47841577] [ 0.06672974 0.99765381 -0.0152974 -0.09137681] [ 0.02556741 0.01361682 0.99958036 0.21632279] [ 0. 0. 0. 1. ]] SLAMing on 11.244340128000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.10, Z:0.22 [[ 9.97460172e-01 -6.64910814e-02 -2.55370519e-02 1.05048354e+01] [ 6.65363859e-02 9.97783568e-01 9.27536088e-04 -9.94471272e-02] [ 2.54187778e-02 -2.62432344e-03 9.99673446e-01 2.21575580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.10, Z:0.22 [[ 9.97413887e-01 -6.75760806e-02 -2.44747215e-02 1.05336906e+01] [ 6.75287015e-02 9.97713520e-01 -2.75813821e-03 -9.67086193e-02] [ 2.46051447e-02 1.09825920e-03 9.99696644e-01 2.21147790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.10, Z:0.22 [[ 9.97334781e-01 -6.85549453e-02 -2.49710511e-02 1.05615190e+01] [ 6.86283756e-02 9.97640095e-01 2.09457618e-03 -9.86751538e-02] [ 2.47685282e-02 -3.80271635e-03 9.99685980e-01 2.23901403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.334340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.09, Z:0.22 [[ 9.97231408e-01 -7.03187862e-02 -2.41823661e-02 1.05882560e+01] [ 7.02718527e-02 9.97523987e-01 -2.78621763e-03 -9.43762450e-02] [ 2.43184137e-02 1.07916406e-03 9.99703681e-01 2.22491565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.10, Z:0.23 [[ 9.97025332e-01 -7.29096640e-02 -2.49933808e-02 1.06163767e+01] [ 7.29981095e-02 9.97328575e-01 2.64361979e-03 -9.61655580e-02] [ 2.47338674e-02 -4.46022545e-03 9.99684121e-01 2.25969326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.394340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.09, Z:0.23 [[ 9.96894441e-01 -7.51438181e-02 -2.35558763e-02 1.06430348e+01] [ 7.51126317e-02 9.97172613e-01 -2.20719588e-03 -9.05697769e-02] [ 2.36551318e-02 4.30997444e-04 9.99720085e-01 2.25148522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.09, Z:0.23 [[ 9.96862360e-01 -7.54503416e-02 -2.39307557e-02 1.06716564e+01] [ 7.54497040e-02 9.97149174e-01 -9.30847565e-04 -9.02623759e-02] [ 2.39327661e-02 -8.77641534e-04 9.99713185e-01 2.25666185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.09, Z:0.23 [[ 9.96596354e-01 -7.89813086e-02 -2.36148383e-02 1.07006262e+01] [ 7.89464546e-02 9.96875954e-01 -2.40605444e-03 -8.63708143e-02] [ 2.37310978e-02 5.33557322e-04 9.99718235e-01 2.25477422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.09, Z:0.23 [[ 9.96637343e-01 -7.78868706e-02 -2.54487971e-02 1.07290360e+01] [ 7.80044305e-02 9.96946300e-01 3.65836032e-03 -8.94018416e-02] [ 2.50861459e-02 -5.63117743e-03 9.99669433e-01 2.28374273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.08, Z:0.23 [[ 9.96656607e-01 -7.76463197e-02 -2.54294616e-02 1.07546847e+01] [ 7.76675262e-02 9.96979303e-01 -1.54175992e-04 -8.45458554e-02] [ 2.53646181e-02 -1.82138285e-03 9.99676607e-01 2.27545705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.08, Z:0.23 [[ 9.96676165e-01 -7.72375757e-02 -2.59032786e-02 1.07828679e+01] [ 7.72309622e-02 9.97012436e-01 -1.25714989e-03 -8.18930376e-02] [ 2.59229901e-02 -7.47563798e-04 9.99663663e-01 2.27609693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.08, Z:0.23 [[ 9.96668045e-01 -7.70599303e-02 -2.67315307e-02 1.08094262e+01] [ 7.70525928e-02 9.97026174e-01 -1.30596580e-03 -8.01372147e-02] [ 2.67526735e-02 -7.58119376e-04 9.99641796e-01 2.28127343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.07, Z:0.23 [[ 9.96443398e-01 -7.91162476e-02 -2.90029913e-02 1.08419261e+01] [ 7.89285387e-02 9.96851591e-01 -7.56252879e-03 -7.39009294e-02] [ 2.95099969e-02 5.24646817e-03 9.99550716e-01 2.28051138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.634340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.08, Z:0.23 [[ 9.96749107e-01 -7.52032935e-02 -2.89081864e-02 1.08680337e+01] [ 7.53602781e-02 9.97146759e-01 4.37832514e-03 -7.94532686e-02] [ 2.84964399e-02 -6.54262064e-03 9.99572482e-01 2.31196328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.07, Z:0.23 [[ 9.96801281e-01 -7.48765393e-02 -2.79411829e-02 1.08939655e+01] [ 7.48788050e-02 9.97192173e-01 -9.66678502e-04 -7.40299403e-02] [ 2.79351104e-02 -1.12861602e-03 9.99609102e-01 2.30609737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.694340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.07, Z:0.23 [[ 9.96909735e-01 -7.32750715e-02 -2.83150970e-02 1.09216381e+01] [ 7.32640890e-02 9.97311555e-01 -1.42651901e-03 -7.14519661e-02] [ 2.83435017e-02 -6.52369094e-04 9.99598029e-01 2.31495247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.07, Z:0.23 [[ 9.96914589e-01 -7.34014787e-02 -2.78123219e-02 1.09526530e+01] [ 7.32020784e-02 9.97284053e-01 -8.12245153e-03 -6.59096343e-02] [ 2.83329850e-02 6.06147066e-03 9.99580162e-01 2.28830719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.07, Z:0.23 [[ 9.97102538e-01 -7.08762602e-02 -2.76239758e-02 1.09784007e+01] [ 7.09750923e-02 9.97474667e-01 2.61261055e-03 -7.05653366e-02] [ 2.73690440e-02 -4.56565485e-03 9.99614971e-01 2.33027140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.07, Z:0.23 [[ 9.97142477e-01 -7.04890671e-02 -2.71693101e-02 1.10048322e+01] [ 7.05479233e-02 9.97507654e-01 1.21265548e-03 -6.80056276e-02] [ 2.70161158e-02 -3.12592870e-03 9.99630111e-01 2.34511885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.814340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.06, Z:0.23 [[ 9.97184640e-01 -7.01528945e-02 -2.64832905e-02 1.10329330e+01] [ 7.01418891e-02 9.97536117e-01 -1.34543761e-03 -6.48029094e-02] [ 2.65124252e-02 -5.15938311e-04 9.99648351e-01 2.34497057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.06, Z:0.23 [[ 9.97112871e-01 -7.08975426e-02 -2.71930342e-02 1.10635475e+01] [ 7.06504583e-02 9.97451576e-01 -9.94314462e-03 -5.66599111e-02] [ 2.78286793e-02 7.99323715e-03 9.99580748e-01 2.33521044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.874340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.06, Z:0.23 [[ 9.97185286e-01 -7.02875745e-02 -2.60991019e-02 1.10908550e+01] [ 7.02627596e-02 9.97526770e-01 -1.86777218e-03 -5.84307224e-02] [ 2.61658340e-02 2.87200159e-05 9.99657616e-01 2.34356737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.06, Z:0.24 [[ 9.97290216e-01 -6.89780701e-02 -2.55783388e-02 1.11180793e+01] [ 6.90140981e-02 9.97615545e-01 5.27391444e-04 -5.75331991e-02] [ 2.54809699e-02 -2.29122831e-03 9.99672682e-01 2.35220460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.06, Z:0.24 [[ 9.97328421e-01 -6.79413454e-02 -2.68327103e-02 1.11463621e+01] [ 6.80610143e-02 9.97674770e-01 3.57093308e-03 -5.81434019e-02] [ 2.65277041e-02 -5.38765453e-03 9.99633560e-01 2.38860357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.05, Z:0.23 [[ 9.97350296e-01 -6.83357096e-02 -2.49523101e-02 1.11732930e+01] [ 6.81612700e-02 9.97644006e-01 -7.77676336e-03 -4.81652317e-02] [ 2.54249532e-02 6.05537609e-03 9.99658394e-01 2.33727335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.06, Z:0.24 [[ 9.97511928e-01 -6.47240607e-02 -2.79418894e-02 1.12012119e+01] [ 6.49400569e-02 9.97865364e-01 6.89226671e-03 -5.74974551e-02] [ 2.74361481e-02 -8.68966614e-03 9.99585788e-01 2.40990705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.05, Z:0.24 [[ 9.97552903e-01 -6.37435294e-02 -2.87222637e-02 1.12292746e+01] [ 6.37332100e-02 9.97966157e-01 -1.27554338e-03 -5.16476182e-02] [ 2.87451547e-02 -5.58140060e-04 9.99586617e-01 2.40251932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.054340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.04, Z:0.23 [[ 0.99754508 -0.06496271 -0.02614687 11.25562959] [ 0.06463491 0.99782175 -0.01319373 -0.04086485] [ 0.02694702 0.01147134 0.99957104 0.23384676] [ 0. 0. 0. 1. ]] SLAMing on 12.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.05, Z:0.24 [[ 9.97672196e-01 -6.19566589e-02 -2.84879284e-02 1.12835756e+01] [ 6.20346699e-02 9.98072258e-01 1.86193902e-03 -4.71598339e-02] [ 2.83176515e-02 -3.62484402e-03 9.99592402e-01 2.39143930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.04, Z:0.24 [[ 9.97735020e-01 -6.08874447e-02 -2.85928218e-02 1.13120841e+01] [ 6.09480456e-02 9.98140155e-01 1.25192316e-03 -4.49446378e-02] [ 2.84634172e-02 -2.99176419e-03 9.99590358e-01 2.39614326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.04, Z:0.24 [[ 9.97785843e-01 -6.03822374e-02 -2.78818262e-02 1.13401293e+01] [ 6.03295612e-02 9.98174787e-01 -2.72740056e-03 -4.10289283e-02] [ 2.79956224e-02 1.03926333e-03 9.99607506e-01 2.38798332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.04, Z:0.24 [[ 9.97808074e-01 -6.01340386e-02 -2.76214669e-02 1.13681338e+01] [ 6.01557223e-02 9.98189004e-01 -4.60007808e-05 -4.29092005e-02] [ 2.75742107e-02 -1.61568934e-03 9.99618453e-01 2.40783023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.04, Z:0.24 [[ 9.97784612e-01 -6.04973615e-02 -2.76755615e-02 1.13958476e+01] [ 6.04473077e-02 9.98167892e-01 -2.64241461e-03 -4.11017469e-02] [ 2.77847160e-02 9.63647448e-04 9.99613466e-01 2.41423856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.04, Z:0.24 [[ 9.97686888e-01 -6.21107495e-02 -2.76247665e-02 1.14228007e+01] [ 6.20350006e-02 9.98067513e-01 -3.59150590e-03 -4.09053027e-02] [ 2.77944531e-02 1.86949594e-03 9.99611911e-01 2.41803211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.04, Z:0.24 [[ 9.97658172e-01 -6.24686124e-02 -2.78539980e-02 1.14508375e+01] [ 6.25029072e-02 9.98044716e-01 3.61439892e-04 -4.25818537e-02] [ 2.77769568e-02 -2.10154931e-03 9.99611937e-01 2.44076407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.294340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.04, Z:0.24 [[ 9.97606934e-01 -6.30332818e-02 -2.84114659e-02 1.14785946e+01] [ 6.30218646e-02 9.98011302e-01 -1.29801617e-03 -4.06274651e-02] [ 2.84367823e-02 -4.95633625e-04 9.99595470e-01 2.44764041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.04, Z:0.25 [[ 9.97456640e-01 -6.49613758e-02 -2.93303615e-02 1.15094577e+01] [ 6.50694865e-02 9.97876958e-01 2.74566735e-03 -4.43304318e-02] [ 2.90897295e-02 -4.64719569e-03 9.99566001e-01 2.47831077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.354340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.04, Z:0.25 [[ 9.97384443e-01 -6.60209165e-02 -2.94195758e-02 1.15375096e+01] [ 6.60024348e-02 9.97818179e-01 -1.59991943e-03 -4.17718952e-02] [ 2.94610157e-02 -3.46028882e-04 9.99565870e-01 2.47721962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.04, Z:0.25 [[ 9.97298452e-01 -6.71457608e-02 -2.97866463e-02 1.15648109e+01] [ 6.71270527e-02 9.97743106e-01 -1.62872278e-03 -4.17719866e-02] [ 2.98287828e-02 -3.75167069e-04 9.99554952e-01 2.48358021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.04, Z:0.25 [[ 9.97164424e-01 -6.89145784e-02 -3.02306569e-02 1.15926189e+01] [ 6.88959175e-02 9.97622473e-01 -1.65971119e-03 -4.17203012e-02] [ 3.02731610e-02 -4.27763888e-04 9.99541571e-01 2.48853772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.04, Z:0.25 [[ 9.96934897e-01 -7.17706689e-02 -3.11413111e-02 1.16195656e+01] [ 7.17519635e-02 9.97421025e-01 -1.71918604e-03 -4.30117355e-02] [ 3.11843856e-02 -5.20533661e-04 9.99513513e-01 2.49793831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.04, Z:0.25 [[ 9.96820292e-01 -7.33757525e-02 -3.10693418e-02 1.16474695e+01] [ 7.33577543e-02 9.97304207e-01 -1.72029921e-03 -4.20585734e-02] [ 3.11118135e-02 -5.64347983e-04 9.99515751e-01 2.50278552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.04, Z:0.25 [[ 9.96619295e-01 -7.58554271e-02 -3.15584392e-02 1.16740917e+01] [ 7.58378078e-02 9.97118619e-01 -1.75661895e-03 -4.19394720e-02] [ 3.16007565e-02 -6.42642514e-04 9.99500365e-01 2.50890336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.534340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.04, Z:0.25 [[ 9.96499924e-01 -7.72917346e-02 -3.18416153e-02 1.17007982e+01] [ 7.72743787e-02 9.97008281e-01 -1.77713699e-03 -4.13744616e-02] [ 3.18837122e-02 -6.89624166e-04 9.99491347e-01 2.51474387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.04, Z:0.25 [[ 9.96405781e-01 -7.84059720e-02 -3.20628030e-02 1.17281237e+01] [ 7.83887477e-02 9.96921250e-01 -1.79579671e-03 -4.13579871e-02] [ 3.21048909e-02 -7.24020753e-04 9.99484243e-01 2.51946872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.04, Z:0.25 [[ 9.96260081e-01 -7.99846721e-02 -3.26848990e-02 1.17558188e+01] [ 7.99674433e-02 9.96795785e-01 -1.83609172e-03 -4.31069137e-02] [ 3.27270287e-02 -7.84502921e-04 9.99464019e-01 2.53103906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.04, Z:0.25 [[ 9.96236638e-01 -8.02763762e-02 -3.26843301e-02 1.17843239e+01] [ 8.02589738e-02 9.96772335e-01 -1.84616805e-03 -4.13303341e-02] [ 3.27270397e-02 -7.83990537e-04 9.99464019e-01 2.53866278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.04, Z:0.25 [[ 9.96195953e-01 -8.08230207e-02 -3.25770140e-02 1.18113380e+01] [ 8.08057433e-02 9.96728155e-01 -1.84871971e-03 -4.10161993e-02] [ 3.26198462e-02 -7.90722739e-04 9.99467518e-01 2.54764496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.04, Z:0.26 [[ 9.96184602e-01 -8.09435637e-02 -3.26248132e-02 1.18395767e+01] [ 8.09261204e-02 9.96718373e-01 -1.85693237e-03 -4.05210890e-02] [ 3.26680574e-02 -7.90352122e-04 9.99465944e-01 2.56338145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.714340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.04, Z:0.26 [[ 9.96511834e-01 -7.75778084e-02 -3.07546627e-02 1.18673070e+01] [ 7.75158839e-02 9.96985974e-01 -3.20248032e-03 -4.04761075e-02] [ 3.09104087e-02 8.07334677e-04 9.99521833e-01 2.55893745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.04, Z:0.26 [[ 9.96399921e-01 -7.82881456e-02 -3.25294308e-02 1.18953316e+01] [ 7.83126052e-02 9.96928715e-01 -5.23423803e-04 -3.98103630e-02] [ 3.24705015e-02 -2.02592504e-03 9.99470641e-01 2.58821829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.04, Z:0.26 [[ 9.96471793e-01 -7.72042535e-02 -3.29161011e-02 1.19237049e+01] [ 7.71836130e-02 9.97015087e-01 -1.89914037e-03 -3.82212188e-02] [ 3.29644711e-02 -6.48143799e-04 9.99456314e-01 2.59461853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.04, Z:0.26 [[ 9.96696591e-01 -7.41419090e-02 -3.31493990e-02 1.19517463e+01] [ 7.41189365e-02 9.97247555e-01 -1.92299350e-03 -3.95796546e-02] [ 3.32007315e-02 -5.40357130e-04 9.99448558e-01 2.60908697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.04, Z:0.26 [[ 9.96797421e-01 -7.26127658e-02 -3.35005487e-02 1.19785231e+01] [ 7.25881278e-02 9.97360091e-01 -1.95268554e-03 -3.94314896e-02] [ 3.35539002e-02 -4.85310193e-04 9.99436792e-01 2.62487459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.04, Z:0.26 [[ 9.96934923e-01 -7.07699872e-02 -3.33521874e-02 1.20060010e+01] [ 7.07443866e-02 9.97492574e-01 -1.94850976e-03 -3.89557301e-02] [ 3.34064552e-02 -4.16942606e-04 9.99441762e-01 2.63547998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.894340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.04, Z:0.27 [[ 9.97276443e-01 -6.62105597e-02 -3.24939736e-02 1.20323619e+01] [ 6.63393185e-02 9.97792909e-01 2.89938959e-03 -4.17650960e-02] [ 3.22302862e-02 -5.04712100e-03 9.99467726e-01 2.65481797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.03, Z:0.26 [[ 9.97185901e-01 -6.69774379e-02 -3.36794094e-02 1.20632676e+01] [ 6.67789093e-02 9.97743336e-01 -6.98662977e-03 -3.41641664e-02] [ 3.40713528e-02 4.71789448e-03 9.99408267e-01 2.63910524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.04, Z:0.27 [[ 9.97263906e-01 -6.55288471e-02 -3.42150974e-02 1.20929508e+01] [ 6.57240628e-02 9.97827182e-01 4.61114309e-03 -4.10397527e-02] [ 3.38385914e-02 -6.84728177e-03 9.99403855e-01 2.68322662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.03, Z:0.27 [[ 9.97238374e-01 -6.62708986e-02 -3.35230169e-02 1.21181868e+01] [ 6.60800457e-02 9.97791354e-01 -6.77063882e-03 -3.37167053e-02] [ 3.38976727e-02 4.53673837e-03 9.99415012e-01 2.65867254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.04, Z:0.27 [[ 9.97052218e-01 -6.74829773e-02 -3.65092054e-02 1.21519015e+01] [ 6.74704502e-02 9.97720027e-01 -1.57647711e-03 -3.75263768e-02] [ 3.65323508e-02 -8.91462523e-04 9.99332073e-01 2.70554542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.044340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.04, Z:0.27 [[ 9.97077081e-01 -6.86727714e-02 -3.34864931e-02 1.21748687e+01] [ 6.85804168e-02 9.97637968e-01 -3.90015042e-03 -3.51510023e-02] [ 3.36752311e-02 1.59223294e-03 9.99431560e-01 2.69494813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.03, Z:0.27 [[ 9.96885906e-01 -7.09833523e-02 -3.43490182e-02 1.22049247e+01] [ 7.08488509e-02 9.97473929e-01 -5.11870137e-03 -3.25912247e-02] [ 3.46255927e-02 2.66917278e-03 9.99396790e-01 2.70953907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.03, Z:0.27 [[ 9.96883605e-01 -7.13765272e-02 -3.35926992e-02 1.22319437e+01] [ 7.14457508e-02 9.97444113e-01 8.63306222e-04 -3.47396586e-02] [ 3.34452202e-02 -3.26067143e-03 9.99435233e-01 2.73377402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.134340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.03, Z:0.27 [[ 9.96696845e-01 -7.41010155e-02 -3.32331046e-02 1.22589727e+01] [ 7.40751702e-02 9.97250635e-01 -2.00993463e-03 -3.17591691e-02] [ 3.32906729e-02 -4.58452375e-04 9.99445607e-01 2.73517178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.03, Z:0.28 [[ 9.96648841e-01 -7.48712474e-02 -3.29451716e-02 1.22860185e+01] [ 7.49338621e-02 9.97188282e-01 6.68268478e-04 -3.18999583e-02] [ 3.28025050e-02 -3.13473795e-03 9.99456937e-01 2.75026020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.194340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.02, Z:0.27 [[ 9.96380137e-01 -7.82446097e-02 -3.32325689e-02 1.23160916e+01] [ 7.79544470e-02 9.96907358e-01 -9.94098995e-03 -2.39103191e-02] [ 3.39076213e-02 7.31437840e-03 9.99398205e-01 2.71145552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.03, Z:0.28 [[ 9.96176773e-01 -8.01482329e-02 -3.47576942e-02 1.23434140e+01] [ 8.03101440e-02 9.96764510e-01 3.28520295e-03 -3.01788446e-02] [ 3.43819328e-02 -6.06403830e-03 9.99390369e-01 2.77557654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.02, Z:0.27 [[ 9.95953808e-01 -8.31185350e-02 -3.41660885e-02 1.23710466e+01] [ 8.28394825e-02 9.96517565e-01 -9.50597533e-03 -2.01510532e-02] [ 3.48372300e-02 6.63721124e-03 9.99370960e-01 2.72827060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.284340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.03, Z:0.28 [[ 9.96058921e-01 -8.16226754e-02 -3.47039649e-02 1.23981694e+01] [ 8.18986243e-02 9.96618789e-01 6.60337750e-03 -2.87835258e-02] [ 3.40476382e-02 -9.41956005e-03 9.99375820e-01 2.79822197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.314340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.01, Z:0.27 [[ 9.95910765e-01 -8.45292728e-02 -3.18833803e-02 1.24233690e+01] [ 8.40184100e-02 9.96318524e-01 -1.70383821e-02 -1.08815755e-02] [ 3.32062444e-02 1.42899172e-02 9.99346358e-01 2.68355572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.01, Z:0.27 [[ 9.95827120e-01 -8.44533497e-02 -3.45829269e-02 1.24535315e+01] [ 8.42560880e-02 9.96418661e-01 -7.12479340e-03 -1.45172743e-02] [ 3.50607864e-02 4.18124036e-03 9.99376435e-01 2.73838828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.374340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.02, Z:0.28 [[ 9.95845415e-01 -8.31208582e-02 -3.71864540e-02 1.24835994e+01] [ 8.35188873e-02 9.96462995e-01 9.27869099e-03 -2.29941090e-02] [ 3.62836726e-02 -1.23459131e-02 9.99265267e-01 2.83784010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.02, Z:0.28 [[ 9.96030487e-01 -8.12291773e-02 -3.64017729e-02 1.25087149e+01] [ 8.14290597e-02 9.96670952e-01 4.04003874e-03 -1.87174996e-02] [ 3.59524206e-02 -6.98816389e-03 9.99329069e-01 2.83511244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:0.00, Z:0.27 [[ 9.96086095e-01 -8.19873390e-02 -3.30237315e-02 1.25337528e+01] [ 8.13951456e-02 9.96502759e-01 -1.88966149e-02 4.58782562e-04] [ 3.44575227e-02 1.61346839e-02 9.99275913e-01 2.72012116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.464340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.01, Z:0.28 [[ 9.96099082e-01 -8.10081409e-02 -3.49900114e-02 1.25624203e+01] [ 8.10721143e-02 9.96708154e-01 4.11091691e-04 -8.17692912e-03] [ 3.48415279e-02 -3.24620226e-03 9.99387578e-01 2.79039825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.01, Z:0.29 [[ 9.96111633e-01 -7.90811700e-02 -3.88301948e-02 1.25929979e+01] [ 7.94941554e-02 9.96792812e-01 9.20703975e-03 -1.26348999e-02] [ 3.79775556e-02 -1.22580129e-02 9.99203406e-01 2.87181573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.00, Z:0.28 [[ 9.95946365e-01 -8.14063059e-02 -3.82603143e-02 1.26218836e+01] [ 8.13725550e-02 9.96680765e-01 -2.44114503e-03 -3.33585149e-03] [ 3.83320440e-02 -6.82090010e-04 9.99264824e-01 2.84264906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.554340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.01, Z:0.28 [[ 9.95930368e-01 -8.29329889e-02 -3.52820198e-02 1.26466155e+01] [ 8.25458252e-02 9.96511430e-01 -1.22945713e-02 6.06824734e-03] [ 3.61785616e-02 9.33215352e-03 9.99301768e-01 2.77858867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.00, Z:0.29 [[ 9.95658772e-01 -8.50045917e-02 -3.79187192e-02 1.26780305e+01] [ 8.52693776e-02 9.96343201e-01 5.41834679e-03 -3.48783441e-03] [ 3.73194737e-02 -8.62813010e-03 9.99266137e-01 2.89459797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.70, Y:0.00, Z:0.29 [[ 9.95573168e-01 -8.64587465e-02 -3.68639729e-02 1.27044202e+01] [ 8.64439214e-02 9.96254713e-01 -1.99883472e-03 2.56996046e-03] [ 3.68987235e-02 -1.19668016e-03 9.99318294e-01 2.88243419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:0.00, Z:0.29 [[ 9.95356286e-01 -8.92892823e-02 -3.59623254e-02 1.27340109e+01] [ 8.93116593e-02 9.96003240e-01 -9.86946988e-04 4.80510473e-03] [ 3.59067164e-02 -2.22949107e-03 9.99352659e-01 2.89275342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:0.01, Z:0.28 [[ 9.95208329e-01 -9.17648375e-02 -3.37579128e-02 1.27611424e+01] [ 9.13657227e-02 9.95730120e-01 -1.31845960e-02 1.46311008e-02] [ 3.48236529e-02 1.00371037e-02 9.99343069e-01 2.83587727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:0.00, Z:0.29 [[ 9.95008751e-01 -9.31757219e-02 -3.57193311e-02 1.27900808e+01] [ 9.35372977e-02 9.95578760e-01 8.58527171e-03 4.23971935e-03] [ 3.47614685e-02 -1.18835102e-02 9.99324983e-01 2.94471977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.734340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:0.01, Z:0.29 [[ 9.94836099e-01 -9.60676860e-02 -3.27434806e-02 1.28179612e+01] [ 9.60518910e-02 9.95374199e-01 -2.05865056e-03 1.44091948e-02] [ 3.27897856e-02 -1.09705334e-03 9.99461668e-01 2.85213070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:0.02, Z:0.29 [[ 9.94830412e-01 -9.54333138e-02 -3.47121565e-02 1.28444419e+01] [ 9.54148930e-02 9.95435181e-01 -2.19060425e-03 1.59765366e-02] [ 3.47627584e-02 -1.13277697e-03 9.99394951e-01 2.92966795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.794340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:0.02, Z:0.29 [[ 9.94775525e-01 -9.62523241e-02 -3.40168397e-02 1.28717833e+01] [ 9.62348218e-02 9.95356325e-01 -2.15523336e-03 2.04001385e-02] [ 3.40663228e-02 -1.12963111e-03 9.99418936e-01 2.93911709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:0.03, Z:0.29 [[ 9.94842678e-01 -9.53048865e-02 -3.47134549e-02 1.28977080e+01] [ 9.51170483e-02 9.95441296e-01 -7.02668716e-03 2.59537921e-02] [ 3.52248841e-02 3.68860691e-03 9.99372604e-01 2.93543713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.854340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.93, Y:0.03, Z:0.29 [[ 9.94936116e-01 -9.47230011e-02 -3.36106984e-02 1.29268386e+01] [ 9.46009367e-02 9.95501657e-01 -5.20715177e-03 2.99806855e-02] [ 3.39527430e-02 2.00117980e-03 9.99421436e-01 2.94247844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.884340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:0.03, Z:0.29 [[ 9.94987206e-01 -9.42590391e-02 -3.34019999e-02 1.29585403e+01] [ 9.41281549e-02 9.95545045e-01 -5.47301106e-03 3.22446361e-02] [ 3.37690762e-02 2.30150736e-03 9.99427012e-01 2.94296690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.03, Z:0.30 [[ 9.94964608e-01 -9.38137583e-02 -3.52761525e-02 1.29835266e+01] [ 9.39409951e-02 9.95575831e-01 1.96322604e-03 3.22299491e-02] [ 3.49359072e-02 -5.26721729e-03 9.99375675e-01 2.99789667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.944340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:0.04, Z:0.30 [[ 9.95353861e-01 -9.02545645e-02 -3.35381010e-02 1.30116952e+01] [ 9.04453946e-02 9.95892501e-01 4.21397618e-03 3.51101258e-02] [ 3.30200127e-02 -7.22776425e-03 9.99428556e-01 3.01232474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.974340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:0.05, Z:0.30 [[ 9.95386428e-01 -8.97161255e-02 -3.40128895e-02 1.30396534e+01] [ 8.94238454e-02 9.95943236e-01 -1.00222707e-02 4.67370194e-02] [ 3.47740666e-02 6.93446888e-03 9.99371141e-01 2.97836489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:0.04, Z:0.30 [[ 9.95647542e-01 -8.66092569e-02 -3.44210567e-02 1.30679982e+01] [ 8.67606268e-02 9.96224891e-01 2.92574453e-03 4.20147300e-02] [ 3.40377169e-02 -5.89940280e-03 9.99403137e-01 3.02859854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.034340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:0.05, Z:0.30 [[ 9.96022887e-01 -8.22988571e-02 -3.41365910e-02 1.30986864e+01] [ 8.23658682e-02 9.96602002e-01 5.59049147e-04 4.56688361e-02] [ 3.39745858e-02 -3.36851570e-03 9.99417020e-01 3.02211314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:0.05, Z:0.30 [[ 9.96082854e-01 -8.14740606e-02 -3.43646071e-02 1.31227857e+01] [ 8.13544280e-02 9.96673348e-01 -4.86762261e-03 5.34770943e-02] [ 3.46468730e-02 2.05284246e-03 9.99397509e-01 3.02305084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:0.05, Z:0.30 [[ 9.96204839e-01 -7.98726426e-02 -3.45872832e-02 1.31509913e+01] [ 7.98776608e-02 9.96803905e-01 -1.23888810e-03 5.42453842e-02] [ 3.45756922e-02 -1.52856495e-03 9.99400913e-01 3.03992242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:0.06, Z:0.30 [[ 9.96362826e-01 -7.78896585e-02 -3.45589436e-02 1.31789063e+01] [ 7.78562355e-02 9.96961911e-01 -2.31384172e-03 5.82245583e-02] [ 3.46341748e-02 -3.85203383e-04 9.99399983e-01 3.04615624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.154340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:0.06, Z:0.30 [[ 9.96352869e-01 -7.76953332e-02 -3.52759915e-02 1.32077182e+01] [ 7.74623858e-02 9.96963777e-01 -7.92501005e-03 6.41302999e-02] [ 3.57846220e-02 5.16354404e-03 9.99346186e-01 3.03636698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:0.06, Z:0.31 [[ 9.96429375e-01 -7.66016742e-02 -3.55061257e-02 1.32339424e+01] [ 7.67417781e-02 9.97047617e-01 2.59801060e-03 6.05005927e-02] [ 3.52022860e-02 -5.31353729e-03 9.99366082e-01 3.07691913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.214340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:0.06, Z:0.31 [[ 9.96417307e-01 -7.68932923e-02 -3.52132376e-02 1.32604920e+01] [ 7.69562045e-02 9.97034380e-01 4.32736658e-04 6.45501247e-02] [ 3.50755339e-02 -3.14106341e-03 9.99379728e-01 3.07488907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:0.07, Z:0.31 [[ 9.96187890e-01 -7.97853043e-02 -3.52702984e-02 1.32910111e+01] [ 7.96575240e-02 9.96809672e-01 -5.01561675e-03 7.10498351e-02] [ 3.55579471e-02 2.18695202e-03 9.99365223e-01 3.06934736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:0.07, Z:0.31 [[ 9.96072824e-01 -8.09375841e-02 -3.58892392e-02 1.33196389e+01] [ 8.08220498e-02 9.96717650e-01 -4.66076349e-03 7.34581922e-02] [ 3.61486691e-02 1.74181797e-03 9.99344905e-01 3.08472223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.304340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:0.08, Z:0.31 [[ 9.95791697e-01 -8.44087671e-02 -3.56939161e-02 1.33479433e+01] [ 8.43061767e-02 9.96430305e-01 -4.37225176e-03 7.57860289e-02] [ 3.59355561e-02 1.34463440e-03 9.99353205e-01 3.09986644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.334340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:0.07, Z:0.31 [[ 9.95881309e-01 -8.42424691e-02 -3.35205268e-02 1.33729590e+01] [ 8.44675026e-02 9.96411860e-01 5.35229415e-03 7.17776149e-02] [ 3.29493599e-02 -8.16164489e-03 9.99423698e-01 3.12746216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:0.08, Z:0.31 [[ 9.95645247e-01 -8.74887657e-02 -3.21909623e-02 1.34008556e+01] [ 8.74631515e-02 9.96165314e-01 -2.20566843e-03 7.89119321e-02] [ 3.22604912e-02 -6.19459724e-04 9.99479303e-01 3.11415937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.394340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:0.08, Z:0.31 [[ 9.95326975e-01 -9.10804214e-02 -3.20713102e-02 1.34280082e+01] [ 9.10565231e-02 9.95843278e-01 -2.20794532e-03 8.17026526e-02] [ 3.21390993e-02 -7.22674464e-04 9.99483144e-01 3.11439953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.09, Z:0.30 [[ 9.94981918e-01 -9.56274216e-02 -2.94343340e-02 1.34553891e+01] [ 9.52534599e-02 9.95356581e-01 -1.38584150e-02 9.31168104e-02] [ 3.06229025e-02 1.09851502e-02 9.99470642e-01 3.04777881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.48, Y:0.09, Z:0.31 [[ 9.94875883e-01 -9.59541334e-02 -3.18556465e-02 1.34830811e+01] [ 9.58643486e-02 9.95384957e-01 -4.33745824e-03 9.02204283e-02] [ 3.21248284e-02 1.26141180e-03 9.99483069e-01 3.07816212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.51, Y:0.09, Z:0.31 [[ 9.94721754e-01 -9.73153996e-02 -3.25322051e-02 1.35119873e+01] [ 9.73379854e-02 9.95250983e-01 -8.92517477e-04 9.19188005e-02] [ 3.24645648e-02 -2.27881276e-03 9.99470289e-01 3.08945842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.514340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:0.09, Z:0.31 [[ 9.94716177e-01 -9.72172771e-02 -3.29928463e-02 1.35400870e+01] [ 9.71958609e-02 9.95262716e-01 -2.25612639e-03 9.45577241e-02] [ 3.30558843e-02 -9.62562688e-04 9.99453041e-01 3.09890112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:0.10, Z:0.31 [[ 9.94701984e-01 -9.72991910e-02 -3.31787562e-02 1.35676190e+01] [ 9.72693015e-02 9.95254914e-01 -2.51760024e-03 9.66988014e-02] [ 3.32662806e-02 -7.23012480e-04 9.99446263e-01 3.10845302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.09, Z:0.32 [[ 9.94894638e-01 -9.36914009e-02 -3.75044173e-02 1.35956314e+01] [ 9.39138300e-02 9.95571429e-01 4.20974472e-03 9.20424106e-02] [ 3.69439095e-02 -7.71043593e-03 9.99287595e-01 3.17285053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:0.10, Z:0.31 [[ 9.94763739e-01 -9.60517490e-02 -3.49165378e-02 1.36232224e+01] [ 9.58997455e-02 9.95372877e-01 -6.00621652e-03 1.02513590e-01] [ 3.53318823e-02 2.62627931e-03 9.99372183e-01 3.12209831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.634340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:0.10, Z:0.31 [[ 9.94779997e-01 -9.58941167e-02 -3.48866047e-02 1.36508132e+01] [ 9.58291136e-02 9.95391525e-01 -3.53447229e-03 1.02505676e-01] [ 3.50647657e-02 1.72869930e-04 9.99385027e-01 3.13518359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.11, Z:0.31 [[ 9.94937963e-01 -9.40708250e-02 -3.53430398e-02 1.36775199e+01] [ 9.38111860e-02 9.95549887e-01 -8.93779549e-03 1.06637037e-01] [ 3.60265451e-02 5.57697955e-03 9.99335272e-01 3.12963448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.694340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.09, Z:0.33 [[ 9.95106741e-01 -9.07232866e-02 -3.91389615e-02 1.37110111e+01] [ 9.13025752e-02 9.95734741e-01 1.32727039e-02 9.14313799e-02] [ 3.77678804e-02 -1.67812451e-02 9.99145624e-01 3.25782752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.11, Z:0.32 [[ 9.95166324e-01 -9.04545641e-02 -3.82355671e-02 1.37351282e+01] [ 9.00542357e-02 9.95863729e-01 -1.20693044e-02 1.07806854e-01] [ 3.91691381e-02 8.56769048e-03 9.99195863e-01 3.18841570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.10, Z:0.33 [[ 9.95180649e-01 -9.01458597e-02 -3.85901455e-02 1.37660603e+01] [ 9.04542390e-02 9.95880574e-01 6.31761663e-03 9.82654168e-02] [ 3.78616692e-02 -9.77781206e-03 9.99235152e-01 3.25877767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.784340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:0.11, Z:0.32 [[ 9.95209046e-01 -9.01463068e-02 -3.78496740e-02 1.37938166e+01] [ 9.01120570e-02 9.95928204e-01 -2.61336746e-03 1.05254391e-01] [ 3.79311433e-02 -8.09865046e-04 9.99280027e-01 3.24024245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.814340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.11, Z:0.32 [[ 9.95224809e-01 -9.00521872e-02 -3.76587659e-02 1.38214698e+01] [ 9.00177846e-02 9.95936734e-01 -2.61157369e-03 1.06960748e-01] [ 3.77409262e-02 -7.90855754e-04 9.99287245e-01 3.24432973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.11, Z:0.33 [[ 9.95239790e-01 -8.97042062e-02 -3.80908763e-02 1.38480320e+01] [ 8.96683276e-02 9.95968149e-01 -2.65272498e-03 1.08312120e-01] [ 3.81752601e-02 -7.75447714e-04 9.99270758e-01 3.25354415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.874340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.11, Z:0.33 [[ 9.95250228e-01 -8.94785117e-02 -3.83481378e-02 1.38762671e+01] [ 8.94416470e-02 9.95988460e-01 -2.67928376e-03 1.09163573e-01] [ 3.84340411e-02 -7.63362829e-04 9.99260848e-01 3.26228109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:0.11, Z:0.33 [[ 9.95272979e-01 -8.91155477e-02 -3.86020351e-02 1.39042114e+01] [ 8.90774553e-02 9.96021018e-01 -2.70903474e-03 1.10445555e-01] [ 3.86898554e-02 -7.42341983e-04 9.99250992e-01 3.27910215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.934340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:0.10, Z:0.34 [[ 9.95456444e-01 -8.56632249e-02 -4.15725871e-02 1.39373982e+01] [ 8.60818142e-02 9.96252810e-01 8.38216265e-03 1.02096403e-01] [ 4.06987637e-02 -1.19227216e-02 9.99100325e-01 3.35522897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.12, Z:0.33 [[ 9.95314329e-01 -8.92659009e-02 -3.71616145e-02 1.39594391e+01] [ 8.88256934e-02 9.95957902e-01 -1.33361802e-02 1.20286503e-01] [ 3.82018697e-02 9.97278510e-03 9.99220276e-01 3.27099540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.12, Z:0.33 [[ 9.95347434e-01 -8.89004696e-02 -3.71509406e-02 1.39872724e+01] [ 8.88640276e-02 9.96040283e-01 -2.63430870e-03 1.16857238e-01] [ 3.72380247e-02 -6.79329808e-04 9.99306193e-01 3.31098797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:0.12, Z:0.33 [[ 9.95475236e-01 -8.74998430e-02 -3.70517527e-02 1.40154242e+01] [ 8.74621969e-02 9.96164344e-01 -2.63881101e-03 1.17797457e-01] [ 3.71405305e-02 -6.13756681e-04 9.99309864e-01 3.31296350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.054340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:0.12, Z:0.33 [[ 9.95304818e-01 -8.95297908e-02 -3.67795644e-02 1.40424155e+01] [ 8.94936898e-02 9.95983917e-01 -2.63002313e-03 1.21550950e-01] [ 3.68673201e-02 -6.73864238e-04 9.99319942e-01 3.33871477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:0.12, Z:0.34 [[ 9.95332081e-01 -8.89938849e-02 -3.73381517e-02 1.40723718e+01] [ 8.89681814e-02 9.96031690e-01 -2.35267227e-03 1.22097955e-01] [ 3.73993558e-02 -9.80217269e-04 9.99299919e-01 3.35267095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:0.13, Z:0.34 [[ 9.95212928e-01 -9.11034612e-02 -3.53749654e-02 1.40990559e+01] [ 9.10674243e-02 9.95841251e-01 -2.63199827e-03 1.26877248e-01] [ 3.54676340e-02 -6.02108281e-04 9.99370644e-01 3.36808845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.144340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:0.13, Z:0.34 [[ 9.95200712e-01 -9.12716516e-02 -3.52849747e-02 1.41259325e+01] [ 9.12386568e-02 9.95825797e-01 -2.54751686e-03 1.29716453e-01] [ 3.53702041e-02 -6.84063098e-04 9.99374044e-01 3.37984208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:0.13, Z:0.34 [[ 9.95377140e-01 -8.93785537e-02 -3.51542787e-02 1.41531095e+01] [ 8.92104161e-02 9.95992714e-01 -6.32581394e-03 1.33121254e-01] [ 3.55787975e-02 3.16044276e-03 9.99361877e-01 3.36682827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.13, Z:0.34 [[ 9.95299003e-01 -8.97094926e-02 -3.64979796e-02 1.41821139e+01] [ 8.98086078e-02 9.95958455e-01 1.08198194e-03 1.34601196e-01] [ 3.62534073e-02 -4.35472828e-03 9.99333141e-01 3.41799636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.14, Z:0.34 [[ 9.95424128e-01 -8.83197793e-02 -3.64749587e-02 1.42120711e+01] [ 8.81890951e-02 9.96090285e-01 -5.17947450e-03 1.40105223e-01] [ 3.67898020e-02 1.93908029e-03 9.99321145e-01 3.40369228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.264340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.14, Z:0.34 [[ 9.95488778e-01 -8.75659727e-02 -3.65279692e-02 1.42412866e+01] [ 8.74844177e-02 9.96158533e-01 -3.82815603e-03 1.43034967e-01] [ 3.67228644e-02 6.15258249e-04 9.99325299e-01 3.41853702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.294340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:0.15, Z:0.35 [[ 9.95620228e-01 -8.57461586e-02 -3.72553124e-02 1.42669238e+01] [ 8.58566166e-02 9.96306558e-01 1.37226090e-03 1.45593487e-01] [ 3.70000460e-02 -4.56486578e-03 9.99304838e-01 3.46125251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.29, Y:0.15, Z:0.35 [[ 9.95642550e-01 -8.53605286e-02 -3.75432102e-02 1.42934045e+01] [ 8.53173766e-02 9.96350022e-01 -2.75293883e-03 1.50727659e-01] [ 3.76411707e-02 -4.62145171e-04 9.99291213e-01 3.46483823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.354340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.32, Y:0.16, Z:0.35 [[ 9.95662279e-01 -8.50218456e-02 -3.77877317e-02 1.43242758e+01] [ 8.48870440e-02 9.96377217e-01 -5.16046549e-03 1.55564878e-01] [ 3.80895873e-02 1.93039199e-03 9.99272464e-01 3.46083981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.16, Z:0.35 [[ 9.95630732e-01 -8.53054084e-02 -3.79793742e-02 1.43533012e+01] [ 8.52943750e-02 9.96353957e-01 -1.91367674e-03 1.56813400e-01] [ 3.80041467e-02 -1.33411161e-03 9.99276691e-01 3.47898330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:0.16, Z:0.35 [[ 9.95540281e-01 -8.64220036e-02 -3.78257420e-02 1.43808852e+01] [ 8.63220878e-02 9.96258132e-01 -4.26980233e-03 1.61711295e-01] [ 3.80532079e-02 9.85563188e-04 9.99275228e-01 3.48280913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:0.16, Z:0.35 [[ 9.95477172e-01 -8.74688287e-02 -3.70729683e-02 1.44089192e+01] [ 8.73860858e-02 9.96167081e-01 -3.84954872e-03 1.64927004e-01] [ 3.72675862e-02 5.92476283e-04 9.99305147e-01 3.49172813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:0.17, Z:0.35 [[ 9.95273862e-01 -8.97575527e-02 -3.70610560e-02 1.44368075e+01] [ 8.96316290e-02 9.95962189e-01 -5.04872643e-03 1.69401608e-01] [ 3.73645718e-02 1.70302263e-03 9.99300249e-01 3.49579879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.17, Z:0.35 [[ 9.95157820e-01 -9.09897898e-02 -3.71721740e-02 1.44636857e+01] [ 9.09376653e-02 9.95851780e-01 -3.09412393e-03 1.71210423e-01] [ 3.72995094e-02 -3.01209099e-04 9.99304086e-01 3.51212956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.534340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.17, Z:0.35 [[ 9.94985529e-01 -9.27051272e-02 -3.75440485e-02 1.44913212e+01] [ 9.28147134e-02 9.95682695e-01 1.18276451e-03 1.72026748e-01] [ 3.72723111e-02 -4.66147368e-03 9.99294274e-01 3.54586742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.52, Y:0.18, Z:0.36 [[ 9.94862848e-01 -9.37195474e-02 -3.82695765e-02 1.45205036e+01] [ 9.37414706e-02 9.95595820e-01 -1.22507709e-03 1.76321708e-01] [ 3.82158441e-02 -2.36866270e-03 9.99266700e-01 3.57032028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.594340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.55, Y:0.19, Z:0.35 [[ 9.94760818e-01 -9.58449061e-02 -3.55621812e-02 1.45468707e+01] [ 9.55918876e-02 9.95382134e-01 -8.75207484e-03 1.86748657e-01] [ 3.62368016e-02 5.30676510e-03 9.99329141e-01 3.53006875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.19, Z:0.35 [[ 9.94749457e-01 -9.60253919e-02 -3.53926914e-02 1.45747813e+01] [ 9.59311890e-02 9.95378445e-01 -4.35420646e-03 1.88384817e-01] [ 3.56472365e-02 9.36081538e-04 9.99363997e-01 3.54217127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.18, Z:0.36 [[ 9.94914118e-01 -9.43771671e-02 -3.51972869e-02 1.46020447e+01] [ 9.47281715e-02 9.95467413e-01 8.43817131e-03 1.84328718e-01] [ 3.42413814e-02 -1.17294304e-02 9.99344759e-01 3.57905157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:0.20, Z:0.35 [[ 9.94941492e-01 -9.50996118e-02 -3.23649711e-02 1.46285836e+01] [ 9.47356025e-02 9.95422676e-01 -1.26040115e-02 2.00798009e-01] [ 3.34154628e-02 9.47413895e-03 9.99396642e-01 3.51509491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.714340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.20, Z:0.35 [[ 9.94833454e-01 -9.63450575e-02 -3.20004333e-02 1.46550170e+01] [ 9.60473977e-02 9.95319079e-01 -1.07157767e-02 2.04330480e-01] [ 3.28830539e-02 7.58685481e-03 9.99430410e-01 3.51169699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:0.21, Z:0.36 [[ 9.94606117e-01 -9.67368784e-02 -3.74252301e-02 1.46868202e+01] [ 9.64480993e-02 9.95293150e-01 -9.45038474e-03 2.06038218e-01] [ 3.81632758e-02 5.78981816e-03 9.99254743e-01 3.56304900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.21, Z:0.35 [[ 9.94342019e-01 -9.97738351e-02 -3.64572565e-02 1.47146702e+01] [ 9.93343721e-02 9.94960104e-01 -1.36775299e-02 2.13222582e-01] [ 3.76381753e-02 9.97868397e-03 9.99241609e-01 3.54699052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.804340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:0.21, Z:0.36 [[ 9.94238596e-01 -9.97230419e-02 -3.93055937e-02 1.47450171e+01] [ 1.00003280e-01 9.94973391e-01 5.22438517e-03 2.05183009e-01] [ 3.85870283e-02 -9.12497367e-03 9.99213579e-01 3.62484194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.21, Z:0.36 [[ 9.94218619e-01 -1.00690299e-01 -3.72934627e-02 1.47709711e+01] [ 1.00980209e-01 9.94870530e-01 5.96870067e-03 2.07874390e-01] [ 3.65011767e-02 -9.70009501e-03 9.99286532e-01 3.62975956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:0.22, Z:0.36 [[ 9.93693014e-01 -1.05044261e-01 -3.92415248e-02 1.48000453e+01] [ 1.05024323e-01 9.94466320e-01 -2.57491054e-03 2.16800690e-01] [ 3.92948543e-02 -1.56264395e-03 9.99226437e-01 3.63443973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.894340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:0.22, Z:0.36 [[ 9.93567327e-01 -1.06050668e-01 -3.97142500e-02 1.48275670e+01] [ 1.05891607e-01 9.94359008e-01 -6.09341643e-03 2.21326632e-01] [ 4.01364332e-02 1.84881370e-03 9.99192498e-01 3.64749396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.86, Y:0.23, Z:0.36 [[ 9.93345536e-01 -1.08469797e-01 -3.87162551e-02 1.48568144e+01] [ 1.08196442e-01 9.94087943e-01 -9.09347345e-03 2.26881425e-01] [ 3.94737296e-02 4.84400023e-03 9.99208867e-01 3.63634166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:0.23, Z:0.37 [[ 9.93139885e-01 -1.10043494e-01 -3.95423552e-02 1.48849480e+01] [ 1.10162578e-01 9.93913227e-01 8.38736731e-04 2.25446193e-01] [ 3.92093723e-02 -5.18907067e-03 9.99217543e-01 3.68115649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:0.23, Z:0.37 [[ 9.93153197e-01 -1.09660941e-01 -4.02642001e-02 1.49128888e+01] [ 1.09814240e-01 9.93950826e-01 1.60889072e-03 2.27404746e-01] [ 3.98442025e-02 -6.01945749e-03 9.99187773e-01 3.70404831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.23, Z:0.37 [[ 9.93030069e-01 -1.10794857e-01 -4.01967953e-02 1.49408860e+01] [ 1.10751598e-01 9.93842613e-01 -3.30830896e-03 2.34263053e-01] [ 4.03158316e-02 -1.16660902e-03 9.99186305e-01 3.70895336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044340127999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.97, Y:0.24, Z:0.37 [[ 9.93138487e-01 -1.09728877e-01 -4.04415502e-02 1.49678556e+01] [ 1.09487749e-01 9.93954843e-01 -8.13646218e-03 2.41590054e-01] [ 4.10898795e-02 3.65277943e-03 9.99148777e-01 3.69186741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.00, Y:0.24, Z:0.37 [[ 9.93227077e-01 -1.08211512e-01 -4.23112473e-02 1.49968922e+01] [ 1.08306966e-01 9.94117498e-01 -3.65660599e-05 2.40095562e-01] [ 4.20663082e-02 -4.54628441e-03 9.99104478e-01 3.73313152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.03, Y:0.25, Z:0.37 [[ 9.93521549e-01 -1.04940015e-01 -4.36179318e-02 1.50251309e+01] [ 1.04810808e-01 9.94478348e-01 -5.24501073e-03 2.47077523e-01] [ 4.39275003e-02 6.39400500e-04 9.99034517e-01 3.73594323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.25, Z:0.37 [[ 9.93783712e-01 -1.02680333e-01 -4.30195697e-02 1.50532070e+01] [ 1.02637916e-01 9.94713638e-01 -3.19945501e-03 2.48641028e-01] [ 4.31206738e-02 -1.23587269e-03 9.99069107e-01 3.73734320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:0.25, Z:0.38 [[ 9.93937494e-01 -1.00719877e-01 -4.40881470e-02 1.50817650e+01] [ 1.00740260e-01 9.94911195e-01 -1.76490123e-03 2.51274039e-01] [ 4.40415517e-02 -2.68724991e-03 9.99026086e-01 3.75866497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:0.26, Z:0.37 [[ 9.94150133e-01 -9.88018446e-02 -4.36315058e-02 1.51105493e+01] [ 9.85172867e-02 9.95097919e-01 -8.62991544e-03 2.58319226e-01] [ 4.42702722e-02 4.28097402e-03 9.99010418e-01 3.74872132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:0.26, Z:0.38 [[ 9.94531211e-01 -9.47799343e-02 -4.38683733e-02 1.51382590e+01] [ 9.48817240e-02 9.95488524e-01 2.39329327e-04 2.56340301e-01] [ 4.36477785e-02 -4.40032737e-03 9.99037291e-01 3.78656467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:0.26, Z:0.38 [[ 9.94635324e-01 -9.41703957e-02 -4.28078091e-02 1.51667414e+01] [ 9.39993752e-02 9.95554206e-01 -5.99503893e-03 2.62935003e-01] [ 4.31820496e-02 1.93897018e-03 9.99065339e-01 3.78087671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:0.26, Z:0.38 [[ 9.94706967e-01 -9.33506130e-02 -4.29384827e-02 1.51955704e+01] [ 9.33140982e-02 9.95632618e-01 -2.85831189e-03 2.63736953e-01] [ 4.30177790e-02 -1.16358304e-03 9.99073629e-01 3.80398819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.27, Z:0.38 [[ 9.94763867e-01 -9.28847121e-02 -4.26295500e-02 1.52237817e+01] [ 9.28553132e-02 9.95676023e-01 -2.67350683e-03 2.65897286e-01] [ 4.26935488e-02 -1.29887222e-03 9.99087370e-01 3.82151057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:0.27, Z:0.38 [[ 9.94786703e-01 -9.25017811e-02 -4.29282550e-02 1.52494932e+01] [ 9.25069289e-02 9.95710283e-01 -1.87083632e-03 2.67417123e-01] [ 4.29171606e-02 -2.11007794e-03 9.99076406e-01 3.84136272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:0.27, Z:0.39 [[ 9.94627941e-01 -9.43497788e-02 -4.25837892e-02 1.52784965e+01] [ 9.43465668e-02 9.95537221e-01 -2.08965021e-03 2.69073969e-01] [ 4.25909052e-02 -1.93920983e-03 9.99090714e-01 3.85524490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:0.27, Z:0.39 [[ 9.94587058e-01 -9.47185127e-02 -4.27198611e-02 1.53070024e+01] [ 9.46535589e-02 9.95503961e-01 -3.54518372e-03 2.72407616e-01] [ 4.28635855e-02 -5.17593047e-04 9.99080800e-01 3.86585207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:0.27, Z:0.39 [[ 9.94483030e-01 -9.58005989e-02 -4.27287709e-02 1.53337720e+01] [ 9.58098675e-02 9.95397961e-01 -1.83561290e-03 2.73744421e-01] [ 4.27079842e-02 -2.26835199e-03 9.99085023e-01 3.88200384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:0.28, Z:0.39 [[ 9.94178112e-01 -9.84229869e-02 -4.38497225e-02 1.53642393e+01] [ 9.82642262e-02 9.95143652e-01 -5.76668932e-03 2.78577364e-01] [ 4.42043478e-02 1.42425724e-03 9.99021495e-01 3.89868880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.39, Y:0.28, Z:0.39 [[ 9.94119165e-01 -9.90380920e-02 -4.38011713e-02 1.53923948e+01] [ 9.90871519e-02 9.95078200e-01 -1.05498498e-03 2.78288250e-01] [ 4.36900743e-02 -3.29135252e-03 9.99039711e-01 3.91777335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:0.28, Z:0.39 [[ 9.93999496e-01 -1.00111376e-01 -4.40762364e-02 1.54207369e+01] [ 9.99254981e-02 9.94974300e-01 -6.40598573e-03 2.83248000e-01] [ 4.44960345e-02 1.96320672e-03 9.99007632e-01 3.90605584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.45, Y:0.28, Z:0.39 [[ 9.93945294e-01 -1.00138072e-01 -4.52229856e-02 1.54485831e+01] [ 1.00173283e-01 9.94968887e-01 -1.49265301e-03 2.82467538e-01] [ 4.51449351e-02 -3.04651951e-03 9.98975802e-01 3.93184207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:0.29, Z:0.40 [[ 9.93697111e-01 -1.01795405e-01 -4.69440770e-02 1.54772192e+01] [ 1.01721688e-01 9.94805003e-01 -3.96282723e-03 2.86362332e-01] [ 4.71036003e-02 -8.37380775e-04 9.98889658e-01 3.95127619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.29, Z:0.40 [[ 9.93653242e-01 -1.01888213e-01 -4.76657716e-02 1.55038498e+01] [ 1.01993826e-01 9.94785008e-01 -2.17585788e-04 2.85024564e-01] [ 4.74393644e-02 -4.64540959e-03 9.98863317e-01 3.97083508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:0.29, Z:0.40 [[ 9.93516791e-01 -1.03014694e-01 -4.80869918e-02 1.55326547e+01] [ 1.02778015e-01 9.94676974e-01 -7.37539325e-03 2.91325372e-01] [ 4.85907974e-02 2.38529145e-03 9.98815921e-01 3.96419251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:0.29, Z:0.40 [[ 9.93354538e-01 -1.03586842e-01 -5.01650073e-02 1.55592434e+01] [ 1.03551109e-01 9.94618600e-01 -3.31777550e-03 2.90390999e-01] [ 5.02387273e-02 -1.89891479e-03 9.98735433e-01 3.98915956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:0.29, Z:0.40 [[ 9.93325380e-01 -1.04259411e-01 -4.93423246e-02 1.55892927e+01] [ 1.04755446e-01 9.94469209e-01 7.56895070e-03 2.86399596e-01] [ 4.82802881e-02 -1.26873081e-02 9.98753246e-01 4.02091627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:0.29, Z:0.40 [[ 9.93255182e-01 -1.05231310e-01 -4.86879401e-02 1.56168785e+01] [ 1.05160007e-01 9.94447145e-01 -4.03086042e-03 2.94962490e-01] [ 4.88417557e-02 -1.11635113e-03 9.98805905e-01 4.00649435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:0.30, Z:0.40 [[ 9.93260832e-01 -1.04954158e-01 -4.91685378e-02 1.56421730e+01] [ 1.04221341e-01 9.94404603e-01 -1.72452286e-02 3.03342772e-01] [ 5.07033788e-02 1.20045992e-02 9.98641606e-01 3.98663312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.794340127999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:0.29, Z:0.41 [[ 9.93322370e-01 -1.04343057e-01 -4.92259739e-02 1.56711824e+01] [ 1.04901025e-01 9.94442986e-01 8.88379892e-03 2.90387839e-01] [ 4.80254618e-02 -1.39883313e-02 9.98748157e-01 4.07548290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:0.30, Z:0.41 [[ 9.93373961e-01 -1.04696038e-01 -4.74016180e-02 1.56985622e+01] [ 1.04625911e-01 9.94503744e-01 -3.96496773e-03 2.99420332e-01] [ 4.75562030e-02 -1.02074177e-03 9.98868042e-01 4.05627283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.31, Z:0.41 [[ 9.93590200e-01 -1.02323903e-01 -4.80451192e-02 1.57233653e+01] [ 1.01785438e-01 9.94714365e-01 -1.35298335e-02 3.05542938e-01] [ 4.91755956e-02 8.55281648e-03 9.98753528e-01 4.05771897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:0.30, Z:0.41 [[ 9.93545439e-01 -1.03817537e-01 -4.57097274e-02 1.57512013e+01] [ 1.03769139e-01 9.94595473e-01 -3.43684466e-03 3.04629293e-01] [ 4.58194926e-02 -1.32859771e-03 9.98948852e-01 4.06610600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.31, Z:0.41 [[ 9.93690411e-01 -1.02324036e-01 -4.59255883e-02 1.57772975e+01] [ 1.01881455e-01 9.94725578e-01 -1.18824855e-02 3.10610652e-01] [ 4.68992213e-02 7.12854608e-03 9.98874190e-01 4.06560537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.30, Z:0.42 [[ 9.93628906e-01 -1.02202148e-01 -4.75007070e-02 1.58105289e+01] [ 1.02829593e-01 9.94638688e-01 1.09523783e-02 2.99045947e-01] [ 4.61266843e-02 -1.57670780e-02 9.98811157e-01 4.15695085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:0.32, Z:0.41 [[ 9.93663986e-01 -1.03267269e-01 -4.43593791e-02 1.58345744e+01] [ 1.02871285e-01 9.94632464e-01 -1.11247441e-02 3.15395182e-01] [ 4.52701005e-02 6.49095124e-03 9.98953695e-01 4.08716395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:0.31, Z:0.41 [[ 9.93744977e-01 -1.02199708e-01 -4.50126761e-02 1.58625744e+01] [ 1.02037747e-01 9.94763107e-01 -5.88724911e-03 3.12873611e-01] [ 4.53786246e-02 1.25743218e-03 9.98969068e-01 4.12507717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:0.31, Z:0.41 [[ 9.93805764e-01 -1.01934855e-01 -4.42649843e-02 1.58891994e+01] [ 1.01923492e-01 9.94789050e-01 -2.51946069e-03 3.12887183e-01] [ 4.42911426e-02 -2.00778722e-03 9.99016648e-01 4.14629647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.31, Z:0.42 [[ 9.93902848e-01 -1.00284407e-01 -4.58275671e-02 1.59159415e+01] [ 1.00218565e-01 9.94958425e-01 -3.73788444e-03 3.14660456e-01] [ 4.59713755e-02 -8.77679035e-04 9.98942372e-01 4.17050420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:0.32, Z:0.42 [[ 9.93911011e-01 -1.00494593e-01 -4.51856048e-02 1.59459319e+01] [ 1.00548577e-01 9.94931562e-01 -1.08229291e-03 3.15065085e-01] [ 4.50653489e-02 -3.46764542e-03 9.98978023e-01 4.19298883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:0.32, Z:0.42 [[ 9.93764283e-01 -1.01521525e-01 -4.61077967e-02 1.59777126e+01] [ 1.01533908e-01 9.94829906e-01 -2.07943957e-03 3.16692509e-01] [ 4.60805229e-02 -2.61503200e-03 9.98934306e-01 4.22276915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:0.32, Z:0.42 [[ 9.93722389e-01 -1.02250900e-01 -4.53934776e-02 1.60060748e+01] [ 1.02182622e-01 9.94758291e-01 -3.82811133e-03 3.19873951e-01] [ 4.55469660e-02 -8.34344613e-04 9.98961850e-01 4.23293120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.32, Z:0.43 [[ 9.93712697e-01 -1.02528511e-01 -4.49775434e-02 1.60328354e+01] [ 1.02461142e-01 9.94729723e-01 -3.80679370e-03 3.21486439e-01] [ 4.51308042e-02 -8.25591211e-04 9.98980745e-01 4.25097726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.32, Z:0.43 [[ 9.93622562e-01 -1.03622412e-01 -4.44589809e-02 1.60612310e+01] [ 1.03557257e-01 9.94616340e-01 -3.77241044e-03 3.23050507e-01] [ 4.46105351e-02 -8.55697970e-04 9.99004088e-01 4.26552250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:0.32, Z:0.43 [[ 9.93829049e-01 -1.01513085e-01 -4.47092187e-02 1.60852433e+01] [ 1.01414035e-01 9.94834201e-01 -4.48397493e-03 3.23588402e-01] [ 4.49334420e-02 -7.78377053e-05 9.98989980e-01 4.28271170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:0.33, Z:0.43 [[ 9.93263563e-01 -1.06684970e-01 -4.52306434e-02 1.61175993e+01] [ 1.06619503e-01 9.94292386e-01 -3.86433200e-03 3.25027086e-01] [ 4.53847505e-02 -9.84168547e-04 9.98969097e-01 4.30383035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:0.32, Z:0.43 [[ 9.93408339e-01 -1.05624900e-01 -4.45337136e-02 1.61421042e+01] [ 1.05779421e-01 9.94388987e-01 1.12100354e-03 3.23682460e-01] [ 4.41654285e-02 -5.82436472e-03 9.99007253e-01 4.32029273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.33, Z:0.43 [[ 9.93075232e-01 -1.08093900e-01 -4.60140538e-02 1.61723491e+01] [ 1.07775615e-01 9.94131276e-01 -9.35003395e-03 3.29957800e-01] [ 4.67546916e-02 4.32609419e-03 9.98897034e-01 4.31645092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:0.33, Z:0.43 [[ 9.93474910e-01 -1.03976666e-01 -4.68663591e-02 1.61941946e+01] [ 1.03996782e-01 9.94575591e-01 -2.01554030e-03 3.26600422e-01] [ 4.68217060e-02 -2.87156181e-03 9.98899135e-01 4.34643011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:0.33, Z:0.44 [[ 9.93342571e-01 -1.05398349e-01 -4.64943455e-02 1.62282682e+01] [ 1.05196841e-01 9.94428397e-01 -6.76665526e-03 3.31376590e-01] [ 4.69484918e-02 1.83054848e-03 9.98895634e-01 4.35522157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:0.33, Z:0.44 [[ 9.93451414e-01 -1.04100425e-01 -4.70891698e-02 1.62560743e+01] [ 1.04024100e-01 9.94566428e-01 -4.07521345e-03 3.31644529e-01] [ 4.72575388e-02 -8.49881962e-04 9.98882377e-01 4.37619290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:0.33, Z:0.44 [[ 9.93954819e-01 -9.88213011e-02 -4.78347946e-02 1.62786450e+01] [ 9.87565462e-02 9.95104667e-01 -3.72099118e-03 3.31492351e-01] [ 4.79683406e-02 -1.02550200e-03 9.98848330e-01 4.38887358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:0.33, Z:0.44 [[ 9.93983323e-01 -9.78877950e-02 -4.91440064e-02 1.63158676e+01] [ 9.76885790e-02 9.95196162e-01 -6.44513093e-03 3.33553324e-01] [ 4.95388262e-02 1.60554451e-03 9.98770908e-01 4.39122537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:0.34, Z:0.44 [[ 9.94291045e-01 -9.63444789e-02 -4.58591326e-02 1.63409274e+01] [ 9.60251798e-02 9.95337119e-01 -9.12053432e-03 3.38232953e-01] [ 4.65240101e-02 4.66483414e-03 9.98906280e-01 4.36199239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:0.33, Z:0.44 [[ 9.94079959e-01 -9.66648798e-02 -4.96078264e-02 1.63705069e+01] [ 9.68869211e-02 9.95293211e-01 2.08531579e-03 3.34590312e-01] [ 4.91727561e-02 -6.87932021e-03 9.98766597e-01 4.44740805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.34, Z:0.44 [[ 9.94310797e-01 -9.42158406e-02 -4.96932117e-02 1.63984389e+01] [ 9.41130716e-02 9.95551751e-01 -4.40909153e-03 3.37616336e-01] [ 4.98875702e-02 -2.92773477e-04 9.98754797e-01 4.44355307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:0.34, Z:0.45 [[ 9.94328504e-01 -9.39945431e-02 -4.97579392e-02 1.64259050e+01] [ 9.38904889e-02 9.95572677e-01 -4.42963451e-03 3.38449805e-01] [ 4.99540062e-02 -2.67285391e-04 9.98751484e-01 4.45934112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.34, Z:0.44 [[ 9.94413060e-01 -9.44752179e-02 -4.70860921e-02 1.64565385e+01] [ 9.38407666e-02 9.95466361e-01 -1.55123849e-02 3.43262244e-01] [ 4.83381567e-02 1.10071231e-02 9.98770377e-01 4.41201126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.48, Y:0.34, Z:0.45 [[ 9.94379341e-01 -9.46235095e-02 -4.74986013e-02 1.64845095e+01] [ 9.46067820e-02 9.95511311e-01 -2.60522204e-03 3.36418660e-01] [ 4.75319101e-02 -1.90311085e-03 9.98867907e-01 4.45308947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:0.34, Z:0.45 [[ 9.94228785e-01 -9.59324481e-02 -4.80217600e-02 1.65144699e+01] [ 9.58417902e-02 9.95387752e-01 -4.19220779e-03 3.37991789e-01] [ 4.82024405e-02 -4.34477794e-04 9.98837492e-01 4.47475952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:0.33, Z:0.45 [[ 9.94112946e-01 -9.66668321e-02 -4.89384641e-02 1.65398864e+01] [ 9.70683579e-02 9.95260288e-01 5.89009318e-03 3.33128988e-01] [ 4.81371333e-02 -1.06057942e-02 9.98784428e-01 4.54128431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.57, Y:0.34, Z:0.45 [[ 9.93859056e-01 -9.99972260e-02 -4.73785941e-02 1.65678810e+01] [ 9.99078393e-02 9.94987589e-01 -4.25694208e-03 3.36620099e-01] [ 4.75667955e-02 -5.02692527e-04 9.98867933e-01 4.52272310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.60, Y:0.34, Z:0.45 [[ 9.93712189e-01 -1.01513227e-01 -4.72350446e-02 1.65959572e+01] [ 1.01425390e-01 9.94834033e-01 -4.25885697e-03 3.36912387e-01] [ 4.74233602e-02 -5.58754730e-04 9.98874723e-01 4.53284464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:0.34, Z:0.45 [[ 9.93576155e-01 -1.03085777e-01 -4.66877652e-02 1.66233723e+01] [ 1.03001051e-01 9.94672281e-01 -4.22328768e-03 3.37164434e-01] [ 4.68743868e-02 -6.12730967e-04 9.98900604e-01 4.53998052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.33, Z:0.46 [[ 9.93547996e-01 -1.03999987e-01 -4.52369625e-02 1.66495746e+01] [ 1.04152780e-01 9.94560779e-01 1.02744003e-03 3.31413059e-01] [ 4.48840549e-02 -5.73236641e-03 9.98975756e-01 4.55982879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:0.34, Z:0.45 [[ 9.93302905e-01 -1.06757609e-01 -4.41831667e-02 1.66812259e+01] [ 1.06072142e-01 9.94202931e-01 -1.75850108e-02 3.42642610e-01] [ 4.58043675e-02 1.27806391e-02 9.98868668e-01 4.49954906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:0.33, Z:0.46 [[ 9.93349907e-01 -1.05691993e-01 -4.56636072e-02 1.67081011e+01] [ 1.05879203e-01 9.94377556e-01 1.69394141e-03 3.30080680e-01] [ 4.52278301e-02 -6.51750290e-03 9.98955437e-01 4.56101547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:0.33, Z:0.46 [[ 9.93454640e-01 -1.04134557e-01 -4.69454093e-02 1.67337616e+01] [ 1.04294101e-01 9.94546041e-01 9.55313629e-04 3.29659964e-01] [ 4.65898898e-02 -5.84519002e-03 9.98897000e-01 4.58732594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:0.34, Z:0.46 [[ 9.93308086e-01 -1.05790484e-01 -4.63402692e-02 1.67633986e+01] [ 1.05615225e-01 9.94387611e-01 -6.22116330e-03 3.35618051e-01] [ 4.67383294e-02 1.28529387e-03 9.98906340e-01 4.55600788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.33, Z:0.46 [[ 9.93288306e-01 -1.04565888e-01 -4.94400208e-02 1.67906831e+01] [ 1.04470945e-01 9.94517723e-01 -4.50769915e-03 3.32786718e-01] [ 4.96403285e-02 -6.87600856e-04 9.98766922e-01 4.58474161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:0.33, Z:0.46 [[ 9.93399559e-01 -1.03559666e-01 -4.93225181e-02 1.68190008e+01] [ 1.03703914e-01 9.94608145e-01 3.67682113e-04 3.30613261e-01] [ 4.90185013e-02 -5.48019342e-03 9.98782836e-01 4.60298241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:0.34, Z:0.45 [[ 9.93363139e-01 -1.04186983e-01 -4.87313696e-02 1.68454944e+01] [ 1.03641255e-01 9.94521740e-01 -1.36014453e-02 3.39375136e-01] [ 4.98815001e-02 8.46059413e-03 9.98719307e-01 4.54869625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:0.34, Z:0.46 [[ 9.93153417e-01 -1.04877805e-01 -5.14483920e-02 1.68750760e+01] [ 1.04360096e-01 9.94459055e-01 -1.26553395e-02 3.39787668e-01] [ 5.24905835e-02 7.19953449e-03 9.98595466e-01 4.57540773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.33, Z:0.46 [[ 9.93122617e-01 -1.04432739e-01 -5.29270314e-02 1.69022354e+01] [ 1.04319057e-01 9.94531745e-01 -4.91353577e-03 3.32968667e-01] [ 5.31507469e-02 -6.41554506e-04 9.98586294e-01 4.61132293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:0.34, Z:0.46 [[ 9.93051741e-01 -1.06255374e-01 -5.05770118e-02 1.69256024e+01] [ 1.06197746e-01 9.94337642e-01 -3.83300042e-03 3.36138140e-01] [ 5.06979036e-02 -1.56479692e-03 9.98712809e-01 4.60013053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.96, Y:0.33, Z:0.47 [[ 9.93566128e-01 -1.00534661e-01 -5.21452990e-02 1.69610509e+01] [ 1.00991783e-01 9.94867941e-01 6.20005303e-03 3.29255817e-01] [ 5.12543660e-02 -1.14264094e-02 9.98620262e-01 4.69723860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.35, Z:0.46 [[ 9.93479922e-01 -1.03365997e-01 -4.80948614e-02 1.69816102e+01] [ 1.02777519e-01 9.94597822e-01 -1.45586157e-02 3.48709661e-01] [ 4.93399102e-02 9.52062189e-03 9.98736668e-01 4.60262628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.02, Y:0.34, Z:0.47 [[ 9.93781865e-01 -9.90310163e-02 -5.08965824e-02 1.70164186e+01] [ 9.93852442e-02 9.95038988e-01 4.47045902e-03 3.35913719e-01] [ 5.02013697e-02 -9.50103037e-03 9.98693924e-01 4.71389800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:0.35, Z:0.46 [[ 9.93861029e-01 -9.95231730e-02 -4.83258960e-02 1.70406034e+01] [ 9.87383409e-02 9.94943847e-01 -1.83706773e-02 3.53697631e-01] [ 4.99098610e-02 1.34862815e-02 9.98662669e-01 4.63566199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:0.35, Z:0.47 [[ 9.93895265e-01 -9.86836430e-02 -4.93329554e-02 1.70680864e+01] [ 9.86007594e-02 9.95118557e-01 -4.11685363e-03 3.48257558e-01] [ 4.94984055e-02 -7.72545529e-04 9.98773904e-01 4.69470793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:0.35, Z:0.47 [[ 9.93888931e-01 -9.86930313e-02 -4.94416693e-02 1.70954931e+01] [ 9.85580113e-02 9.95117891e-01 -5.16739698e-03 3.51379816e-01] [ 4.97102758e-02 2.62946056e-04 9.98763645e-01 4.70500679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.36, Z:0.47 [[ 9.93793541e-01 -9.95425015e-02 -4.96557072e-02 1.71217117e+01] [ 9.94306859e-02 9.95033281e-01 -4.72309319e-03 3.55800969e-01] [ 4.98792298e-02 -2.43521514e-04 9.98755227e-01 4.72059044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:0.35, Z:0.48 [[ 9.93791347e-01 -9.94310307e-02 -4.99222274e-02 1.71542844e+01] [ 9.99259166e-02 9.94966530e-01 7.51095522e-03 3.51241958e-01] [ 4.89241234e-02 -1.24528466e-02 9.98724865e-01 4.77431615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:0.37, Z:0.47 [[ 9.93571536e-01 -1.01689558e-01 -4.97477331e-02 1.71772919e+01] [ 1.00928382e-01 9.94738233e-01 -1.75872026e-02 3.70253833e-01] [ 5.12744070e-02 1.24531857e-02 9.98606956e-01 4.69530724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:0.36, Z:0.48 [[ 9.93118588e-01 -1.05487001e-01 -5.08720213e-02 1.72096198e+01] [ 1.05997016e-01 9.94338715e-01 7.42643852e-03 3.60399789e-01] [ 4.98006275e-02 -1.27676166e-02 9.98677568e-01 4.77704808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:0.37, Z:0.47 [[ 9.92838366e-01 -1.08730496e-01 -4.94940199e-02 1.72372248e+01] [ 1.08635631e-01 9.94070943e-01 -4.61074871e-03 3.71314245e-01] [ 4.97018961e-02 -7.99085872e-04 9.98763777e-01 4.74712602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:0.38, Z:0.47 [[ 9.92542768e-01 -1.11074032e-01 -5.02136669e-02 1.72614546e+01] [ 1.10198249e-01 9.93710506e-01 -1.98941431e-02 3.83261774e-01] [ 5.21075710e-02 1.42123297e-02 9.98540340e-01 4.71471606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:0.38, Z:0.48 [[ 9.91765972e-01 -1.17312181e-01 -5.13625334e-02 1.72903459e+01] [ 1.17199642e-01 9.93094719e-01 -5.20790389e-03 3.77173018e-01] [ 5.16188113e-02 -8.54648646e-04 9.98666495e-01 4.77939382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:0.37, Z:0.48 [[ 9.91321785e-01 -1.21649805e-01 -4.98241333e-02 1.73232345e+01] [ 1.22282145e-01 9.92446650e-01 9.83483919e-03 3.71239702e-01] [ 4.82513880e-02 -1.58420922e-02 9.98709583e-01 4.83977212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:0.38, Z:0.48 [[ 9.90865917e-01 -1.25862857e-01 -4.84073952e-02 1.73493239e+01] [ 1.25791507e-01 9.92046359e-01 -4.52972281e-03 3.81861193e-01] [ 4.85925040e-02 -1.60089126e-03 9.98817404e-01 4.80994151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:0.38, Z:0.48 [[ 9.90444189e-01 -1.29256157e-01 -4.80952652e-02 1.73777296e+01] [ 1.29189365e-01 9.91609695e-01 -4.50776639e-03 3.84413348e-01] [ 4.82743879e-02 -1.74870575e-03 9.98832581e-01 4.82406963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:0.39, Z:0.48 [[ 9.89789872e-01 -1.34493159e-01 -4.71974622e-02 1.74048945e+01] [ 1.34434140e-01 9.90912597e-01 -4.43699716e-03 3.87857644e-01] [ 4.73653056e-02 -1.95325541e-03 9.98875724e-01 4.82691709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:0.39, Z:0.48 [[ 9.89453284e-01 -1.37000509e-01 -4.70431725e-02 1.74323124e+01] [ 1.36944384e-01 9.90568835e-01 -4.42921427e-03 3.91748342e-01] [ 4.72063052e-02 -2.05979766e-03 9.98883037e-01 4.83642057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:0.39, Z:0.49 [[ 9.89428402e-01 -1.37229744e-01 -4.68981406e-02 1.74604371e+01] [ 1.37173556e-01 9.90537124e-01 -4.42968005e-03 3.94765469e-01] [ 4.70622331e-02 -2.05033347e-03 9.98889855e-01 4.85419545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:0.41, Z:0.48 [[ 9.89575715e-01 -1.35669703e-01 -4.83077156e-02 1.74849041e+01] [ 1.34891210e-01 9.90677437e-01 -1.90414417e-02 4.05787265e-01] [ 5.04407106e-02 1.23266621e-02 9.98650984e-01 4.83003842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:0.40, Z:0.49 [[ 9.89956747e-01 -1.32166978e-01 -5.01749909e-02 1.75132155e+01] [ 1.31953037e-01 9.91227084e-01 -7.56729694e-03 4.04336173e-01] [ 5.07349567e-02 8.70554221e-04 9.98711773e-01 4.87771666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:0.40, Z:0.49 [[ 9.90526436e-01 -1.28162995e-01 -4.93115188e-02 1.75437073e+01] [ 1.28892236e-01 9.91587310e-01 1.18910716e-02 3.98374468e-01] [ 4.73726809e-02 -1.81342927e-02 9.98712660e-01 4.94799617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:0.42, Z:0.49 [[ 9.90825225e-01 -1.26152493e-01 -4.84863026e-02 1.75684185e+01] [ 1.25436431e-01 9.91946420e-01 -1.75499859e-02 4.18586096e-01] [ 5.03097887e-02 1.13070200e-02 9.98669653e-01 4.87842319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:0.41, Z:0.50 [[ 9.91177644e-01 -1.23040899e-01 -4.92728613e-02 1.76044982e+01] [ 1.23687048e-01 9.92268078e-01 1.02750233e-02 4.05035451e-01] [ 4.76276392e-02 -1.62787881e-02 9.98732501e-01 4.98347511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:0.42, Z:0.49 [[ 9.91319233e-01 -1.23246280e-01 -4.57879079e-02 1.76269651e+01] [ 1.23059898e-01 9.92375409e-01 -6.87810175e-03 4.20944203e-01] [ 4.62864943e-02 1.18373928e-03 9.98927504e-01 4.93138253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:0.43, Z:0.49 [[ 9.91627574e-01 -1.19826850e-01 -4.81277508e-02 1.76558863e+01] [ 1.19272334e-01 9.92759407e-01 -1.42432851e-02 4.26417177e-01] [ 4.94860053e-02 8.38372507e-03 9.98739630e-01 4.93729781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:0.42, Z:0.50 [[ 9.91541583e-01 -1.21168360e-01 -4.65136355e-02 1.76831974e+01] [ 1.21535305e-01 9.92573836e-01 5.13322815e-03 4.20589355e-01] [ 4.55462327e-02 -1.07428580e-02 9.98904466e-01 5.00111350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:0.43, Z:0.50 [[ 9.91604813e-01 -1.19901354e-01 -4.84103412e-02 1.77115921e+01] [ 1.19418765e-01 9.92762087e-01 -1.27513406e-02 4.30901769e-01] [ 4.95888544e-02 6.86318754e-03 9.98746135e-01 4.97553371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:0.42, Z:0.51 [[ 9.91329080e-01 -1.22263556e-01 -4.81484995e-02 1.77423731e+01] [ 1.22796888e-01 9.92397382e-01 8.26803069e-03 4.22879179e-01] [ 4.67715661e-02 -1.41088252e-02 9.98805968e-01 5.05225721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:0.44, Z:0.50 [[ 9.91114147e-01 -1.25135786e-01 -4.50974796e-02 1.77692393e+01] [ 1.24846325e-01 9.92133528e-01 -9.19008848e-03 4.36918740e-01] [ 4.58927305e-02 3.47817212e-03 9.98940318e-01 4.99566034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:0.44, Z:0.50 [[ 9.91159136e-01 -1.25142271e-01 -4.40792381e-02 1.77942212e+01] [ 1.25112846e-01 9.92136566e-01 -3.43658595e-03 4.37345867e-01] [ 4.41626861e-02 -2.10867539e-03 9.99022127e-01 5.02424550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:0.44, Z:0.51 [[ 9.90971516e-01 -1.26135372e-01 -4.54458233e-02 1.78266426e+01] [ 1.26145122e-01 9.92008219e-01 -2.66477829e-03 4.38096154e-01] [ 4.54187531e-02 -3.09204953e-03 9.98963251e-01 5.05070679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:0.44, Z:0.50 [[ 9.90759468e-01 -1.28401538e-01 -4.36889082e-02 1.78508981e+01] [ 1.28284669e-01 9.91722247e-01 -5.47992711e-03 4.44916346e-01] [ 4.40308933e-02 -1.75327441e-04 9.99030155e-01 5.04288683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:0.45, Z:0.50 [[ 9.90476493e-01 -1.30425865e-01 -4.41068027e-02 1.78827274e+01] [ 1.30302566e-01 9.91458056e-01 -5.67136168e-03 4.48111835e-01] [ 4.44697371e-02 -1.29879150e-04 9.99010723e-01 5.04937470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:0.45, Z:0.51 [[ 9.90427816e-01 -1.30551069e-01 -4.48236482e-02 1.79072306e+01] [ 1.30562825e-01 9.91436421e-01 -2.67784622e-03 4.50854453e-01] [ 4.47893931e-02 -3.20008876e-03 9.98991326e-01 5.07449516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.46, Z:0.51 [[ 9.90287361e-01 -1.31490242e-01 -4.51802934e-02 1.79376848e+01] [ 1.31326045e-01 9.91317284e-01 -6.59637739e-03 4.55968841e-01] [ 4.56553650e-02 5.98959901e-04 9.98957071e-01 5.06781568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:0.46, Z:0.51 [[ 9.90392053e-01 -1.30259364e-01 -4.64335953e-02 1.79616484e+01] [ 1.30038403e-01 9.91478583e-01 -7.76094799e-03 4.59072484e-01] [ 4.70488515e-02 1.64823062e-03 9.98891230e-01 5.07813232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:0.46, Z:0.51 [[ 9.90235936e-01 -1.31408799e-01 -4.65243816e-02 1.79901415e+01] [ 1.31633720e-01 9.91296806e-01 1.79081446e-03 4.59369201e-01] [ 4.58841421e-02 -7.89750624e-03 9.98915549e-01 5.11666293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:0.47, Z:0.51 [[ 9.89901206e-01 -1.33836021e-01 -4.67281611e-02 1.80206227e+01] [ 1.33769251e-01 9.91001982e-01 -4.56724253e-03 4.67113611e-01] [ 4.69189618e-02 -1.72967222e-03 9.98897202e-01 5.10508438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:0.47, Z:0.51 [[ 9.89797323e-01 -1.34494239e-01 -4.70378514e-02 1.80481302e+01] [ 1.34508570e-01 9.90908260e-01 -2.87490875e-03 4.69622517e-01] [ 4.69968542e-02 -3.48141715e-03 9.98888971e-01 5.10789926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:0.47, Z:0.51 [[ 9.89529085e-01 -1.36074554e-01 -4.81238471e-02 1.80753844e+01] [ 1.35971780e-01 9.90697895e-01 -5.41816350e-03 4.74778318e-01] [ 4.84134682e-02 -1.18205480e-03 9.98826681e-01 5.11396877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:0.48, Z:0.51 [[ 9.89589243e-01 -1.35516968e-01 -4.84590629e-02 1.81004282e+01] [ 1.35439771e-01 9.90773522e-01 -4.88831485e-03 4.77533964e-01] [ 4.86744060e-02 -1.72586058e-03 9.98813208e-01 5.13049768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:0.48, Z:0.51 [[ 9.89258191e-01 -1.37472346e-01 -4.96949305e-02 1.81307075e+01] [ 1.37299719e-01 9.90505605e-01 -6.88716778e-03 4.82086974e-01] [ 5.01699023e-02 -9.91284514e-06 9.98740697e-01 5.14031554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:0.48, Z:0.52 [[ 9.89294905e-01 -1.37156725e-01 -4.98359663e-02 1.81559617e+01] [ 1.37187671e-01 9.90541073e-01 -2.81534845e-03 4.82054211e-01] [ 4.97507155e-02 -4.05167027e-03 9.98753448e-01 5.16499870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:0.49, Z:0.52 [[ 9.88833209e-01 -1.40127033e-01 -5.07276892e-02 1.81865275e+01] [ 1.40135575e-01 9.90126467e-01 -3.40591192e-03 4.86333733e-01] [ 5.07040880e-02 -3.74087507e-03 9.98706714e-01 5.18595189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:0.49, Z:0.52 [[ 9.89086902e-01 -1.38398528e-01 -5.05267005e-02 1.82110410e+01] [ 1.38261421e-01 9.90376264e-01 -6.21566727e-03 4.91105167e-01] [ 5.09006840e-02 -8.38058304e-04 9.98703368e-01 5.19253758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:0.49, Z:0.52 [[ 9.89105085e-01 -1.38222324e-01 -5.06529308e-02 1.82374297e+01] [ 1.38137589e-01 9.90399467e-01 -5.18674800e-03 4.93628872e-01] [ 5.08835600e-02 -1.86683492e-03 9.98702848e-01 5.20800149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:0.50, Z:0.52 [[ 9.89053128e-01 -1.38467293e-01 -5.09972429e-02 1.82653937e+01] [ 1.38381302e-01 9.90365215e-01 -5.23030443e-03 4.97120045e-01] [ 5.12301215e-02 -1.88401589e-03 9.98685098e-01 5.22423627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.50, Z:0.52 [[ 9.88970408e-01 -1.39065532e-01 -5.09736287e-02 1.82928389e+01] [ 1.38979614e-01 9.90281360e-01 -5.24347591e-03 5.01551531e-01] [ 5.12074212e-02 -1.89865272e-03 9.98686235e-01 5.23825070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:0.51, Z:0.53 [[ 9.88928419e-01 -1.39221931e-01 -5.13598688e-02 1.83207274e+01] [ 1.38955017e-01 9.90260045e-01 -8.74905647e-03 5.06962061e-01] [ 5.20776865e-02 1.51547913e-03 9.98641887e-01 5.25040247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:0.51, Z:0.53 [[ 9.88906782e-01 -1.39682965e-01 -5.05177794e-02 1.83488592e+01] [ 1.39768520e-01 9.90182473e-01 -1.85255167e-03 5.06750064e-01] [ 5.02805896e-02 -5.22879432e-03 9.98721444e-01 5.28030338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:0.51, Z:0.53 [[ 9.88821691e-01 -1.39441637e-01 -5.27986167e-02 1.83796105e+01] [ 1.39632511e-01 9.90203391e-01 -7.43735543e-05 5.07001966e-01] [ 5.22917401e-02 -7.29886123e-03 9.98605178e-01 5.32716811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:0.52, Z:0.53 [[ 9.88639587e-01 -1.42040044e-01 -4.91568237e-02 1.84052123e+01] [ 1.41729216e-01 9.89857252e-01 -9.76983969e-03 5.17961027e-01] [ 5.00459469e-02 2.69189219e-03 9.98743289e-01 5.29219656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:0.52, Z:0.53 [[ 9.88521556e-01 -1.42703408e-01 -4.96071629e-02 1.84322836e+01] [ 1.42622531e-01 9.89763575e-01 -5.18450597e-03 5.18345425e-01] [ 4.98392096e-02 -1.95010322e-03 9.98755351e-01 5.31822047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:0.52, Z:0.53 [[ 9.88320802e-01 -1.43965367e-01 -4.99596300e-02 1.84602014e+01] [ 1.43884543e-01 9.89580665e-01 -5.22935429e-03 5.21459306e-01] [ 5.01919297e-02 -2.02013889e-03 9.98737548e-01 5.33303464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:0.52, Z:0.54 [[ 9.88002624e-01 -1.45850681e-01 -5.07778924e-02 1.84921394e+01] [ 1.46027226e-01 9.89280544e-01 -2.35519375e-04 5.21773114e-01] [ 5.02679317e-02 -7.18226100e-03 9.98709943e-01 5.37601357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:0.53, Z:0.53 [[ 9.88375457e-01 -1.43847689e-01 -4.92117656e-02 1.85203412e+01] [ 1.43349864e-01 9.89579742e-01 -1.35185482e-02 5.30106152e-01] [ 5.06435782e-02 6.30690134e-03 9.98696876e-01 5.32868726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:0.53, Z:0.54 [[ 9.88034405e-01 -1.45615393e-01 -5.08347463e-02 1.85453935e+01] [ 1.45778034e-01 9.89317189e-01 -5.13378727e-04 5.28848091e-01] [ 5.03664442e-02 -6.90335355e-03 9.98706947e-01 5.39470489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:0.53, Z:0.54 [[ 9.88185746e-01 -1.44377263e-01 -5.14211719e-02 1.85774547e+01] [ 1.44490568e-01 9.89505000e-01 -1.52669317e-03 5.30650796e-01] [ 5.11019265e-02 -5.92121790e-03 9.98675890e-01 5.41402107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:0.53, Z:0.54 [[ 9.88237561e-01 -1.43856963e-01 -5.18815619e-02 1.86059072e+01] [ 1.44008935e-01 9.89576051e-01 -8.16605211e-04 5.33133743e-01] [ 5.14582255e-02 -6.66440855e-03 9.98652911e-01 5.43937923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:0.55, Z:0.54 [[ 9.88081515e-01 -1.45844742e-01 -4.92364803e-02 1.86324819e+01] [ 1.45393360e-01 9.89293090e-01 -1.26472167e-02 5.45748228e-01] [ 5.05538398e-02 5.33782371e-03 9.98707073e-01 5.39002533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:0.54, Z:0.55 [[ 9.88202548e-01 -1.44207496e-01 -5.15744408e-02 1.86606673e+01] [ 1.44487652e-01 9.89505098e-01 1.72591033e-03 5.40874509e-01] [ 5.07842829e-02 -9.15741882e-03 9.98667662e-01 5.46285855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:0.55, Z:0.54 [[ 9.88290772e-01 -1.43947798e-01 -5.06002194e-02 1.86889786e+01] [ 1.43518822e-01 9.89574463e-01 -1.20303456e-02 5.52745706e-01] [ 5.18044267e-02 4.62739570e-03 9.98646528e-01 5.42599383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:0.56, Z:0.55 [[ 9.88590139e-01 -1.41685058e-01 -5.11359073e-02 1.87167694e+01] [ 1.41462148e-01 9.89911575e-01 -7.97079743e-03 5.56170531e-01] [ 5.17493695e-02 6.46056445e-04 9.98659895e-01 5.45237295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:0.56, Z:0.55 [[ 9.88986411e-01 -1.38779348e-01 -5.14409446e-02 1.87456975e+01] [ 1.38818503e-01 9.90313801e-01 -2.82830328e-03 5.56911674e-01] [ 5.13351874e-02 -4.34380141e-03 9.98672033e-01 5.48220775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:0.56, Z:0.55 [[ 9.89544621e-01 -1.35232661e-01 -5.01355220e-02 1.87739625e+01] [ 1.35207913e-01 9.90809571e-01 -3.90046398e-03 5.62856389e-01] [ 5.02022252e-02 -2.91903615e-03 9.98734808e-01 5.49743322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:0.56, Z:0.55 [[ 9.89932487e-01 -1.31393361e-01 -5.26256223e-02 1.88005929e+01] [ 1.31524982e-01 9.91312382e-01 -9.69355033e-04 5.63377271e-01] [ 5.22957978e-02 -5.96198801e-03 9.98613841e-01 5.54436344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.82, Y:0.57, Z:0.55 [[ 9.90198672e-01 -1.30140017e-01 -5.06968079e-02 1.88221385e+01] [ 1.29913128e-01 9.91495019e-01 -7.75930294e-03 5.73074878e-01] [ 5.12754283e-02 1.09707055e-03 9.98683947e-01 5.53198340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:0.58, Z:0.56 [[ 9.90163240e-01 -1.30317042e-01 -5.09335434e-02 1.88505874e+01] [ 1.30200677e-01 9.91471790e-01 -5.61018951e-03 5.75178836e-01] [ 5.12302747e-02 -1.07657840e-03 9.98686287e-01 5.55067349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:0.58, Z:0.56 [[ 9.90324801e-01 -1.29069717e-01 -5.09685767e-02 1.88815648e+01] [ 1.28831980e-01 9.91634679e-01 -7.93631756e-03 5.79905961e-01] [ 5.15665465e-02 1.29314947e-03 9.98668723e-01 5.55294386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:0.58, Z:0.56 [[ 9.90613893e-01 -1.26807356e-01 -5.10295024e-02 1.89121796e+01] [ 1.26895646e-01 9.91914909e-01 -1.51907103e-03 5.81310883e-01] [ 5.08095537e-02 -4.97060878e-03 9.98695991e-01 5.59197580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:0.59, Z:0.56 [[ 9.90734088e-01 -1.25848279e-01 -5.10703204e-02 1.89374362e+01] [ 1.25605022e-01 9.92048412e-01 -7.95781462e-03 5.88232097e-01] [ 5.16657075e-02 1.46938950e-03 9.98663354e-01 5.58471580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:0.59, Z:0.56 [[ 9.90772439e-01 -1.25620467e-01 -5.08868515e-02 1.89611381e+01] [ 1.25588454e-01 9.92074999e-01 -3.83884189e-03 5.90856289e-01] [ 5.09658103e-02 -2.58738225e-03 9.98697047e-01 5.61246948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:0.60, Z:0.56 [[ 9.90964221e-01 -1.24221912e-01 -5.05848735e-02 1.89912243e+01] [ 1.24096838e-01 9.92254207e-01 -5.61805978e-03 5.96104246e-01] [ 5.08909397e-02 -7.10126623e-04 9.98703964e-01 5.62101119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.60, Z:0.56 [[ 9.90945922e-01 -1.24508591e-01 -5.02373521e-02 1.90178966e+01] [ 1.24372467e-01 9.92218422e-01 -5.83884993e-03 6.00478487e-01] [ 5.05734132e-02 -4.62158888e-04 9.98720239e-01 5.63610672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.60, Z:0.57 [[ 9.90907808e-01 -1.25031980e-01 -4.96862215e-02 1.90459666e+01] [ 1.24982407e-01 9.92150422e-01 -4.11560540e-03 6.03292263e-01] [ 4.98107879e-02 -2.13171803e-03 9.98756397e-01 5.65901889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:0.61, Z:0.57 [[ 9.90813215e-01 -1.26046586e-01 -4.90043942e-02 1.90742458e+01] [ 1.25888801e-01 9.92024320e-01 -6.30536461e-03 6.07964849e-01] [ 4.94083205e-02 7.83341349e-05 9.98778660e-01 5.66948914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:0.61, Z:0.57 [[ 9.90558050e-01 -1.28105488e-01 -4.88234844e-02 1.91022856e+01] [ 1.28068622e-01 9.91757658e-01 -3.89554461e-03 6.10636305e-01] [ 4.89201052e-02 -2.39399329e-03 9.98799826e-01 5.69736691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:0.62, Z:0.57 [[ 9.90381628e-01 -1.29598806e-01 -4.84600885e-02 1.91293514e+01] [ 1.29329012e-01 9.91563788e-01 -8.67529721e-03 6.17279380e-01] [ 4.91755771e-02 2.32455960e-03 9.98787444e-01 5.68617198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:0.62, Z:0.57 [[ 9.90146942e-01 -1.30822679e-01 -4.99445739e-02 1.91574888e+01] [ 1.30863075e-01 9.91397364e-01 -2.47446068e-03 6.17320132e-01] [ 4.98386345e-02 -4.08582083e-03 9.98748926e-01 5.71799338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:0.62, Z:0.57 [[ 9.89918873e-01 -1.32557775e-01 -4.98904892e-02 1.91846065e+01] [ 1.32383799e-01 9.91175273e-01 -6.79021534e-03 6.23768291e-01] [ 5.03503152e-02 1.17069816e-04 9.98731612e-01 5.71889852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:0.63, Z:0.57 [[ 9.89726299e-01 -1.34463264e-01 -4.85950949e-02 1.92111457e+01] [ 1.34026376e-01 9.90903223e-01 -1.21545779e-02 6.30882585e-01] [ 4.97873804e-02 5.51668090e-03 9.98744603e-01 5.69690842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:0.63, Z:0.57 [[ 9.89536371e-01 -1.35656230e-01 -4.91442491e-02 1.92392042e+01] [ 1.35477602e-01 9.90755940e-01 -6.96319860e-03 6.31726383e-01] [ 4.96345580e-02 2.32393272e-04 9.98767419e-01 5.71971176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:0.63, Z:0.58 [[ 9.89293933e-01 -1.36799958e-01 -5.08260355e-02 1.92678239e+01] [ 1.36842566e-01 9.90589245e-01 -2.65705016e-03 6.32323646e-01] [ 5.07112084e-02 -4.32656148e-03 9.98703987e-01 5.75521652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:0.64, Z:0.58 [[ 9.89042017e-01 -1.38673493e-01 -5.06512597e-02 1.92940314e+01] [ 1.38571819e-01 9.90336944e-01 -5.53060668e-03 6.37473337e-01] [ 5.09287623e-02 -1.54883480e-03 9.98701088e-01 5.76027243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:0.64, Z:0.58 [[ 9.88910789e-01 -1.39275945e-01 -5.15525135e-02 1.93222680e+01] [ 1.39157145e-01 9.90252709e-01 -5.90426855e-03 6.41968911e-01] [ 5.18723388e-02 -1.33510574e-03 9.98652832e-01 5.77746444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:0.65, Z:0.58 [[ 9.88784500e-01 -1.39824155e-01 -5.24825541e-02 1.93513494e+01] [ 1.39673858e-01 9.90175973e-01 -6.53880191e-03 6.46293089e-01] [ 5.28812466e-02 -8.64974855e-04 9.98600433e-01 5.78741320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.65, Z:0.58 [[ 9.88644813e-01 -1.40694714e-01 -5.27866578e-02 1.93783505e+01] [ 1.40673598e-01 9.90047398e-01 -4.13386619e-03 6.49468896e-01] [ 5.28429063e-02 -3.33876371e-03 9.98597256e-01 5.80875585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:0.66, Z:0.58 [[ 9.88556774e-01 -1.41479930e-01 -5.23348260e-02 1.94063284e+01] [ 1.41240224e-01 9.89940815e-01 -8.26939904e-03 6.55171866e-01] [ 5.29783342e-02 7.82987909e-04 9.98595355e-01 5.81486627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:0.66, Z:0.58 [[ 9.88543202e-01 -1.41897245e-01 -5.14539559e-02 1.94333780e+01] [ 1.41771258e-01 9.89880596e-01 -6.10869038e-03 6.57394155e-01] [ 5.18000788e-02 -1.25598771e-03 9.98656685e-01 5.84629784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:0.66, Z:0.59 [[ 9.88550718e-01 -1.41823040e-01 -5.15141100e-02 1.94607518e+01] [ 1.41781149e-01 9.89887867e-01 -4.48516699e-03 6.60625830e-01] [ 5.16292924e-02 -2.86991466e-03 9.98662195e-01 5.87143453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:0.67, Z:0.59 [[ 9.88556685e-01 -1.42169830e-01 -5.04323374e-02 1.94879647e+01] [ 1.42011115e-01 9.89842152e-01 -6.73483089e-03 6.66911804e-01] [ 5.08775431e-02 -5.04190375e-04 9.98704772e-01 5.86960427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:0.67, Z:0.59 [[ 9.88559473e-01 -1.41644285e-01 -5.18369052e-02 1.95169630e+01] [ 1.41565830e-01 9.89915183e-01 -5.20065458e-03 6.71585518e-01] [ 5.20507824e-02 -2.19717813e-03 9.98642022e-01 5.89289577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:0.67, Z:0.59 [[ 9.88657384e-01 -1.40446342e-01 -5.32109107e-02 1.95455162e+01] [ 1.40547502e-01 9.90072199e-01 -1.85476516e-03 6.72575154e-01] [ 5.29431383e-02 -5.64493328e-03 9.98581573e-01 5.92611588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.57, Y:0.68, Z:0.59 [[ 9.88707758e-01 -1.40099542e-01 -5.31891665e-02 1.95739885e+01] [ 1.40052762e-01 9.90133244e-01 -4.62427812e-03 6.77529930e-01] [ 5.33122211e-02 -2.87723002e-03 9.98573747e-01 5.93614248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:0.69, Z:0.59 [[ 9.88905805e-01 -1.39197639e-01 -5.18587146e-02 1.95993019e+01] [ 1.38785495e-01 9.90255888e-01 -1.14831164e-02 6.86516907e-01] [ 5.29518202e-02 4.15848309e-03 9.98588410e-01 5.91753302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:0.69, Z:0.59 [[ 9.89006272e-01 -1.38329391e-01 -5.22644566e-02 1.96279136e+01] [ 1.38183329e-01 9.90385890e-01 -6.41541425e-03 6.88334917e-01] [ 5.26494207e-02 -8.77191653e-04 9.98612672e-01 5.94046590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:0.69, Z:0.60 [[ 9.89087301e-01 -1.37547621e-01 -5.27916950e-02 1.96555651e+01] [ 1.37487325e-01 9.90491947e-01 -4.78945571e-03 6.92267347e-01] [ 5.29485270e-02 -2.52099910e-03 9.98594061e-01 5.96663212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.68, Y:0.70, Z:0.60 [[ 9.89426708e-01 -1.34783205e-01 -5.35562928e-02 1.96841759e+01] [ 1.34804952e-01 9.90866913e-01 -3.22273530e-03 6.96248072e-01] [ 5.35015291e-02 -4.03099313e-03 9.98559631e-01 5.99080627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.71, Y:0.71, Z:0.60 [[ 9.89505589e-01 -1.35032313e-01 -5.14292065e-02 1.97105729e+01] [ 1.34665227e-01 9.90834955e-01 -1.05531589e-02 7.05280126e-01] [ 5.23828730e-02 3.51668392e-03 9.98620883e-01 5.96561570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:0.71, Z:0.60 [[ 9.89478449e-01 -1.34743502e-01 -5.26933307e-02 1.97384879e+01] [ 1.34620670e-01 9.90879703e-01 -5.88974135e-03 7.07117156e-01] [ 5.30063562e-02 -1.26583933e-03 9.98593373e-01 5.99476295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:0.71, Z:0.60 [[ 9.89502326e-01 -1.34751121e-01 -5.22233871e-02 1.97676022e+01] [ 1.34602801e-01 9.90879205e-01 -6.36303027e-03 7.10642322e-01] [ 5.26044937e-02 -7.33180901e-04 9.98615156e-01 6.00144534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:0.71, Z:0.60 [[ 9.89278158e-01 -1.35271246e-01 -5.50492134e-02 1.97949216e+01] [ 1.35215653e-01 9.90804804e-01 -4.75043706e-03 7.12785048e-01] [ 5.51856226e-02 -2.74401171e-03 9.98472342e-01 6.04281370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:0.72, Z:0.60 [[ 9.89161912e-01 -1.36621906e-01 -5.37881579e-02 1.98226237e+01] [ 1.36432612e-01 9.90623241e-01 -7.19288316e-03 7.18785358e-01] [ 5.42665047e-02 -2.23532791e-04 9.98526463e-01 6.03344496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.72, Z:0.60 [[ 9.88762187e-01 -1.39933386e-01 -5.26116523e-02 1.98494574e+01] [ 1.39786726e-01 9.90160462e-01 -6.47532041e-03 7.24798872e-01] [ 5.30000915e-02 -9.51858661e-04 9.98594054e-01 6.03590229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:0.73, Z:0.61 [[ 9.88385200e-01 -1.41940938e-01 -5.42905710e-02 1.98791485e+01] [ 1.41773513e-01 9.89874776e-01 -6.94250606e-03 7.28774202e-01] [ 5.47262926e-02 -8.35094730e-04 9.98501044e-01 6.06586860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.90, Y:0.73, Z:0.61 [[ 9.88249076e-01 -1.43676596e-01 -5.21612790e-02 1.99046820e+01] [ 1.43513873e-01 9.89624450e-01 -6.87137940e-03 7.32390099e-01] [ 5.26073335e-02 -6.95232835e-04 9.98615033e-01 6.06044893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:0.73, Z:0.61 [[ 9.87587190e-01 -1.47670409e-01 -5.35256256e-02 1.99333297e+01] [ 1.47669667e-01 9.89028687e-01 -3.99061221e-03 7.34013225e-01] [ 5.35276746e-02 -3.96303379e-03 9.98558502e-01 6.10181906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:0.74, Z:0.61 [[ 9.87377311e-01 -1.49135309e-01 -5.33357833e-02 1.99598575e+01] [ 1.48928005e-01 9.88816782e-01 -7.86268357e-03 7.39133621e-01] [ 5.39119213e-02 -1.79756461e-04 9.98545679e-01 6.10377078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:0.75, Z:0.61 [[ 9.87019129e-01 -1.51828555e-01 -5.23577047e-02 1.99885397e+01] [ 1.51496767e-01 9.88404382e-01 -1.02716831e-02 7.45700604e-01] [ 5.33101195e-02 2.20632472e-03 9.98575567e-01 6.10024342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:0.74, Z:0.61 [[ 9.87306510e-01 -1.50026299e-01 -5.21341102e-02 2.00150644e+01] [ 1.50193974e-01 9.88656294e-01 -7.08884517e-04 7.43282672e-01] [ 5.16490675e-02 -7.13034289e-03 9.98639841e-01 6.12877085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:0.76, Z:0.61 [[ 9.86805346e-01 -1.53104253e-01 -5.26715897e-02 2.00445162e+01] [ 1.52802963e-01 9.88208830e-01 -9.72429550e-03 7.55640913e-01] [ 5.35393611e-02 1.54761181e-03 9.98564541e-01 6.12079424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:0.76, Z:0.61 [[ 9.86816595e-01 -1.52822449e-01 -5.32757653e-02 2.00710717e+01] [ 1.52768755e-01 9.88248789e-01 -5.10284255e-03 7.57748553e-01] [ 5.34295394e-02 -3.10330260e-03 9.98566800e-01 6.14175496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:0.76, Z:0.61 [[ 9.86852836e-01 -1.52534549e-01 -5.34293103e-02 2.00988077e+01] [ 1.52373255e-01 9.88297492e-01 -7.10346322e-03 7.63137488e-01] [ 5.38875769e-02 -1.13112509e-03 9.98546368e-01 6.14795754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:0.77, Z:0.62 [[ 9.87051667e-01 -1.51111997e-01 -5.37975001e-02 2.01274703e+01] [ 1.50850179e-01 9.88516410e-01 -8.91803523e-03 7.69360842e-01] [ 5.45273337e-02 6.87199032e-04 9.98512042e-01 6.16270680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:0.77, Z:0.62 [[ 9.87216038e-01 -1.49663753e-01 -5.48202087e-02 2.01548002e+01] [ 1.49753647e-01 9.88720212e-01 -2.48767508e-03 7.70088245e-01] [ 5.45741631e-02 -5.75365345e-03 9.98493143e-01 6.20267561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:0.78, Z:0.62 [[ 9.87904120e-01 -1.45107268e-01 -5.46747697e-02 2.01844654e+01] [ 1.44989213e-01 9.89414179e-01 -6.14081353e-03 7.77142933e-01] [ 5.49870691e-02 -1.86071686e-03 9.98485333e-01 6.21129065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:0.78, Z:0.62 [[ 9.88338097e-01 -1.42339526e-01 -5.41042008e-02 2.02100391e+01] [ 1.42052709e-01 9.89816988e-01 -9.13009559e-03 7.83435475e-01] [ 5.48528306e-02 1.33797302e-03 9.98493554e-01 6.21721976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:0.79, Z:0.62 [[ 9.88737496e-01 -1.40068769e-01 -5.27153179e-02 2.02388678e+01] [ 1.39945742e-01 9.90140775e-01 -6.03613244e-03 7.87017139e-01] [ 5.30410594e-02 -1.40913384e-03 9.98591338e-01 6.22895077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:0.79, Z:0.63 [[ 9.89655827e-01 -1.33081202e-01 -5.35792731e-02 2.02663632e+01] [ 1.33120401e-01 9.91095768e-01 -2.85252614e-03 7.89398322e-01] [ 5.34818084e-02 -4.30947519e-03 9.98559525e-01 6.27755162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:0.80, Z:0.63 [[ 9.89928622e-01 -1.31803758e-01 -5.16632672e-02 2.02933777e+01] [ 1.31431599e-01 9.91269093e-01 -1.05508227e-02 7.98848255e-01] [ 5.26028381e-02 3.65437558e-03 9.98608826e-01 6.25963774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:0.79, Z:0.64 [[ 9.90410070e-01 -1.25515173e-01 -5.77393657e-02 2.03251272e+01] [ 1.26558919e-01 9.91849044e-01 1.47754324e-02 7.86642771e-01] [ 5.54141937e-02 -2.19411687e-02 9.98222346e-01 6.39122766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.35, Y:0.80, Z:0.63 [[ 9.91205138e-01 -1.21123136e-01 -5.33062867e-02 2.03510242e+01] [ 1.20769471e-01 9.92632023e-01 -9.81841508e-03 8.04984897e-01] [ 5.41027644e-02 3.29429144e-03 9.98529939e-01 6.32511560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:0.82, Z:0.62 [[ 9.91567541e-01 -1.20451741e-01 -4.78036575e-02 2.03757915e+01] [ 1.19354114e-01 9.92531953e-01 -2.51975784e-02 8.19856511e-01] [ 5.04817497e-02 1.92795377e-02 9.98538879e-01 6.23683702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:0.80, Z:0.64 [[ 9.91574933e-01 -1.17073481e-01 -5.54342199e-02 2.04082377e+01] [ 1.18071765e-01 9.92890582e-01 1.50781525e-02 8.02158037e-01] [ 5.32748631e-02 -2.14963343e-02 9.98348485e-01 6.40965276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:0.83, Z:0.63 [[ 9.92055094e-01 -1.17068034e-01 -4.60626237e-02 2.04345393e+01] [ 1.16219911e-01 9.93008026e-01 -2.06879814e-02 8.26471580e-01] [ 4.81624563e-02 1.51702233e-02 9.98724307e-01 6.27586810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:0.82, Z:0.64 [[ 9.91829027e-01 -1.16834842e-01 -5.12328056e-02 2.04621211e+01] [ 1.17347476e-01 9.93065505e-01 7.10446005e-03 8.15093426e-01] [ 5.00474834e-02 -1.30584501e-02 9.98661467e-01 6.39183251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:0.83, Z:0.63 [[ 9.92059572e-01 -1.17695553e-01 -4.43346551e-02 2.04904679e+01] [ 1.16899156e-01 9.92939236e-01 -2.01559112e-02 8.32194692e-01] [ 4.63938797e-02 1.48131809e-02 9.98813385e-01 6.30079470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:0.82, Z:0.64 [[ 9.91838851e-01 -1.17492144e-01 -4.95104965e-02 2.05188157e+01] [ 1.17722256e-01 9.93045023e-01 1.74747391e-03 8.21610182e-01] [ 4.89608377e-02 -7.56169987e-03 9.98772075e-01 6.40135943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:0.83, Z:0.64 [[ 9.91801618e-01 -1.19118054e-01 -4.62648785e-02 2.05450969e+01] [ 1.18675430e-01 9.92858041e-01 -1.22087040e-02 8.32595022e-01] [ 4.73887337e-02 6.61810810e-03 9.98854598e-01 6.35203213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:0.83, Z:0.64 [[ 9.91403839e-01 -1.22082623e-01 -4.70559382e-02 2.05732674e+01] [ 1.22052326e-01 9.92517399e-01 -3.52733676e-03 8.33292224e-01] [ 4.71344639e-02 -2.24627152e-03 9.98886028e-01 6.37656183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:0.84, Z:0.64 [[ 9.91140243e-01 -1.24073845e-01 -4.73993631e-02 2.06021492e+01] [ 1.23781812e-01 9.92268109e-01 -9.05886350e-03 8.36654768e-01] [ 4.81568444e-02 3.11142510e-03 9.98834940e-01 6.37545832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:0.84, Z:0.64 [[ 9.90861154e-01 -1.26032023e-01 -4.80635185e-02 2.06290949e+01] [ 1.26000286e-01 9.92023299e-01 -3.70165592e-03 8.36032271e-01] [ 4.81466573e-02 -2.38819000e-03 9.98837422e-01 6.39683961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:0.84, Z:0.64 [[ 9.90797082e-01 -1.26623103e-01 -4.78302392e-02 2.06572893e+01] [ 1.26497475e-01 9.91950801e-01 -5.65665299e-03 8.41157672e-01] [ 4.81615071e-02 -4.45809229e-04 9.98839462e-01 6.40429706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:0.85, Z:0.64 [[ 9.90433255e-01 -1.29353095e-01 -4.80597977e-02 2.06832568e+01] [ 1.28916299e-01 9.91581743e-01 -1.20927947e-02 8.47146455e-01] [ 4.92194583e-02 5.78141474e-03 9.98771255e-01 6.40222385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:0.84, Z:0.64 [[ 9.90150600e-01 -1.31083907e-01 -4.91812876e-02 2.07140205e+01] [ 1.30995458e-01 9.91370201e-01 -5.03132673e-03 8.44524656e-01] [ 4.94163889e-02 -1.46075414e-03 9.98777196e-01 6.43605178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:0.85, Z:0.64 [[ 9.89543200e-01 -1.35893733e-01 -4.83440592e-02 2.07402325e+01] [ 1.35457371e-01 9.90707987e-01 -1.22059816e-02 8.48140371e-01] [ 4.95535620e-02 5.52978692e-03 9.98756159e-01 6.41992022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:0.85, Z:0.64 [[ 9.89317071e-01 -1.37538482e-01 -4.83207882e-02 2.07682712e+01] [ 1.37460868e-01 9.90494872e-01 -4.94150395e-03 8.46348957e-01] [ 4.85411398e-02 -1.75350327e-03 9.98819645e-01 6.43795095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:0.85, Z:0.64 [[ 9.88621773e-01 -1.42670731e-01 -4.76660538e-02 2.07975900e+01] [ 1.42487275e-01 9.89770139e-01 -7.24218550e-03 8.48430271e-01] [ 4.82116846e-02 3.67976144e-04 9.98837073e-01 6.43663507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:0.84, Z:0.65 [[ 9.88354602e-01 -1.42932141e-01 -5.22071200e-02 2.08290351e+01] [ 1.43203396e-01 9.89692183e-01 1.47321002e-03 8.43640149e-01] [ 5.14584095e-02 -8.93229076e-03 9.98635192e-01 6.52280215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.85, Z:0.65 [[ 9.88102666e-01 -1.45698100e-01 -4.92461605e-02 2.08551947e+01] [ 1.45245956e-01 9.89314609e-01 -1.26576791e-02 8.52844045e-01] [ 5.05641458e-02 5.35428084e-03 9.98706463e-01 6.48050433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:0.85, Z:0.65 [[ 9.87667698e-01 -1.48635992e-01 -4.91920694e-02 2.08845570e+01] [ 1.48452069e-01 9.88891977e-01 -7.39197641e-03 8.50651513e-01] [ 4.97443565e-02 -1.84814959e-06 9.98761983e-01 6.50401999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:0.84, Z:0.66 [[ 9.87657952e-01 -1.47105317e-01 -5.37754168e-02 2.09110992e+01] [ 1.47586135e-01 9.89036261e-01 5.06042862e-03 8.44365744e-01] [ 5.24414212e-02 -1.29344785e-02 9.98540233e-01 6.60943302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:0.86, Z:0.65 [[ 9.87587607e-01 -1.48608603e-01 -5.08547045e-02 2.09385952e+01] [ 1.47852874e-01 9.88839414e-01 -1.83341435e-02 8.58474658e-01] [ 5.30117477e-02 1.05875587e-02 9.98537760e-01 6.53610102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:0.85, Z:0.66 [[ 9.87787658e-01 -1.46705501e-01 -5.24694077e-02 2.09672815e+01] [ 1.46607152e-01 9.89178145e-01 -5.73934367e-03 8.54090174e-01] [ 5.27435847e-02 -2.02313757e-03 9.98606039e-01 6.58317489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:0.85, Z:0.66 [[ 9.88124102e-01 -1.43796226e-01 -5.41609153e-02 2.09968073e+01] [ 1.43949232e-01 9.89584478e-01 -1.08580924e-03 8.53223886e-01] [ 5.37529364e-02 -6.72350786e-03 9.98531630e-01 6.63142648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:0.86, Z:0.66 [[ 9.88529005e-01 -1.42174588e-01 -5.09587333e-02 2.10218902e+01] [ 1.42276943e-01 9.89825545e-01 -1.63179141e-03 8.57326355e-01] [ 5.06722552e-02 -5.63717964e-03 9.98699427e-01 6.61094625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:0.86, Z:0.66 [[ 9.88660638e-01 -1.41070424e-01 -5.14711343e-02 2.10518718e+01] [ 1.40660745e-01 9.89990888e-01 -1.15150465e-02 8.64809139e-01] [ 5.25803865e-02 4.14450515e-03 9.98608094e-01 6.62006049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:0.86, Z:0.66 [[ 9.89168001e-01 -1.37402747e-01 -5.16444714e-02 2.10793643e+01] [ 1.37225761e-01 9.90515245e-01 -6.97428616e-03 8.62782259e-01] [ 5.21129223e-02 -1.88211206e-04 9.98641181e-01 6.64978945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:0.87, Z:0.67 [[ 9.89425888e-01 -1.35633089e-01 -5.13816751e-02 2.11087524e+01] [ 1.35363337e-01 9.90757740e-01 -8.71016243e-03 8.65145432e-01] [ 5.20881786e-02 1.66286518e-03 9.98641105e-01 6.66518975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:0.86, Z:0.67 [[ 9.89678324e-01 -1.33819505e-01 -5.12752956e-02 2.11371769e+01] [ 1.33810231e-01 9.91000328e-01 -3.62921457e-03 8.62656249e-01] [ 5.12994945e-02 -3.26940414e-03 9.98677963e-01 6.69879619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:0.87, Z:0.67 [[ 9.89790019e-01 -1.33192358e-01 -5.07495192e-02 2.11641206e+01] [ 1.32988081e-01 9.91090041e-01 -7.39601538e-03 8.65852718e-01] [ 5.12824358e-02 5.71421022e-04 9.98684027e-01 6.70485838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.87, Z:0.67 [[ 9.89905921e-01 -1.32536574e-01 -5.02028328e-02 2.11930597e+01] [ 1.32328757e-01 9.91177841e-01 -7.45566078e-03 8.65754159e-01] [ 5.07480831e-02 7.37124275e-04 9.98711214e-01 6.72407141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:0.87, Z:0.68 [[ 9.89882381e-01 -1.32552292e-01 -5.06237182e-02 2.12215395e+01] [ 1.32513584e-01 9.91172564e-01 -4.13507350e-03 8.66098019e-01] [ 5.07249540e-02 -2.61509394e-03 9.98709237e-01 6.75184112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:0.87, Z:0.68 [[ 9.89921769e-01 -1.32147025e-01 -5.09122286e-02 2.12491360e+01] [ 1.31937067e-01 9.91229890e-01 -7.47770160e-03 8.69053163e-01] [ 5.14538788e-02 6.85129475e-04 9.98675137e-01 6.75627760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:0.87, Z:0.68 [[ 9.89588942e-01 -1.34407659e-01 -5.14617152e-02 2.12776144e+01] [ 1.34192177e-01 9.90925910e-01 -7.63552784e-03 8.71806954e-01] [ 5.20210204e-02 6.50274333e-04 9.98645778e-01 6.77243782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:0.87, Z:0.68 [[ 9.89490468e-01 -1.35335265e-01 -5.09213112e-02 2.13046600e+01] [ 1.35211335e-01 9.90799294e-01 -5.88669510e-03 8.70179488e-01] [ 5.12494767e-02 -1.06030976e-03 9.98685319e-01 6.78421149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:0.87, Z:0.68 [[ 9.89394610e-01 -1.36075103e-01 -5.08121164e-02 2.13326503e+01] [ 1.35966493e-01 9.90697586e-01 -5.60418653e-03 8.71852066e-01] [ 5.11020313e-02 -1.36399331e-03 9.98692506e-01 6.80161223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:0.87, Z:0.68 [[ 9.89193130e-01 -1.37488686e-01 -5.09294924e-02 2.13603772e+01] [ 1.37246656e-01 9.90502661e-01 -8.23610091e-03 8.74981923e-01] [ 5.15781685e-02 1.15719193e-03 9.98668290e-01 6.81207092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:0.88, Z:0.68 [[ 9.88888055e-01 -1.39973987e-01 -5.00769141e-02 2.13865683e+01] [ 1.39543119e-01 9.90143081e-01 -1.20165387e-02 8.78448620e-01] [ 5.12653129e-02 4.89512281e-03 9.98673072e-01 6.78854488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:0.87, Z:0.69 [[ 9.88985371e-01 -1.38531064e-01 -5.21256224e-02 2.14194329e+01] [ 1.38986553e-01 9.90280617e-01 5.19974390e-03 8.68624987e-01] [ 5.08986675e-02 -1.23872312e-02 9.98626999e-01 6.87169387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:0.89, Z:0.68 [[ 9.88367054e-01 -1.43173887e-01 -5.13011149e-02 2.14445782e+01] [ 1.42358779e-01 9.89628420e-01 -1.92241550e-02 8.86497627e-01] [ 5.35214383e-02 1.16973574e-02 9.98498186e-01 6.79774878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:0.88, Z:0.69 [[ 9.88384390e-01 -1.41552901e-01 -5.53088917e-02 2.14732763e+01] [ 1.41847982e-01 9.89887426e-01 1.42643012e-03 8.75754528e-01] [ 5.45476611e-02 -9.25531595e-03 9.98468273e-01 6.89592710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:0.89, Z:0.68 [[ 9.87854880e-01 -1.47012493e-01 -5.02997300e-02 2.14997159e+01] [ 1.46126469e-01 9.89045522e-01 -2.08808607e-02 8.90545022e-01] [ 5.28184701e-02 1.32771382e-02 9.98515862e-01 6.79911125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:0.88, Z:0.69 [[ 9.88177293e-01 -1.43769344e-01 -5.32542312e-02 2.15281935e+01] [ 1.43930218e-01 9.89587498e-01 -8.21951119e-04 8.82088472e-01] [ 5.28178928e-02 -6.85265967e-03 9.98580648e-01 6.89266303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:0.89, Z:0.69 [[ 9.88031284e-01 -1.44501422e-01 -5.39770466e-02 2.15572088e+01] [ 1.44380862e-01 9.89503098e-01 -6.14699412e-03 8.88695378e-01] [ 5.42987043e-02 -1.71983002e-03 9.98523256e-01 6.90964013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.154340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.58, Y:0.90, Z:0.69 [[ 9.88287566e-01 -1.43558923e-01 -5.17544374e-02 2.15826691e+01] [ 1.43319832e-01 9.89641443e-01 -8.32105560e-03 8.95059392e-01] [ 5.24128979e-02 8.06158507e-04 9.98625174e-01 6.89359707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:0.90, Z:0.69 [[ 9.88033304e-01 -1.44810066e-01 -5.31058782e-02 2.16119822e+01] [ 1.44314617e-01 9.89445551e-01 -1.30687439e-02 9.02527439e-01] [ 5.44378606e-02 5.24839969e-03 9.98503367e-01 6.89804092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:0.90, Z:0.69 [[ 9.87898047e-01 -1.44789407e-01 -5.56190260e-02 2.16402249e+01] [ 1.44530396e-01 9.89462353e-01 -8.67277242e-03 9.03778267e-01] [ 5.62886579e-02 5.29175077e-04 9.98414396e-01 6.93977550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:0.91, Z:0.70 [[ 9.88303929e-01 -1.42426636e-01 -5.44976801e-02 2.16649908e+01] [ 1.42359856e-01 9.89801698e-01 -5.12538380e-03 9.05078676e-01] [ 5.46718875e-02 -2.69284493e-03 9.98500743e-01 6.95643654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:0.91, Z:0.70 [[ 9.88304407e-01 -1.41797474e-01 -5.61059268e-02 2.16950349e+01] [ 1.42041374e-01 9.89860655e-01 3.63163391e-04 9.05337588e-01] [ 5.54855538e-02 -8.32827890e-03 9.98424756e-01 6.99085130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:0.92, Z:0.69 [[ 9.87869855e-01 -1.45011431e-01 -5.55412896e-02 2.17192438e+01] [ 1.44374414e-01 9.89404278e-01 -1.53363248e-02 9.20431105e-01] [ 5.71767320e-02 7.13155185e-03 9.98338601e-01 6.94636819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:0.92, Z:0.70 [[ 9.87866140e-01 -1.44033536e-01 -5.80932792e-02 2.17490623e+01] [ 1.44048357e-01 9.89562748e-01 -3.95444241e-03 9.17206715e-01] [ 5.80565173e-02 -4.46178168e-03 9.98303327e-01 6.99340804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:0.93, Z:0.70 [[ 9.87639206e-01 -1.45617530e-01 -5.80028715e-02 2.17773536e+01] [ 1.45316021e-01 9.89340586e-01 -9.40526155e-03 9.25333487e-01] [ 5.87541658e-02 8.60258536e-04 9.98272111e-01 6.97874173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:0.93, Z:0.70 [[ 9.87168030e-01 -1.48199042e-01 -5.94670021e-02 2.18036940e+01] [ 1.47719842e-01 9.88951516e-01 -1.23995192e-02 9.31773016e-01] [ 6.06475788e-02 3.45595284e-03 9.98153259e-01 6.99268179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:0.93, Z:0.70 [[ 9.87075861e-01 -1.48544259e-01 -6.01319214e-02 2.18338736e+01] [ 1.48632544e-01 9.88887862e-01 -3.02698842e-03 9.30594107e-01] [ 5.99133690e-02 -5.94969325e-03 9.98185849e-01 7.04395455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:0.94, Z:0.71 [[ 9.86931054e-01 -1.49812716e-01 -5.93569290e-02 2.18599626e+01] [ 1.49726591e-01 9.88709708e-01 -5.92121275e-03 9.37310493e-01] [ 5.95738450e-02 -3.04348188e-03 9.98219262e-01 7.05208486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:0.95, Z:0.70 [[ 9.86735337e-01 -1.52023968e-01 -5.69393366e-02 2.18865076e+01] [ 1.51557263e-01 9.88370040e-01 -1.24523401e-02 9.46705180e-01] [ 5.81701885e-02 3.65759394e-03 9.98299981e-01 7.02545508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:0.95, Z:0.71 [[ 9.86939745e-01 -1.50685666e-01 -5.69541059e-02 2.19129908e+01] [ 1.50446137e-01 9.88581709e-01 -8.49492624e-03 9.47686143e-01] [ 5.75838510e-02 -1.84544885e-04 9.98340656e-01 7.06891287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:0.95, Z:0.71 [[ 9.86987960e-01 -1.50334589e-01 -5.70462807e-02 2.19419910e+01] [ 1.50423837e-01 9.88617773e-01 -2.75093321e-03 9.48744302e-01] [ 5.68105274e-02 -5.86598246e-03 9.98367745e-01 7.10916636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:0.96, Z:0.71 [[ 9.86881762e-01 -1.51677723e-01 -5.53014949e-02 2.19686871e+01] [ 1.51460859e-01 9.88429934e-01 -8.11626592e-03 9.57151337e-01] [ 5.58927096e-02 -3.66217122e-04 9.98436714e-01 7.10944153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.99, Y:0.97, Z:0.71 [[ 9.86994437e-01 -1.51824015e-01 -5.28341747e-02 2.19945239e+01] [ 1.51240342e-01 9.88384736e-01 -1.48987390e-02 9.65091564e-01] [ 5.44824782e-02 6.71431388e-03 9.98492152e-01 7.09935825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:0.96, Z:0.72 [[ 9.87062581e-01 -1.50981791e-01 -5.39625817e-02 2.20236713e+01] [ 1.51003737e-01 9.88526290e-01 -3.69387158e-03 9.62985225e-01] [ 5.39011381e-02 -4.50246909e-03 9.98536126e-01 7.16201745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:0.97, Z:0.71 [[ 9.87298014e-01 -1.50448328e-01 -5.10679249e-02 2.20504139e+01] [ 1.50120514e-01 9.88614909e-01 -1.02172781e-02 9.71642709e-01] [ 5.20236844e-02 2.42115526e-03 9.98642916e-01 7.14513618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.08, Y:0.97, Z:0.72 [[ 9.87252572e-01 -1.50184061e-01 -5.26982567e-02 2.20777864e+01] [ 1.50130685e-01 9.88653555e-01 -4.99259194e-03 9.73624029e-01] [ 5.28501266e-02 -2.98267612e-03 9.98598001e-01 7.19098707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:0.98, Z:0.72 [[ 9.87088067e-01 -1.51623737e-01 -5.16467883e-02 2.21082037e+01] [ 1.51338554e-01 9.88437186e-01 -9.41123150e-03 9.81332989e-01] [ 5.24765721e-02 1.47356407e-03 9.98621068e-01 7.18807510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:0.98, Z:0.72 [[ 9.87587216e-01 -1.48097052e-01 -5.23331060e-02 2.21346590e+01] [ 1.48067729e-01 9.88967173e-01 -4.45849374e-03 9.81681424e-01] [ 5.24160136e-02 -3.34569273e-03 9.98619731e-01 7.22136012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:0.99, Z:0.72 [[ 9.87543109e-01 -1.48663753e-01 -5.15528443e-02 2.21623908e+01] [ 1.48571907e-01 9.88885577e-01 -5.63068949e-03 9.86899144e-01] [ 5.18169436e-02 -2.09875579e-03 9.98654394e-01 7.21994171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:0.99, Z:0.72 [[ 9.87384236e-01 -1.49184305e-01 -5.30698998e-02 2.21889340e+01] [ 1.48800857e-01 9.88804580e-01 -1.11269146e-02 9.93930070e-01] [ 5.41357210e-02 3.08969353e-03 9.98528807e-01 7.21279200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:1.00, Z:0.72 [[ 9.87216973e-01 -1.50620835e-01 -5.21153780e-02 2.22163771e+01] [ 1.50302348e-01 9.88589504e-01 -9.99988052e-03 9.98702220e-01] [ 5.30269060e-02 2.03898809e-03 9.98591002e-01 7.20574278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:1.00, Z:0.72 [[ 9.87049568e-01 -1.51226779e-01 -5.35127195e-02 2.22445265e+01] [ 1.51168391e-01 9.88494556e-01 -5.16050643e-03 9.98381021e-01] [ 5.36774386e-02 -2.99575605e-03 9.98553833e-01 7.24946144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.27, Y:1.00, Z:0.72 [[ 9.86230461e-01 -1.56916474e-01 -5.22178012e-02 2.22741801e+01] [ 1.56963877e-01 9.87599103e-01 -3.21753180e-03 1.00426795e+00] [ 5.20751374e-02 -5.02308064e-03 9.98630537e-01 7.24948385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:1.01, Z:0.73 [[ 9.86146838e-01 -1.56659107e-01 -5.45191447e-02 2.22989035e+01] [ 1.56548610e-01 9.87650046e-01 -6.31810907e-03 1.00793146e+00] [ 5.48356252e-02 -2.30431304e-03 9.98492736e-01 7.28973587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:1.01, Z:0.73 [[ 9.84796936e-01 -1.65818579e-01 -5.17609196e-02 2.23312332e+01] [ 1.65839338e-01 9.86144979e-01 -3.92356623e-03 1.01397752e+00] [ 5.16943711e-02 -4.72008063e-03 9.98651798e-01 7.29182926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:1.02, Z:0.73 [[ 9.84490466e-01 -1.68503350e-01 -4.88379386e-02 2.23575171e+01] [ 1.68071344e-01 9.85691066e-01 -1.28509014e-02 1.02296859e+00] [ 5.03045397e-02 4.44333195e-03 9.98724041e-01 7.25416225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:1.02, Z:0.73 [[ 9.84758712e-01 -1.66385792e-01 -5.06561584e-02 2.23795477e+01] [ 1.65972709e-01 9.86053830e-01 -1.22843278e-02 1.02386756e+00] [ 5.19936366e-02 3.68955896e-03 9.98640600e-01 7.27384799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:1.03, Z:0.73 [[ 9.84780388e-01 -1.66099032e-01 -5.11732158e-02 2.24069533e+01] [ 1.65903044e-01 9.86108935e-01 -8.08382469e-03 1.02522989e+00] [ 5.18050808e-02 -5.29000268e-04 9.98657075e-01 7.29954600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.44, Y:1.03, Z:0.73 [[ 9.84034625e-01 -1.70615831e-01 -5.06566342e-02 2.24398757e+01] [ 1.70757859e-01 9.85311815e-01 -1.54270518e-03 1.02816033e+00] [ 5.01757901e-02 -7.13194310e-03 9.98714937e-01 7.32690354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.47, Y:1.04, Z:0.73 [[ 9.83777657e-01 -1.72025556e-01 -5.08795687e-02 2.24668379e+01] [ 1.71920724e-01 9.85089589e-01 -6.46264427e-03 1.03587950e+00] [ 5.12326734e-02 -2.38944726e-03 9.98683886e-01 7.32810252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:1.04, Z:0.73 [[ 9.83862849e-01 -1.71648273e-01 -5.05051060e-02 2.24924307e+01] [ 1.71510685e-01 9.85156833e-01 -7.07805202e-03 1.04114698e+00] [ 5.09703857e-02 -1.69833291e-03 9.98698721e-01 7.32992830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:1.05, Z:0.73 [[ 9.84065665e-01 -1.70711328e-01 -4.97233314e-02 2.25163115e+01] [ 1.70160035e-01 9.85300001e-01 -1.51483105e-02 1.04957545e+00] [ 5.15783867e-02 6.44600841e-03 9.98648146e-01 7.31244554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:1.05, Z:0.74 [[ 9.83661937e-01 -1.72909479e-01 -5.01149349e-02 2.25479904e+01] [ 1.72885506e-01 9.84930008e-01 -4.84571843e-03 1.05010424e+00] [ 5.01975738e-02 -3.89759707e-03 9.98731702e-01 7.35638436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:1.06, Z:0.73 [[ 9.83743868e-01 -1.73031835e-01 -4.80415036e-02 2.25748098e+01] [ 1.72750396e-01 9.84915059e-01 -9.98130337e-03 1.05915473e+00] [ 4.90438837e-02 1.51985720e-03 9.98795468e-01 7.34211871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:1.06, Z:0.74 [[ 9.83903699e-01 -1.72099679e-01 -4.81166474e-02 2.26021120e+01] [ 1.71925787e-01 9.85079334e-01 -7.76070383e-03 1.06196066e+00] [ 4.87343297e-02 -6.36707274e-04 9.98811574e-01 7.36621011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:1.07, Z:0.74 [[ 9.84039988e-01 -1.71355675e-01 -4.79847268e-02 2.26293563e+01] [ 1.71271988e-01 9.85206233e-01 -5.88092458e-03 1.06508400e+00] [ 4.82825817e-02 -2.43137457e-03 9.98830757e-01 7.39490059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:1.07, Z:0.74 [[ 9.84038203e-01 -1.71959763e-01 -4.58110715e-02 2.26587375e+01] [ 1.71676589e-01 9.85101842e-01 -1.00752394e-02 1.07344229e+00] [ 4.68611067e-02 2.04973195e-03 9.98899312e-01 7.37016167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:1.08, Z:0.74 [[ 9.84135831e-01 -1.71207042e-01 -4.65275636e-02 2.26831619e+01] [ 1.70981082e-01 9.85234804e-01 -8.82329470e-03 1.07608326e+00] [ 4.73511852e-02 7.27987279e-04 9.98878038e-01 7.39345835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.71, Y:1.08, Z:0.74 [[ 9.84290378e-01 -1.70101523e-01 -4.73067092e-02 2.27108998e+01] [ 1.70106738e-01 9.85417746e-01 -3.94518316e-03 1.07687899e+00] [ 4.72879524e-02 -4.16398416e-03 9.98872620e-01 7.42031120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:1.08, Z:0.74 [[ 9.84387495e-01 -1.69398829e-01 -4.78047825e-02 2.27392204e+01] [ 1.69223261e-01 9.85547463e-01 -7.72567746e-03 1.08324744e+00] [ 4.84226029e-02 -4.84620912e-04 9.98826820e-01 7.43075019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:1.09, Z:0.74 [[ 9.84622467e-01 -1.68123471e-01 -4.74667936e-02 2.27672458e+01] [ 1.68006811e-01 9.85764632e-01 -6.46538800e-03 1.08694812e+00] [ 4.78780698e-02 -1.60877834e-03 9.98851892e-01 7.44445174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:1.09, Z:0.75 [[ 9.84772682e-01 -1.67216506e-01 -4.75542314e-02 2.27963997e+01] [ 1.67026531e-01 9.85920195e-01 -7.96912731e-03 1.09244715e+00] [ 4.82172467e-02 -9.50394031e-05 9.98836868e-01 7.45969648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:1.11, Z:0.74 [[ 9.85115293e-01 -1.66196545e-01 -4.38926887e-02 2.28208516e+01] [ 1.65409643e-01 9.86001029e-01 -2.10147789e-02 1.10686593e+00] [ 4.67708199e-02 1.34417061e-02 9.98815204e-01 7.38828212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:1.09, Z:0.75 [[ 9.85412401e-01 -1.62922108e-01 -4.91811620e-02 2.28531674e+01] [ 1.63485945e-01 9.86516071e-01 7.64114133e-03 1.09447102e+00] [ 4.72730958e-02 -1.55701042e-02 9.98760645e-01 7.50939015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.88, Y:1.11, Z:0.74 [[ 9.85568400e-01 -1.62494637e-01 -4.74386201e-02 2.28761609e+01] [ 1.61857161e-01 9.86667598e-01 -1.70091373e-02 1.11276778e+00] [ 4.95700429e-02 9.08538783e-03 9.98729326e-01 7.44766907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.91, Y:1.11, Z:0.75 [[ 9.85675172e-01 -1.61293913e-01 -4.92821438e-02 2.29058727e+01] [ 1.60999774e-01 9.86904718e-01 -9.90711286e-03 1.11320737e+00] [ 5.02347372e-02 1.83078113e-03 9.98735761e-01 7.48161972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:1.12, Z:0.75 [[ 9.85689691e-01 -1.60984082e-01 -4.99995939e-02 2.29339606e+01] [ 1.60823474e-01 9.86956593e-01 -7.24526588e-03 1.11680284e+00] [ 5.05138013e-02 -8.99524517e-04 9.98722958e-01 7.50094987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:1.12, Z:0.75 [[ 9.85667657e-01 -1.60864672e-01 -5.08116789e-02 2.29608926e+01] [ 1.60846271e-01 9.86969314e-01 -4.47785669e-03 1.11984979e+00] [ 5.08698968e-02 -3.75919058e-03 9.98698214e-01 7.52536627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:1.12, Z:0.75 [[ 9.85658946e-01 -1.60489240e-01 -5.21502161e-02 2.29914160e+01] [ 1.60753987e-01 9.86994101e-01 8.94947280e-04 1.12070221e+00] [ 5.13283262e-02 -9.26546795e-03 9.98638851e-01 7.54052003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:1.13, Z:0.75 [[ 9.85494550e-01 -1.61365184e-01 -5.25525296e-02 2.30183763e+01] [ 1.61103562e-01 9.86894580e-01 -9.20494037e-03 1.13021504e+00] [ 5.33491635e-02 6.05018861e-04 9.98575736e-01 7.54807886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.05, Y:1.14, Z:0.75 [[ 9.84966316e-01 -1.65286932e-01 -5.02154084e-02 2.30459366e+01] [ 1.64558329e-01 9.86196806e-01 -1.83416366e-02 1.14048180e+00] [ 5.25539082e-02 9.80253052e-03 9.98569976e-01 7.51144973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.07, Y:1.14, Z:0.76 [[ 9.84482937e-01 -1.67339820e-01 -5.28273793e-02 2.30741616e+01] [ 1.67311710e-01 9.85891442e-01 -4.98555218e-03 1.13861039e+00] [ 5.29163426e-02 -3.93044810e-03 9.98591214e-01 7.57036138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:1.14, Z:0.76 [[ 9.84205817e-01 -1.69145064e-01 -5.22384619e-02 2.31021872e+01] [ 1.69006792e-01 9.85589420e-01 -7.08516649e-03 1.14402505e+00] [ 5.26840963e-02 -1.85539279e-03 9.98609505e-01 7.57639802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:1.15, Z:0.76 [[ 9.83513183e-01 -1.73251695e-01 -5.18234461e-02 2.31287210e+01] [ 1.72990314e-01 9.84877500e-01 -9.52159720e-03 1.14957722e+00] [ 5.26893789e-02 3.99662167e-04 9.98610870e-01 7.58803805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:1.16, Z:0.76 [[ 9.83214600e-01 -1.74731579e-01 -5.25159624e-02 2.31569579e+01] [ 1.74386504e-01 9.84614508e-01 -1.11183688e-02 1.15527935e+00] [ 5.36507086e-02 1.77366745e-03 9.98558188e-01 7.60612393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:1.15, Z:0.77 [[ 9.82978598e-01 -1.75479423e-01 -5.44063190e-02 2.31880639e+01] [ 1.75679412e-01 9.84446791e-01 -1.12217476e-03 1.15446194e+00] [ 5.37570447e-02 -8.45499633e-03 9.98518249e-01 7.66643449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.21, Y:1.17, Z:0.76 [[ 9.82827184e-01 -1.77173898e-01 -5.15765052e-02 2.32123086e+01] [ 1.76726036e-01 9.84172172e-01 -1.31545893e-02 1.16725681e+00] [ 5.30908110e-02 3.81377665e-03 9.98582406e-01 7.62928263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:1.17, Z:0.77 [[ 9.82854553e-01 -1.76247656e-01 -5.41635626e-02 2.32420669e+01] [ 1.76313195e-01 9.84327522e-01 -3.60375146e-03 1.16669330e+00] [ 5.39498381e-02 -6.00778725e-03 9.98525574e-01 7.68677171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:1.18, Z:0.76 [[ 9.82801719e-01 -1.77273970e-01 -5.17176996e-02 2.32709614e+01] [ 1.76761419e-01 9.84148994e-01 -1.43582041e-02 1.18068126e+00] [ 5.34432579e-02 4.96957368e-03 9.98558522e-01 7.64389584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:1.18, Z:0.77 [[ 9.83148292e-01 -1.73887295e-01 -5.64149382e-02 2.32978061e+01] [ 1.74207569e-01 9.84708651e-01 7.71966137e-04 1.17514222e+00] [ 5.54180426e-02 -1.05868664e-02 9.98407111e-01 7.74016893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:1.19, Z:0.77 [[ 9.83190194e-01 -1.74657550e-01 -5.32145017e-02 2.33235407e+01] [ 1.74101794e-01 9.84614288e-01 -1.49422119e-02 1.18992701e+00] [ 5.50055288e-02 5.42629597e-03 9.98471305e-01 7.69579437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:1.19, Z:0.78 [[ 9.83554190e-01 -1.71921682e-01 -5.53542245e-02 2.33523779e+01] [ 1.72164264e-01 9.85068177e-01 -3.91922728e-04 1.18791975e+00] [ 5.45950650e-02 -9.14454206e-03 9.98466703e-01 7.76652559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:1.20, Z:0.77 [[ 9.83737037e-01 -1.71871523e-01 -5.21691670e-02 2.33797384e+01] [ 1.71290214e-01 9.85099466e-01 -1.54500935e-02 1.20212076e+00] [ 5.40472497e-02 6.26276142e-03 9.98518739e-01 7.72191416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:1.20, Z:0.78 [[ 9.83722845e-01 -1.71206947e-01 -5.45668846e-02 2.34108147e+01] [ 1.71459468e-01 9.85191173e-01 -5.45708341e-05 1.20031872e+00] [ 5.37681560e-02 -9.30232642e-03 9.98510116e-01 7.79347772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:1.21, Z:0.78 [[ 9.84085125e-01 -1.69806619e-01 -5.23658176e-02 2.34380211e+01] [ 1.69636782e-01 9.85476543e-01 -7.70361083e-03 1.21165071e+00] [ 5.29134090e-02 -1.30215996e-03 9.98598255e-01 7.78122170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.46, Y:1.22, Z:0.78 [[ 9.83943747e-01 -1.70576032e-01 -5.25216165e-02 2.34647108e+01] [ 1.70474364e-01 9.85341049e-01 -6.44271824e-03 1.21684405e+00] [ 5.28506780e-02 -2.61431684e-03 9.98599004e-01 7.79956658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:23.49, Y:1.23, Z:0.78 [[ 9.84093130e-01 -1.69766005e-01 -5.23470704e-02 2.34912411e+01] [ 1.69281140e-01 9.85474053e-01 -1.35936231e-02 1.22518965e+00] [ 5.38944148e-02 4.51601930e-03 9.98536428e-01 7.79616037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:1.23, Z:0.78 [[ 9.83965010e-01 -1.70358795e-01 -5.28274525e-02 2.35214838e+01] [ 1.70572792e-01 9.85344969e-01 -4.64198898e-04 1.22579867e+00] [ 5.21323449e-02 -8.55417059e-03 9.98603547e-01 7.83651673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:1.24, Z:0.78 [[ 9.84138799e-01 -1.68963759e-01 -5.40561910e-02 2.35456879e+01] [ 1.68456971e-01 9.85611966e-01 -1.38311888e-02 1.23755883e+00] [ 5.56153983e-02 4.50566730e-03 9.98442100e-01 7.82484932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:1.24, Z:0.79 [[ 9.84004409e-01 -1.69467249e-01 -5.49197034e-02 2.35771858e+01] [ 1.69635867e-01 9.85505494e-01 -1.61077218e-03 1.23766387e+00] [ 5.43966425e-02 -7.73134459e-03 9.98489475e-01 7.86697726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.60, Y:1.25, Z:0.78 [[ 9.84142611e-01 -1.68897658e-01 -5.41931878e-02 2.36005546e+01] [ 1.68206336e-01 9.85603360e-01 -1.71068781e-02 1.25068140e+00] [ 5.63022997e-02 7.71997014e-03 9.98383921e-01 7.83585213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:1.25, Z:0.79 [[ 9.83953887e-01 -1.69794980e-01 -5.48125256e-02 2.36320008e+01] [ 1.70069991e-01 9.85431920e-01 3.58226919e-04 1.24863445e+00] [ 5.39531873e-02 -9.67444451e-03 9.98496599e-01 7.88823372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:1.26, Z:0.79 [[ 9.83822613e-01 -1.70898073e-01 -5.37300213e-02 2.36592069e+01] [ 1.70667637e-01 9.85288619e-01 -8.88228819e-03 1.25873596e+00] [ 5.44575444e-02 -4.31379782e-04 9.98515994e-01 7.88412509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:1.27, Z:0.79 [[ 9.83501095e-01 -1.72263808e-01 -5.52338410e-02 2.36819725e+01] [ 1.71546716e-01 9.85020419e-01 -1.75071196e-02 1.26778784e+00] [ 5.74223042e-02 7.74308731e-03 9.98319951e-01 7.88512989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:1.26, Z:0.79 [[ 9.83283013e-01 -1.73168883e-01 -5.62765822e-02 2.37124190e+01] [ 1.73297045e-01 9.84866086e-01 -2.63198878e-03 1.26466490e+00] [ 5.58806758e-02 -7.16457553e-03 9.98411748e-01 7.93441598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:1.27, Z:0.79 [[ 9.83041827e-01 -1.74523574e-01 -5.63053198e-02 2.37383773e+01] [ 1.74382382e-01 9.84649833e-01 -7.44924913e-03 1.27176858e+00] [ 5.67410933e-02 -2.49573233e-03 9.98385807e-01 7.94523441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.76, Y:1.28, Z:0.80 [[ 9.82756443e-01 -1.75925406e-01 -5.69212103e-02 2.37644314e+01] [ 1.75492759e-01 9.84400705e-01 -1.25516424e-02 1.27858898e+00] [ 5.82414323e-02 2.34594727e-03 9.98299771e-01 7.96000550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.79, Y:1.28, Z:0.80 [[ 9.82236290e-01 -1.79157865e-01 -5.58061919e-02 2.37934882e+01] [ 1.79308185e-01 9.83790164e-01 -2.34273221e-03 1.27900268e+00] [ 5.53213015e-02 -7.70539036e-03 9.98438872e-01 7.99241783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:1.29, Z:0.80 [[ 9.82022749e-01 -1.80655850e-01 -5.47246224e-02 2.38200470e+01] [ 1.80570135e-01 9.83540315e-01 -6.54790115e-03 1.28590245e+00] [ 5.50067890e-02 -3.45144456e-03 9.98480015e-01 7.99528885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:1.29, Z:0.80 [[ 9.81671899e-01 -1.82634155e-01 -5.44522538e-02 2.38503513e+01] [ 1.82682198e-01 9.83163317e-01 -4.13611789e-03 1.28966311e+00] [ 5.42908548e-02 -5.88714671e-03 9.98507809e-01 8.01147054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:1.30, Z:0.80 [[ 9.81382853e-01 -1.83771201e-01 -5.58197265e-02 2.38772848e+01] [ 1.83782658e-01 9.82954328e-01 -4.97222179e-03 1.29527585e+00] [ 5.57819929e-02 -5.37904449e-03 9.98428483e-01 8.04120078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:1.30, Z:0.81 [[ 9.81407358e-01 -1.83538944e-01 -5.61520571e-02 2.39062421e+01] [ 1.83465183e-01 9.83004652e-01 -6.51010108e-03 1.30000794e+00] [ 5.63925904e-02 -3.91288631e-03 9.98401004e-01 8.05413371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:1.31, Z:0.81 [[ 9.81604001e-01 -1.82450192e-01 -5.62628864e-02 2.39325247e+01] [ 1.82217505e-01 9.83214435e-01 -9.28197199e-03 1.30525772e+00] [ 5.70119796e-02 -1.14086192e-03 9.98372842e-01 8.05547967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:1.31, Z:0.81 [[ 9.82050514e-01 -1.78454194e-01 -6.10809938e-02 2.39599057e+01] [ 1.78440903e-01 9.83934025e-01 -5.71655431e-03 1.30560794e+00] [ 6.11198112e-02 -5.28540261e-03 9.98116443e-01 8.12310304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:1.31, Z:0.81 [[ 9.82249805e-01 -1.78773469e-01 -5.67923185e-02 2.39884669e+01] [ 1.78689855e-01 9.83883392e-01 -6.58841282e-03 1.31377896e+00] [ 5.70548524e-02 -3.67674399e-03 9.98364275e-01 8.09822425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:1.32, Z:0.81 [[ 9.82819388e-01 -1.73933215e-01 -6.17518186e-02 2.40148545e+01] [ 1.73584174e-01 9.84757445e-01 -1.10140388e-02 1.31713630e+00] [ 6.27262703e-02 1.05672428e-04 9.98030763e-01 8.14369393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:1.32, Z:0.81 [[ 9.82426549e-01 -1.77263792e-01 -5.84433415e-02 2.40440010e+01] [ 1.77220038e-01 9.84153133e-01 -5.97239701e-03 1.32257387e+00] [ 5.85758874e-02 -4.48988979e-03 9.98272862e-01 8.14208057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:1.32, Z:0.82 [[ 9.82756915e-01 -1.75389928e-01 -5.85424601e-02 2.40745070e+01] [ 1.75743527e-01 9.84435569e-01 9.06750581e-04 1.32149770e+00] [ 5.74722451e-02 -1.11795738e-02 9.98284508e-01 8.15308752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:1.33, Z:0.81 [[ 9.82576986e-01 -1.76930066e-01 -5.69053394e-02 2.40999067e+01] [ 1.76390130e-01 9.84214775e-01 -1.44152263e-02 1.33323391e+00] [ 5.85575627e-02 4.12652944e-03 9.98275505e-01 8.14956441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:1.33, Z:0.82 [[ 9.82419538e-01 -1.77568058e-01 -5.76318986e-02 2.41268994e+01] [ 1.77321562e-01 9.84108034e-01 -9.40426998e-03 1.33461209e+00] [ 5.83859124e-02 -9.80439699e-04 9.98293606e-01 8.18293797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.16, Y:1.34, Z:0.82 [[ 9.82366582e-01 -1.77882421e-01 -5.75651164e-02 2.41550367e+01] [ 1.77688471e-01 9.84049978e-01 -8.51169298e-03 1.33867706e+00] [ 5.81610321e-02 -1.86705476e-03 9.98305469e-01 8.19840711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:1.34, Z:0.82 [[ 9.82047722e-01 -1.79656973e-01 -5.74947264e-02 2.41833121e+01] [ 1.79549755e-01 9.83723504e-01 -7.06776149e-03 1.34276605e+00] [ 5.78286863e-02 -3.38228495e-03 9.98320792e-01 8.22007072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:1.35, Z:0.82 [[ 9.82057449e-01 -1.80039318e-01 -5.61160430e-02 2.42129204e+01] [ 1.79878081e-01 9.83656763e-01 -7.95287271e-03 1.34661334e+00] [ 5.66307550e-02 -2.28386825e-03 9.98392579e-01 8.21899115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:1.35, Z:0.82 [[ 9.81360202e-01 -1.83907945e-01 -5.57675634e-02 2.42378072e+01] [ 1.83731964e-01 9.82941248e-01 -8.31070302e-03 1.35376772e+00] [ 5.63446427e-02 -2.09049073e-03 9.98409190e-01 8.23997594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:1.35, Z:0.82 [[ 9.81091581e-01 -1.85991366e-01 -5.35399050e-02 2.42668497e+01] [ 1.86031986e-01 9.82534419e-01 -4.26790472e-03 1.35489633e+00] [ 5.33985929e-02 -5.77292951e-03 9.98556590e-01 8.23105162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:1.37, Z:0.82 [[ 9.81169615e-01 -1.85136812e-01 -5.50503998e-02 2.42906231e+01] [ 1.83787274e-01 9.82547367e-01 -2.86864152e-02 1.36960918e+00] [ 5.94005368e-02 1.80286760e-02 9.98071412e-01 8.24491922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:1.36, Z:0.83 [[ 9.80889927e-01 -1.86186312e-01 -5.64766118e-02 2.43223251e+01] [ 1.86838373e-01 9.82369510e-01 6.44730424e-03 1.35620555e+00] [ 5.42805016e-02 -1.68760940e-02 9.98383105e-01 8.34160486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.35, Y:1.37, Z:0.83 [[ 9.80741776e-01 -1.87675237e-01 -5.40700825e-02 2.43493462e+01] [ 1.87608221e-01 9.82223361e-01 -6.35807144e-03 1.36780967e+00] [ 5.43021507e-02 -3.90836573e-03 9.98516901e-01 8.32460924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.38, Y:1.37, Z:0.84 [[ 9.80985387e-01 -1.85610271e-01 -5.67141732e-02 2.43811344e+01] [ 1.85937551e-01 9.82561435e-01 5.02970378e-04 1.36645485e+00] [ 5.56318029e-02 -1.10387010e-02 9.98390329e-01 8.37517601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.41, Y:1.37, Z:0.84 [[ 9.81024173e-01 -1.85696610e-01 -5.57524944e-02 2.44074971e+01] [ 1.85803666e-01 9.82581340e-01 -3.30273719e-03 1.37203925e+00] [ 5.53946678e-02 -7.11895284e-03 9.98439158e-01 8.36976491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.44, Y:1.38, Z:0.84 [[ 9.80898950e-01 -1.86188242e-01 -5.63133100e-02 2.44350193e+01] [ 1.86008735e-01 9.82511678e-01 -8.45889964e-03 1.38031895e+00] [ 5.69034324e-02 -2.17744181e-03 9.98377313e-01 8.39458610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:1.40, Z:0.83 [[ 9.80615280e-01 -1.89059832e-01 -5.14786631e-02 2.44581072e+01] [ 1.88200011e-01 9.81903806e-01 -2.11109206e-02 1.39507010e+00] [ 5.45383223e-02 1.10134064e-02 9.98450938e-01 8.33255536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:1.39, Z:0.84 [[ 9.81047959e-01 -1.85481648e-01 -5.60487292e-02 2.44886098e+01] [ 1.85378991e-01 9.82641660e-01 -7.07088393e-03 1.39053407e+00] [ 5.63873355e-02 -3.45338059e-03 9.98402996e-01 8.40251727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.52, Y:1.40, Z:0.84 [[ 9.81174483e-01 -1.85091770e-01 -5.51150667e-02 2.45168360e+01] [ 1.84758382e-01 9.82720965e-01 -1.11285838e-02 1.39817234e+00] [ 5.62225408e-02 7.36111911e-04 9.98417991e-01 8.39807886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:1.40, Z:0.84 [[ 9.81275984e-01 -1.84408409e-01 -5.55965950e-02 2.45445412e+01] [ 1.84504415e-01 9.82825645e-01 -3.44556731e-03 1.40001969e+00] [ 5.52771509e-02 -6.87676479e-03 9.98447368e-01 8.42592873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.57, Y:1.41, Z:0.84 [[ 9.81775295e-01 -1.81971130e-01 -5.48067377e-02 2.45671171e+01] [ 1.81027841e-01 9.83237393e-01 -2.17520133e-02 1.41423610e+00] [ 5.78462723e-02 1.14340439e-02 9.98260022e-01 8.39658612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.60, Y:1.41, Z:0.85 [[ 9.82562775e-01 -1.77239004e-01 -5.61847702e-02 2.45988721e+01] [ 1.77437931e-01 9.84130899e-01 -1.46790262e-03 1.40626271e+00] [ 5.55533380e-02 -8.52700293e-03 9.98419309e-01 8.46777818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.63, Y:1.41, Z:0.85 [[ 9.82814040e-01 -1.76287749e-01 -5.47648894e-02 2.46258006e+01] [ 1.76144778e-01 9.84335966e-01 -7.46482415e-03 1.41400863e+00] [ 5.52230073e-02 -2.31001533e-03 9.98471373e-01 8.46593922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:1.42, Z:0.85 [[ 9.82768880e-01 -1.76624046e-01 -5.44910471e-02 2.46549079e+01] [ 1.76422134e-01 9.84277622e-01 -8.53190181e-03 1.42088111e+00] [ 5.51412572e-02 -1.22853925e-03 9.98477808e-01 8.47807964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:1.42, Z:0.85 [[ 9.83425055e-01 -1.72663857e-01 -5.53385444e-02 2.46842601e+01] [ 1.72686484e-01 9.84966974e-01 -4.40890038e-03 1.42258525e+00] [ 5.52678964e-02 -5.22039558e-03 9.98457915e-01 8.50203782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:1.43, Z:0.85 [[ 9.83469135e-01 -1.72802656e-01 -5.41082565e-02 2.47112296e+01] [ 1.72169186e-01 9.84934290e-01 -1.61931075e-02 1.43373509e+00] [ 5.60912892e-02 6.60964692e-03 9.98403766e-01 8.49350237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:1.43, Z:0.85 [[ 9.83399860e-01 -1.72472760e-01 -5.63725395e-02 2.47391226e+01] [ 1.72318058e-01 9.85011808e-01 -7.63050343e-03 1.43389135e+00] [ 5.68436710e-02 -2.21017053e-03 9.98380645e-01 8.54766694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:1.44, Z:0.86 [[ 9.83666713e-01 -1.71570550e-01 -5.44366131e-02 2.47670689e+01] [ 1.71557698e-01 9.85161669e-01 -4.94397528e-03 1.43631604e+00] [ 5.44771052e-02 -4.47579609e-03 9.98504989e-01 8.55002228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:1.45, Z:0.86 [[ 9.83220457e-01 -1.73813403e-01 -5.53753873e-02 2.47940480e+01] [ 1.73287030e-01 9.84768900e-01 -1.42063223e-02 1.44680564e+00] [ 5.70012084e-02 4.37211029e-03 9.98364536e-01 8.55617088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:1.45, Z:0.86 [[ 9.83076317e-01 -1.74578832e-01 -5.55264421e-02 2.48240277e+01] [ 1.74414054e-01 9.84641210e-01 -7.83745873e-03 1.44722715e+00] [ 5.60418775e-02 -1.97977183e-03 9.98426456e-01 8.57862051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:1.45, Z:0.86 [[ 9.82901401e-01 -1.76062097e-01 -5.39163609e-02 2.48524467e+01] [ 1.75644218e-01 9.84375226e-01 -1.24307134e-02 1.45425882e+00] [ 5.52625075e-02 2.74806852e-03 9.98468078e-01 8.56751250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:1.46, Z:0.86 [[ 9.82578353e-01 -1.77848986e-01 -5.39399490e-02 2.48811178e+01] [ 1.77410017e-01 9.84053019e-01 -1.28585355e-02 1.45960131e+00] [ 5.53666472e-02 3.06503135e-03 9.98461386e-01 8.57483251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:1.46, Z:0.86 [[ 9.81937915e-01 -1.81393566e-01 -5.37987402e-02 2.49081907e+01] [ 1.81127396e-01 9.83410578e-01 -9.82353352e-03 1.46297536e+00] [ 5.46881759e-02 -9.83256761e-05 9.98503477e-01 8.58793092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:1.46, Z:0.86 [[ 9.82068072e-01 -1.80536712e-01 -5.43028273e-02 2.49353520e+01] [ 1.80917164e-01 9.83496024e-01 2.13306850e-03 1.45925928e+00] [ 5.30215176e-02 -1.19191320e-02 9.98522235e-01 8.62993167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:1.47, Z:0.86 [[ 9.81530321e-01 -1.83676152e-01 -5.34911264e-02 2.49627474e+01] [ 1.82990728e-01 9.82959166e-01 -1.74834526e-02 1.47480208e+00] [ 5.57908863e-02 7.37215869e-03 9.98415258e-01 8.60087448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:1.48, Z:0.86 [[ 9.80851537e-01 -1.87165779e-01 -5.38445340e-02 2.49909584e+01] [ 1.86890463e-01 9.82328336e-01 -1.01486588e-02 1.47599553e+00] [ 5.47924931e-02 -1.08702281e-04 9.98497757e-01 8.61962693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:1.47, Z:0.87 [[ 9.80727797e-01 -1.86394983e-01 -5.85653423e-02 2.50219554e+01] [ 1.87173431e-01 9.82293887e-01 8.05142570e-03 1.46923579e+00] [ 5.60276324e-02 -1.88581330e-02 9.98251108e-01 8.71667217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:1.50, Z:0.86 [[ 9.79848553e-01 -1.93575244e-01 -4.92487415e-02 2.50450489e+01] [ 1.92372143e-01 9.80918439e-01 -2.81420426e-02 1.49654236e+00] [ 5.37566014e-02 1.81008538e-02 9.98389997e-01 8.56522193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:1.48, Z:0.87 [[ 9.79627836e-01 -1.93662155e-01 -5.31438867e-02 2.50750628e+01] [ 1.94010801e-01 9.80998347e-01 1.43245994e-03 1.48446796e+00] [ 5.18566517e-02 -1.17137656e-02 9.98585838e-01 8.66445057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:1.50, Z:0.86 [[ 9.79487792e-01 -1.94330282e-01 -5.32860869e-02 2.51008249e+01] [ 1.93748230e-01 9.80921953e-01 -1.59293753e-02 1.49770488e+00] [ 5.53650524e-02 5.27854359e-03 9.98452226e-01 8.63754587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:1.50, Z:0.87 [[ 9.78988062e-01 -1.96423947e-01 -5.47723263e-02 2.51304854e+01] [ 1.95953021e-01 9.80514869e-01 -1.38926485e-02 1.50301868e+00] [ 5.64339292e-02 2.86793420e-03 9.98402217e-01 8.65634030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.16, Y:1.50, Z:0.87 [[ 9.79044364e-01 -1.95706975e-01 -5.63108683e-02 2.51563154e+01] [ 1.95680437e-01 9.80649122e-01 -6.03870174e-03 1.50361061e+00] [ 5.64030196e-02 -5.10677841e-03 9.98395022e-01 8.68510416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:1.51, Z:0.87 [[ 9.79645721e-01 -1.92340742e-01 -5.74395297e-02 2.51820330e+01] [ 1.92135753e-01 9.81325956e-01 -9.12253940e-03 1.50975877e+00] [ 5.81215374e-02 -2.09933060e-03 9.98307307e-01 8.69189497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:1.52, Z:0.87 [[ 9.79562699e-01 -1.92632822e-01 -5.78749897e-02 2.52123276e+01] [ 1.92467396e-01 9.81266798e-01 -8.47189615e-03 1.51564909e+00] [ 5.84227711e-02 -2.84029509e-03 9.98287891e-01 8.70953832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:1.52, Z:0.87 [[ 9.80461834e-01 -1.88097802e-01 -5.75656980e-02 2.52403801e+01] [ 1.87734624e-01 9.82150076e-01 -1.17020670e-02 1.52099730e+00] [ 5.87392877e-02 6.66355399e-04 9.98273135e-01 8.72317158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.27, Y:1.52, Z:0.88 [[ 9.80832094e-01 -1.85058371e-01 -6.10065712e-02 2.52703031e+01] [ 1.85399821e-01 9.82663168e-01 -6.47508782e-05 1.51831950e+00] [ 5.99608932e-02 -1.12470977e-02 9.98137362e-01 8.80330142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:1.53, Z:0.88 [[ 9.81741795e-01 -1.80946047e-01 -5.86649534e-02 2.52943489e+01] [ 1.80488454e-01 9.83490508e-01 -1.30514050e-02 1.53057612e+00] [ 6.00580249e-02 2.22476304e-03 9.98192408e-01 8.78067054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:1.54, Z:0.88 [[ 9.81957156e-01 -1.80045637e-01 -5.78248435e-02 2.53230781e+01] [ 1.79671947e-01 9.83657707e-01 -1.16407452e-02 1.53628415e+00] [ 5.89757184e-02 1.04121087e-03 9.98258875e-01 8.78505388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:1.54, Z:0.88 [[ 9.82391319e-01 -1.77985609e-01 -5.68191809e-02 2.53503590e+01] [ 1.77616993e-01 9.84032335e-01 -1.15137561e-02 1.54160026e+00] [ 5.79611941e-02 1.21896201e-03 9.98318093e-01 8.78637357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:1.54, Z:0.88 [[ 9.83093634e-01 -1.73946793e-01 -5.71788353e-02 2.53793245e+01] [ 1.73846814e-01 9.84749529e-01 -6.75645214e-03 1.54346632e+00] [ 5.74820943e-02 -3.29813325e-03 9.98341090e-01 8.82378817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.41, Y:1.54, Z:0.89 [[ 9.83513518e-01 -1.70049999e-01 -6.15155061e-02 2.54088307e+01] [ 1.70692699e-01 9.85310008e-01 5.30941765e-03 1.53951063e+00] [ 5.97089773e-02 -1.57221318e-02 9.98092006e-01 8.91353843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:1.56, Z:0.88 [[ 9.83585977e-01 -1.71889623e-01 -5.48869993e-02 2.54348811e+01] [ 1.71233847e-01 9.85092735e-01 -1.64703416e-02 1.55791050e+00] [ 5.68998651e-02 6.80148496e-03 9.98356722e-01 8.84034123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.46, Y:1.56, Z:0.88 [[ 9.83773442e-01 -1.71363593e-01 -5.31444592e-02 2.54604246e+01] [ 1.70742272e-01 9.85184949e-01 -1.60528364e-02 1.56277993e+00] [ 5.51079930e-02 6.71834843e-03 9.98457797e-01 8.83286189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:1.56, Z:0.89 [[ 9.84010119e-01 -1.68770911e-01 -5.69250889e-02 2.54918375e+01] [ 1.69158544e-01 9.85586770e-01 2.02620152e-03 1.55630045e+00] [ 5.57626507e-02 -1.16231679e-02 9.98376396e-01 8.93194430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:1.57, Z:0.89 [[ 9.84073307e-01 -1.69929026e-01 -5.21905458e-02 2.55176415e+01] [ 1.69387883e-01 9.85440499e-01 -1.46549584e-02 1.57093907e+00] [ 5.39209803e-02 5.58110735e-03 9.98529609e-01 8.88271560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.55, Y:1.57, Z:0.89 [[ 9.84239560e-01 -1.68529261e-01 -5.35758972e-02 2.55467469e+01] [ 1.68568593e-01 9.85682537e-01 -3.81647959e-03 1.56959628e+00] [ 5.34520148e-02 -5.27488345e-03 9.98556487e-01 8.93637081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.57, Y:1.58, Z:0.89 [[ 9.84197197e-01 -1.69155982e-01 -5.23653563e-02 2.55726670e+01] [ 1.68615435e-01 9.85573691e-01 -1.46059910e-02 1.57968941e+00] [ 5.40806082e-02 5.54556814e-03 9.98521174e-01 8.91767239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:1.58, Z:0.89 [[ 9.84446752e-01 -1.67857069e-01 -5.18516721e-02 2.55997872e+01] [ 1.67977502e-01 9.85788682e-01 -2.05764452e-03 1.57703270e+00] [ 5.14601817e-02 -6.68427290e-03 9.98652677e-01 8.94548112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:1.59, Z:0.89 [[ 9.84211671e-01 -1.69703764e-01 -5.02794180e-02 2.56288523e+01] [ 1.69131029e-01 9.85472223e-01 -1.54658429e-02 1.58893714e+00] [ 5.21735816e-02 6.71785339e-03 9.98615435e-01 8.92243450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:1.59, Z:0.90 [[ 9.84163222e-01 -1.69099926e-01 -5.31786350e-02 2.56568539e+01] [ 1.69287415e-01 9.85566227e-01 -9.91531162e-04 1.58532873e+00] [ 5.25787345e-02 -8.02664513e-03 9.98584523e-01 8.97768831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:1.60, Z:0.89 [[ 9.83579235e-01 -1.72995288e-01 -5.14248754e-02 2.56833591e+01] [ 1.71928565e-01 9.84804131e-01 -2.45233133e-02 1.60401226e+00] [ 5.48858474e-02 1.52792167e-02 9.98375726e-01 8.92536351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:1.59, Z:0.90 [[ 9.83430647e-01 -1.72621331e-01 -5.53718240e-02 2.57123211e+01] [ 1.72957638e-01 9.84928401e-01 1.30374457e-03 1.59374790e+00] [ 5.43122279e-02 -1.08591223e-02 9.98464952e-01 8.99873044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:1.61, Z:0.90 [[ 9.82982102e-01 -1.75522878e-01 -5.42024500e-02 2.57386808e+01] [ 1.74975546e-01 9.84462725e-01 -1.47207539e-02 1.60742637e+00] [ 5.59441208e-02 4.98613436e-03 9.98421451e-01 8.96426536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:1.61, Z:0.90 [[ 9.82567652e-01 -1.77336697e-01 -5.57898311e-02 2.57686140e+01] [ 1.77348188e-01 9.84136539e-01 -4.78456591e-03 1.60683826e+00] [ 5.57532905e-02 -5.19306577e-03 9.98431071e-01 9.00935017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:1.61, Z:0.90 [[ 9.82108278e-01 -1.79908848e-01 -5.56429475e-02 2.57963490e+01] [ 1.79881456e-01 9.83672685e-01 -5.54163549e-03 1.61018767e+00] [ 5.57314369e-02 -4.56664832e-03 9.98435352e-01 9.02097379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:1.62, Z:0.90 [[ 9.81683712e-01 -1.82363379e-01 -5.51424347e-02 2.58237662e+01] [ 1.82113362e-01 9.83230988e-01 -9.56803095e-03 1.61687141e+00] [ 5.59626090e-02 -6.49394031e-04 9.98432654e-01 9.02356394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:1.62, Z:0.90 [[ 9.81278983e-01 -1.84478650e-01 -5.53099094e-02 2.58507079e+01] [ 1.84089081e-01 9.82835063e-01 -1.21016220e-02 1.62287878e+00] [ 5.65930092e-02 1.69311689e-03 9.98395896e-01 9.03621734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:1.63, Z:0.91 [[ 9.80631308e-01 -1.88123273e-01 -5.45148717e-02 2.58794362e+01] [ 1.87877082e-01 9.82145117e-01 -9.65251189e-03 1.62657115e+00] [ 5.53573772e-02 -7.76539656e-04 9.98466303e-01 9.05530121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:1.63, Z:0.91 [[ 9.80543001e-01 -1.88544878e-01 -5.46466048e-02 2.59075789e+01] [ 1.88308337e-01 9.82064083e-01 -9.49245059e-03 1.63179737e+00] [ 5.54562208e-02 -9.82655297e-04 9.98460636e-01 9.07092561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:1.64, Z:0.91 [[ 9.80166928e-01 -1.90292934e-01 -5.53298475e-02 2.59338544e+01] [ 1.90182671e-01 9.81721580e-01 -7.30014446e-03 1.63550749e+00] [ 5.57076712e-02 -3.36741798e-03 9.98441443e-01 9.09957765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:1.64, Z:0.91 [[ 9.79636562e-01 -1.93403758e-01 -5.39183831e-02 2.59627954e+01] [ 1.93095571e-01 9.81119211e-01 -1.09176256e-02 1.64173357e+00] [ 5.50118713e-02 2.83904263e-04 9.98485660e-01 9.10368649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:1.64, Z:0.92 [[ 9.79455380e-01 -1.94342799e-01 -5.38333993e-02 2.59905149e+01] [ 1.94661871e-01 9.80870159e-01 6.97797368e-04 1.64074479e+00] [ 5.26679630e-02 -1.11627716e-02 9.98549687e-01 9.15273751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:1.66, Z:0.91 [[ 9.79198889e-01 -1.96278380e-01 -5.14230916e-02 2.60189014e+01] [ 1.95647253e-01 9.80525557e-01 -1.70817274e-02 1.65550243e+00] [ 5.37744293e-02 6.66562187e-03 9.98530861e-01 9.11905544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:1.65, Z:0.92 [[ 9.79015959e-01 -1.96707705e-01 -5.32337380e-02 2.60460373e+01] [ 1.96734160e-01 9.80445145e-01 -4.79456328e-03 1.65439428e+00] [ 5.31358875e-02 -5.77894074e-03 9.98570569e-01 9.17136216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:1.66, Z:0.92 [[ 9.78938029e-01 -1.97547563e-01 -5.15295634e-02 2.60723801e+01] [ 1.97264643e-01 9.80293286e-01 -1.05704189e-02 1.66296590e+00] [ 5.26022455e-02 1.82824067e-04 9.98615527e-01 9.15117313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:1.67, Z:0.92 [[ 9.78761909e-01 -1.98052698e-01 -5.29174254e-02 2.61029900e+01] [ 1.97605324e-01 9.80187192e-01 -1.36090022e-02 1.67049249e+00] [ 5.45642822e-02 2.86320800e-03 9.98506155e-01 9.16663704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:1.67, Z:0.92 [[ 9.79091819e-01 -1.96198076e-01 -5.37170747e-02 2.61307214e+01] [ 1.96164823e-01 9.80552929e-01 -5.94269791e-03 1.67235807e+00] [ 5.38383808e-02 -4.71895355e-03 9.98538512e-01 9.19912523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:1.68, Z:0.92 [[ 9.79217664e-01 -1.95340085e-01 -5.45437156e-02 2.61594638e+01] [ 1.95381748e-01 9.80716388e-01 -4.61948093e-03 1.67722524e+00] [ 5.43942855e-02 -6.13336916e-03 9.98500698e-01 9.22875714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:1.69, Z:0.92 [[ 9.79418995e-01 -1.94765861e-01 -5.29593373e-02 2.61853081e+01] [ 1.94551888e-01 9.80848933e-01 -9.21598772e-03 1.68541145e+00] [ 5.37400693e-02 -1.27702564e-03 9.98554142e-01 9.22453679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:1.69, Z:0.92 [[ 9.80135451e-01 -1.91451349e-01 -5.17771990e-02 2.62135488e+01] [ 1.91218660e-01 9.81501901e-01 -9.45736303e-03 1.69235578e+00] [ 5.26300442e-02 -6.31269804e-04 9.98613879e-01 9.23357772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:1.70, Z:0.93 [[ 9.80373268e-01 -1.89610419e-01 -5.40013378e-02 2.62424837e+01] [ 1.89581557e-01 9.81848411e-01 -5.70352061e-03 1.69598996e+00] [ 5.41025747e-02 -4.64607858e-03 9.98524574e-01 9.27781962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:1.71, Z:0.92 [[ 9.80763463e-01 -1.88591609e-01 -5.03610391e-02 2.62686016e+01] [ 1.88090077e-01 9.82043825e-01 -1.45618648e-02 1.70739213e+00] [ 5.22029930e-02 4.80933322e-03 9.98624913e-01 9.23873863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.30, Y:1.71, Z:0.92 [[ 9.81198094e-01 -1.86338001e-01 -5.02836979e-02 2.62956637e+01] [ 1.85848396e-01 9.82474598e-01 -1.42841669e-02 1.71287399e+00] [ 5.20641390e-02 4.67045273e-03 9.98632822e-01 9.24013404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:1.71, Z:0.93 [[ 9.81358789e-01 -1.84883286e-01 -5.24699624e-02 2.63230125e+01] [ 1.84775653e-01 9.82756243e-01 -6.93716065e-03 1.71387362e+00] [ 5.28477482e-02 -2.88732799e-03 9.98598407e-01 9.28650961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:1.72, Z:0.93 [[ 9.81468797e-01 -1.84570270e-01 -5.15054913e-02 2.63519592e+01] [ 1.84383863e-01 9.82818508e-01 -8.38880412e-03 1.71910492e+00] [ 5.21688740e-02 -1.26343196e-03 9.98637478e-01 9.28459443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:1.72, Z:0.93 [[ 9.81526047e-01 -1.83780853e-01 -5.32091814e-02 2.63802763e+01] [ 1.83665721e-01 9.82963208e-01 -7.08764115e-03 1.72248926e+00] [ 5.36052404e-02 -2.81599826e-03 9.98558235e-01 9.31344776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:1.73, Z:0.93 [[ 9.81628729e-01 -1.83332200e-01 -5.28615407e-02 2.64061356e+01] [ 1.82700885e-01 9.83028752e-01 -1.65789118e-02 1.73138649e+00] [ 5.50038627e-02 6.61648587e-03 9.98464219e-01 9.28397581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:1.73, Z:0.93 [[ 9.81559097e-01 -1.83271363e-01 -5.43446989e-02 2.64355292e+01] [ 1.83257386e-01 9.83050772e-01 -5.28295503e-03 1.73015545e+00] [ 5.43918126e-02 -4.77353489e-03 9.98508259e-01 9.32899737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:1.74, Z:0.93 [[ 9.81493416e-01 -1.83812703e-01 -5.36988259e-02 2.64611320e+01] [ 1.83303776e-01 9.82952363e-01 -1.42960623e-02 1.73938548e+00] [ 5.54111857e-02 4.18829350e-03 9.98454836e-01 9.31742601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:1.74, Z:0.94 [[ 9.81159745e-01 -1.85291009e-01 -5.47064704e-02 2.64912412e+01] [ 1.85412887e-01 9.82656474e-01 -2.88354396e-03 1.73636057e+00] [ 5.42919621e-02 -7.31406735e-03 9.98498316e-01 9.36126696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:1.74, Z:0.94 [[ 9.80977035e-01 -1.86494782e-01 -5.38864890e-02 2.65190177e+01] [ 1.86370634e-01 9.82451908e-01 -7.36440817e-03 1.74219500e+00] [ 5.43143076e-02 -2.81854384e-03 9.98519911e-01 9.36521630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:1.74, Z:0.94 [[ 9.80659909e-01 -1.87777927e-01 -5.51868877e-02 2.65478503e+01] [ 1.87802222e-01 9.82195175e-01 -4.79215208e-03 1.74351074e+00] [ 5.51041552e-02 -5.66474868e-03 9.98464543e-01 9.40131256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:1.76, Z:0.93 [[ 9.79735658e-01 -1.93787131e-01 -5.06417590e-02 2.65710118e+01] [ 1.92715789e-01 9.80928620e-01 -2.52916426e-02 1.75819750e+00] [ 5.45771457e-02 1.50196575e-02 9.98396587e-01 9.32499578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:1.75, Z:0.94 [[ 9.79557826e-01 -1.94059588e-01 -5.29843519e-02 2.66017840e+01] [ 1.94237312e-01 9.80952874e-01 -1.82377497e-03 1.74830825e+00] [ 5.23290733e-02 -8.50504505e-03 9.98593677e-01 9.40315011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:1.76, Z:0.94 [[ 9.78847470e-01 -1.97926477e-01 -5.17951727e-02 2.66287171e+01] [ 1.97458523e-01 9.80210521e-01 -1.40522652e-02 1.75758775e+00] [ 5.35514886e-02 3.52762591e-03 9.98558859e-01 9.39015471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:1.76, Z:0.94 [[ 9.78490225e-01 -1.99407010e-01 -5.28556810e-02 2.66566139e+01] [ 1.99226385e-01 9.79914713e-01 -8.71795004e-03 1.75909861e+00] [ 5.35324799e-02 -1.99981734e-03 9.98564106e-01 9.42717245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:1.76, Z:0.94 [[ 9.78515873e-01 -1.99539356e-01 -5.18722544e-02 2.66846026e+01] [ 1.99247854e-01 9.79889789e-01 -1.07839817e-02 1.76343341e+00] [ 5.29809212e-02 2.16861903e-04 9.98595501e-01 9.43270573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:1.76, Z:0.95 [[ 9.78383081e-01 -2.00324355e-01 -5.13488118e-02 2.67121952e+01] [ 2.00396365e-01 9.79707556e-01 -3.79503676e-03 1.76384335e+00] [ 5.10670572e-02 -6.57711551e-03 9.98673569e-01 9.46304820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:1.77, Z:0.95 [[ 9.78315113e-01 -2.00938725e-01 -5.02311477e-02 2.67378114e+01] [ 2.00689960e-01 9.79603767e-01 -9.99999773e-03 1.76960601e+00] [ 5.12160083e-02 -2.97738113e-04 9.98687555e-01 9.46240849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:1.77, Z:0.95 [[ 9.78479335e-01 -2.00143607e-01 -5.02068512e-02 2.67665835e+01] [ 1.99921181e-01 9.79766265e-01 -9.46505044e-03 1.77285712e+00] [ 5.10853484e-02 -7.76056698e-04 9.98693990e-01 9.47583638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:1.78, Z:0.95 [[ 9.78490228e-01 -1.99863999e-01 -5.11004550e-02 2.67937483e+01] [ 1.99352176e-01 9.79813466e-01 -1.49760126e-02 1.78058277e+00] [ 5.30620797e-02 4.46689506e-03 9.98581225e-01 9.47992899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:1.78, Z:0.95 [[ 9.78812478e-01 -1.98023554e-01 -5.20845891e-02 2.68219884e+01] [ 1.98028203e-01 9.80182934e-01 -5.12305110e-03 1.78029204e+00] [ 5.20669102e-02 -5.29971127e-03 9.98629536e-01 9.51537663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:1.79, Z:0.95 [[ 9.79416359e-01 -1.94862036e-01 -5.26534130e-02 2.68487785e+01] [ 1.94462851e-01 9.80828303e-01 -1.26507077e-02 1.78879380e+00] [ 5.41091003e-02 2.15117730e-03 9.98532712e-01 9.50740449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:1.79, Z:0.95 [[ 9.79728694e-01 -1.93105102e-01 -5.33114112e-02 2.68768178e+01] [ 1.92989120e-01 9.81173263e-01 -7.36399985e-03 1.79039707e+00] [ 5.37297572e-02 -3.07380037e-03 9.98550782e-01 9.53311844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:1.80, Z:0.95 [[ 9.79784492e-01 -1.92923287e-01 -5.29429389e-02 2.69050828e+01] [ 1.92566056e-01 9.81212869e-01 -1.18160393e-02 1.79897749e+00] [ 5.42278821e-02 1.38215908e-03 9.98527629e-01 9.53916065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:1.80, Z:0.96 [[ 9.80291612e-01 -1.90243413e-01 -5.32522232e-02 2.69335929e+01] [ 1.89800190e-01 9.81732558e-01 -1.33068425e-02 1.80402997e+00] [ 5.48109804e-02 2.93730400e-03 9.98492428e-01 9.55568796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:1.80, Z:0.96 [[ 9.80785767e-01 -1.87769024e-01 -5.29346150e-02 2.69590596e+01] [ 1.87822425e-01 9.82194821e-01 -4.00874955e-03 1.80299062e+00] [ 5.27448237e-02 -6.01058325e-03 9.98589934e-01 9.59323556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:1.81, Z:0.96 [[ 9.81083126e-01 -1.86650377e-01 -5.13569581e-02 2.69870923e+01] [ 1.86200661e-01 9.82419691e-01 -1.34486040e-02 1.81332314e+00] [ 5.29642739e-02 3.63149884e-03 9.98589805e-01 9.58793092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:1.82, Z:0.96 [[ 9.81194347e-01 -1.85684381e-01 -5.27158892e-02 2.70143574e+01] [ 1.85262639e-01 9.82605414e-01 -1.28201073e-02 1.81758813e+00] [ 5.41794118e-02 2.81273200e-03 9.98527255e-01 9.62494795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:1.82, Z:0.97 [[ 9.81343697e-01 -1.84797519e-01 -5.30511519e-02 2.70420480e+01] [ 1.84861362e-01 9.82757478e-01 -3.74377424e-03 1.81776989e+00] [ 5.28282565e-02 -6.13317893e-03 9.98584778e-01 9.65640820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:1.83, Z:0.97 [[ 9.81579676e-01 -1.84020149e-01 -5.13607239e-02 2.70689452e+01] [ 1.83765473e-01 9.82922469e-01 -9.67831950e-03 1.82539275e+00] [ 5.22646154e-02 6.17139848e-05 9.98633269e-01 9.65383179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:1.83, Z:0.97 [[ 9.81676270e-01 -1.83766921e-01 -5.04125003e-02 2.70965989e+01] [ 1.83500713e-01 9.82969736e-01 -9.89886155e-03 1.83047644e+00] [ 5.13730453e-02 4.66747756e-04 9.98679424e-01 9.67011583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:1.84, Z:0.97 [[ 9.81639724e-01 -1.84284819e-01 -4.92194767e-02 2.71238066e+01] [ 1.83940140e-01 9.82870381e-01 -1.14820886e-02 1.83657832e+00] [ 5.04923404e-02 2.21783685e-03 9.98721986e-01 9.66524933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:1.84, Z:0.97 [[ 9.81356467e-01 -1.85380326e-01 -5.07308498e-02 2.71517537e+01] [ 1.84915737e-01 9.82658266e-01 -1.37442064e-02 1.84270296e+00] [ 5.23989943e-02 4.10703339e-03 9.98617784e-01 9.68497843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:1.84, Z:0.97 [[ 9.81320863e-01 -1.85870471e-01 -4.96138255e-02 2.71788816e+01] [ 1.85695054e-01 9.82573519e-01 -8.16249229e-03 1.84484971e+00] [ 5.02663974e-02 -1.20301803e-03 9.98735121e-01 9.69424838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:1.85, Z:0.97 [[ 9.81384440e-01 -1.85642588e-01 -4.92078309e-02 2.72074331e+01] [ 1.85369774e-01 9.82617026e-01 -1.00909817e-02 1.85036592e+00] [ 5.02257684e-02 7.81487979e-04 9.98737584e-01 9.70411941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.24, Y:1.85, Z:0.97 [[ 9.81306806e-01 -1.85741771e-01 -5.03681168e-02 2.72352357e+01] [ 1.85570620e-01 9.82597590e-01 -8.09449394e-03 1.85320385e+00] [ 5.09950758e-02 -1.40366067e-03 9.98697918e-01 9.72214545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:1.86, Z:0.97 [[ 9.81122101e-01 -1.86586778e-01 -5.08409009e-02 2.72617699e+01] [ 1.86200124e-01 9.82435091e-01 -1.22802963e-02 1.86027158e+00] [ 5.22392261e-02 2.58188806e-03 9.98631262e-01 9.71971889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:1.86, Z:0.97 [[ 9.81177268e-01 -1.86242657e-01 -5.10376401e-02 2.72896498e+01] [ 1.85870472e-01 9.82501146e-01 -1.19860976e-02 1.86410843e+00] [ 5.23768625e-02 2.27409627e-03 9.98624801e-01 9.72928464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:1.87, Z:0.97 [[ 9.80678276e-01 -1.88739149e-01 -5.14553452e-02 2.73163507e+01] [ 1.88430763e-01 9.82026827e-01 -1.08239746e-02 1.86840688e+00] [ 5.25734371e-02 9.19066809e-04 9.98616638e-01 9.74037434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.34, Y:1.87, Z:0.98 [[ 9.80412870e-01 -1.89902762e-01 -5.22259076e-02 2.73440499e+01] [ 1.89628861e-01 9.81802899e-01 -1.01962089e-02 1.87312537e+00] [ 5.32118357e-02 9.29550765e-05 9.98583242e-01 9.75494952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:1.88, Z:0.98 [[ 9.79951192e-01 -1.92107448e-01 -5.28241431e-02 2.73719838e+01] [ 1.91907022e-01 9.81372861e-01 -8.88837718e-03 1.87667870e+00] [ 5.35477039e-02 -1.42714818e-03 9.98564273e-01 9.77346324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:1.88, Z:0.98 [[ 9.79613967e-01 -1.94106486e-01 -5.17604875e-02 2.73991719e+01] [ 1.93771116e-01 9.80979724e-01 -1.14688916e-02 1.88238039e+00] [ 5.30021750e-02 1.20539894e-03 9.98593669e-01 9.77042418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:1.89, Z:0.98 [[ 9.79444509e-01 -1.95170637e-01 -5.09595595e-02 2.74246528e+01] [ 1.94860159e-01 9.80768904e-01 -1.10397239e-02 1.88584226e+00] [ 5.21341812e-02 8.82809123e-04 9.98639699e-01 9.78036294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:1.89, Z:0.98 [[ 9.79200704e-01 -1.96151810e-01 -5.18695397e-02 2.74533536e+01] [ 1.95974556e-01 9.80571868e-01 -8.53146160e-03 1.88737502e+00] [ 5.25352731e-02 -1.81109682e-03 9.98617427e-01 9.80341013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:1.89, Z:0.98 [[ 9.78126104e-01 -2.00914035e-01 -5.38783389e-02 2.74820009e+01] [ 2.00942141e-01 9.79590600e-01 -4.95089599e-03 1.88789246e+00] [ 5.37734189e-02 -5.98382818e-03 9.98535234e-01 9.84094350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:1.90, Z:0.98 [[ 9.77449832e-01 -2.04799628e-01 -5.14678308e-02 2.75075864e+01] [ 2.04206896e-01 9.78787351e-01 -1.65790702e-02 1.89940702e+00] [ 5.37714492e-02 5.69512344e-03 9.98537028e-01 9.79734255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:1.90, Z:0.98 [[ 9.76972557e-01 -2.06820089e-01 -5.24411495e-02 2.75352756e+01] [ 2.06408940e-01 9.78376802e-01 -1.31978054e-02 1.90065730e+00] [ 5.40367755e-02 2.06957162e-03 9.98536801e-01 9.81209127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:1.90, Z:0.98 [[ 9.76523099e-01 -2.08346621e-01 -5.47203985e-02 2.75648776e+01] [ 2.08216305e-01 9.78048970e-01 -8.13529420e-03 1.90262282e+00] [ 5.52141905e-02 -3.44937648e-03 9.98468575e-01 9.84765353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:1.91, Z:0.98 [[ 9.76537709e-01 -2.08280587e-01 -5.47110546e-02 2.75923039e+01] [ 2.07985253e-01 9.78068968e-01 -1.11007974e-02 1.90902682e+00] [ 5.58232653e-02 -5.38745252e-04 9.98440520e-01 9.84971451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:1.91, Z:0.99 [[ 9.76967110e-01 -2.06549207e-01 -5.35974887e-02 2.76191193e+01] [ 2.06236422e-01 9.78436213e-01 -1.13629036e-02 1.91458567e+00] [ 5.47887226e-02 4.74287552e-05 9.98497969e-01 9.85862883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:1.92, Z:0.99 [[ 9.77178388e-01 -2.04866625e-01 -5.61432416e-02 2.76478133e+01] [ 2.04905485e-01 9.78768345e-01 -5.12540083e-03 1.91567562e+00] [ 5.60012512e-02 -6.49562720e-03 9.98409569e-01 9.91211793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.67, Y:1.92, Z:0.99 [[ 9.77581700e-01 -2.03350377e-01 -5.46135898e-02 2.76724000e+01] [ 2.03011833e-01 9.79105957e-01 -1.17354150e-02 1.92374145e+00] [ 5.58588922e-02 3.85121998e-04 9.98438599e-01 9.90037088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:1.93, Z:0.99 [[ 9.77552549e-01 -2.03463881e-01 -5.47125473e-02 2.77004046e+01] [ 2.03161235e-01 9.79082416e-01 -1.10966390e-02 1.92893316e+00] [ 5.58258582e-02 -2.67920870e-04 9.98440485e-01 9.91556899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:1.93, Z:0.99 [[ 9.77921739e-01 -2.01676164e-01 -5.47338710e-02 2.77259830e+01] [ 2.01287135e-01 9.79451406e-01 -1.25870176e-02 1.93436980e+00] [ 5.61476683e-02 1.29189405e-03 9.98421640e-01 9.92439733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:1.94, Z:0.99 [[ 9.78337952e-01 -1.99647754e-01 -5.47323158e-02 2.77544805e+01] [ 1.99277196e-01 9.79867191e-01 -1.22019405e-02 1.94081736e+00] [ 5.60664906e-02 1.03071904e-03 9.98426505e-01 9.93142448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:1.95, Z:1.00 [[ 9.78714482e-01 -1.97684076e-01 -5.51268407e-02 2.77822692e+01] [ 1.97419207e-01 9.80265426e-01 -1.02641142e-02 1.94549317e+00] [ 5.60679879e-02 -8.37459990e-04 9.98426602e-01 9.95885652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:1.95, Z:1.00 [[ 9.79411526e-01 -1.94873953e-01 -5.26992027e-02 2.78088654e+01] [ 1.94499772e-01 9.80826843e-01 -1.21877751e-02 1.95373094e+00] [ 5.40638725e-02 1.68686450e-03 9.98536055e-01 9.95172574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:1.96, Z:1.00 [[ 9.79572816e-01 -1.93825509e-01 -5.35608958e-02 2.78366520e+01] [ 1.93602689e-01 9.81035294e-01 -9.36754061e-03 1.95839051e+00] [ 5.43607975e-02 -1.19334534e-03 9.98520646e-01 9.99066884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.86, Y:1.96, Z:1.00 [[ 9.79823264e-01 -1.93106873e-01 -5.15374403e-02 2.78617816e+01] [ 1.92809811e-01 9.81177564e-01 -1.07221540e-02 1.96481407e+00] [ 5.26379018e-02 5.68891818e-04 9.98613503e-01 9.98603146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:1.97, Z:1.00 [[ 9.80077503e-01 -1.91838528e-01 -5.14399467e-02 2.78892566e+01] [ 1.91622624e-01 9.81426093e-01 -9.14298473e-03 1.96933523e+00] [ 5.22384827e-02 -8.96223925e-04 9.98634236e-01 1.00129279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:1.98, Z:1.00 [[ 9.80162858e-01 -1.91568908e-01 -5.08146098e-02 2.79164459e+01] [ 1.91182254e-01 9.81476113e-01 -1.24090831e-02 1.97697974e+00] [ 5.22505203e-02 2.44807077e-03 9.98631008e-01 1.00145441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:1.98, Z:1.00 [[ 9.80546335e-01 -1.89465144e-01 -5.13015024e-02 2.79438073e+01] [ 1.89310827e-01 9.81885470e-01 -7.89518586e-03 1.98044182e+00] [ 5.18680624e-02 -1.97033429e-03 9.98652002e-01 1.00452113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:1.99, Z:1.00 [[ 9.80709469e-01 -1.88808755e-01 -5.05983430e-02 2.79705051e+01] [ 1.88371150e-01 9.82007507e-01 -1.33254129e-02 1.98856520e+00] [ 5.22039073e-02 3.53709049e-03 9.98630182e-01 1.00396126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:1.99, Z:1.01 [[ 9.80629588e-01 -1.88961410e-01 -5.15673986e-02 2.79984259e+01] [ 1.88699628e-01 9.81984514e-01 -9.94309894e-03 1.99359914e+00] [ 5.25172489e-02 1.97480657e-05 9.98620017e-01 1.00584198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.03, Y:2.00, Z:1.01 [[ 9.80694487e-01 -1.88258631e-01 -5.28867793e-02 2.80270040e+01] [ 1.88093619e-01 9.82117493e-01 -8.12528129e-03 1.99763492e+00] [ 5.34706855e-02 -1.97924714e-03 9.98567458e-01 1.00875191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.05, Y:2.00, Z:1.01 [[ 9.80711253e-01 -1.88253954e-01 -5.25917024e-02 2.80542523e+01] [ 1.87991407e-01 9.82120374e-01 -9.93988897e-03 2.00444985e+00] [ 5.35226059e-02 -1.38627168e-04 9.98566628e-01 1.00900361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.08, Y:2.01, Z:1.01 [[ 9.80463776e-01 -1.89398586e-01 -5.30938810e-02 2.80813220e+01] [ 1.89051893e-01 9.81899478e-01 -1.15237420e-02 2.01118686e+00] [ 5.43154345e-02 1.26111284e-03 9.98523031e-01 1.00977285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.11, Y:2.02, Z:1.01 [[ 9.80406864e-01 -1.89752813e-01 -5.28795916e-02 2.81097647e+01] [ 1.89394625e-01 9.81830741e-01 -1.17503688e-02 2.01628586e+00] [ 5.41484742e-02 1.50503182e-03 9.98531761e-01 1.01082533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:2.02, Z:1.01 [[ 9.80310034e-01 -1.89945395e-01 -5.39720713e-02 2.81360171e+01] [ 1.89682110e-01 9.81794563e-01 -1.00066649e-02 2.01971748e+00] [ 5.48902061e-02 -4.27902341e-04 9.98492305e-01 1.01367349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:2.03, Z:1.01 [[ 9.80294544e-01 -1.90206959e-01 -5.33284039e-02 2.81640057e+01] [ 1.89828238e-01 9.81742431e-01 -1.21259343e-02 2.02523302e+00] [ 5.46611940e-02 1.76375024e-03 9.98503402e-01 1.01403219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:2.03, Z:1.02 [[ 9.80068851e-01 -1.91364391e-01 -5.33358894e-02 2.81910402e+01] [ 1.90895886e-01 9.81513395e-01 -1.37918733e-02 2.03131801e+00] [ 5.49891633e-02 3.33538355e-03 9.98481380e-01 1.01513899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:2.03, Z:1.02 [[ 9.79867469e-01 -1.92393072e-01 -5.33352459e-02 2.82216215e+01] [ 1.92216707e-01 9.81315992e-01 -8.46531237e-03 2.03384383e+00] [ 5.39673972e-02 -1.95704115e-03 9.98540780e-01 1.01746499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:2.04, Z:1.02 [[ 9.79421962e-01 -1.94755966e-01 -5.29408614e-02 2.82479340e+01] [ 1.94275116e-01 9.80845283e-01 -1.41318982e-02 2.04233296e+00] [ 5.46790657e-02 3.55599945e-03 9.98497649e-01 1.01779755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.27, Y:2.05, Z:1.02 [[ 9.78976230e-01 -1.97461572e-01 -5.11318820e-02 2.82729249e+01] [ 1.97279773e-01 9.80309256e-01 -8.62863359e-03 2.04545490e+00] [ 5.18288808e-02 -1.64005891e-03 9.98654634e-01 1.01715310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.30, Y:2.05, Z:1.02 [[ 9.79020727e-01 -1.97472659e-01 -5.02291266e-02 2.83044573e+01] [ 1.96768222e-01 9.80272601e-01 -1.86519301e-02 2.05433063e+00] [ 5.29214828e-02 8.37713030e-03 9.98563538e-01 1.01879690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.33, Y:2.05, Z:1.03 [[ 9.78243690e-01 -1.99931215e-01 -5.53786321e-02 2.83324306e+01] [ 2.00365211e-01 9.79718479e-01 2.34200947e-03 2.04733615e+00] [ 5.37872284e-02 -1.33870073e-02 9.98462679e-01 1.03154038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:2.06, Z:1.03 [[ 9.77886102e-01 -2.02486469e-01 -5.23259080e-02 2.83594725e+01] [ 2.02267393e-01 9.79284212e-01 -9.50447159e-03 2.05895812e+00] [ 5.31664624e-02 -1.28953430e-03 9.98584831e-01 1.02888323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:2.07, Z:1.03 [[ 9.77714476e-01 -2.03579976e-01 -5.12795937e-02 2.83858398e+01] [ 2.03140852e-01 9.79053822e-01 -1.36896802e-02 2.06607104e+00] [ 5.29924269e-02 2.96761812e-03 9.98590505e-01 1.02963022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:2.08, Z:1.02 [[ 9.77881612e-01 -2.03879093e-01 -4.66997663e-02 2.84143477e+01] [ 2.02989476e-01 9.78908167e-01 -2.31100372e-02 2.07700338e+00] [ 5.04264361e-02 1.31193194e-02 9.98641606e-01 1.02366350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.594340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.44, Y:2.07, Z:1.04 [[ 9.77585961e-01 -2.03689078e-01 -5.32583140e-02 2.84421595e+01] [ 2.03987563e-01 9.78973465e-01 1.72292881e-04 2.07081875e+00] [ 5.21033820e-02 -1.10324648e-02 9.98580754e-01 1.03641855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:2.06, Z:1.06 [[ 9.78159108e-01 -1.97671847e-01 -6.42697474e-02 2.84797997e+01] [ 1.99474221e-01 9.79635691e-01 2.28899235e-02 2.05926213e+00] [ 5.84362449e-02 -3.52101450e-02 9.97670011e-01 1.05776234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:2.11, Z:1.02 [[ 0.97788673 -0.20429816 -0.04471927 28.49701827] [ 0.20227753 0.97825377 -0.04586245 2.10886697] [ 0.05311641 0.03580258 0.9979463 1.02481233] [ 0. 0. 0. 1. ]] SLAMing on 30.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:2.10, Z:1.04 [[ 9.77961541e-01 -2.02469598e-01 -5.09635777e-02 2.85272427e+01] [ 2.02087566e-01 9.79286470e-01 -1.25946854e-02 2.09628990e+00] [ 5.24579829e-02 2.01801254e-03 9.98621093e-01 1.03696921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.56, Y:2.10, Z:1.04 [[ 9.77623561e-01 -2.04087756e-01 -5.09937402e-02 2.85568902e+01] [ 2.03799118e-01 9.78952573e-01 -1.08526151e-02 2.10348609e+00] [ 5.21353390e-02 2.17292986e-04 9.98640005e-01 1.03872354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:2.11, Z:1.04 [[ 9.77456099e-01 -2.04499820e-01 -5.25299660e-02 2.85852824e+01] [ 2.04201009e-01 9.78866599e-01 -1.10512537e-02 2.10983304e+00] [ 5.36798085e-02 7.54433365e-05 9.98558197e-01 1.04145049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:2.11, Z:1.04 [[ 9.77444379e-01 -2.04293393e-01 -5.35415390e-02 2.86118157e+01] [ 2.04112857e-01 9.78907115e-01 -8.87705774e-03 2.11368770e+00] [ 5.42257177e-02 -2.25168628e-03 9.98526165e-01 1.04329473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:2.12, Z:1.04 [[ 9.77678899e-01 -2.03477432e-01 -5.23536576e-02 2.86391495e+01] [ 2.03185211e-01 9.79079636e-01 -1.09011848e-02 2.11922355e+00] [ 5.34765452e-02 2.03693747e-05 9.98569106e-01 1.04302201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:2.13, Z:1.04 [[ 9.77188223e-01 -2.05862586e-01 -5.21897693e-02 2.86675493e+01] [ 2.05532114e-01 9.78580668e-01 -1.16801708e-02 2.12737062e+00] [ 5.34764095e-02 6.87051729e-04 9.98568877e-01 1.04387430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864340128000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:28.69, Y:2.13, Z:1.05 [[ 9.77101284e-01 -2.05623454e-01 -5.46998771e-02 2.86942421e+01] [ 2.05584466e-01 9.78618451e-01 -6.39965403e-03 2.13034736e+00] [ 5.48462280e-02 -4.99233487e-03 9.98482332e-01 1.04893859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.894340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:28.72, Y:2.15, Z:1.05 [[ 9.76175681e-01 -2.10653716e-01 -5.20197179e-02 2.87220402e+01] [ 2.10035941e-01 9.77543552e-01 -1.71320489e-02 2.14618524e+00] [ 5.44604696e-02 5.79787908e-03 9.98499095e-01 1.04653271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.75, Y:2.15, Z:1.05 [[ 9.76471239e-01 -2.09070701e-01 -5.28522639e-02 2.87482976e+01] [ 2.09078615e-01 9.77883698e-01 -5.44113017e-03 2.14528835e+00] [ 5.28209482e-02 -5.73717104e-03 9.98587519e-01 1.05071140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:2.16, Z:1.05 [[ 9.76300980e-01 -2.10228557e-01 -5.13843435e-02 2.87746820e+01] [ 2.09716482e-01 9.77643728e-01 -1.52229765e-02 2.15662099e+00] [ 5.34358855e-02 4.08606308e-03 9.98562923e-01 1.05005058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.81, Y:2.16, Z:1.05 [[ 9.75748969e-01 -2.12450552e-01 -5.27134861e-02 2.88055716e+01] [ 2.12226287e-01 9.77170596e-01 -9.88081163e-03 2.16110627e+00] [ 5.36092525e-02 -1.54599564e-03 9.98560793e-01 1.05468058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:2.17, Z:1.06 [[ 9.75241490e-01 -2.14719069e-01 -5.29127440e-02 2.88328810e+01] [ 2.14398827e-01 9.76675849e-01 -1.17230219e-02 2.17071379e+00] [ 5.41957555e-02 8.83470602e-05 9.98530326e-01 1.05612779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:2.17, Z:1.06 [[ 9.75249694e-01 -2.14521393e-01 -5.35593682e-02 2.88574813e+01] [ 2.14446285e-01 9.76709149e-01 -7.21317139e-03 2.17447037e+00] [ 5.38593044e-02 -4.45096433e-03 9.98538614e-01 1.05899331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:2.19, Z:1.06 [[ 9.74614992e-01 -2.17486809e-01 -5.31517125e-02 2.88876545e+01] [ 2.17079720e-01 9.76062096e-01 -1.33858404e-02 2.18747755e+00] [ 5.47906155e-02 1.50788183e-03 9.98496727e-01 1.05854803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:2.19, Z:1.06 [[ 9.74549410e-01 -2.17493397e-01 -5.43145377e-02 2.89138413e+01] [ 2.17395666e-01 9.76052615e-01 -7.77289834e-03 2.19148511e+00] [ 5.47044006e-02 -4.23267158e-03 9.98493622e-01 1.06156072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:2.20, Z:1.06 [[ 9.74309086e-01 -2.18995494e-01 -5.25621365e-02 2.89413215e+01] [ 2.18423718e-01 9.75715244e-01 -1.64572576e-02 2.20370385e+00] [ 5.48897431e-02 4.55363827e-03 9.98482038e-01 1.05935465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:2.21, Z:1.06 [[ 9.73641570e-01 -2.21860852e-01 -5.29136676e-02 2.89675335e+01] [ 2.21461281e-01 9.75077467e-01 -1.33728721e-02 2.21175799e+00] [ 5.45618418e-02 1.30205552e-03 9.98509544e-01 1.06082456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.00, Y:2.22, Z:1.06 [[ 9.73470752e-01 -2.22332382e-01 -5.40648490e-02 2.89967600e+01] [ 2.22153491e-01 9.74966655e-01 -9.37267939e-03 2.21592858e+00] [ 5.47952752e-02 -2.88666573e-03 9.98493438e-01 1.06389879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:2.22, Z:1.07 [[ 9.73374078e-01 -2.22965591e-01 -5.31906950e-02 2.90212522e+01] [ 2.22985542e-01 9.74805465e-01 -5.63500274e-03 2.22053693e+00] [ 5.31069919e-02 -6.37579037e-03 9.98568474e-01 1.06559161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.254340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:2.23, Z:1.06 [[ 9.72409440e-01 -2.27533051e-01 -5.14644693e-02 2.90456126e+01] [ 2.27082849e-01 9.73767344e-01 -1.45099845e-02 2.23437721e+00] [ 5.34159206e-02 2.42294757e-03 9.98569411e-01 1.06401757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:2.24, Z:1.07 [[ 9.71628857e-01 -2.30401481e-01 -5.34090125e-02 2.90755336e+01] [ 2.30096886e-01 9.73095361e-01 -1.18676325e-02 2.24134742e+00] [ 5.47063825e-02 -7.58313311e-04 9.98502197e-01 1.06732900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:2.25, Z:1.07 [[ 9.71364888e-01 -2.31613465e-01 -5.29665744e-02 2.91044485e+01] [ 2.31236075e-01 9.72807709e-01 -1.32302249e-02 2.24968157e+00] [ 5.45905901e-02 6.03593162e-04 9.98508639e-01 1.06824550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:2.25, Z:1.07 [[ 9.71109369e-01 -2.32596861e-01 -5.33412987e-02 2.91286378e+01] [ 2.32562879e-01 9.72556675e-01 -6.92969666e-03 2.25362810e+00] [ 5.34892618e-02 -5.67571263e-03 9.98552295e-01 1.07130813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:2.27, Z:1.07 [[ 9.70541244e-01 -2.35089544e-01 -5.27503573e-02 2.91552622e+01] [ 2.34680255e-01 9.71973069e-01 -1.39115400e-02 2.26722912e+00] [ 5.45423843e-02 1.12225605e-03 9.98510826e-01 1.07127631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:2.28, Z:1.07 [[ 9.70132374e-01 -2.36811152e-01 -5.25704821e-02 2.91838381e+01] [ 2.36241712e-01 9.71547630e-01 -1.68836285e-02 2.27750383e+00] [ 5.50729588e-02 3.96001394e-03 9.98474480e-01 1.07093415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:2.28, Z:1.08 [[ 9.70046081e-01 -2.36412734e-01 -5.58535584e-02 2.92118090e+01] [ 2.36411698e-01 9.71629731e-01 -6.72115330e-03 2.27940145e+00] [ 5.58579442e-02 -6.68460617e-03 9.98416349e-01 1.07651817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.24, Y:2.29, Z:1.08 [[ 9.70136793e-01 -2.35809400e-01 -5.68201581e-02 2.92368953e+01] [ 2.35772771e-01 9.71779704e-01 -7.44365845e-03 2.28908657e+00] [ 5.69719610e-02 -6.17527916e-03 9.98356681e-01 1.07815618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:2.30, Z:1.08 [[ 9.69974332e-01 -2.36315177e-01 -5.74885356e-02 2.92653482e+01] [ 2.36016910e-01 9.71674585e-01 -1.20216418e-02 2.29999114e+00] [ 5.87010453e-02 -1.90758255e-03 9.98273784e-01 1.07943653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:2.31, Z:1.08 [[ 9.70034245e-01 -2.35916578e-01 -5.81113778e-02 2.92927856e+01] [ 2.35629683e-01 9.71770802e-01 -1.18389981e-02 2.30807253e+00] [ 5.92639561e-02 -2.20853197e-03 9.98239904e-01 1.08072483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.32, Y:2.31, Z:1.08 [[ 9.70728096e-01 -2.32716029e-01 -5.94155991e-02 2.93165942e+01] [ 2.32860875e-01 9.72499316e-01 -4.57094078e-03 2.31236683e+00] [ 5.88453607e-02 -9.39842777e-03 9.98222867e-01 1.08423948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:2.33, Z:1.08 [[ 9.70409734e-01 -2.34475862e-01 -5.76716343e-02 2.93467371e+01] [ 2.33786047e-01 9.72111549e-01 -1.85262357e-02 2.32919719e+00] [ 6.04072169e-02 4.49521604e-03 9.98163695e-01 1.08259666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:2.33, Z:1.09 [[ 9.70683967e-01 -2.32873182e-01 -5.95207255e-02 2.93746684e+01] [ 2.32603286e-01 9.72503467e-01 -1.15202946e-02 2.33226156e+00] [ 6.05668795e-02 -2.66215110e-03 9.98160591e-01 1.08607082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:2.34, Z:1.09 [[ 9.70588618e-01 -2.33195633e-01 -5.98124728e-02 2.94017461e+01] [ 2.32916506e-01 9.72426417e-01 -1.16946176e-02 2.33810889e+00] [ 6.08903624e-02 -2.58064940e-03 9.98141124e-01 1.08785193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:2.35, Z:1.09 [[ 9.70989477e-01 -2.31383604e-01 -6.03412286e-02 2.94274155e+01] [ 2.31212162e-01 9.72852938e-01 -9.90438987e-03 2.34630079e+00] [ 6.09948550e-02 -4.33456755e-03 9.98128669e-01 1.09012585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:2.36, Z:1.09 [[ 9.70969790e-01 -2.31446130e-01 -6.04181700e-02 2.94550456e+01] [ 2.31088922e-01 9.72846704e-01 -1.29305805e-02 2.35601692e+00] [ 6.17703504e-02 -1.40676680e-03 9.98089397e-01 1.09148025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.48, Y:2.36, Z:1.09 [[ 9.71204742e-01 -2.30612292e-01 -5.98274175e-02 2.94828757e+01] [ 2.30372348e-01 9.73040696e-01 -1.09720348e-02 2.36387136e+00] [ 6.07447980e-02 -3.12649041e-03 9.98148433e-01 1.09379497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.51, Y:2.37, Z:1.09 [[ 9.71293788e-01 -2.30427051e-01 -5.90910372e-02 2.95085082e+01] [ 2.30130840e-01 9.73087388e-01 -1.18630800e-02 2.37103278e+00] [ 6.02343175e-02 -2.07613409e-03 9.98182106e-01 1.09460659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.54, Y:2.38, Z:1.10 [[ 9.71261226e-01 -2.30651152e-01 -5.87509659e-02 2.95371551e+01] [ 2.30367059e-01 9.73033992e-01 -1.16563056e-02 2.37849830e+00] [ 5.98552272e-02 -2.21296957e-03 9.98204616e-01 1.09628806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.56, Y:2.39, Z:1.10 [[ 9.71639265e-01 -2.29250870e-01 -5.79756531e-02 2.95614135e+01] [ 2.29054016e-01 9.73361228e-01 -1.01082614e-02 2.38533573e+00] [ 5.87485807e-02 -3.45797247e-03 9.98266821e-01 1.09819440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.59, Y:2.40, Z:1.10 [[ 9.71498842e-01 -2.29734717e-01 -5.84119920e-02 2.95911343e+01] [ 2.29245070e-01 9.73252520e-01 -1.50409596e-02 2.39630940e+00] [ 6.03050490e-02 1.22161361e-03 9.98179247e-01 1.09992576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:2.40, Z:1.10 [[ 9.71660680e-01 -2.28754171e-01 -5.95571256e-02 2.96171754e+01] [ 2.28506335e-01 9.73479929e-01 -1.10309831e-02 2.40065069e+00] [ 6.05010498e-02 -2.89080794e-03 9.98163948e-01 1.10262690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.914340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:2.41, Z:1.10 [[ 9.71672425e-01 -2.28796517e-01 -5.92017962e-02 2.96426404e+01] [ 2.28578832e-01 9.73468624e-01 -1.05145799e-02 2.40763162e+00] [ 6.00367903e-02 -3.31555015e-03 9.98190659e-01 1.10365745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:2.41, Z:1.11 [[ 9.71925711e-01 -2.27472699e-01 -6.01380366e-02 2.96682427e+01] [ 2.27422663e-01 9.73765174e-01 -7.76644926e-03 2.41382016e+00] [ 6.03269808e-02 -6.12834074e-03 9.98159856e-01 1.10647781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:2.42, Z:1.11 [[ 9.71908489e-01 -2.27650194e-01 -5.97434429e-02 2.96955461e+01] [ 2.27418042e-01 9.73737913e-01 -1.07476100e-02 2.42268073e+00] [ 6.06211509e-02 -3.14104339e-03 9.98155905e-01 1.10816968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:2.43, Z:1.11 [[ 9.72194584e-01 -2.26515704e-01 -5.93997161e-02 2.97231071e+01] [ 2.26336166e-01 9.73999725e-01 -9.82223689e-03 2.42990114e+00] [ 6.00801980e-02 -3.89517849e-03 9.98185953e-01 1.11041309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.75, Y:2.44, Z:1.11 [[ 9.72274715e-01 -2.26224336e-01 -5.91982124e-02 2.97477578e+01] [ 2.26211015e-01 9.74053064e-01 -7.01469503e-03 2.43514422e+00] [ 5.92490949e-02 -6.57107710e-03 9.98221602e-01 1.11247966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:2.45, Z:1.11 [[ 9.72091818e-01 -2.27417367e-01 -5.76093673e-02 2.97762476e+01] [ 2.26761417e-01 9.73788299e-01 -1.77653842e-02 2.44889573e+00] [ 6.01394847e-02 4.20600281e-03 9.98181122e-01 1.11148550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:2.45, Z:1.12 [[ 9.72025973e-01 -2.26817808e-01 -6.09851540e-02 2.98033149e+01] [ 2.27150206e-01 9.73858552e-01 -1.51777868e-03 2.44758280e+00] [ 5.97351730e-02 -1.23774700e-02 9.98137519e-01 1.11801804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:2.46, Z:1.11 [[ 9.71680734e-01 -2.29775285e-01 -5.51350079e-02 2.98279251e+01] [ 2.29499523e-01 9.73242383e-01 -1.13681124e-02 2.46309909e+00] [ 5.62718377e-02 -1.60728218e-03 9.98414191e-01 1.10980643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:2.47, Z:1.11 [[ 9.72090419e-01 -2.27608109e-01 -5.68749976e-02 2.98541658e+01] [ 2.27310462e-01 9.73751630e-01 -1.17352945e-02 2.46651893e+00] [ 5.80531698e-02 -1.52051460e-03 9.98312335e-01 1.11358967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.184340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.88, Y:2.48, Z:1.12 [[ 9.71436229e-01 -2.29829491e-01 -5.90767145e-02 2.98808926e+01] [ 2.29246946e-01 9.73227616e-01 -1.65483048e-02 2.47727930e+00] [ 6.12983785e-02 2.53246648e-03 9.98116273e-01 1.12101230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:2.49, Z:1.12 [[ 9.71068680e-01 -2.31040991e-01 -6.03794597e-02 2.99067178e+01] [ 2.30306131e-01 9.72933608e-01 -1.89546973e-02 2.48740219e+00] [ 6.31245176e-02 4.50055316e-03 9.97995511e-01 1.12223504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:2.49, Z:1.13 [[ 9.71109466e-01 -2.30890635e-01 -6.02985798e-02 2.99353728e+01] [ 2.30972850e-01 9.72943507e-01 -5.69868708e-03 2.48798012e+00] [ 5.99828852e-02 -8.39328590e-03 9.98164118e-01 1.12559389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:2.50, Z:1.12 [[ 9.71221359e-01 -2.31356402e-01 -5.65975942e-02 2.99598596e+01] [ 2.30922334e-01 9.72868808e-01 -1.41830031e-02 2.50112951e+00] [ 5.83433626e-02 7.05186993e-04 9.98296326e-01 1.12274017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:2.51, Z:1.12 [[ 9.71085278e-01 -2.31827688e-01 -5.70026800e-02 2.99872754e+01] [ 2.31173868e-01 9.72747781e-01 -1.78996617e-02 2.51081662e+00] [ 5.95988676e-02 4.20456789e-03 9.98213553e-01 1.12438136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:2.51, Z:1.13 [[ 9.71155945e-01 -2.31184006e-01 -5.83959488e-02 3.00145501e+01] [ 2.30910797e-01 9.72907234e-01 -1.14767912e-02 2.51410587e+00] [ 5.94670916e-02 -2.33850108e-03 9.98227527e-01 1.12805197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:2.52, Z:1.13 [[ 9.71436612e-01 -2.30230846e-01 -5.74862267e-02 3.00416265e+01] [ 2.29704002e-01 9.73133889e-01 -1.57004747e-02 2.52435065e+00] [ 5.95565290e-02 2.04719957e-03 9.98222835e-01 1.12886104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:2.52, Z:1.14 [[ 9.71578515e-01 -2.28346477e-01 -6.23945093e-02 3.00717306e+01] [ 2.28866123e-01 9.73457148e-01 1.21641526e-03 2.52180998e+00] [ 6.04606169e-02 -1.54618324e-02 9.98050823e-01 1.13825084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:2.54, Z:1.13 [[ 9.71909431e-01 -2.28895344e-01 -5.47629438e-02 3.00945130e+01] [ 2.27739353e-01 9.73359378e-01 -2.65764489e-02 2.54483057e+00] [ 5.93872504e-02 1.33582239e-02 9.98145637e-01 1.13006418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:2.55, Z:1.13 [[ 9.72708382e-01 -2.24985079e-01 -5.67460787e-02 3.01231941e+01] [ 2.24609294e-01 9.74362204e-01 -1.29985027e-02 2.54726275e+00] [ 5.82157035e-02 -1.01944194e-04 9.98304023e-01 1.13434782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:2.55, Z:1.14 [[ 9.72686350e-01 -2.24836833e-01 -5.77032253e-02 3.01530354e+01] [ 2.25415059e-01 9.74256059e-01 3.63070827e-03 2.54800966e+00] [ 5.54014000e-02 -1.65387163e-02 9.98327179e-01 1.13527596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:2.56, Z:1.14 [[ 9.73335427e-01 -2.21839581e-01 -5.83553506e-02 3.01766428e+01] [ 2.21140380e-01 9.75071022e-01 -1.82602012e-02 2.56374796e+00] [ 6.09514468e-02 4.86857630e-03 9.98128858e-01 1.14028158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:2.57, Z:1.15 [[ 9.73286056e-01 -2.21504162e-01 -6.04165452e-02 3.02062915e+01] [ 2.21493875e-01 9.75136984e-01 -6.95173269e-03 2.56557032e+00] [ 6.04542454e-02 -6.61587024e-03 9.98149044e-01 1.14527317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:2.59, Z:1.14 [[ 9.73778254e-01 -2.21136156e-01 -5.34295071e-02 3.02309336e+01] [ 2.19727349e-01 9.75068184e-01 -3.10149894e-02 2.58652113e+00] [ 5.89559480e-02 1.84617983e-02 9.98089855e-01 1.13741264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:2.58, Z:1.14 [[ 9.73807825e-01 -2.19981355e-01 -5.75023745e-02 3.02587653e+01] [ 2.19812540e-01 9.75497578e-01 -9.32322674e-03 2.58133739e+00] [ 5.81443631e-02 -3.56071183e-03 9.98301835e-01 1.14371498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:2.59, Z:1.14 [[ 9.73871117e-01 -2.20124706e-01 -5.58584037e-02 3.02862475e+01] [ 2.19709751e-01 9.75471311e-01 -1.35405884e-02 2.59029836e+00] [ 5.74688883e-02 9.14152009e-04 9.98346879e-01 1.14384395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:2.59, Z:1.15 [[ 9.73941879e-01 -2.19280457e-01 -5.79076605e-02 3.03149871e+01] [ 2.19104514e-01 9.75655643e-01 -9.44872224e-03 2.59353668e+00] [ 5.85698559e-02 -3.48532352e-03 9.98277228e-01 1.14706663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:2.60, Z:1.16 [[ 9.73434640e-01 -2.20335055e-01 -6.22692925e-02 3.03443534e+01] [ 2.20873661e-01 9.75300736e-01 1.81679638e-03 2.59533713e+00] [ 6.03309829e-02 -1.55221791e-02 9.98057731e-01 1.15596500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:2.62, Z:1.15 [[ 9.73470699e-01 -2.22217401e-01 -5.45364603e-02 3.03682989e+01] [ 2.21042393e-01 9.74896372e-01 -2.67829027e-02 2.61794900e+00] [ 5.91190244e-02 1.40175013e-02 9.98152519e-01 1.14755411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:2.62, Z:1.15 [[ 9.73344829e-01 -2.22121829e-01 -5.71116169e-02 3.03995260e+01] [ 2.21558700e-01 9.75014280e-01 -1.60902379e-02 2.61826082e+00] [ 5.92586351e-02 3.00777422e-03 9.98238132e-01 1.15049077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:2.61, Z:1.16 [[ 9.73684397e-01 -2.19978991e-01 -5.95645701e-02 3.04272352e+01] [ 2.20759358e-01 9.75304796e-01 6.77209697e-03 2.61161676e+00] [ 5.66038918e-02 -1.97433214e-02 9.98201483e-01 1.15704415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:2.64, Z:1.15 [[ 9.73382298e-01 -2.22779560e-01 -5.38160666e-02 3.04516647e+01] [ 2.21583047e-01 9.74758235e-01 -2.73374753e-02 2.63701613e+00] [ 5.85478848e-02 1.46850866e-02 9.98176584e-01 1.15136064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:2.64, Z:1.16 [[ 9.73160493e-01 -2.22679042e-01 -5.80749417e-02 3.04818400e+01] [ 2.22288176e-01 9.74891809e-01 -1.31881795e-02 2.63526466e+00] [ 5.95535161e-02 -7.51576516e-05 9.98225111e-01 1.15662040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:2.64, Z:1.16 [[ 9.72826321e-01 -2.23784048e-01 -5.94108434e-02 3.05116881e+01] [ 2.23179002e-01 9.74634126e-01 -1.67168629e-02 2.64321200e+00] [ 6.16448026e-02 3.00335150e-03 9.98093632e-01 1.15839065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:2.65, Z:1.16 [[ 9.72825255e-01 -2.23695174e-01 -5.97619638e-02 3.05385046e+01] [ 2.23495524e-01 9.74652725e-01 -1.00903828e-02 2.64514485e+00] [ 6.05043308e-02 -3.54035216e-03 9.98161656e-01 1.15967295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:2.65, Z:1.16 [[ 9.72521242e-01 -2.25083235e-01 -5.94976552e-02 3.05656297e+01] [ 2.24564817e-01 9.74338282e-01 -1.53477921e-02 2.65466056e+00] [ 6.14253738e-02 1.56497377e-03 9.98110452e-01 1.16192544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:2.66, Z:1.16 [[ 9.72533826e-01 -2.24846039e-01 -6.01848466e-02 3.05953072e+01] [ 2.24434809e-01 9.74394262e-01 -1.35955565e-02 2.65987470e+00] [ 6.17006762e-02 -2.85435962e-04 9.98094657e-01 1.16429740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:2.66, Z:1.17 [[ 9.72490318e-01 -2.24602382e-01 -6.17766212e-02 3.06213572e+01] [ 2.24578443e-01 9.74427757e-01 -7.42083792e-03 2.66274143e+00] [ 6.18635924e-02 -6.65700437e-03 9.98062413e-01 1.16857129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:2.68, Z:1.17 [[ 9.72484343e-01 -2.25151770e-01 -5.98404789e-02 3.06498371e+01] [ 2.24457207e-01 9.74314471e-01 -1.81734547e-02 2.67556264e+00] [ 6.23952300e-02 4.24177335e-03 9.98042505e-01 1.16872436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:2.68, Z:1.17 [[ 9.73175821e-01 -2.21803284e-01 -6.10911227e-02 3.06795041e+01] [ 2.21604290e-01 9.75084377e-01 -1.00993280e-02 2.67784899e+00] [ 6.18090634e-02 -3.70963309e-03 9.98081098e-01 1.17070881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:2.68, Z:1.17 [[ 9.73322809e-01 -2.20945593e-01 -6.18526761e-02 3.07043272e+01] [ 2.20770353e-01 9.75277194e-01 -9.73892502e-03 2.68345017e+00] [ 6.24752769e-02 -4.17611925e-03 9.98037775e-01 1.17483441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:2.69, Z:1.18 [[ 9.73315359e-01 -2.20740423e-01 -6.26967139e-02 3.07312936e+01] [ 2.20287643e-01 9.75332591e-01 -1.41312421e-02 2.69236700e+00] [ 6.42694848e-02 -5.71563018e-05 9.97932578e-01 1.17686471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:2.70, Z:1.18 [[ 9.73726496e-01 -2.18455723e-01 -6.42946995e-02 3.07572138e+01] [ 2.18130512e-01 9.75844332e-01 -1.21210541e-02 2.69651437e+00] [ 6.53895317e-02 -2.22204414e-03 9.97857340e-01 1.18003506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:2.70, Z:1.18 [[ 9.74287708e-01 -2.15523899e-01 -6.56727628e-02 3.07855408e+01] [ 2.15364493e-01 9.76486727e-01 -9.58156780e-03 2.70106918e+00] [ 6.61936381e-02 -4.80837754e-03 9.97795210e-01 1.18374886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:2.71, Z:1.19 [[ 9.74722173e-01 -2.13728150e-01 -6.50919554e-02 3.08121413e+01] [ 2.13542678e-01 9.76883825e-01 -9.87508747e-03 2.70700724e+00] [ 6.56978625e-02 -4.27444377e-03 9.97830406e-01 1.18501886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:2.71, Z:1.19 [[ 9.75057949e-01 -2.12292520e-01 -6.47601827e-02 3.08413635e+01] [ 2.11991197e-01 9.77203097e-01 -1.15689283e-02 2.71488165e+00] [ 6.57398480e-02 -2.44821315e-03 9.97833793e-01 1.18584536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:2.72, Z:1.19 [[ 9.75577157e-01 -2.09251871e-01 -6.68046848e-02 3.08640322e+01] [ 2.08898850e-01 9.77859831e-01 -1.23053271e-02 2.71882225e+00] [ 6.79005305e-02 -1.95062578e-03 9.97690189e-01 1.19145475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:2.73, Z:1.19 [[ 9.75508665e-01 -2.10186417e-01 -6.48422296e-02 3.08961396e+01] [ 2.09672160e-01 9.77661033e-01 -1.47135717e-02 2.72657581e+00] [ 6.64863141e-02 7.57606417e-04 9.97787049e-01 1.19087188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:2.74, Z:1.19 [[ 9.75476707e-01 -2.10923484e-01 -6.29005326e-02 3.09226590e+01] [ 2.10194620e-01 9.77492676e-01 -1.80635220e-02 2.73546036e+00] [ 6.52948309e-02 4.39919140e-03 9.97856318e-01 1.18965011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:2.73, Z:1.20 [[ 9.75603326e-01 -2.08852248e-01 -6.76674920e-02 3.09532313e+01] [ 2.08851859e-01 9.77921084e-01 -7.15924050e-03 2.73164122e+00] [ 6.76686906e-02 -7.14790269e-03 9.97682242e-01 1.19694875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:2.75, Z:1.19 [[ 9.75284343e-01 -2.12175620e-01 -6.16600092e-02 3.09793982e+01] [ 2.10946240e-01 9.77154951e-01 -2.58821276e-02 2.74851938e+00] [ 6.57429397e-02 1.22354867e-02 9.97761574e-01 1.19147065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:2.75, Z:1.20 [[ 9.75178798e-01 -2.11790315e-01 -6.45846240e-02 3.10053233e+01] [ 2.11362728e-01 9.77314989e-01 -1.34613927e-02 2.74511248e+00] [ 6.59705137e-02 -5.23517517e-04 9.97821436e-01 1.19579788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:2.74, Z:1.20 [[ 9.74549414e-01 -2.14315065e-01 -6.57456593e-02 3.10342590e+01] [ 2.14269052e-01 9.76743267e-01 -7.83348234e-03 2.74443986e+00] [ 6.58954634e-02 -6.45314449e-03 9.97805665e-01 1.19828886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:2.75, Z:1.20 [[ 9.74605971e-01 -2.13456289e-01 -6.76728391e-02 3.10619682e+01] [ 2.13459144e-01 9.76924916e-01 -7.27338831e-03 2.74550906e+00] [ 6.76638332e-02 -7.35669863e-03 9.97681054e-01 1.20275123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:2.76, Z:1.20 [[ 9.74014744e-01 -2.16661411e-01 -6.59781197e-02 3.10876406e+01] [ 2.15749027e-01 9.76228583e-01 -2.07391396e-02 2.75822756e+00] [ 6.89030975e-02 5.96551266e-03 9.97605521e-01 1.20051454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:2.76, Z:1.20 [[ 9.73220699e-01 -2.19739040e-01 -6.74998115e-02 3.11187287e+01] [ 2.19057018e-01 9.75556245e-01 -1.74366180e-02 2.75933700e+00] [ 6.96813683e-02 2.18337016e-03 9.97566910e-01 1.20271501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:2.76, Z:1.21 [[ 9.73082393e-01 -2.20055620e-01 -6.84556811e-02 3.11469732e+01] [ 2.19587400e-01 9.75486778e-01 -1.43847040e-02 2.76419767e+00] [ 6.99430468e-02 -1.03450292e-03 9.97550450e-01 1.20558984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:2.76, Z:1.21 [[ 9.73182229e-01 -2.19134727e-01 -6.99737116e-02 3.11721071e+01] [ 2.19096936e-01 9.75667714e-01 -8.30931711e-03 2.76247210e+00] [ 7.00919511e-02 -7.24454607e-03 9.97514228e-01 1.20980962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:2.77, Z:1.21 [[ 9.72719726e-01 -2.21663456e-01 -6.84225680e-02 3.12012008e+01] [ 2.20906494e-01 9.75118878e-01 -1.85335943e-02 2.77188026e+00] [ 7.08283583e-02 2.91300319e-03 9.97484265e-01 1.20961777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:2.77, Z:1.21 [[ 9.72032276e-01 -2.24181601e-01 -6.99704538e-02 3.12309536e+01] [ 2.23716351e-01 9.74546167e-01 -1.45176450e-02 2.77010542e+00] [ 7.14440265e-02 -1.54191508e-03 9.97443419e-01 1.21358498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:2.77, Z:1.22 [[ 9.71742884e-01 -2.24915316e-01 -7.16161192e-02 3.12581642e+01] [ 2.24445509e-01 9.74376574e-01 -1.46459892e-02 2.77313836e+00] [ 7.30751762e-02 -1.84178055e-03 9.97324735e-01 1.21658627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:2.78, Z:1.22 [[ 9.71564287e-01 -2.25711799e-01 -7.15333460e-02 3.12864493e+01] [ 2.25305963e-01 9.74190348e-01 -1.37981598e-02 2.77673042e+00] [ 7.28015027e-02 -2.71109013e-03 9.97342765e-01 1.21825626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:2.78, Z:1.22 [[ 9.71343314e-01 -2.26965767e-01 -7.05599565e-02 3.13146327e+01] [ 2.26176690e-01 9.73899324e-01 -1.90843483e-02 2.78135737e+00] [ 7.30497876e-02 2.57843666e-03 9.97324962e-01 1.21881339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:2.79, Z:1.22 [[ 9.71071344e-01 -2.28094288e-01 -7.06642835e-02 3.13409884e+01] [ 2.27312044e-01 9.73636053e-01 -1.90281474e-02 2.78536033e+00] [ 7.31415058e-02 2.41484591e-03 9.97318650e-01 1.22074529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.804340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:31.37, Y:2.78, Z:1.23 [[ 9.71169424e-01 -2.27319304e-01 -7.18044829e-02 3.13699687e+01] [ 2.27112272e-01 9.73804827e-01 -1.11433285e-02 2.78495716e+00] [ 7.24566457e-02 -5.48561935e-03 9.97356477e-01 1.22525687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:2.79, Z:1.23 [[ 9.71360352e-01 -2.26965219e-01 -7.03267859e-02 3.13960624e+01] [ 2.26388008e-01 9.73902843e-01 -1.61778636e-02 2.79151709e+00] [ 7.21632691e-02 -2.06605693e-04 9.97392811e-01 1.22623483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:2.79, Z:1.23 [[ 9.71391064e-01 -2.26706652e-01 -7.07353802e-02 3.14264896e+01] [ 2.26501119e-01 9.73948570e-01 -1.10193355e-02 2.79220227e+00] [ 7.13907791e-02 -5.31755869e-03 9.97434249e-01 1.22991123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:2.80, Z:1.23 [[ 9.71641520e-01 -2.25936866e-01 -6.97516301e-02 3.14517890e+01] [ 2.25150465e-01 9.74137933e-01 -1.90408790e-02 2.79979665e+00] [ 7.22497453e-02 2.79629664e-03 9.97382652e-01 1.22986756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:2.80, Z:1.23 [[ 9.71782130e-01 -2.24863664e-01 -7.12448238e-02 3.14793168e+01] [ 2.24499211e-01 9.74385047e-01 -1.31865048e-02 2.80059430e+00] [ 7.23850567e-02 -3.17999705e-03 9.97371692e-01 1.23408105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:2.80, Z:1.24 [[ 9.72237739e-01 -2.22560396e-01 -7.22540575e-02 3.15054249e+01] [ 2.21910675e-01 9.74918779e-01 -1.70008002e-02 2.80440015e+00] [ 7.42255423e-02 4.94872911e-04 9.97241357e-01 1.23600813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:2.81, Z:1.24 [[ 9.71922753e-01 -2.23958997e-01 -7.21701476e-02 3.15359537e+01] [ 2.23832768e-01 9.74576914e-01 -9.93634387e-03 2.80665220e+00] [ 7.25606933e-02 -6.49668525e-03 9.97342839e-01 1.23931766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:2.81, Z:1.24 [[ 9.71883949e-01 -2.24406073e-01 -7.12986981e-02 3.15620777e+01] [ 2.23844151e-01 9.74495581e-01 -1.58795144e-02 2.81462370e+00] [ 7.30437256e-02 -5.26751397e-04 9.97328600e-01 1.23997812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:2.82, Z:1.24 [[ 9.72217098e-01 -2.22954837e-01 -7.13095718e-02 3.15888101e+01] [ 2.22204639e-01 9.74826660e-01 -1.83870185e-02 2.81873962e+00] [ 7.36139464e-02 2.03085616e-03 9.97284745e-01 1.24165024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:2.82, Z:1.24 [[ 9.72152248e-01 -2.23290897e-01 -7.11419852e-02 3.16162417e+01] [ 2.22215112e-01 9.74731161e-01 -2.27949020e-02 2.82355910e+00] [ 7.44342040e-02 6.35129107e-03 9.97205701e-01 1.24379504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.65, Y:2.82, Z:1.25 [[ 9.72037615e-01 -2.23367079e-01 -7.24570380e-02 3.16450937e+01] [ 2.22801717e-01 9.74734154e-01 -1.58973057e-02 2.82472061e+00] [ 7.41772844e-02 -6.90773298e-04 9.97244831e-01 1.24729315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:2.83, Z:1.25 [[ 9.72160238e-01 -2.22768622e-01 -7.26540627e-02 3.16736454e+01] [ 2.22554460e-01 9.74856687e-01 -1.11333675e-02 2.82696306e+00] [ 7.33074638e-02 -5.34606851e-03 9.97295059e-01 1.25078163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:2.83, Z:1.25 [[ 9.72020593e-01 -2.23210044e-01 -7.31658525e-02 3.16999956e+01] [ 2.22921373e-01 9.74760174e-01 -1.21927907e-02 2.83033828e+00] [ 7.40407125e-02 -4.45858863e-03 9.97245253e-01 1.25374240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:2.84, Z:1.25 [[ 9.72110936e-01 -2.23255706e-01 -7.18137713e-02 3.17250105e+01] [ 2.22497963e-01 9.74757878e-01 -1.84860743e-02 2.83789255e+00] [ 7.41281609e-02 1.99209709e-03 9.97246733e-01 1.25364913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:2.84, Z:1.25 [[ 9.71967805e-01 -2.24073164e-01 -7.12025441e-02 3.17507603e+01] [ 2.22958104e-01 9.74548509e-01 -2.33428303e-02 2.84467699e+00] [ 7.46208351e-02 6.81329535e-03 9.97188703e-01 1.25350927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:2.84, Z:1.26 [[ 9.72051826e-01 -2.23151418e-01 -7.29293628e-02 3.17820149e+01] [ 2.22838546e-01 9.74775181e-01 -1.25031772e-02 2.84244768e+00] [ 7.38798345e-02 -4.09773693e-03 9.97258732e-01 1.25991441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:2.85, Z:1.26 [[ 9.71952032e-01 -2.23336603e-01 -7.36885962e-02 3.18095101e+01] [ 2.22679230e-01 9.74741353e-01 -1.71246686e-02 2.84863006e+00] [ 7.56518873e-02 2.35436575e-04 9.97134262e-01 1.26310937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:2.85, Z:1.26 [[ 9.71964905e-01 -2.23784197e-01 -7.21446916e-02 3.18357962e+01] [ 2.23014296e-01 9.74636569e-01 -1.86596306e-02 2.85487025e+00] [ 7.44905852e-02 2.04720850e-03 9.97219616e-01 1.26250487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:2.86, Z:1.26 [[ 9.71485532e-01 -2.26204715e-01 -7.10442689e-02 3.18634355e+01] [ 2.25312554e-01 9.74072193e-01 -2.04356651e-02 2.86105977e+00] [ 7.38248906e-02 3.84578736e-03 9.97263804e-01 1.26229137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:2.86, Z:1.27 [[ 9.71864498e-01 -2.24031658e-01 -7.27269859e-02 3.18903456e+01] [ 2.23586140e-01 9.74579039e-01 -1.43155484e-02 2.86101893e+00] [ 7.40853320e-02 -2.34797284e-03 9.97249142e-01 1.26587970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:2.86, Z:1.27 [[ 9.70905619e-01 -2.27093365e-01 -7.59663302e-02 3.19220360e+01] [ 2.27003464e-01 9.73843316e-01 -9.93094508e-03 2.86476916e+00] [ 7.62345547e-02 -7.60260970e-03 9.97060927e-01 1.27318818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:2.87, Z:1.27 [[ 9.71166065e-01 -2.27093444e-01 -7.25606128e-02 3.19455020e+01] [ 2.25760490e-01 9.73830971e-01 -2.61809165e-02 2.87487723e+00] [ 7.66072866e-02 9.04469815e-03 9.97020319e-01 1.26717770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:2.87, Z:1.27 [[ 9.70999059e-01 -2.27206692e-01 -7.44173790e-02 3.19743073e+01] [ 2.26684745e-01 9.73844858e-01 -1.54989978e-02 2.87324668e+00] [ 7.59924579e-02 -1.81977237e-03 9.97106732e-01 1.27213288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:2.88, Z:1.27 [[ 9.70961833e-01 -2.27094265e-01 -7.52417059e-02 3.20019704e+01] [ 2.26357972e-01 9.73872512e-01 -1.82865558e-02 2.87727035e+00] [ 7.74286011e-02 7.23987743e-04 9.96997637e-01 1.27474995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:2.88, Z:1.28 [[ 9.70472475e-01 -2.28221462e-01 -7.80905904e-02 3.20301813e+01] [ 2.28018784e-01 9.73587367e-01 -1.16221208e-02 2.87747677e+00] [ 7.86804297e-02 -6.52717319e-03 9.96878521e-01 1.28202590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.06, Y:2.89, Z:1.28 [[ 9.69603314e-01 -2.33105275e-01 -7.43730113e-02 3.20558981e+01] [ 2.31426038e-01 9.72372071e-01 -3.05703088e-02 2.89208711e+00] [ 7.94443393e-02 1.24292214e-02 9.96761813e-01 1.27724385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:2.88, Z:1.29 [[ 9.69826083e-01 -2.30521557e-01 -7.93547799e-02 3.20837589e+01] [ 2.30416259e-01 9.73034349e-01 -1.06067341e-02 2.88398687e+00] [ 7.96600075e-02 -7.99794417e-03 9.96790006e-01 1.28757212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:2.89, Z:1.29 [[ 9.69895875e-01 -2.31330137e-01 -7.60812643e-02 3.21127060e+01] [ 2.30439565e-01 9.72872689e-01 -2.04043453e-02 2.89045292e+00] [ 7.87375242e-02 2.25795687e-03 9.96892825e-01 1.28534288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:2.90, Z:1.29 [[ 9.69639253e-01 -2.32846136e-01 -7.47154279e-02 3.21404989e+01] [ 2.31930447e-01 9.72509361e-01 -2.08281139e-02 2.89616453e+00] [ 7.75111989e-02 2.86697424e-03 9.96987359e-01 1.28679316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:2.90, Z:1.29 [[ 9.69456701e-01 -2.32436776e-01 -7.82741988e-02 3.21666652e+01] [ 2.32215584e-01 9.72589781e-01 -1.20432904e-02 2.89610579e+00] [ 7.89279894e-02 -6.50104018e-03 9.96859122e-01 1.29492899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:2.91, Z:1.29 [[ 9.69590225e-01 -2.32739061e-01 -7.56790965e-02 3.21940912e+01] [ 2.31812982e-01 9.72535351e-01 -2.09220573e-02 2.90546236e+00] [ 7.84699767e-02 2.74242520e-03 9.96912705e-01 1.29320311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:2.91, Z:1.30 [[ 9.70036237e-01 -2.30356489e-01 -7.72372124e-02 3.22206503e+01] [ 2.29796141e-01 9.73104157e-01 -1.61874447e-02 2.90692325e+00] [ 7.88887354e-02 -2.04640541e-03 9.96881327e-01 1.29760098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:2.91, Z:1.30 [[ 9.69390784e-01 -2.32699158e-01 -7.83109816e-02 3.22534674e+01] [ 2.32486439e-01 9.72526222e-01 -1.19500589e-02 2.91238326e+00] [ 7.89402517e-02 -6.62196432e-03 9.96857355e-01 1.30266559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:2.93, Z:1.30 [[ 9.70256861e-01 -2.29924970e-01 -7.57372497e-02 3.22757274e+01] [ 2.28584940e-01 9.73175950e-01 -2.60287411e-02 2.92518622e+00] [ 7.96903275e-02 7.94216993e-03 9.96788028e-01 1.29863853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:2.93, Z:1.30 [[ 9.70577159e-01 -2.28265700e-01 -7.66469032e-02 3.23040764e+01] [ 2.27469964e-01 9.73598279e-01 -1.90737241e-02 2.92730606e+00] [ 7.89771701e-02 1.07765269e-03 9.96875842e-01 1.30238138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:2.93, Z:1.30 [[ 9.71245487e-01 -2.25544524e-01 -7.62356264e-02 3.23311184e+01] [ 2.24540899e-01 9.74225204e-01 -2.16017844e-02 2.93386556e+00] [ 7.91428329e-02 3.86261953e-03 9.96855803e-01 1.30340127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.36, Y:2.93, Z:1.31 [[ 9.71758755e-01 -2.21152012e-01 -8.23207767e-02 3.23632268e+01] [ 2.21552432e-01 9.75138743e-01 -4.35344891e-03 2.92836320e+00] [ 8.12369527e-02 -1.40078662e-02 9.96596376e-01 1.31492123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:2.95, Z:1.30 [[ 9.71633616e-01 -2.24173034e-01 -7.53297216e-02 3.23846629e+01] [ 2.22490670e-01 9.74468903e-01 -3.01373258e-02 2.94913731e+00] [ 8.01624470e-02 1.25222786e-02 9.96703153e-01 1.30317712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.42, Y:2.95, Z:1.31 [[ 9.71279855e-01 -2.24237384e-01 -7.95803906e-02 3.24151346e+01] [ 2.24155533e-01 9.74501292e-01 -1.00761794e-02 2.94554091e+00] [ 7.98106495e-02 -8.05159483e-03 9.96777524e-01 1.31187465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:2.96, Z:1.31 [[ 9.70390727e-01 -2.28563177e-01 -7.81070498e-02 3.24444123e+01] [ 2.27754196e-01 9.73528690e-01 -1.92332136e-02 2.95813183e+00] [ 8.04354583e-02 8.74523715e-04 9.96759436e-01 1.31454421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:2.96, Z:1.31 [[ 9.71079912e-01 -2.25692657e-01 -7.78885740e-02 3.24655640e+01] [ 2.24232509e-01 9.74158133e-01 -2.71240287e-02 2.96441678e+00] [ 8.19974819e-02 8.87444897e-03 9.96593025e-01 1.31056908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.50, Y:2.96, Z:1.32 [[ 9.70862754e-01 -2.25080777e-01 -8.22444946e-02 3.24992877e+01] [ 2.24718384e-01 9.74326627e-01 -1.37575780e-02 2.96089313e+00] [ 8.32295674e-02 -5.12512992e-03 9.96517221e-01 1.32141663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:2.98, Z:1.32 [[ 9.69892262e-01 -2.30674509e-01 -7.80914235e-02 3.25204733e+01] [ 2.29106803e-01 9.72981185e-01 -2.85952199e-02 2.97694628e+00] [ 8.25776741e-02 9.84300615e-03 9.96536022e-01 1.31835608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:2.97, Z:1.33 [[ 9.69850355e-01 -2.29143006e-01 -8.29684987e-02 3.25530080e+01] [ 2.29769232e-01 9.73242980e-01 -2.04958258e-03 2.96715994e+00] [ 8.12181564e-02 -1.70758199e-02 9.96550063e-01 1.32767064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:2.99, Z:1.32 [[ 9.69772702e-01 -2.32319235e-01 -7.46235916e-02 3.25791630e+01] [ 2.30307081e-01 9.72501153e-01 -3.46432517e-02 2.99173173e+00] [ 8.06198226e-02 1.64097382e-02 9.96609836e-01 1.31970303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:2.99, Z:1.33 [[ 9.69354642e-01 -2.32976013e-01 -7.79342983e-02 3.26077477e+01] [ 2.32327912e-01 9.72481703e-01 -1.74091522e-02 2.98964988e+00] [ 7.98455940e-02 -1.23067025e-03 9.96806484e-01 1.32693816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:3.00, Z:1.33 [[ 9.69342314e-01 -2.32652162e-01 -7.90471372e-02 3.26344554e+01] [ 2.31792489e-01 9.72559415e-01 -2.00106307e-02 2.99667574e+00] [ 8.15335541e-02 1.07461835e-03 9.96670018e-01 1.32880260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:3.00, Z:1.33 [[ 9.68274528e-01 -2.37143438e-01 -7.87872356e-02 3.26673543e+01] [ 2.36837298e-01 9.71457692e-01 -1.33434511e-02 3.00253967e+00] [ 7.97027779e-02 -5.73963220e-03 9.96802149e-01 1.33237030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:3.01, Z:1.33 [[ 9.69199302e-01 -2.33173735e-01 -7.92636216e-02 3.26876365e+01] [ 2.32109712e-01 9.72429078e-01 -2.25115715e-02 3.01036719e+00] [ 8.23273576e-02 3.42034301e-03 9.96599472e-01 1.33236036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:3.02, Z:1.34 [[ 9.68147595e-01 -2.37658391e-01 -7.87954567e-02 3.27215265e+01] [ 2.37165059e-01 9.71342530e-01 -1.56978825e-02 3.01673921e+00] [ 8.02681118e-02 -3.48966194e-03 9.96767201e-01 1.33560904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:3.03, Z:1.33 [[ 9.67693562e-01 -2.40010107e-01 -7.72290055e-02 3.27468358e+01] [ 2.39134902e-01 9.70769388e-01 -2.05254359e-02 3.02648463e+00] [ 7.98978665e-02 1.39418147e-03 9.96802080e-01 1.33476769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:3.03, Z:1.34 [[ 9.67510775e-01 -2.39972533e-01 -7.95995224e-02 3.27749290e+01] [ 2.39429771e-01 9.70774548e-01 -1.64365848e-02 3.03001399e+00] [ 8.12175193e-02 -3.15592249e-03 9.96691404e-01 1.34006331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:3.04, Z:1.34 [[ 9.67055437e-01 -2.41682498e-01 -7.99584378e-02 3.28010285e+01] [ 2.41145654e-01 9.70349518e-01 -1.64495406e-02 3.03731493e+00] [ 8.15631976e-02 -3.37401209e-03 9.96662461e-01 1.34263240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:3.04, Z:1.35 [[ 9.66634007e-01 -2.43578309e-01 -7.92988210e-02 3.28287449e+01] [ 2.43138716e-01 9.69870840e-01 -1.53009572e-02 3.04397609e+00] [ 8.06365954e-02 -4.49018798e-03 9.96733454e-01 1.34519936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:3.05, Z:1.35 [[ 9.66017237e-01 -2.46446174e-01 -7.79421656e-02 3.28538704e+01] [ 2.45450722e-01 9.69153589e-01 -2.22545318e-02 3.05453412e+00] [ 8.10224737e-02 2.36730049e-03 9.96709464e-01 1.34502529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:3.06, Z:1.35 [[ 9.65963286e-01 -2.46315947e-01 -7.90150917e-02 3.28810886e+01] [ 2.45653999e-01 9.69187755e-01 -1.81440801e-02 3.05853751e+00] [ 8.10496357e-02 -1.88385798e-03 9.96708286e-01 1.34864953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:3.06, Z:1.35 [[ 9.65770188e-01 -2.46654463e-01 -8.03088957e-02 3.29083394e+01] [ 2.46150413e-01 9.69095020e-01 -1.62731848e-02 3.06315856e+00] [ 8.18408046e-02 -4.05191108e-03 9.96637178e-01 1.35273291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:3.07, Z:1.35 [[ 9.65455555e-01 -2.48773090e-01 -7.75081958e-02 3.29350167e+01] [ 2.47707993e-01 9.68556448e-01 -2.32197729e-02 3.07425111e+00] [ 8.08475175e-02 3.21825913e-03 9.96721286e-01 1.35106980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:3.07, Z:1.36 [[ 9.65187178e-01 -2.48502745e-01 -8.16094190e-02 3.29663604e+01] [ 2.48328069e-01 9.68596030e-01 -1.24459241e-02 3.07436178e+00] [ 8.21394055e-02 -8.25326303e-03 9.96586675e-01 1.35913616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:3.09, Z:1.36 [[ 9.64702291e-01 -2.51085609e-01 -7.94072196e-02 3.29908373e+01] [ 2.50153254e-01 9.67964353e-01 -2.16416269e-02 3.08747787e+00] [ 8.22972590e-02 1.01375267e-03 9.96607312e-01 1.35799231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:3.08, Z:1.38 [[ 9.64872923e-01 -2.46682717e-01 -9.03763233e-02 3.30255516e+01] [ 2.48413176e-01 9.68619036e-01 8.24963095e-03 3.07524488e+00] [ 8.55051858e-02 -3.04105150e-02 9.95873518e-01 1.37808174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:3.12, Z:1.35 [[ 9.64113760e-01 -2.55195419e-01 -7.32117154e-02 3.30431785e+01] [ 2.52367921e-01 9.66550257e-01 -4.57278232e-02 3.11592090e+00] [ 8.24323333e-02 2.56105351e-02 9.96267540e-01 1.35336148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:3.10, Z:1.37 [[ 9.63912404e-01 -2.53391072e-01 -8.16446062e-02 3.30726625e+01] [ 2.53045525e-01 9.67342312e-01 -1.47246109e-02 3.10473422e+00] [ 8.27093670e-02 -6.46656716e-03 9.96552730e-01 1.36743925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:3.11, Z:1.37 [[ 9.63912777e-01 -2.53319032e-01 -8.18634654e-02 3.31006517e+01] [ 2.53126875e-01 9.67347213e-01 -1.28901206e-02 3.11025134e+00] [ 8.24557080e-02 -8.29689129e-03 9.96560193e-01 1.37034248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:3.12, Z:1.37 [[ 9.63646558e-01 -2.54846143e-01 -8.02418512e-02 3.31262583e+01] [ 2.53835737e-01 9.66980407e-01 -2.27224697e-02 3.12253578e+00] [ 8.33830318e-02 1.52818033e-03 9.96516400e-01 1.37068967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:3.13, Z:1.37 [[ 9.63656650e-01 -2.54623406e-01 -8.08256318e-02 3.31534595e+01] [ 2.54052979e-01 9.67033096e-01 -1.74377509e-02 3.12681107e+00] [ 8.26011204e-02 -3.72998792e-03 9.96575708e-01 1.37433672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:3.13, Z:1.38 [[ 9.63739211e-01 -2.54150429e-01 -8.13283043e-02 3.31814788e+01] [ 2.53756479e-01 9.67146852e-01 -1.53171598e-02 3.13264981e+00] [ 8.25492763e-02 -5.87583662e-03 9.96569662e-01 1.37778371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:3.14, Z:1.38 [[ 9.64294336e-01 -2.51719054e-01 -8.23040134e-02 3.32117350e+01] [ 2.51225346e-01 9.67788476e-01 -1.64709039e-02 3.13908494e+00] [ 8.37989160e-02 -4.79405485e-03 9.96471153e-01 1.38164098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:3.15, Z:1.38 [[ 9.64037964e-01 -2.52944665e-01 -8.15463025e-02 3.32342732e+01] [ 2.52250694e-01 9.67477833e-01 -1.88740694e-02 3.14873084e+00] [ 8.36683351e-02 -2.37479200e-03 9.96490828e-01 1.38285219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:3.15, Z:1.38 [[ 9.64697956e-01 -2.51006340e-01 -7.97099158e-02 3.32650787e+01] [ 2.50337547e-01 9.67983018e-01 -1.84387935e-02 3.15411233e+00] [ 8.17860989e-02 -2.16651832e-03 9.96647551e-01 1.38130289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:3.16, Z:1.39 [[ 9.64470530e-01 -2.51817452e-01 -7.99034930e-02 3.32912759e+01] [ 2.50992021e-01 9.67774668e-01 -2.03763767e-02 3.16276068e+00] [ 8.24597037e-02 -4.02724358e-04 9.96594318e-01 1.38561601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:3.17, Z:1.39 [[ 9.64186694e-01 -2.52213607e-01 -8.20506926e-02 3.33151613e+01] [ 2.51696147e-01 9.67661162e-01 -1.67608194e-02 3.16984659e+00] [ 8.36245753e-02 -4.49128411e-03 9.96487210e-01 1.39081818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:3.18, Z:1.39 [[ 9.64830007e-01 -2.50565826e-01 -7.94973189e-02 3.33458519e+01] [ 2.49876132e-01 9.68097795e-01 -1.86702357e-02 3.17646264e+00] [ 8.16393022e-02 -1.85087884e-03 9.96660222e-01 1.38994316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:3.19, Z:1.39 [[ 9.64560995e-01 -2.52737948e-01 -7.57998384e-02 3.33709152e+01] [ 2.51117104e-01 9.67480482e-01 -3.03597992e-02 3.19208948e+00] [ 8.10079375e-02 1.02492422e-02 9.96660758e-01 1.38575744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:3.18, Z:1.40 [[ 9.64438357e-01 -2.50544124e-01 -8.41801518e-02 3.33970884e+01] [ 2.51215226e-01 9.67927498e-01 -2.69598072e-03 3.18479080e+00] [ 8.21557459e-02 -1.85472286e-02 9.96446905e-01 1.40223147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:3.20, Z:1.39 [[ 9.65061922e-01 -2.50785544e-01 -7.59084856e-02 3.34252060e+01] [ 2.49395748e-01 9.68013377e-01 -2.74201303e-02 3.20404354e+00] [ 8.03570018e-02 7.53087009e-03 9.96737698e-01 1.39180369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.45, Y:3.21, Z:1.39 [[ 9.64919445e-01 -2.51486287e-01 -7.53996846e-02 3.34517879e+01] [ 2.50315750e-01 9.67847918e-01 -2.47473821e-02 3.21113425e+00] [ 7.91990550e-02 5.00550157e-03 9.96846254e-01 1.39284668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.48, Y:3.21, Z:1.41 [[ 9.64770678e-01 -2.49428672e-01 -8.36831863e-02 3.34792939e+01] [ 2.50154180e-01 9.68204209e-01 -1.86981260e-03 3.20619138e+00] [ 8.14887980e-02 -1.91297585e-02 9.96490656e-01 1.40888225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:3.23, Z:1.40 [[ 9.64974458e-01 -2.51804893e-01 -7.36110835e-02 3.35062665e+01] [ 2.50222790e-01 9.67719363e-01 -3.01295633e-02 3.22939718e+00] [ 7.88216423e-02 1.06550884e-02 9.96831790e-01 1.39617321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:3.23, Z:1.40 [[ 9.65063402e-01 -2.50645760e-01 -7.63500690e-02 3.35339786e+01] [ 2.50036762e-01 9.68076561e-01 -1.75894760e-02 3.22944917e+00] [ 7.83214398e-02 -2.11536447e-03 9.96925914e-01 1.40197363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:3.23, Z:1.41 [[ 9.64853883e-01 -2.50505429e-01 -7.93978276e-02 3.35602741e+01] [ 2.50428095e-01 9.68071658e-01 -1.10920653e-02 3.23243867e+00] [ 7.96414091e-02 -9.18122445e-03 9.96781296e-01 1.40891322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:3.25, Z:1.40 [[ 9.64392041e-01 -2.53376664e-01 -7.58172596e-02 3.35893306e+01] [ 2.52037224e-01 9.67343555e-01 -2.69013967e-02 3.24870688e+00] [ 8.01575236e-02 6.83472128e-03 9.96758776e-01 1.40461838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:3.25, Z:1.41 [[ 9.64214560e-01 -2.53088372e-01 -7.89718808e-02 3.36155689e+01] [ 2.52647551e-01 9.67431143e-01 -1.56907109e-02 3.24855228e+00] [ 8.03709933e-02 -4.82284039e-03 9.96753351e-01 1.41100201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.294340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.64, Y:3.26, Z:1.41 [[ 9.63888394e-01 -2.54510727e-01 -7.83801823e-02 3.36437061e+01] [ 2.53616956e-01 9.67069717e-01 -2.13214182e-02 3.25870672e+00] [ 8.12256304e-02 6.72924266e-04 9.96695512e-01 1.41211251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:3.26, Z:1.42 [[ 9.63242542e-01 -2.54621509e-01 -8.56253019e-02 3.36698475e+01] [ 2.55018362e-01 9.66914662e-01 -6.45527004e-03 3.25730502e+00] [ 8.44360105e-02 -1.56180336e-02 9.96306498e-01 1.42418950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.354340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.70, Y:3.28, Z:1.41 [[ 9.63323618e-01 -2.56746355e-01 -7.80315018e-02 3.36959709e+01] [ 2.55245957e-01 9.66447129e-01 -2.88001480e-02 3.27642814e+00] [ 8.28076539e-02 7.82663746e-03 9.96534814e-01 1.41474376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:3.27, Z:1.43 [[ 9.62952801e-01 -2.55851658e-01 -8.52163844e-02 3.37234518e+01] [ 2.56073415e-01 9.66619928e-01 -8.50421922e-03 3.27213624e+00] [ 8.45476739e-02 -1.36324888e-02 9.96326175e-01 1.42794665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:3.29, Z:1.42 [[ 9.62876049e-01 -2.58063798e-01 -7.92009433e-02 3.37500156e+01] [ 2.56796069e-01 9.66116598e-01 -2.59710924e-02 3.28906534e+00] [ 8.32195447e-02 4.66845195e-03 9.96520302e-01 1.42126619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:3.30, Z:1.42 [[ 9.62593886e-01 -2.59172708e-01 -7.90096083e-02 3.37783344e+01] [ 2.57988492e-01 9.65823893e-01 -2.50228916e-02 3.29618408e+00] [ 8.27946180e-02 3.70331276e-03 9.96559751e-01 1.42280030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:3.29, Z:1.43 [[ 9.62781929e-01 -2.57274432e-01 -8.28300895e-02 3.38051574e+01] [ 2.57232815e-01 9.66282717e-01 -1.13573607e-02 3.29478118e+00] [ 8.29592425e-02 -1.03719555e-02 9.96498965e-01 1.43121040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:3.31, Z:1.43 [[ 9.62672509e-01 -2.58676943e-01 -7.96735791e-02 3.38318409e+01] [ 2.57656089e-01 9.65962518e-01 -2.30163812e-02 3.30985264e+00] [ 8.29154982e-02 1.62885465e-03 9.96555250e-01 1.42863285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:3.31, Z:1.44 [[ 9.62831649e-01 -2.56364568e-01 -8.50436628e-02 3.38582911e+01] [ 2.56617210e-01 9.66478888e-01 -8.13430604e-03 3.30841977e+00] [ 8.42782525e-02 -1.39917002e-02 9.96344021e-01 1.44050969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:3.33, Z:1.43 [[ 9.62982105e-01 -2.58752502e-01 -7.55818016e-02 3.38846777e+01] [ 2.56849280e-01 9.65850769e-01 -3.40696168e-02 3.33060463e+00] [ 8.18163398e-02 1.33953000e-02 9.96557400e-01 1.42782276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:3.33, Z:1.44 [[ 9.62980669e-01 -2.56555631e-01 -8.27492549e-02 3.39152673e+01] [ 2.55928770e-01 9.66522845e-01 -1.82771395e-02 3.33048323e+00] [ 8.46681484e-02 -3.57738307e-03 9.96402784e-01 1.43881620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:3.33, Z:1.45 [[ 9.62963985e-01 -2.55275270e-01 -8.68038045e-02 3.39401759e+01] [ 2.55459284e-01 9.66776326e-01 -9.17007344e-03 3.33234012e+00] [ 8.62607562e-02 -1.33443873e-02 9.96183221e-01 1.44785907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.97, Y:3.35, Z:1.44 [[ 9.63164184e-01 -2.56532681e-01 -8.06581519e-02 3.39677413e+01] [ 2.54877933e-01 9.66496561e-01 -3.03584572e-02 3.35212727e+00] [ 8.57437628e-02 8.68219563e-03 9.96279392e-01 1.44093508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:3.35, Z:1.45 [[ 9.64076251e-01 -2.51373859e-01 -8.58380162e-02 3.39953082e+01] [ 2.51680945e-01 9.67781947e-01 -7.40301724e-03 3.34750997e+00] [ 8.49334074e-02 -1.44667200e-02 9.96281602e-01 1.45163799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.02, Y:3.37, Z:1.44 [[ 9.63821782e-01 -2.54312251e-01 -7.98301474e-02 3.40225539e+01] [ 2.52390686e-01 9.67046307e-01 -3.34720923e-02 3.37024442e+00] [ 8.57118124e-02 1.21127459e-02 9.96246338e-01 1.44390795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.05, Y:3.37, Z:1.45 [[ 9.64354565e-01 -2.51171894e-01 -8.32643563e-02 3.40514339e+01] [ 2.50631096e-01 9.67932405e-01 -1.70562070e-02 3.36813848e+00] [ 8.48783084e-02 -4.42040576e-03 9.96381520e-01 1.44969487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:3.38, Z:1.45 [[ 9.64609803e-01 -2.51338449e-01 -7.97302512e-02 3.40730600e+01] [ 2.50305204e-01 9.67896992e-01 -2.28630251e-02 3.37873393e+00] [ 8.29170275e-02 2.09700134e-03 9.96554248e-01 1.44704548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:3.38, Z:1.45 [[ 9.65243436e-01 -2.47825032e-01 -8.29931540e-02 3.41047866e+01] [ 2.47700668e-01 9.68762841e-01 -1.19556638e-02 3.38072368e+00] [ 8.33635964e-02 -9.01733371e-03 9.96478398e-01 1.45373150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:3.39, Z:1.45 [[ 9.65346399e-01 -2.47911118e-01 -8.15255040e-02 3.41292924e+01] [ 2.47037358e-01 9.68782779e-01 -2.07959268e-02 3.39260084e+00] [ 8.41360458e-02 -6.45720299e-05 9.96454275e-01 1.45466197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:3.40, Z:1.46 [[ 9.65223773e-01 -2.48112711e-01 -8.23598833e-02 3.41558293e+01] [ 2.46853514e-01 9.68722551e-01 -2.52974870e-02 3.40210563e+00] [ 8.60605043e-02 4.08690924e-03 9.96281530e-01 1.45641523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:3.41, Z:1.46 [[ 9.65793679e-01 -2.46162891e-01 -8.15254572e-02 3.41858316e+01] [ 2.44743628e-01 9.69208364e-01 -2.71238531e-02 3.41084844e+00] [ 8.56920412e-02 6.24320976e-03 9.96302111e-01 1.45639269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:3.41, Z:1.46 [[ 9.66065354e-01 -2.44023970e-01 -8.46760522e-02 3.42145465e+01] [ 2.43681800e-01 9.69746648e-01 -1.45127599e-02 3.41086556e+00] [ 8.56557791e-02 -6.61373824e-03 9.96302838e-01 1.46376022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:3.42, Z:1.46 [[ 9.66318607e-01 -2.43576737e-01 -8.30585508e-02 3.42413548e+01] [ 2.42716055e-01 9.69881551e-01 -2.04619847e-02 3.42218718e+00] [ 8.55410196e-02 -3.86847193e-04 9.96334574e-01 1.46441024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.27, Y:3.42, Z:1.47 [[ 9.67005446e-01 -2.39572455e-01 -8.66343229e-02 3.42657537e+01] [ 2.40412021e-01 9.70670632e-01 -7.64273776e-04 3.41686800e+00] [ 8.42764919e-02 -2.00888758e-02 9.96239886e-01 1.47471098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:3.44, Z:1.47 [[ 9.66116104e-01 -2.44676072e-01 -8.21784248e-02 3.42932198e+01] [ 2.42688759e-01 9.69525147e-01 -3.35135074e-02 3.44324113e+00] [ 8.78740027e-02 1.24341593e-02 9.96053990e-01 1.46866683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:3.44, Z:1.47 [[ 9.66861272e-01 -2.40951020e-01 -8.43912734e-02 3.43242764e+01] [ 2.40137640e-01 9.70536643e-01 -1.98125930e-02 3.44102766e+00] [ 8.66786876e-02 -1.10949239e-03 9.96235702e-01 1.47232914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:3.44, Z:1.49 [[ 9.66803660e-01 -2.37552188e-01 -9.41256643e-02 3.43548552e+01] [ 2.37715027e-01 9.71287078e-01 -9.64255646e-03 3.43890088e+00] [ 9.37136518e-02 -1.30526259e-02 9.95513626e-01 1.48558299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:3.47, Z:1.47 [[ 9.66327436e-01 -2.43129782e-01 -8.42567244e-02 3.43765045e+01] [ 2.40472736e-01 9.69809704e-01 -4.05216246e-02 3.46589261e+00] [ 9.15650027e-02 1.88957126e-02 9.95619808e-01 1.47243190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:3.46, Z:1.48 [[ 9.66632965e-01 -2.39573729e-01 -9.06925560e-02 3.44081793e+01] [ 2.39503483e-01 9.70823569e-01 -1.18186206e-02 3.45660193e+00] [ 9.08779019e-02 -1.02969147e-02 9.95808807e-01 1.48311277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.43, Y:3.46, Z:1.48 [[ 9.66844777e-01 -2.38565293e-01 -9.10921452e-02 3.44304729e+01] [ 2.38011216e-01 9.71112600e-01 -1.70581216e-02 3.46361140e+00] [ 9.25302057e-02 -5.18839640e-03 9.95696360e-01 1.48490812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.46, Y:3.47, Z:1.49 [[ 9.66889129e-01 -2.37794873e-01 -9.26229548e-02 3.44606097e+01] [ 2.37702605e-01 9.71261505e-01 -1.21885698e-02 3.46786019e+00] [ 9.28594898e-02 -1.02317220e-02 9.95626650e-01 1.49058283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:3.48, Z:1.49 [[ 9.66730745e-01 -2.40365518e-01 -8.74990579e-02 3.44858100e+01] [ 2.38936279e-01 9.70670475e-01 -2.66135919e-02 3.48387601e+00] [ 9.13297419e-02 4.82147815e-03 9.95809034e-01 1.48657581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:3.48, Z:1.49 [[ 9.66766822e-01 -2.39060845e-01 -9.06191167e-02 3.45101228e+01] [ 2.38313225e-01 9.70999675e-01 -1.91425836e-02 3.48499709e+00] [ 9.25673751e-02 -3.08931925e-03 9.95701631e-01 1.49300007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:3.50, Z:1.49 [[ 9.66579735e-01 -2.41522633e-01 -8.59676358e-02 3.45388333e+01] [ 2.40168897e-01 9.70385214e-01 -2.59121072e-02 3.49679690e+00] [ 8.96800830e-02 4.39936538e-03 9.95960907e-01 1.49116959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:3.50, Z:1.50 [[ 9.66397784e-01 -2.41798247e-01 -8.72291821e-02 3.45657866e+01] [ 2.40850354e-01 9.70326489e-01 -2.13918684e-02 3.50030246e+00] [ 8.98133022e-02 -3.36125208e-04 9.95958562e-01 1.49540332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.59, Y:3.51, Z:1.50 [[ 9.66037476e-01 -2.43214560e-01 -8.72827203e-02 3.45922474e+01] [ 2.41995179e-01 9.69969293e-01 -2.44520634e-02 3.50823129e+00] [ 9.06086564e-02 2.49961210e-03 9.95883439e-01 1.49789149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:3.51, Z:1.50 [[ 9.65909105e-01 -2.43372707e-01 -8.82571648e-02 3.46202724e+01] [ 2.42441412e-01 9.69932486e-01 -2.12869730e-02 3.51367253e+00] [ 9.07841595e-02 -8.35910582e-04 9.95870241e-01 1.50153566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:3.51, Z:1.51 [[ 9.66009774e-01 -2.42687342e-01 -8.90391463e-02 3.46459150e+01] [ 2.42625389e-01 9.70049698e-01 -1.16834644e-02 3.51416492e+00] [ 8.92078260e-02 -1.03168167e-02 9.95959601e-01 1.50697059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:3.53, Z:1.51 [[ 9.65598481e-01 -2.45246094e-01 -8.64518771e-02 3.46744246e+01] [ 2.43810511e-01 9.69448220e-01 -2.69552193e-02 3.52983222e+00] [ 9.04212806e-02 4.95004243e-03 9.95891304e-01 1.50591880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:3.53, Z:1.51 [[ 9.65551380e-01 -2.43957883e-01 -9.05267036e-02 3.47020078e+01] [ 2.43269636e-01 9.69777836e-01 -1.87305524e-02 3.53058691e+00] [ 9.23602566e-02 -3.93708746e-03 9.95717873e-01 1.51324202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:3.54, Z:1.51 [[ 9.65657706e-01 -2.43875817e-01 -8.96090412e-02 3.47287505e+01] [ 2.42919752e-01 9.69806035e-01 -2.15927789e-02 3.53904439e+00] [ 9.21693456e-02 -9.16572775e-04 9.95742924e-01 1.51478733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:3.55, Z:1.52 [[ 9.65571923e-01 -2.44764165e-01 -8.80986088e-02 3.47550174e+01] [ 2.43854180e-01 9.69582025e-01 -2.11148021e-02 3.54662534e+00] [ 9.05869744e-02 -1.09535397e-03 9.95887946e-01 1.51578482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.554340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.79, Y:3.55, Z:1.52 [[ 9.65739003e-01 -2.43930036e-01 -8.85794312e-02 3.47854727e+01] [ 2.43711312e-01 9.69754651e-01 -1.34429316e-02 3.54846009e+00] [ 8.91794502e-02 -8.60544601e-03 9.95978399e-01 1.52080918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:3.56, Z:1.52 [[ 9.65657517e-01 -2.45123813e-01 -8.61387083e-02 3.48108265e+01] [ 2.44132643e-01 9.69491754e-01 -2.20225392e-02 3.55990756e+00] [ 8.89090162e-02 2.36959956e-04 9.96039723e-01 1.52059242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.614340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.84, Y:3.57, Z:1.52 [[ 9.65183356e-01 -2.46934578e-01 -8.62809542e-02 3.48371685e+01] [ 2.45501413e-01 9.69019818e-01 -2.70120056e-02 3.57013967e+00] [ 9.02781527e-02 4.88944202e-03 9.95904588e-01 1.52233808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:34.86, Y:3.57, Z:1.53 [[ 9.65377367e-01 -2.45199331e-01 -8.90158879e-02 3.48634056e+01] [ 2.44851443e-01 9.69444921e-01 -1.49771553e-02 3.56976025e+00] [ 8.99683889e-02 -7.33706180e-03 9.95917595e-01 1.52810654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.674340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.89, Y:3.58, Z:1.53 [[ 9.65364761e-01 -2.46013017e-01 -8.68819531e-02 3.48920837e+01] [ 2.44780825e-01 9.69263022e-01 -2.47293908e-02 3.58211152e+00] [ 9.02952164e-02 2.60584634e-03 9.95911634e-01 1.52764674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:3.59, Z:1.52 [[ 9.64988868e-01 -2.48176343e-01 -8.48821924e-02 3.49148822e+01] [ 2.46595343e-01 9.68690603e-01 -2.87967454e-02 3.59158094e+00] [ 8.93712531e-02 6.85698540e-03 9.95974779e-01 1.52481690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.734340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.95, Y:3.59, Z:1.53 [[ 9.65113194e-01 -2.46096958e-01 -8.94025191e-02 3.49472861e+01] [ 2.45933750e-01 9.69199329e-01 -1.30096890e-02 3.58933439e+00] [ 8.98505064e-02 -9.43127433e-03 9.95910607e-01 1.53489872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:34.97, Y:3.60, Z:1.53 [[ 9.64379864e-01 -2.49049467e-01 -8.91394439e-02 3.49739417e+01] [ 2.48117863e-01 9.68489862e-01 -2.15618677e-02 3.59935494e+00] [ 9.17006193e-02 -1.32325728e-03 9.95785743e-01 1.53491609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:3.61, Z:1.54 [[ 9.64258473e-01 -2.50476310e-01 -8.64130528e-02 3.50003895e+01] [ 2.49465612e-01 9.68122722e-01 -2.24789791e-02 3.60668063e+00] [ 8.92888915e-02 1.18460948e-04 9.96005763e-01 1.53500544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.03, Y:3.61, Z:1.54 [[ 9.63978535e-01 -2.51251357e-01 -8.72819534e-02 3.50287394e+01] [ 2.50252577e-01 9.67921838e-01 -2.23822042e-02 3.61258580e+00] [ 9.01056679e-02 -2.66569347e-04 9.95932175e-01 1.53896012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.06, Y:3.62, Z:1.54 [[ 9.63533876e-01 -2.53178997e-01 -8.66190855e-02 3.50561699e+01] [ 2.52038543e-01 9.67418534e-01 -2.40406540e-02 3.62092913e+00] [ 8.98834974e-02 1.33263639e-03 9.95951395e-01 1.54007196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.884340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.08, Y:3.63, Z:1.54 [[ 9.63005317e-01 -2.54329575e-01 -8.90911085e-02 3.50841421e+01] [ 2.53310616e-01 9.67117385e-01 -2.27529310e-02 3.62646616e+00] [ 9.19483032e-02 -6.56529989e-04 9.95763566e-01 1.54463238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:3.63, Z:1.55 [[ 9.62917283e-01 -2.54692179e-01 -8.90067421e-02 3.51105971e+01] [ 2.53953333e-01 9.67015422e-01 -1.97199911e-02 3.63102373e+00] [ 9.10934197e-02 -3.61483859e-03 9.95835791e-01 1.54684881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.13, Y:3.64, Z:1.55 [[ 9.62621197e-01 -2.54889725e-01 -9.16059975e-02 3.51348022e+01] [ 2.54222020e-01 9.66957615e-01 -1.90823172e-02 3.63563300e+00] [ 9.34430035e-02 -4.91921875e-03 9.95612478e-01 1.55395097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:3.65, Z:1.55 [[ 9.62758415e-01 -2.55780224e-01 -8.75940162e-02 3.51646946e+01] [ 2.54381675e-01 9.66727966e-01 -2.69629970e-02 3.64652207e+00] [ 9.15761865e-02 3.67653968e-03 9.95791286e-01 1.55059391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:3.65, Z:1.56 [[ 9.62716756e-01 -2.55392012e-01 -8.91704422e-02 3.51926145e+01] [ 2.54539517e-01 9.66834399e-01 -2.09971303e-02 3.64937478e+00] [ 9.15755502e-02 -2.48311217e-03 9.95795036e-01 1.55536269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:3.65, Z:1.56 [[ 9.62645961e-01 -2.54631744e-01 -9.20620950e-02 3.52165480e+01] [ 2.53918045e-01 9.67027502e-01 -1.95815623e-02 3.65423947e+00] [ 9.40126651e-02 -4.52611534e-03 9.95560713e-01 1.56188827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:3.66, Z:1.56 [[ 9.62871054e-01 -2.55164788e-01 -8.81491082e-02 3.52455852e+01] [ 2.54046265e-01 9.66897399e-01 -2.38728935e-02 3.66399421e+00] [ 9.13226652e-02 5.92566403e-04 9.95821179e-01 1.55929810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.27, Y:3.67, Z:1.56 [[ 9.62838857e-01 -2.54910095e-01 -8.92310392e-02 3.52715665e+01] [ 2.53999808e-01 9.66962962e-01 -2.16038754e-02 3.66916272e+00] [ 9.17901559e-02 -1.86361612e-03 9.95776629e-01 1.56281929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.30, Y:3.68, Z:1.57 [[ 9.62479023e-01 -2.55767550e-01 -9.06481661e-02 3.52971576e+01] [ 2.54699174e-01 9.66738122e-01 -2.33609664e-02 3.67616921e+00] [ 9.36080150e-02 -6.03572960e-04 9.95608947e-01 1.56606877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:3.68, Z:1.57 [[ 9.62324633e-01 -2.56773802e-01 -8.94344204e-02 3.53231602e+01] [ 2.55231037e-01 9.66460695e-01 -2.84753179e-02 3.68456218e+00] [ 9.37465677e-02 4.57606006e-03 9.95585577e-01 1.56610426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:3.68, Z:1.58 [[ 9.62056787e-01 -2.56262000e-01 -9.36831123e-02 3.53510100e+01] [ 2.55838448e-01 9.66575136e-01 -1.67091096e-02 3.68348175e+00] [ 9.48336769e-02 -7.89262976e-03 9.95461843e-01 1.57622923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.214340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.38, Y:3.70, Z:1.57 [[ 9.61095348e-01 -2.60935000e-01 -9.06016482e-02 3.53782878e+01] [ 2.59376224e-01 9.65347401e-01 -2.87814033e-02 3.69628147e+00] [ 9.49721412e-02 4.16175942e-03 9.95471231e-01 1.57343567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.41, Y:3.70, Z:1.58 [[ 9.60771392e-01 -2.61277498e-01 -9.30182839e-02 3.54059839e+01] [ 2.60791352e-01 9.65235465e-01 -1.75603842e-02 3.69618473e+00] [ 9.43726798e-02 -7.38684924e-03 9.95509534e-01 1.57977151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.274340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.43, Y:3.70, Z:1.58 [[ 9.60217772e-01 -2.62952022e-01 -9.40109854e-02 3.54338020e+01] [ 2.62437183e-01 9.64780780e-01 -1.80213976e-02 3.70243207e+00] [ 9.54387548e-02 -7.36751195e-03 9.95408039e-01 1.58347977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:3.71, Z:1.58 [[ 9.59170631e-01 -2.67218227e-01 -9.26613207e-02 3.54589504e+01] [ 2.66241258e-01 9.63632456e-01 -2.29800442e-02 3.70984297e+00] [ 9.54321427e-02 -2.62848310e-03 9.95432467e-01 1.58448393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:3.72, Z:1.59 [[ 9.58586763e-01 -2.69227382e-01 -9.28872197e-02 3.54858257e+01] [ 2.67615838e-01 9.63070133e-01 -2.96257158e-02 3.71924107e+00] [ 9.74329609e-02 3.54072782e-03 9.95235792e-01 1.58617931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:3.72, Z:1.59 [[ 9.57799152e-01 -2.71847218e-01 -9.33802719e-02 3.55153345e+01] [ 2.70367107e-01 9.62338446e-01 -2.83961888e-02 3.72204371e+00] [ 9.75828506e-02 1.95089155e-03 9.95225493e-01 1.58919592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:3.72, Z:1.60 [[ 9.57109233e-01 -2.73172661e-01 -9.65329648e-02 3.55440729e+01] [ 2.73160554e-01 9.61872332e-01 -1.35988387e-02 3.72126787e+00] [ 9.65672189e-02 -1.33534240e-02 9.95236886e-01 1.59655810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:3.74, Z:1.59 [[ 9.56732414e-01 -2.75634673e-01 -9.32127433e-02 3.55691545e+01] [ 2.73918531e-01 9.61253676e-01 -3.09840216e-02 3.73636604e+00] [ 9.81413628e-02 4.11072010e-03 9.95163994e-01 1.59421382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.454340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.60, Y:3.74, Z:1.60 [[ 9.56417585e-01 -2.75931410e-01 -9.55366952e-02 3.55979212e+01] [ 2.75271621e-01 9.61152550e-01 -2.02807896e-02 3.73694982e+00] [ 9.74214450e-02 -6.90163714e-03 9.95219287e-01 1.60049182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:3.74, Z:1.60 [[ 9.56637338e-01 -2.75467155e-01 -9.46723287e-02 3.56250792e+01] [ 2.74539995e-01 9.61301975e-01 -2.29413386e-02 3.74267492e+00] [ 9.73282818e-02 -4.04479954e-03 9.95244113e-01 1.60229755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:3.75, Z:1.61 [[ 9.56486061e-01 -2.76221405e-01 -9.40007964e-02 3.56526640e+01] [ 2.75528569e-01 9.61073624e-01 -2.05303647e-02 3.74916178e+00] [ 9.60126122e-02 -6.26289722e-03 9.95360414e-01 1.60616484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:3.76, Z:1.61 [[ 9.57229799e-01 -2.73871835e-01 -9.33023522e-02 3.56763625e+01] [ 2.72823322e-01 9.61763152e-01 -2.40639818e-02 3.75543892e+00] [ 9.63252111e-02 -2.42029719e-03 9.95346973e-01 1.60739439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:3.77, Z:1.60 [[ 9.57061602e-01 -2.75520432e-01 -9.01198169e-02 3.57055310e+01] [ 2.72425225e-01 9.61112140e-01 -4.52543061e-02 3.77427859e+00] [ 9.90837360e-02 1.87602473e-02 9.94902240e-01 1.60348637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:3.77, Z:1.62 [[ 9.57216027e-01 -2.71802872e-01 -9.93009350e-02 3.57347509e+01] [ 2.71549535e-01 9.62286090e-01 -1.63196407e-02 3.76522141e+00] [ 9.99916337e-02 -1.13437011e-02 9.94923612e-01 1.61916071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.634340128000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.76, Y:3.78, Z:1.62 [[ 9.57713987e-01 -2.71691034e-01 -9.46989986e-02 3.57627662e+01] [ 2.69689778e-01 9.62361797e-01 -3.35737399e-02 3.78043298e+00] [ 1.00256383e-01 6.61468839e-03 9.94939648e-01 1.61528295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:3.78, Z:1.62 [[ 9.58587657e-01 -2.67633625e-01 -9.73752864e-02 3.57890755e+01] [ 2.66867880e-01 9.63503240e-01 -2.10485528e-02 3.78119362e+00] [ 9.94547044e-02 -5.80945340e-03 9.95025131e-01 1.62377461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.82, Y:3.79, Z:1.62 [[ 9.59479756e-01 -2.65906689e-01 -9.32321346e-02 3.58151601e+01] [ 2.64482734e-01 9.63997158e-01 -2.75383955e-02 3.79105619e+00] [ 9.71981563e-02 1.76424308e-03 9.95263486e-01 1.62165047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:3.80, Z:1.62 [[ 9.59767642e-01 -2.65254394e-01 -9.21204658e-02 3.58408778e+01] [ 2.63505619e-01 9.64163558e-01 -3.08775439e-02 3.80013675e+00] [ 9.70096002e-02 5.36100717e-03 9.95269007e-01 1.62292389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:3.80, Z:1.63 [[ 9.60333488e-01 -2.61145779e-01 -9.77879002e-02 3.58718433e+01] [ 2.60320009e-01 9.65286603e-01 -2.13369909e-02 3.79982195e+00] [ 9.99654151e-02 -4.96552009e-03 9.94978522e-01 1.63407551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:3.80, Z:1.64 [[ 9.61105276e-01 -2.58425631e-01 -9.74312112e-02 3.58959525e+01] [ 2.58242020e-01 9.65968261e-01 -1.47097588e-02 3.80394439e+00] [ 9.79168364e-02 -1.10232060e-02 9.95133550e-01 1.63926019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.814340128000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.92, Y:3.82, Z:1.63 [[ 9.62576507e-01 -2.56461931e-01 -8.75999248e-02 3.59214865e+01] [ 2.54697642e-01 9.66525405e-01 -3.09475740e-02 3.82016811e+00] [ 9.26044274e-02 7.47791337e-03 9.95674897e-01 1.63045306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:3.83, Z:1.63 [[ 9.62773256e-01 -2.55801354e-01 -8.73688947e-02 3.59503056e+01] [ 2.53446440e-01 9.66632029e-01 -3.72481287e-02 3.83106069e+00] [ 9.39816937e-02 1.37181669e-02 9.95479409e-01 1.63147791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:3.82, Z:1.65 [[ 9.62563576e-01 -2.52865718e-01 -9.76232056e-02 3.59789017e+01] [ 2.52869174e-01 9.67419172e-01 -1.25429923e-02 3.82487933e+00] [ 9.76142535e-02 -1.26124718e-02 9.95144403e-01 1.64888467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:3.84, Z:1.64 [[ 9.63436802e-01 -2.52714116e-01 -8.90230522e-02 3.60032979e+01] [ 2.51055721e-01 9.67521678e-01 -2.95436435e-02 3.84186503e+00] [ 9.35978287e-02 6.11368691e-03 9.95591316e-01 1.64056638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:3.85, Z:1.65 [[ 9.63017017e-01 -2.51868636e-01 -9.57100579e-02 3.60342006e+01] [ 2.50510024e-01 9.67760676e-01 -2.61534117e-02 3.84738211e+00] [ 9.92116545e-02 1.20985162e-03 9.95065618e-01 1.65012884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.06, Y:3.86, Z:1.64 [[ 9.64210219e-01 -2.50008002e-01 -8.82873326e-02 3.60605670e+01] [ 2.48189219e-01 9.68209386e-01 -3.11880900e-02 3.85793358e+00] [ 9.32778961e-02 8.15991096e-03 9.95606674e-01 1.64444676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:3.86, Z:1.66 [[ 9.63109505e-01 -2.50678697e-01 -9.78788618e-02 3.60889435e+01] [ 2.50125561e-01 9.68044548e-01 -1.80819483e-02 3.85747225e+00] [ 9.92838578e-02 -7.06710890e-03 9.95034055e-01 1.65860603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:3.87, Z:1.65 [[ 9.63847896e-01 -2.51927400e-01 -8.67745223e-02 3.61105971e+01] [ 2.49575091e-01 9.67642742e-01 -3.71456277e-02 3.87487852e+00] [ 9.33247381e-02 1.41459758e-02 9.95535225e-01 1.64688771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:3.87, Z:1.65 [[ 9.64027368e-01 -2.50153674e-01 -8.98575149e-02 3.61386717e+01] [ 2.49345785e-01 9.68201961e-01 -2.02889755e-02 3.87213975e+00] [ 9.20755838e-02 -2.84646495e-03 9.95747952e-01 1.65496600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:3.89, Z:1.65 [[ 9.63257852e-01 -2.54084391e-01 -8.70369637e-02 3.61658775e+01] [ 2.51551845e-01 9.67053361e-01 -3.91083818e-02 3.88956633e+00] [ 9.41062177e-02 1.57771470e-02 9.95437141e-01 1.65107165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:3.88, Z:1.67 [[ 9.63458030e-01 -2.51163480e-01 -9.30888327e-02 3.61969082e+01] [ 2.51278321e-01 9.67855979e-01 -1.06775398e-02 3.88104103e+00] [ 9.27783913e-02 -1.31038442e-02 9.95600552e-01 1.66508114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.22, Y:3.90, Z:1.66 [[ 9.63134036e-01 -2.54005883e-01 -8.86218909e-02 3.62230327e+01] [ 2.52594340e-01 9.67195964e-01 -2.69827076e-02 3.89866654e+00] [ 9.25685016e-02 3.60257601e-03 9.95699801e-01 1.66115558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:3.90, Z:1.67 [[ 9.62240774e-01 -2.56126878e-01 -9.21505058e-02 3.62456448e+01] [ 2.55612325e-01 9.66620145e-01 -1.75451897e-02 3.90259404e+00] [ 9.35683299e-02 -6.67210812e-03 9.95590503e-01 1.66935573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:3.92, Z:1.66 [[ 9.61556733e-01 -2.60681905e-01 -8.63342012e-02 3.62710426e+01] [ 2.58179546e-01 9.65302176e-01 -3.91794865e-02 3.92244724e+00] [ 9.35519754e-02 1.53835742e-02 9.95495542e-01 1.66309011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:3.92, Z:1.67 [[ 9.61379469e-01 -2.59817734e-01 -9.07979135e-02 3.62988045e+01] [ 2.59293979e-01 9.65635779e-01 -1.77249931e-02 3.91827439e+00] [ 9.22829814e-02 -6.50290784e-03 9.95711587e-01 1.67219582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:3.93, Z:1.67 [[ 9.60913485e-01 -2.62307955e-01 -8.85427091e-02 3.63244576e+01] [ 2.60416246e-01 9.64949719e-01 -3.24871995e-02 3.93477341e+00] [ 9.39609131e-02 8.15942813e-03 9.95542450e-01 1.67060970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:3.94, Z:1.68 [[ 9.60900290e-01 -2.61557223e-01 -9.08760182e-02 3.63527327e+01] [ 2.60349218e-01 9.65187855e-01 -2.51135142e-02 3.93787975e+00] [ 9.42810501e-02 4.72082796e-04 9.95545509e-01 1.67601200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:3.95, Z:1.68 [[ 9.60978137e-01 -2.62464097e-01 -8.73705827e-02 3.63786559e+01] [ 2.61505900e-01 9.64940909e-01 -2.24433936e-02 3.94693323e+00] [ 9.01980346e-02 -1.28031225e-03 9.95923027e-01 1.67500632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.41, Y:3.96, Z:1.67 [[ 9.61161281e-01 -2.62720194e-01 -8.45404742e-02 3.64051646e+01] [ 2.61057694e-01 9.64845918e-01 -3.03518435e-02 3.95902860e+00] [ 8.95425736e-02 7.10307556e-03 9.95957667e-01 1.67361112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:3.96, Z:1.68 [[ 9.60923994e-01 -2.63267279e-01 -8.55302200e-02 3.64299873e+01] [ 2.62367884e-01 9.64721772e-01 -2.17944094e-02 3.96427174e+00] [ 8.82506202e-02 -1.49761197e-03 9.96097177e-01 1.67810301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:3.97, Z:1.69 [[ 9.61076018e-01 -2.61959988e-01 -8.78057634e-02 3.64602594e+01] [ 2.61609976e-01 9.65046360e-01 -1.56761730e-02 3.97056179e+00] [ 8.88431625e-02 -7.90486979e-03 9.96014260e-01 1.68581085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:3.99, Z:1.68 [[ 9.61041902e-01 -2.64388878e-01 -8.06038693e-02 3.64824123e+01] [ 2.62515252e-01 9.64356164e-01 -3.32104095e-02 3.98936238e+00] [ 8.65113012e-02 1.07568501e-02 9.96192795e-01 1.67934949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:3.99, Z:1.69 [[ 9.61205315e-01 -2.62279480e-01 -8.54038417e-02 3.65138045e+01] [ 2.61895271e-01 9.64965763e-01 -1.58727190e-02 3.99023209e+00] [ 8.65748718e-02 -7.10992048e-03 9.96219976e-01 1.68872933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.54, Y:4.01, Z:1.69 [[ 9.60724096e-01 -2.65074642e-01 -8.21257864e-02 3.65386063e+01] [ 2.63167201e-01 9.64170597e-01 -3.34377781e-02 4.01016536e+00] [ 8.80467755e-02 1.05116658e-02 9.96060877e-01 1.68544885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:4.01, Z:1.70 [[ 9.60899011e-01 -2.62350330e-01 -8.85742308e-02 3.65669751e+01] [ 2.62078212e-01 9.64931659e-01 -1.48964762e-02 4.00846211e+00] [ 8.93761749e-02 -8.89936680e-03 9.95958182e-01 1.69644710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:4.03, Z:1.69 [[ 9.60625809e-01 -2.65053580e-01 -8.33345929e-02 3.65915675e+01] [ 2.62751640e-01 9.64127734e-01 -3.76734406e-02 4.03343016e+00] [ 9.03306725e-02 1.42937784e-02 9.95809248e-01 1.69047839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:4.03, Z:1.70 [[ 9.61237617e-01 -2.61192386e-01 -8.83220301e-02 3.66197265e+01] [ 2.61207305e-01 9.65213095e-01 -1.15942120e-02 4.02729214e+00] [ 8.82778999e-02 -1.19255668e-02 9.96024494e-01 1.70042226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.65, Y:4.05, Z:1.70 [[ 9.61047196e-01 -2.62746588e-01 -8.57468223e-02 3.66463717e+01] [ 2.61204184e-01 9.64849686e-01 -2.89388457e-02 4.04682309e+00] [ 9.03363776e-02 5.41416772e-03 9.95896594e-01 1.69858215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:4.05, Z:1.71 [[ 9.61116048e-01 -2.61063963e-01 -9.00086116e-02 3.66739020e+01] [ 2.60309933e-01 9.65313253e-01 -2.02252736e-02 4.05146041e+00] [ 9.21665958e-02 -3.99130068e-03 9.95735602e-01 1.70527118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:4.07, Z:1.70 [[ 9.60995109e-01 -2.62154976e-01 -8.81088415e-02 3.66999850e+01] [ 2.60602604e-01 9.65013846e-01 -2.88887510e-02 4.06532690e+00] [ 9.25995818e-02 4.80055490e-03 9.95691856e-01 1.70407702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:4.07, Z:1.71 [[ 9.60853267e-01 -2.62198489e-01 -8.95150979e-02 3.67246189e+01] [ 2.61212766e-01 9.65012785e-01 -2.27643623e-02 4.07370490e+00] [ 9.23519953e-02 -1.50927448e-03 9.95725279e-01 1.70746428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.75, Y:4.09, Z:1.71 [[ 9.60634974e-01 -2.62941403e-01 -8.96786816e-02 3.67532481e+01] [ 2.61560957e-01 9.64808555e-01 -2.70243981e-02 4.08538526e+00] [ 9.36285924e-02 2.50414017e-03 9.95604046e-01 1.71024434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:4.09, Z:1.72 [[ 9.60538175e-01 -2.62446711e-01 -9.21310961e-02 3.67813497e+01] [ 2.61452453e-01 9.64944256e-01 -2.29171736e-02 4.09119196e+00] [ 9.49159088e-02 -2.07508092e-03 9.95483131e-01 1.71542495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.804340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.81, Y:4.10, Z:1.72 [[ 9.60489623e-01 -2.63327081e-01 -9.01029025e-02 3.68073075e+01] [ 2.61969467e-01 9.64704268e-01 -2.67894187e-02 4.10245715e+00] [ 9.39770340e-02 2.12674932e-03 9.95572094e-01 1.71527903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.84, Y:4.11, Z:1.72 [[ 9.59892974e-01 -2.64436264e-01 -9.31608364e-02 3.68357821e+01] [ 2.63423700e-01 9.64400552e-01 -2.32277826e-02 4.11053138e+00] [ 9.59866301e-02 -2.24458699e-03 9.95380093e-01 1.72084508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:4.12, Z:1.72 [[ 9.59772755e-01 -2.65047865e-01 -9.26600712e-02 3.68625454e+01] [ 2.64071736e-01 9.64231956e-01 -2.28659843e-02 4.11863067e+00] [ 9.54063820e-02 -2.52275706e-03 9.95435210e-01 1.72268931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:4.13, Z:1.72 [[ 9.59237359e-01 -2.67110363e-01 -9.22807828e-02 3.68918305e+01] [ 2.65435951e-01 9.63655585e-01 -3.01938584e-02 4.13178761e+00] [ 9.69919842e-02 4.46843965e-03 9.95275132e-01 1.72413292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:4.14, Z:1.73 [[ 9.58411187e-01 -2.68417465e-01 -9.69539088e-02 3.69195261e+01] [ 2.67454053e-01 9.63295014e-01 -2.30444473e-02 4.13635309e+00] [ 9.95807490e-02 -3.84465974e-03 9.95022057e-01 1.73036202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:4.15, Z:1.73 [[ 9.57802567e-01 -2.70760366e-01 -9.64524124e-02 3.69441511e+01] [ 2.69133498e-01 9.62643454e-01 -2.97445956e-02 4.14846421e+00] [ 1.00902941e-01 2.53087485e-03 9.94893055e-01 1.73170829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:4.16, Z:1.73 [[ 9.57639945e-01 -2.71436345e-01 -9.61667639e-02 3.69740101e+01] [ 2.70281778e-01 9.62454381e-01 -2.50863410e-02 4.15531117e+00] [ 9.93654679e-02 -1.96844171e-03 9.95049059e-01 1.73420110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:4.17, Z:1.74 [[ 9.56689049e-01 -2.74329893e-01 -9.74123834e-02 3.70008051e+01] [ 2.72310302e-01 9.61618571e-01 -3.37168184e-02 4.16907162e+00] [ 1.02923088e-01 5.73011535e-03 9.94672812e-01 1.73675749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:4.17, Z:1.74 [[ 9.56914662e-01 -2.72663446e-01 -9.98447505e-02 3.70280111e+01] [ 2.72139441e-01 9.62068326e-01 -1.90960920e-02 4.16852284e+00] [ 1.01264278e-01 -8.89836412e-03 9.94819765e-01 1.74243600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:4.18, Z:1.74 [[ 9.56616420e-01 -2.74198582e-01 -9.84894010e-02 3.70543466e+01] [ 2.72782780e-01 9.61673062e-01 -2.78294232e-02 4.18161661e+00] [ 1.02345392e-01 -2.44129403e-04 9.94748893e-01 1.74279967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:4.18, Z:1.75 [[ 9.56245231e-01 -2.75461116e-01 -9.85709463e-02 3.70835013e+01] [ 2.76129626e-01 9.61094429e-01 -7.06602954e-03 4.18031698e+00] [ 9.66824037e-02 -2.04615015e-02 9.95104939e-01 1.74905719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.11, Y:4.20, Z:1.75 [[ 9.55940937e-01 -2.78289040e-01 -9.34458926e-02 3.71082539e+01] [ 2.77033408e-01 9.60497165e-01 -2.64137635e-02 4.19862209e+00] [ 9.71051758e-02 -6.37636277e-04 9.95273921e-01 1.74545205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.14, Y:4.21, Z:1.75 [[ 9.54230293e-01 -2.81722918e-01 -1.00382995e-01 3.71351468e+01] [ 2.78568101e-01 9.59386800e-01 -4.44610008e-02 4.21454022e+00] [ 1.08831804e-01 1.44625335e-02 9.93954966e-01 1.74983169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.17, Y:4.21, Z:1.76 [[ 9.53815271e-01 -2.80252302e-01 -1.08143772e-01 3.71671822e+01] [ 2.79426008e-01 9.59890930e-01 -2.30327576e-02 4.20908929e+00] [ 1.10261210e-01 -8.24918662e-03 9.93868410e-01 1.76141497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:4.20, Z:1.77 [[ 9.55026616e-01 -2.77139196e-01 -1.05442066e-01 3.71962556e+01] [ 2.78973810e-01 9.60294715e-01 2.77031969e-03 4.20165477e+00] [ 1.00487694e-01 -3.20613038e-02 9.94421589e-01 1.76818489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:4.24, Z:1.76 [[ 9.53502548e-01 -2.84403918e-01 -9.97361628e-02 3.72158828e+01] [ 2.80083284e-01 9.58385586e-01 -5.52306220e-02 4.24002059e+00] [ 1.11293506e-01 2.47281068e-02 9.93479882e-01 1.75776803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:4.23, Z:1.77 [[ 9.53058544e-01 -2.82939955e-01 -1.07816478e-01 3.72493682e+01] [ 2.81788292e-01 9.59121772e-01 -2.60918457e-02 4.23082479e+00] [ 1.10791557e-01 -5.51436486e-03 9.93828367e-01 1.76999230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.27, Y:4.25, Z:1.76 [[ 9.52674302e-01 -2.86754114e-01 -1.00914580e-01 3.72732987e+01] [ 2.83884643e-01 9.57936342e-01 -4.20413321e-02 4.24928684e+00] [ 1.08725268e-01 1.14035974e-02 9.94006426e-01 1.76400295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:4.23, Z:1.78 [[ 9.53473724e-01 -2.79558049e-01 -1.12850140e-01 3.73076738e+01] [ 2.81157108e-01 9.59660038e-01 -1.81456284e-03 4.23081843e+00] [ 1.08805045e-01 -2.99984809e-02 9.93610363e-01 1.78329384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.33, Y:4.25, Z:1.78 [[ 9.53518662e-01 -2.82626880e-01 -1.04518932e-01 3.73330890e+01] [ 2.81096120e-01 9.59228987e-01 -2.94061536e-02 4.25298881e+00] [ 1.08568559e-01 -1.34054998e-03 9.94088060e-01 1.77760788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.36, Y:4.26, Z:1.78 [[ 9.53659521e-01 -2.83295464e-01 -1.01376514e-01 3.73555475e+01] [ 2.81323457e-01 9.59026386e-01 -3.35485199e-02 4.26299513e+00] [ 1.06726895e-01 3.47427408e-03 9.94282304e-01 1.77573941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.39, Y:4.27, Z:1.78 [[ 9.54220284e-01 -2.80556170e-01 -1.03691297e-01 3.73863499e+01] [ 2.79440419e-01 9.59826078e-01 -2.54352399e-02 4.26555554e+00] [ 1.06661624e-01 -4.70471753e-03 9.94284247e-01 1.78120358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:4.26, Z:1.80 [[ 9.54700253e-01 -2.74821402e-01 -1.14107944e-01 3.74209341e+01] [ 2.75151032e-01 9.61310894e-01 -1.31633931e-02 4.26195515e+00] [ 1.13310792e-01 -1.88298238e-02 9.93381147e-01 1.79634693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:4.29, Z:1.78 [[ 9.54035830e-01 -2.82923730e-01 -9.88422865e-02 3.74377380e+01] [ 2.80177937e-01 9.59075221e-01 -4.09273101e-02 4.29137252e+00] [ 1.06376495e-01 1.13526924e-02 9.94261111e-01 1.78199577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:4.29, Z:1.79 [[ 9.54597057e-01 -2.79507217e-01 -1.03054234e-01 3.74657438e+01] [ 2.77313036e-01 9.60129788e-01 -3.53308742e-02 4.29275816e+00] [ 1.08820674e-01 5.14846592e-03 9.94048064e-01 1.78881343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:4.29, Z:1.80 [[ 9.55978682e-01 -2.73749463e-01 -1.05669255e-01 3.74980260e+01] [ 2.74030287e-01 9.61644470e-01 -1.21373504e-02 4.28641953e+00] [ 1.04938848e-01 -1.73535281e-02 9.94327257e-01 1.79785156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:4.30, Z:1.79 [[ 9.55872123e-01 -2.75737214e-01 -1.01377879e-01 3.75187863e+01] [ 2.74736888e-01 9.61220405e-01 -2.39786400e-02 4.29963892e+00] [ 1.04058289e-01 -4.93172946e-03 9.94558973e-01 1.79451684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.55, Y:4.30, Z:1.80 [[ 9.56738131e-01 -2.72060121e-01 -1.03128268e-01 3.75496663e+01] [ 2.71056649e-01 9.62266778e-01 -2.38943650e-02 4.30373036e+00] [ 1.05737610e-01 -5.09295272e-03 9.94381023e-01 1.80382411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.58, Y:4.31, Z:1.80 [[ 9.56990682e-01 -2.72389203e-01 -9.98646885e-02 3.75774405e+01] [ 2.70797075e-01 9.62186503e-01 -2.94291902e-02 4.31412663e+00] [ 1.04104649e-01 1.12039523e-03 9.94565718e-01 1.80250034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:4.32, Z:1.81 [[ 9.57339661e-01 -2.70959231e-01 -1.00408512e-01 3.76068544e+01] [ 2.69880246e-01 9.62583706e-01 -2.44389404e-02 4.31827180e+00] [ 1.03273554e-01 -3.70190712e-03 9.94646102e-01 1.80709303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:4.32, Z:1.81 [[ 9.57764009e-01 -2.68906334e-01 -1.01869947e-01 3.76335859e+01] [ 2.67879804e-01 9.63156224e-01 -2.38851031e-02 4.32239264e+00] [ 1.04539529e-01 -4.41260922e-03 9.94510943e-01 1.81140327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:4.33, Z:1.81 [[ 9.57768905e-01 -2.69162895e-01 -1.01143759e-01 3.76606064e+01] [ 2.67981638e-01 9.63090516e-01 -2.53475944e-02 4.33081226e+00] [ 1.04233227e-01 -2.82753253e-03 9.94548862e-01 1.81390373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:4.34, Z:1.82 [[ 9.57465293e-01 -2.69999247e-01 -1.01787133e-01 3.76839498e+01] [ 2.68835546e-01 9.62855236e-01 -2.52437015e-02 4.33854325e+00] [ 1.04822054e-01 -3.19403129e-03 9.94485865e-01 1.81909681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:4.34, Z:1.82 [[ 9.58115952e-01 -2.68174437e-01 -1.00480321e-01 3.77140251e+01] [ 2.66814514e-01 9.63369902e-01 -2.69897506e-02 4.34472710e+00] [ 1.04037679e-01 -9.50297515e-04 9.94572903e-01 1.82069844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:4.35, Z:1.83 [[ 9.57902061e-01 -2.68455161e-01 -1.01761821e-01 3.77387147e+01] [ 2.67188020e-01 9.63289784e-01 -2.61410306e-02 4.35169798e+00] [ 1.05043817e-01 -2.14899240e-03 9.94465273e-01 1.82559759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:4.36, Z:1.83 [[ 9.58289354e-01 -2.67211294e-01 -1.01388552e-01 3.77683226e+01] [ 2.65820160e-01 9.63637594e-01 -2.72438952e-02 4.35809827e+00] [ 1.04981697e-01 -8.43586531e-04 9.94473796e-01 1.82749643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:4.36, Z:1.83 [[ 9.58492714e-01 -2.66269884e-01 -1.01941485e-01 3.77962887e+01] [ 2.65178728e-01 9.63891480e-01 -2.43609717e-02 4.36294339e+00] [ 1.04747122e-01 -3.68289950e-03 9.94492070e-01 1.83120795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:4.37, Z:1.83 [[ 9.59234343e-01 -2.64393466e-01 -9.98277064e-02 3.78221335e+01] [ 2.63982818e-01 9.64367851e-01 -1.75419621e-02 4.36625000e+00] [ 1.00908611e-01 -9.52594680e-03 9.94850094e-01 1.83446214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:4.38, Z:1.83 [[ 9.58596184e-01 -2.67101100e-01 -9.87439068e-02 3.78491565e+01] [ 2.65489177e-01 9.63666575e-01 -2.93637442e-02 4.37858357e+00] [ 1.02999291e-01 1.93253456e-03 9.94679552e-01 1.83485125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:4.38, Z:1.84 [[ 9.58758748e-01 -2.67126536e-01 -9.70828362e-02 3.78769016e+01] [ 2.65828030e-01 9.63661288e-01 -2.63131170e-02 4.38353690e+00] [ 1.00583903e-01 -5.79407979e-04 9.94928411e-01 1.83679097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:4.39, Z:1.84 [[ 9.58647797e-01 -2.67349278e-01 -9.75641529e-02 3.79049178e+01] [ 2.66287960e-01 9.63595061e-01 -2.39850197e-02 4.38815245e+00] [ 1.00424714e-01 -2.98697293e-03 9.94940177e-01 1.84097268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:4.40, Z:1.84 [[ 9.57667977e-01 -2.71277555e-01 -9.63355245e-02 3.79302919e+01] [ 2.69186826e-01 9.62476155e-01 -3.43235308e-02 4.39832102e+00] [ 1.02031849e-01 6.93829231e-03 9.94756936e-01 1.84176331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:4.40, Z:1.85 [[ 9.57262905e-01 -2.71935137e-01 -9.84835677e-02 3.79582687e+01] [ 2.70756158e-01 9.62312720e-01 -2.54033692e-02 4.39958580e+00] [ 1.01680059e-01 -2.34732947e-03 9.94814383e-01 1.84766181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:4.40, Z:1.85 [[ 9.57090314e-01 -2.72593290e-01 -9.83413945e-02 3.79840313e+01] [ 2.71899403e-01 9.62104079e-01 -2.06508207e-02 4.40310993e+00] [ 1.00243932e-01 -6.97426603e-03 9.94938447e-01 1.85019594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:4.41, Z:1.85 [[ 9.56477923e-01 -2.74658659e-01 -9.85525437e-02 3.80116892e+01] [ 2.73286870e-01 9.61541538e-01 -2.74254842e-02 4.41234471e+00] [ 1.02295011e-01 -7.01246071e-04 9.94753858e-01 1.85401099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.154340128 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:38.04, Y:4.42, Z:1.86 [[ 9.56292361e-01 -2.74430104e-01 -1.00960582e-01 3.80386851e+01] [ 2.73897618e-01 9.61563732e-01 -1.93722667e-02 4.41551966e+00] [ 1.02396367e-01 -9.12731211e-03 9.94701803e-01 1.86035949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:4.43, Z:1.86 [[ 9.56389229e-01 -2.75309112e-01 -9.75937231e-02 3.80671089e+01] [ 2.72666270e-01 9.61288437e-01 -3.97195846e-02 4.43254295e+00] [ 1.04750881e-01 1.13768664e-02 9.94433416e-01 1.85869240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:4.43, Z:1.87 [[ 9.56271448e-01 -2.74485993e-01 -1.01006722e-01 3.80948495e+01] [ 2.73127248e-01 9.61589982e-01 -2.73169094e-02 4.43368229e+00] [ 1.04625161e-01 -1.46530744e-03 9.94510648e-01 1.86558178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:4.43, Z:1.88 [[ 9.56149524e-01 -2.72850302e-01 -1.06446233e-01 3.81250190e+01] [ 2.72788100e-01 9.61950430e-01 -1.54280041e-02 4.43479026e+00] [ 1.06605535e-01 -1.42857869e-02 9.94198761e-01 1.87595640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.274340128 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:38.14, Y:4.45, Z:1.87 [[ 9.55895329e-01 -2.76231171e-01 -9.98021008e-02 3.81448433e+01] [ 2.73849669e-01 9.61056846e-01 -3.70957946e-02 4.45475976e+00] [ 1.06162507e-01 8.12892456e-03 9.94315565e-01 1.86998816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:4.45, Z:1.88 [[ 9.57013921e-01 -2.70514661e-01 -1.04623956e-01 3.81788498e+01] [ 2.70839699e-01 9.62557430e-01 -1.13600617e-02 4.44721265e+00] [ 1.03779630e-01 -1.74645837e-02 9.94446970e-01 1.87764937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:4.47, Z:1.87 [[ 9.56598515e-01 -2.74599999e-01 -9.75403615e-02 3.81995812e+01] [ 2.71986905e-01 9.61493688e-01 -3.94082594e-02 4.47103277e+00] [ 1.04605950e-01 1.11681814e-02 9.94451038e-01 1.87189115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:4.48, Z:1.87 [[ 9.56637463e-01 -2.75730625e-01 -9.39009375e-02 3.82245341e+01] [ 2.72749451e-01 9.61102037e-01 -4.34811739e-02 4.48231247e+00] [ 1.02237473e-01 1.59842908e-02 9.94631591e-01 1.86864015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:4.47, Z:1.89 [[ 9.56667020e-01 -2.71551096e-01 -1.05110493e-01 3.82571790e+01] [ 2.71657785e-01 9.62298143e-01 -1.35768757e-02 4.47269040e+00] [ 1.04834447e-01 -1.55655344e-02 9.94367866e-01 1.88541230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:4.50, Z:1.87 [[ 9.56884749e-01 -2.74530106e-01 -9.48936109e-02 3.82767163e+01] [ 2.71696951e-01 9.61472823e-01 -4.18423003e-02 4.49562737e+00] [ 1.02724599e-01 1.42559543e-02 9.94607674e-01 1.87404790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:4.50, Z:1.88 [[ 9.56708737e-01 -2.74627081e-01 -9.63761382e-02 3.83063469e+01] [ 2.72896604e-01 9.61545087e-01 -3.09594727e-02 4.49841742e+00] [ 1.01172312e-01 3.31847718e-03 9.94863383e-01 1.87881719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:4.49, Z:1.90 [[ 9.57158831e-01 -2.67263707e-01 -1.11431964e-01 3.83394050e+01] [ 2.68527132e-01 9.63264657e-01 -3.79215367e-03 4.48515117e+00] [ 1.08351977e-01 -2.62928123e-02 9.93764830e-01 1.90233020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.35, Y:4.53, Z:1.87 [[ 9.56634143e-01 -2.78510306e-01 -8.53412311e-02 3.83530968e+01] [ 2.73648384e-01 9.59670749e-01 -6.44097399e-02 4.53246691e+00] [ 9.98382596e-02 3.82630664e-02 9.94267700e-01 1.87067546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:4.51, Z:1.90 [[ 9.56716606e-01 -2.71641674e-01 -1.04422879e-01 3.83895029e+01] [ 2.71922660e-01 9.62246623e-01 -1.18111931e-02 4.50780733e+00] [ 1.03688975e-01 -1.70949825e-02 9.94462849e-01 1.89721025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.574340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.41, Y:4.53, Z:1.89 [[ 9.55976548e-01 -2.77467634e-01 -9.55015813e-02 3.84141141e+01] [ 2.75344503e-01 9.60708279e-01 -3.50001073e-02 4.53119536e+00] [ 1.01460557e-01 7.16344638e-03 9.94813772e-01 1.89014257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:4.53, Z:1.90 [[ 9.55526698e-01 -2.78154316e-01 -9.79740072e-02 3.84380193e+01] [ 2.76669276e-01 9.60536346e-01 -2.87060920e-02 4.53208417e+00] [ 1.02092318e-01 3.23039697e-04 9.94774876e-01 1.89620496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:4.55, Z:1.89 [[ 9.55321147e-01 -2.80615779e-01 -9.28239737e-02 3.84637791e+01] [ 2.78126923e-01 9.59751891e-01 -3.90092514e-02 4.54632107e+00] [ 1.00034596e-01 1.14495166e-02 9.94918081e-01 1.89286038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:4.55, Z:1.90 [[ 9.54624699e-01 -2.81455694e-01 -9.73364036e-02 3.84929529e+01] [ 2.79893749e-01 9.59573660e-01 -2.96290445e-02 4.54764921e+00] [ 1.01740712e-01 1.04076682e-03 9.94810406e-01 1.89987343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.52, Y:4.55, Z:1.91 [[ 9.54438435e-01 -2.80981208e-01 -1.00483003e-01 3.85205060e+01] [ 2.80604062e-01 9.59651790e-01 -1.81604539e-02 4.54791164e+00] [ 1.01531440e-01 -1.08629036e-02 9.94773021e-01 1.90718238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:4.56, Z:1.91 [[ 9.54437996e-01 -2.80688993e-01 -1.01300545e-01 3.85489300e+01] [ 2.79851312e-01 9.59775384e-01 -2.26816229e-02 4.55525536e+00] [ 1.03592252e-01 -6.70088773e-03 9.94597277e-01 1.91141280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:4.56, Z:1.91 [[ 9.54022915e-01 -2.82548396e-01 -1.00033404e-01 3.85785411e+01] [ 2.81322931e-01 9.59248630e-01 -2.64475627e-02 4.56304468e+00] [ 1.03429622e-01 -2.91010958e-03 9.94632517e-01 1.91317060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:4.58, Z:1.91 [[ 9.53402405e-01 -2.86149357e-01 -9.56158946e-02 3.86029834e+01] [ 2.83612726e-01 9.58127722e-01 -3.94346185e-02 4.57833730e+00] [ 1.02896430e-01 1.04791755e-02 9.94636874e-01 1.90991265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:4.57, Z:1.92 [[ 9.53297057e-01 -2.83464885e-01 -1.04270704e-01 3.86338913e+01] [ 2.83173249e-01 9.58901666e-01 -1.79026802e-02 4.57149839e+00] [ 1.05060133e-01 -1.24601018e-02 9.94387809e-01 1.92371150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844340128 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:38.66, Y:4.59, Z:1.92 [[ 9.52889450e-01 -2.87279490e-01 -9.73251811e-02 3.86595285e+01] [ 2.85515532e-01 9.57843265e-01 -3.18929460e-02 4.58804467e+00] [ 1.02384459e-01 2.60260087e-03 9.94741499e-01 1.92071151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:4.61, Z:1.91 [[ 9.52099692e-01 -2.92614755e-01 -8.87850266e-02 3.86807281e+01] [ 2.89088931e-01 9.55966480e-01 -5.05537291e-02 4.60966592e+00] [ 9.96682764e-02 2.24654215e-02 9.94767078e-01 1.90863478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:4.59, Z:1.93 [[ 9.52440924e-01 -2.86197316e-01 -1.04629738e-01 3.87128415e+01] [ 2.86179366e-01 9.58050564e-01 -1.55076368e-02 4.59346572e+00] [ 1.04678823e-01 -1.51727641e-02 9.94390331e-01 1.93188899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:4.62, Z:1.92 [[ 9.52008066e-01 -2.92029850e-01 -9.16472015e-02 3.87323857e+01] [ 2.89449340e-01 9.56332528e-01 -4.05854006e-02 4.61927032e+00] [ 9.94973484e-02 1.21104068e-02 9.94964128e-01 1.91750404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:4.62, Z:1.93 [[ 9.52120365e-01 -2.89854015e-01 -9.72186232e-02 3.87635296e+01] [ 2.88904981e-01 9.57056608e-01 -2.40116983e-02 4.61741412e+00] [ 1.00003613e-01 -5.22491756e-03 9.94973355e-01 1.92797727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:4.63, Z:1.93 [[ 9.52037330e-01 -2.91178188e-01 -9.40222596e-02 3.87872932e+01] [ 2.89451426e-01 9.56663904e-01 -3.18126670e-02 4.63086838e+00] [ 9.92108567e-02 3.07196939e-03 9.95061691e-01 1.92579027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:4.63, Z:1.94 [[ 9.53248516e-01 -2.83605204e-01 -1.04332904e-01 3.88202676e+01] [ 2.83030893e-01 9.58889926e-01 -2.05821413e-02 4.62813935e+00] [ 1.05880973e-01 -9.90953920e-03 9.94329433e-01 1.94242704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:4.65, Z:1.93 [[ 9.53114161e-01 -2.87862239e-01 -9.33205591e-02 3.88421754e+01] [ 2.85006489e-01 9.57565230e-01 -4.28967600e-02 4.65322772e+00] [ 1.01708880e-01 1.42885445e-02 9.94711587e-01 1.93017101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:4.65, Z:1.94 [[ 9.53467801e-01 -2.85474434e-01 -9.69716413e-02 3.88680128e+01] [ 2.84393325e-01 9.58379349e-01 -2.50890276e-02 4.65327960e+00] [ 1.00097894e-01 -3.65650756e-03 9.94970875e-01 1.93957488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.114340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.90, Y:4.65, Z:1.95 [[ 9.54299076e-01 -2.80055438e-01 -1.04317909e-01 3.89002386e+01] [ 2.79548209e-01 9.59928446e-01 -1.97529180e-02 4.65387130e+00] [ 1.05669641e-01 -1.03116934e-02 9.94347824e-01 1.95197553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:4.68, Z:1.94 [[ 9.53744781e-01 -2.85996193e-01 -9.26124717e-02 3.89190628e+01] [ 2.82884579e-01 9.58077719e-01 -4.54246509e-02 4.68098024e+00] [ 1.01721223e-01 1.71248837e-02 9.94665537e-01 1.93949786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:4.68, Z:1.95 [[ 9.53804992e-01 -2.84220786e-01 -9.73374674e-02 3.89484276e+01] [ 2.82629231e-01 9.58758155e-01 -3.00585685e-02 4.68050824e+00] [ 1.01866361e-01 1.15959914e-03 9.94797417e-01 1.94808529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:4.68, Z:1.96 [[ 9.53985788e-01 -2.80136829e-01 -1.06932096e-01 3.89806482e+01] [ 2.80250329e-01 9.59820822e-01 -1.42738282e-02 4.67742546e+00] [ 1.06634277e-01 -1.63507258e-02 9.94163862e-01 1.96250424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.234340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.00, Y:4.71, Z:1.95 [[ 9.53569389e-01 -2.86005318e-01 -9.43736152e-02 3.89991695e+01] [ 2.82502109e-01 9.58020225e-01 -4.88856471e-02 4.70744285e+00] [ 1.04393387e-01 1.99551113e-02 9.94335866e-01 1.94808048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:4.71, Z:1.96 [[ 9.53447295e-01 -2.84548686e-01 -9.98513944e-02 3.90292714e+01] [ 2.82801430e-01 9.58659840e-01 -3.15382577e-02 4.70606031e+00] [ 1.04697692e-01 1.83194939e-03 9.94502407e-01 1.95757829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:4.71, Z:1.97 [[ 9.53179671e-01 -2.85172346e-01 -1.00624292e-01 3.90615701e+01] [ 2.85446941e-01 9.58319808e-01 -1.19661632e-02 4.70603053e+00] [ 9.98426710e-02 -1.73169928e-02 9.94852533e-01 1.96678423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:4.72, Z:1.96 [[ 9.53001289e-01 -2.87401160e-01 -9.58598817e-02 3.90860853e+01] [ 2.86015429e-01 9.57810144e-01 -2.81940034e-02 4.72365955e+00] [ 9.99185564e-02 -5.48483678e-04 9.94995468e-01 1.96360134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:4.73, Z:1.97 [[ 9.52635744e-01 -2.88504727e-01 -9.61777587e-02 3.91126563e+01] [ 2.87112385e-01 9.57478258e-01 -2.83171887e-02 4.73306233e+00] [ 1.00257756e-01 -6.37859526e-04 9.94961293e-01 1.96660600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:4.74, Z:1.97 [[ 9.52541598e-01 -2.88761879e-01 -9.63383697e-02 3.91387782e+01] [ 2.87362791e-01 9.57400739e-01 -2.83980824e-02 4.74114902e+00] [ 1.00434710e-01 -6.33707939e-04 9.94943449e-01 1.96918515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:4.75, Z:1.97 [[ 9.52071532e-01 -2.89902328e-01 -9.75522340e-02 3.91657014e+01] [ 2.88472223e-01 9.57055943e-01 -2.87697608e-02 4.74963641e+00] [ 1.01703366e-01 -7.50239535e-04 9.94814486e-01 1.97194867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:4.76, Z:1.97 [[ 9.52233843e-01 -2.88947241e-01 -9.87937228e-02 3.91884171e+01] [ 2.85835216e-01 9.57238767e-01 -4.46337500e-02 4.76423364e+00] [ 1.07465980e-01 1.42630422e-02 9.94106447e-01 1.96967175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:4.76, Z:1.98 [[ 9.51594540e-01 -2.89765916e-01 -1.02486804e-01 3.92228349e+01] [ 2.89667718e-01 9.56990695e-01 -1.61685809e-02 4.75978968e+00] [ 1.02764022e-01 -1.43011854e-02 9.94602952e-01 1.98269734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:4.78, Z:1.98 [[ 9.51301111e-01 -2.91965009e-01 -9.89071770e-02 3.92480332e+01] [ 2.90500189e-01 9.56428548e-01 -2.92245353e-02 4.77524287e+00] [ 1.03130189e-01 -9.31220689e-04 9.94667430e-01 1.98156547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:4.78, Z:1.98 [[ 9.50775143e-01 -2.93465696e-01 -9.95214198e-02 3.92736306e+01] [ 2.91987249e-01 9.55969008e-01 -2.94398149e-02 4.78393846e+00] [ 1.03778969e-01 -1.06834131e-03 9.94599811e-01 1.98414827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:4.79, Z:1.99 [[ 9.50416717e-01 -2.94506903e-01 -9.98686558e-02 3.93003508e+01] [ 2.93022329e-01 9.55648633e-01 -2.95568166e-02 4.79247958e+00] [ 1.04144031e-01 -1.17245350e-03 9.94561535e-01 1.98724239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:4.80, Z:1.99 [[ 9.49990575e-01 -2.95814027e-01 -1.00059825e-01 3.93264197e+01] [ 2.94327488e-01 9.55244684e-01 -2.96466353e-02 4.80098567e+00] [ 1.04351507e-01 -1.28633294e-03 9.94539646e-01 1.99046183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.35, Y:4.81, Z:1.99 [[ 9.49363442e-01 -2.97821368e-01 -1.00057421e-01 3.93532163e+01] [ 2.96342539e-01 9.54620478e-01 -2.96790024e-02 4.80950011e+00] [ 1.04355904e-01 -1.47511034e-03 9.94538923e-01 1.99399884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:4.82, Z:2.00 [[ 9.49069701e-01 -2.98655570e-01 -1.00357126e-01 3.93785365e+01] [ 2.97168927e-01 9.54359724e-01 -2.98017958e-02 4.81716892e+00] [ 1.04677272e-01 -1.53903808e-03 9.94505053e-01 1.99664168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:4.83, Z:2.00 [[ 9.48699774e-01 -2.99595541e-01 -1.01050734e-01 3.94046639e+01] [ 2.98091976e-01 9.54064894e-01 -3.00225224e-02 4.82558012e+00] [ 1.05403571e-01 -1.64005273e-03 9.94428176e-01 2.00043317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:4.83, Z:2.00 [[ 9.48499201e-01 -3.00128246e-01 -1.01352365e-01 3.94302557e+01] [ 2.98615159e-01 9.53897394e-01 -3.01454521e-02 4.83387364e+00] [ 1.05727259e-01 -1.67241537e-03 9.94393760e-01 2.00310422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:4.84, Z:2.01 [[ 9.48309881e-01 -3.00619784e-01 -1.01666684e-01 3.94569071e+01] [ 2.99098533e-01 9.53742518e-01 -3.02535319e-02 4.84211184e+00] [ 1.06058650e-01 -1.71863282e-03 9.94358391e-01 2.00637416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:4.84, Z:2.01 [[ 9.48629778e-01 -2.98500998e-01 -1.04874684e-01 3.94862852e+01] [ 2.97628784e-01 9.54373923e-01 -2.42388486e-02 4.84433062e+00] [ 1.07324984e-01 -8.22003109e-03 9.94190011e-01 2.01383060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.51, Y:4.86, Z:2.01 [[ 9.47860945e-01 -3.02086783e-01 -1.01504698e-01 3.95084678e+01] [ 2.99910385e-01 9.53271677e-01 -3.64262284e-02 4.86091738e+00] [ 1.07765436e-01 4.08468613e-03 9.94167957e-01 2.01201227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:4.87, Z:2.02 [[ 9.47682378e-01 -3.02033062e-01 -1.03315726e-01 3.95361364e+01] [ 3.00461439e-01 9.53295696e-01 -3.08259664e-02 4.86572745e+00] [ 1.07800898e-01 -1.82916651e-03 9.94170821e-01 2.01721100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:4.87, Z:2.02 [[ 9.47715169e-01 -3.01787683e-01 -1.03731154e-01 3.95619876e+01] [ 3.00198100e-01 9.53373507e-01 -3.09847907e-02 4.87345560e+00] [ 1.08245362e-01 -1.77513911e-03 9.94122623e-01 2.02051643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:4.88, Z:2.03 [[ 9.48548700e-01 -2.99212528e-01 -1.03572323e-01 3.95927271e+01] [ 2.98096833e-01 9.54168979e-01 -2.64544475e-02 4.87770040e+00] [ 1.06740999e-01 -5.78124960e-03 9.94270052e-01 2.02503538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:4.89, Z:2.03 [[ 9.48676914e-01 -2.99011779e-01 -1.02976056e-01 3.96202196e+01] [ 2.97697069e-01 9.54241709e-01 -2.82703955e-02 4.88706139e+00] [ 1.06717229e-01 -3.83619858e-03 9.94282011e-01 2.02776898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:4.90, Z:2.03 [[ 9.48301337e-01 -3.01237730e-01 -9.99019730e-02 3.96437706e+01] [ 2.99218403e-01 9.53543449e-01 -3.49748061e-02 4.90004014e+00] [ 1.05796603e-01 3.27414647e-03 9.94382401e-01 2.02699892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:4.91, Z:2.03 [[ 9.48263671e-01 -3.00865539e-01 -1.01370299e-01 3.96715239e+01] [ 2.99414404e-01 9.53663842e-01 -2.96021991e-02 4.90526196e+00] [ 1.05579471e-01 -2.28103783e-03 9.94408252e-01 2.03206462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.014340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.70, Y:4.91, Z:2.04 [[ 9.48232636e-01 -3.00887109e-01 -1.01596340e-01 3.96973140e+01] [ 2.99527637e-01 9.53654486e-01 -2.87457254e-02 4.91235504e+00] [ 1.05537024e-01 -3.17327663e-03 9.94410311e-01 2.03599322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:4.92, Z:2.04 [[ 9.48026648e-01 -3.01277923e-01 -1.02357648e-01 3.97252544e+01] [ 3.00219520e-01 9.53516753e-01 -2.59623188e-02 4.91890260e+00] [ 1.05421605e-01 -6.11679367e-03 9.94408804e-01 2.04196818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:4.93, Z:2.04 [[ 9.47974214e-01 -3.01910097e-01 -1.00971193e-01 3.97517454e+01] [ 3.00743161e-01 9.53324237e-01 -2.69527504e-02 4.92863680e+00] [ 1.04395593e-01 -4.81588342e-03 9.94524191e-01 2.04488483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:4.94, Z:2.05 [[ 9.47867119e-01 -3.02530561e-01 -1.00115857e-01 3.97785457e+01] [ 3.01109661e-01 9.53136909e-01 -2.93769382e-02 4.93842920e+00] [ 1.04311540e-01 -2.30041782e-03 9.94542011e-01 2.04693701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:4.95, Z:2.05 [[ 9.47780025e-01 -3.03123649e-01 -9.91417014e-02 3.98045943e+01] [ 3.01249069e-01 9.52948926e-01 -3.37245142e-02 4.95005872e+00] [ 1.04699676e-01 2.09707566e-03 9.94501674e-01 2.04774560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:4.96, Z:2.05 [[ 9.47811342e-01 -3.02724513e-01 -1.00057633e-01 3.98314923e+01] [ 3.01323139e-01 9.53074892e-01 -2.91996103e-02 4.95688554e+00] [ 1.04201855e-01 -2.47395804e-03 9.94553092e-01 2.05186207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:4.97, Z:2.05 [[ 9.48139149e-01 -3.02088830e-01 -9.88660384e-02 3.98576127e+01] [ 3.00664701e-01 9.53277909e-01 -2.93592702e-02 4.96764371e+00] [ 1.03115918e-01 -1.88885439e-03 9.94667552e-01 2.05332586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:4.98, Z:2.06 [[ 9.48470804e-01 -3.01034911e-01 -9.88995282e-02 3.98836276e+01] [ 2.99535092e-01 9.53612441e-01 -3.00339867e-02 4.97699563e+00] [ 1.03353099e-01 -1.13751982e-03 9.94644079e-01 2.05625434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:4.99, Z:2.06 [[ 9.48899584e-01 -2.99755776e-01 -9.86714409e-02 3.99087028e+01] [ 2.98137103e-01 9.54015966e-01 -3.11095424e-02 4.98764111e+00] [ 1.03459395e-01 1.02214324e-04 9.94633673e-01 2.05792839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:4.99, Z:2.07 [[ 9.49126780e-01 -2.97998520e-01 -1.01760690e-01 3.99369701e+01] [ 2.97095516e-01 9.54539214e-01 -2.42722633e-02 4.99233179e+00] [ 1.04367668e-01 -7.19518967e-03 9.94512755e-01 2.06514330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:5.00, Z:2.08 [[ 9.49595454e-01 -2.94475868e-01 -1.07482267e-01 3.99666812e+01] [ 2.94534303e-01 9.55512036e-01 -1.56937584e-02 4.99610620e+00] [ 1.07322033e-01 -1.67544931e-02 9.94083129e-01 2.07648489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:5.03, Z:2.06 [[ 9.49435651e-01 -3.00071133e-01 -9.23539878e-02 3.99843661e+01] [ 2.96698243e-01 9.53732068e-01 -4.86343046e-02 5.02692698e+00] [ 1.02674711e-01 1.87738767e-02 9.94537805e-01 2.06002672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:5.02, Z:2.06 [[ 9.51348201e-01 -2.92788156e-01 -9.59775797e-02 4.00161106e+01] [ 2.90891091e-01 9.56169129e-01 -3.35107445e-02 5.02303575e+00] [ 1.01582348e-01 3.96136357e-03 9.94819247e-01 2.05961229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:5.03, Z:2.07 [[ 9.49632700e-01 -2.97240334e-01 -9.92266014e-02 4.00405377e+01] [ 2.96618638e-01 9.54758356e-01 -2.13041041e-02 5.03084946e+00] [ 1.01069866e-01 -9.20138549e-03 9.94836779e-01 2.07404317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.07, Y:5.04, Z:2.08 [[ 9.49639536e-01 -2.97757295e-01 -9.75978732e-02 4.00676520e+01] [ 2.96528396e-01 9.54636545e-01 -2.72025105e-02 5.04343744e+00] [ 1.01270242e-01 -3.10796136e-03 9.94854099e-01 2.07594755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:5.06, Z:2.08 [[ 9.49602697e-01 -2.98351910e-01 -9.61293679e-02 4.00919082e+01] [ 2.96382487e-01 9.54446437e-01 -3.44879822e-02 5.05601699e+00] [ 1.02039888e-01 4.25881978e-03 9.94771192e-01 2.07716994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:5.07, Z:2.08 [[ 9.49783200e-01 -2.97804851e-01 -9.60424104e-02 4.01186816e+01] [ 2.95844163e-01 9.54617358e-01 -3.43792325e-02 5.06507077e+00] [ 1.01922054e-01 4.23923091e-03 9.94783355e-01 2.07843075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:5.07, Z:2.08 [[ 9.49103069e-01 -2.98884625e-01 -9.93546475e-02 4.01437291e+01] [ 2.97562086e-01 9.54285212e-01 -2.82230314e-02 5.07254452e+00] [ 1.03248101e-01 -2.77761045e-03 9.94651755e-01 2.08441339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:5.07, Z:2.10 [[ 9.49891838e-01 -2.94172528e-01 -1.05678853e-01 4.01769706e+01] [ 2.93901531e-01 9.55656965e-01 -1.84839195e-02 5.07246754e+00] [ 1.06430193e-01 -1.35014524e-02 9.94228507e-01 2.09609152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:5.10, Z:2.09 [[ 9.48834271e-01 -3.00721519e-01 -9.63332487e-02 4.01961453e+01] [ 2.98242229e-01 9.53671690e-01 -3.95206405e-02 5.09726980e+00] [ 1.03754999e-01 8.76789533e-03 9.94564238e-01 2.08707320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.23, Y:5.10, Z:2.10 [[ 9.48685267e-01 -2.99794779e-01 -1.00595000e-01 4.02267260e+01] [ 2.98542667e-01 9.53996091e-01 -2.76357457e-02 5.09846500e+00] [ 1.04252289e-01 -3.81427465e-03 9.94543569e-01 2.09597833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:5.11, Z:2.09 [[ 9.48508757e-01 -3.02036019e-01 -9.54221201e-02 4.02507301e+01] [ 2.99886273e-01 9.53277816e-01 -3.64640854e-02 5.11249026e+00] [ 1.01977257e-01 5.97072040e-03 9.94768812e-01 2.09084646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:5.12, Z:2.10 [[ 9.46987684e-01 -3.06391901e-01 -9.66350357e-02 4.02773488e+01] [ 3.04319645e-01 9.51894557e-01 -3.58651184e-02 5.12198593e+00] [ 1.02975146e-01 4.55588564e-03 9.94673496e-01 2.09594873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:5.12, Z:2.11 [[ 9.47151395e-01 -3.03205637e-01 -1.04740518e-01 4.03122032e+01] [ 3.02883182e-01 9.52831077e-01 -1.93576039e-02 5.11811682e+00] [ 1.05669355e-01 -1.33895598e-02 9.94311172e-01 2.10865559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:5.13, Z:2.11 [[ 9.46785719e-01 -3.05101901e-01 -1.02516495e-01 4.03320266e+01] [ 3.02930963e-01 9.52313269e-01 -3.65002580e-02 5.13249378e+00] [ 1.08764116e-01 3.50250259e-03 9.94061416e-01 2.10694257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:5.13, Z:2.12 [[ 9.45940274e-01 -3.06377668e-01 -1.06441167e-01 4.03683932e+01] [ 3.06077764e-01 9.51805790e-01 -1.95483987e-02 5.13480576e+00] [ 1.07300512e-01 -1.40876567e-02 9.94126822e-01 2.11555358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:5.15, Z:2.11 [[ 9.45143032e-01 -3.11010603e-01 -9.98852036e-02 4.03841189e+01] [ 3.08377964e-01 9.50371676e-01 -4.11911238e-02 5.15360178e+00] [ 1.07738945e-01 8.12910790e-03 9.94145984e-01 2.10925193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:5.17, Z:2.11 [[ 9.43636994e-01 -3.16075377e-01 -9.82119070e-02 4.04141872e+01] [ 3.13690577e-01 9.48713618e-01 -3.92516690e-02 5.16591184e+00] [ 1.05581460e-01 6.23117712e-03 9.94391134e-01 2.10907675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:5.17, Z:2.11 [[ 9.43174902e-01 -3.16854107e-01 -1.00122820e-01 4.04386693e+01] [ 3.15488018e-01 9.48467252e-01 -2.96172662e-02 5.16889149e+00] [ 1.04347568e-01 -3.65328782e-03 9.94534182e-01 2.11313025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:5.18, Z:2.11 [[ 9.41840952e-01 -3.21249204e-01 -9.86639267e-02 4.04654365e+01] [ 3.19689377e-01 9.46993135e-01 -3.16655102e-02 5.18073340e+00] [ 1.03606581e-01 -1.71793500e-03 9.94616873e-01 2.11473327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:5.18, Z:2.13 [[ 9.39839108e-01 -3.22878846e-01 -1.11587195e-01 4.04922426e+01] [ 3.23254657e-01 9.46189764e-01 -1.52104435e-02 5.18051985e+00] [ 1.10493792e-01 -2.17757106e-02 9.93638234e-01 2.13302588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:5.21, Z:2.12 [[ 9.39154835e-01 -3.27762554e-01 -1.02761391e-01 4.05127023e+01] [ 3.24961177e-01 9.44731496e-01 -4.33893176e-02 5.20512235e+00] [ 1.11303316e-01 7.35582490e-03 9.93759258e-01 2.12494727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:5.22, Z:2.11 [[ 9.39075759e-01 -3.30787000e-01 -9.33631600e-02 4.05381111e+01] [ 3.26736260e-01 9.43442297e-01 -5.62143069e-02 5.22297506e+00] [ 1.06677716e-01 2.22843632e-02 9.94043898e-01 2.11435729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:5.22, Z:2.13 [[ 9.38890852e-01 -3.29137117e-01 -1.00760733e-01 4.05679091e+01] [ 3.27333535e-01 9.44281902e-01 -3.44158009e-02 5.22071350e+00] [ 1.06474055e-01 -6.69686487e-04 9.94315255e-01 2.12551566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:5.23, Z:2.13 [[ 9.39294617e-01 -3.27552677e-01 -1.02151196e-01 4.05945314e+01] [ 3.26730968e-01 9.44782614e-01 -2.51532540e-02 5.22513126e+00] [ 1.04749690e-01 -9.74964321e-03 9.94450827e-01 2.13102613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:5.22, Z:2.15 [[ 9.40317911e-01 -3.20054728e-01 -1.15616600e-01 4.06250702e+01] [ 3.21420349e-01 9.46909693e-01 -7.14095636e-03 5.21725311e+00] [ 1.11763976e-01 -3.04467588e-02 9.93268246e-01 2.15327701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.65, Y:5.24, Z:2.15 [[ 9.41304450e-01 -3.20634687e-01 -1.05543026e-01 4.06464785e+01] [ 3.18987864e-01 9.47198222e-01 -3.25924864e-02 5.24178914e+00] [ 1.10420449e-01 -2.98749206e-03 9.93880475e-01 2.14680933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:5.26, Z:2.14 [[ 9.41129697e-01 -3.22082469e-01 -1.02653678e-01 4.06716845e+01] [ 3.20531765e-01 9.46706684e-01 -3.17150152e-02 5.25561313e+00] [ 1.07397774e-01 -3.05582203e-03 9.94211436e-01 2.14327083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:5.26, Z:2.15 [[ 9.42403463e-01 -3.17413550e-01 -1.05472040e-01 4.06987211e+01] [ 3.15743168e-01 9.48283759e-01 -3.26215367e-02 5.26125048e+00] [ 1.10371940e-01 -2.55942673e-03 9.93887058e-01 2.15161752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:5.28, Z:2.15 [[ 9.42538786e-01 -3.16997763e-01 -1.05513295e-01 4.07265838e+01] [ 3.14526713e-01 9.48416704e-01 -3.97328785e-02 5.27754505e+00] [ 1.12665805e-01 4.26302907e-03 9.93623793e-01 2.15200938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:5.28, Z:2.16 [[ 9.43191635e-01 -3.13254564e-01 -1.10729928e-01 4.07529415e+01] [ 3.12222141e-01 9.49625494e-01 -2.69954916e-02 5.27767539e+00] [ 1.13608424e-01 -9.11041334e-03 9.93483833e-01 2.16115035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:5.29, Z:2.16 [[ 9.43800848e-01 -3.13969601e-01 -1.03262041e-01 4.07769590e+01] [ 3.12324775e-01 9.49431123e-01 -3.21524112e-02 5.29273381e+00] [ 1.08135075e-01 -1.90582070e-03 9.94134384e-01 2.15774404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.80, Y:5.32, Z:2.15 [[ 9.43057282e-01 -3.18761022e-01 -9.50493205e-02 4.07961520e+01] [ 3.14346507e-01 9.47493203e-01 -5.86762676e-02 5.32127113e+00] [ 1.08762292e-01 2.54566595e-02 9.93741778e-01 2.14691263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.83, Y:5.31, Z:2.15 [[ 9.45179746e-01 -3.10806739e-01 -1.00171950e-01 4.08308196e+01] [ 3.09776438e-01 9.50451706e-01 -2.60789580e-02 5.31194610e+00] [ 1.03314116e-01 -6.38160689e-03 9.94628307e-01 2.15336057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.334340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.85, Y:5.33, Z:2.16 [[ 9.43722848e-01 -3.14903562e-01 -1.01108521e-01 4.08522957e+01] [ 3.13070339e-01 9.49123602e-01 -3.39315709e-02 5.32608113e+00] [ 1.06649656e-01 3.67919959e-04 9.94296593e-01 2.16222459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:5.32, Z:2.17 [[ 9.45698226e-01 -3.07609159e-01 -1.05030807e-01 4.08849058e+01] [ 3.08199768e-01 9.51258448e-01 -1.09666641e-02 5.32039981e+00] [ 1.03284889e-01 -2.19993154e-02 9.94408499e-01 2.16796304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:5.36, Z:2.16 [[ 9.43984796e-01 -3.15803243e-01 -9.57132031e-02 4.09036073e+01] [ 3.11805538e-01 9.48577013e-01 -5.45798223e-02 5.35574803e+00] [ 1.08027829e-01 2.16786156e-02 9.93911478e-01 2.16450109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:5.35, Z:2.18 [[ 9.43212122e-01 -3.14715738e-01 -1.06324493e-01 4.09364131e+01] [ 3.13028279e-01 9.49182693e-01 -3.26421916e-02 5.35470295e+00] [ 1.11194380e-01 -2.49406214e-03 9.93795547e-01 2.17663982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.97, Y:5.36, Z:2.18 [[ 9.44063653e-01 -3.12742778e-01 -1.04574252e-01 4.09653775e+01] [ 3.11170528e-01 9.49833581e-01 -3.14494889e-02 5.36010556e+00] [ 1.09163737e-01 -2.85010594e-03 9.94019696e-01 2.18015058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:40.98, Y:5.38, Z:2.17 [[ 9.43599654e-01 -3.16292269e-01 -9.78718255e-02 4.09840842e+01] [ 3.13884962e-01 9.48639200e-01 -3.94955624e-02 5.37561399e+00] [ 1.05337191e-01 6.54750471e-03 9.94415007e-01 2.17494688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.01, Y:5.37, Z:2.19 [[ 9.43699473e-01 -3.14115932e-01 -1.03742399e-01 4.10134713e+01] [ 3.13609426e-01 9.49306697e-01 -2.15852697e-02 5.37409130e+00] [ 1.05263631e-01 -1.21645864e-02 9.94369947e-01 2.18586307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:5.41, Z:2.17 [[ 9.43628843e-01 -3.19473751e-01 -8.66090556e-02 4.10388217e+01] [ 3.15438622e-01 9.47219875e-01 -5.72100091e-02 5.40670683e+00] [ 1.00314915e-01 2.66651736e-02 9.94598354e-01 2.16614159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:5.38, Z:2.20 [[ 9.44401252e-01 -3.09224323e-01 -1.11743426e-01 4.10758712e+01] [ 3.11298155e-01 9.50311573e-01 1.17156405e-03 5.37756605e+00] [ 1.05828795e-01 -3.58919490e-02 9.93736401e-01 2.19574000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:5.43, Z:2.18 [[ 9.42545940e-01 -3.22280787e-01 -8.79900277e-02 4.10884267e+01] [ 3.17772428e-01 9.46166796e-01 -6.15554827e-02 5.42721238e+00] [ 1.03091392e-01 3.00580656e-02 9.94217621e-01 2.17730594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:5.40, Z:2.21 [[ 9.43241864e-01 -3.11167096e-01 -1.16059575e-01 4.11346548e+01] [ 3.12958432e-01 9.49762325e-01 -2.92340639e-03 5.39773622e+00] [ 1.11138679e-01 -3.35643432e-02 9.93237952e-01 2.21258643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.14, Y:5.43, Z:2.19 [[ 9.43743298e-01 -3.17214556e-01 -9.33997465e-02 4.11424657e+01] [ 3.13865155e-01 9.48202870e-01 -4.89895976e-02 5.43252586e+00] [ 1.04102121e-01 1.69186784e-02 9.94422700e-01 2.19017048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:5.42, Z:2.21 [[ 9.44522726e-01 -3.09746635e-01 -1.09242127e-01 4.11771081e+01] [ 3.09239418e-01 9.50730040e-01 -2.19857728e-02 5.42108183e+00] [ 1.10669791e-01 -1.30159097e-02 9.93771998e-01 2.20918319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:5.44, Z:2.21 [[ 9.42858969e-01 -3.15836289e-01 -1.06133889e-01 4.12122132e+01] [ 3.13841578e-01 9.48813695e-01 -3.54406110e-02 5.44110318e+00] [ 1.11894718e-01 1.06270825e-04 9.93720062e-01 2.21189139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:5.47, Z:2.20 [[ 9.41903085e-01 -3.22610333e-01 -9.34941265e-02 4.12302931e+01] [ 3.18345859e-01 9.46209550e-01 -5.78221488e-02 5.46842799e+00] [ 1.07119058e-01 2.46993923e-02 9.93939358e-01 2.19754976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:5.45, Z:2.22 [[ 9.42455478e-01 -3.14379232e-01 -1.13768935e-01 4.12706401e+01] [ 3.14906441e-01 9.49022681e-01 -1.37798664e-02 5.44813725e+00] [ 1.12301404e-01 -2.28396601e-02 9.93411669e-01 2.22453257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:5.46, Z:2.23 [[ 9.42840888e-01 -3.14704518e-01 -1.09599841e-01 4.12926831e+01] [ 3.14095572e-01 9.49107096e-01 -2.32312706e-02 5.46053140e+00] [ 1.11332973e-01 -1.25214331e-02 9.93704273e-01 2.22586698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.32, Y:5.49, Z:2.21 [[ 9.41456964e-01 -3.23258142e-01 -9.57233422e-02 4.13152131e+01] [ 3.18945469e-01 9.46009563e-01 -5.77900914e-02 5.49333321e+00] [ 1.09236315e-01 2.38763577e-02 9.93729011e-01 2.21219372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:5.47, Z:2.24 [[ 9.42005612e-01 -3.14816680e-01 -1.16257842e-01 4.13546400e+01] [ 3.16321736e-01 9.48634510e-01 -5.75545064e-03 5.46949438e+00] [ 1.12098113e-01 -3.13532157e-02 9.93202391e-01 2.23971467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:5.51, Z:2.22 [[ 9.40922291e-01 -3.24287431e-01 -9.74828427e-02 4.13726768e+01] [ 3.20096057e-01 9.45706513e-01 -5.63711486e-02 5.50967398e+00] [ 1.10470614e-01 2.18369968e-02 9.93639466e-01 2.22124319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:5.51, Z:2.23 [[ 9.40883473e-01 -3.22914145e-01 -1.02297334e-01 4.14002510e+01] [ 3.20838689e-01 9.46426903e-01 -3.65876007e-02 5.50729805e+00] [ 1.08631603e-01 1.60372620e-03 9.94080783e-01 2.22794438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:5.50, Z:2.24 [[ 9.40984913e-01 -3.19106994e-01 -1.12774637e-01 4.14308305e+01] [ 3.19588712e-01 9.47448887e-01 -1.42710270e-02 5.50174490e+00] [ 1.11402189e-01 -2.26126799e-02 9.93518102e-01 2.24495338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:5.52, Z:2.24 [[ 9.40757827e-01 -3.22035700e-01 -1.06149515e-01 4.14561421e+01] [ 3.20367555e-01 9.46722532e-01 -3.28797428e-02 5.52161904e+00] [ 1.11082589e-01 -3.07498532e-03 9.93806421e-01 2.24184241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:5.53, Z:2.25 [[ 9.40652280e-01 -3.22218534e-01 -1.06529362e-01 4.14823618e+01] [ 3.20586255e-01 9.46658827e-01 -3.25809533e-02 5.52983286e+00] [ 1.11345147e-01 -3.50450106e-03 9.93775617e-01 2.24545582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:5.56, Z:2.23 [[ 9.40385791e-01 -3.26682953e-01 -9.46193009e-02 4.15026333e+01] [ 3.21995825e-01 9.44734976e-01 -6.15996233e-02 5.55749145e+00] [ 1.09513710e-01 2.74603906e-02 9.93605895e-01 2.23147090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:5.55, Z:2.24 [[ 9.39430757e-01 -3.25025765e-01 -1.08757089e-01 4.15382293e+01] [ 3.25034514e-01 9.45528038e-01 -1.81464446e-02 5.54539714e+00] [ 1.08730939e-01 -1.83024794e-02 9.93902713e-01 2.24420392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.57, Y:5.56, Z:2.24 [[ 9.39042426e-01 -3.27621915e-01 -1.04226694e-01 4.15653980e+01] [ 3.25680260e-01 9.44808782e-01 -3.56192898e-02 5.56415071e+00] [ 1.10143956e-01 -4.96552494e-04 9.93915521e-01 2.24348115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:5.56, Z:2.26 [[ 9.40101378e-01 -3.22859249e-01 -1.09413458e-01 4.15906891e+01] [ 3.22317215e-01 9.46349938e-01 -2.30956244e-02 5.56158774e+00] [ 1.11000055e-01 -1.35536126e-02 9.93727975e-01 2.25734241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:5.58, Z:2.26 [[ 9.39779336e-01 -3.23967161e-01 -1.08903990e-01 4.16169861e+01] [ 3.22265874e-01 9.46060943e-01 -3.33676398e-02 5.57629540e+00] [ 1.13839831e-01 -3.73782130e-03 9.93492084e-01 2.25954737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:5.59, Z:2.26 [[ 9.39874042e-01 -3.24667565e-01 -1.05961112e-01 4.16423815e+01] [ 3.22226584e-01 9.45822311e-01 -3.98771264e-02 5.58911095e+00] [ 1.13167194e-01 3.33598870e-03 9.93570359e-01 2.25916060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:5.60, Z:2.26 [[ 9.39835425e-01 -3.25827539e-01 -1.02692687e-01 4.16716063e+01] [ 3.23105938e-01 9.45404512e-01 -4.25777103e-02 5.60192825e+00] [ 1.10959120e-01 6.83542350e-03 9.93801464e-01 2.25785205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:5.58, Z:2.29 [[ 9.39751831e-01 -3.18668592e-01 -1.23761156e-01 4.17044864e+01] [ 3.21079422e-01 9.47052144e-01 -4.91253965e-04 5.58402595e+00] [ 1.17364815e-01 -3.92755036e-02 9.92311914e-01 2.28610384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:5.61, Z:2.28 [[ 9.39475875e-01 -3.23056364e-01 -1.14103748e-01 4.17286172e+01] [ 3.21559487e-01 9.46355193e-01 -3.18016528e-02 5.60995853e+00] [ 1.18256400e-01 -6.81425689e-03 9.92959712e-01 2.28045410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:5.65, Z:2.25 [[ 9.38805050e-01 -3.32106541e-01 -9.13801016e-02 4.17448724e+01] [ 3.25978016e-01 9.42334496e-01 -7.57893820e-02 5.64986044e+00] [ 1.11280771e-01 4.13635503e-02 9.92927815e-01 2.25462725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:5.61, Z:2.29 [[ 9.39561999e-01 -3.18526110e-01 -1.25556233e-01 4.17887498e+01] [ 3.21666733e-01 9.46839542e-01 5.03935081e-03 5.60706204e+00] [ 1.17276442e-01 -4.51220459e-02 9.92073706e-01 2.29287074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:5.64, Z:2.28 [[ 9.38702901e-01 -3.26245165e-01 -1.11359582e-01 4.18084135e+01] [ 3.23752840e-01 9.45283542e-01 -4.02879983e-02 5.64172678e+00] [ 1.18410145e-01 1.76547977e-03 9.92963202e-01 2.28474047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:5.67, Z:2.27 [[ 9.38035852e-01 -3.32524728e-01 -9.75502187e-02 4.18277734e+01] [ 3.27611106e-01 9.42700003e-01 -6.31479827e-02 5.66811599e+00] [ 1.12958857e-01 2.72765368e-02 9.93225195e-01 2.26871609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:5.64, Z:2.30 [[ 9.37833664e-01 -3.25276478e-01 -1.21091827e-01 4.18649444e+01] [ 3.26145837e-01 9.45228272e-01 -1.31303499e-02 5.64459499e+00] [ 1.18730413e-01 -2.71795112e-02 9.92554464e-01 2.29742581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:5.67, Z:2.29 [[ 9.37162883e-01 -3.29431454e-01 -1.14894072e-01 4.18881794e+01] [ 3.27309737e-01 9.44176072e-01 -3.74149814e-02 5.66620360e+00] [ 1.20805906e-01 -2.54201677e-03 9.92672892e-01 2.29420626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:5.68, Z:2.29 [[ 9.36735897e-01 -3.32917631e-01 -1.08128208e-01 4.19150979e+01] [ 3.29284702e-01 9.42884437e-01 -5.04036159e-02 5.68319503e+00] [ 1.18732657e-01 1.16099117e-02 9.92858382e-01 2.28975681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:5.68, Z:2.29 [[ 9.36446567e-01 -3.33342954e-01 -1.09317438e-01 4.19417864e+01] [ 3.31427464e-01 9.42801723e-01 -3.57875238e-02 5.68307426e+00] [ 1.14994188e-01 -2.71769759e-03 9.93362447e-01 2.29315148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:5.68, Z:2.30 [[ 9.36065208e-01 -3.32315457e-01 -1.15535120e-01 4.19722036e+01] [ 3.31614938e-01 9.43061964e-01 -2.58004764e-02 5.68401963e+00] [ 1.17530674e-01 -1.41622433e-02 9.92968263e-01 2.30413782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:5.70, Z:2.30 [[ 9.35280362e-01 -3.36988969e-01 -1.08116044e-01 4.19937603e+01] [ 3.33972814e-01 9.41486919e-01 -4.54372080e-02 5.70271690e+00] [ 1.17101679e-01 6.38870892e-03 9.93099381e-01 2.29746933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:5.68, Z:2.33 [[ 9.35145565e-01 -3.28310381e-01 -1.33097956e-01 4.20351503e+01] [ 3.31801724e-01 9.43339262e-01 4.31891149e-03 5.67782216e+00] [ 1.24138585e-01 -4.82009423e-02 9.91093477e-01 2.33345996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:5.73, Z:2.30 [[ 9.34228152e-01 -3.42476166e-01 -9.96385263e-02 4.20461455e+01] [ 3.36378831e-01 9.38880587e-01 -7.31609597e-02 5.73475678e+00] [ 1.18604563e-01 3.48327373e-02 9.92330408e-01 2.29789049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:5.71, Z:2.31 [[ 9.34515607e-01 -3.36840946e-01 -1.14972856e-01 4.20818749e+01] [ 3.35978433e-01 9.41471361e-01 -2.73892035e-02 5.71460403e+00] [ 1.17469456e-01 -1.30327618e-02 9.92990974e-01 2.31482385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.714340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.11, Y:5.72, Z:2.32 [[ 9.34756566e-01 -3.34712410e-01 -1.19154370e-01 4.21098505e+01] [ 3.34616542e-01 9.42111098e-01 -2.14114398e-02 5.71777084e+00] [ 1.19423329e-01 -1.98565392e-02 9.92644844e-01 2.32421261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.744340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.13, Y:5.73, Z:2.33 [[ 9.35045496e-01 -3.34596959e-01 -1.17195542e-01 4.21330511e+01] [ 3.33851642e-01 9.42252427e-01 -2.65225326e-02 5.72868220e+00] [ 1.19302142e-01 -1.43261494e-02 9.92754632e-01 2.32866843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:5.74, Z:2.33 [[ 9.35062787e-01 -3.34644051e-01 -1.16922808e-01 4.21583745e+01] [ 3.32419012e-01 9.42340590e-01 -3.86239862e-02 5.74298320e+00] [ 1.23106395e-01 -2.75151231e-03 9.92389664e-01 2.33096987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:5.76, Z:2.32 [[ 9.35362944e-01 -3.36594707e-01 -1.08628569e-01 4.21824789e+01] [ 3.32254517e-01 9.41502272e-01 -5.63950997e-02 5.76254516e+00] [ 1.21256336e-01 1.66575539e-02 9.92481449e-01 2.32288300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:5.75, Z:2.34 [[ 9.36671430e-01 -3.28464129e-01 -1.21482291e-01 4.22154215e+01] [ 3.29114221e-01 9.44166908e-01 -1.52538504e-02 5.74538305e+00] [ 1.19709902e-01 -2.56937038e-02 9.92476384e-01 2.34291412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:5.76, Z:2.34 [[ 9.37232471e-01 -3.29183079e-01 -1.15038235e-01 4.22387896e+01] [ 3.27132577e-01 9.44260943e-01 -3.68177668e-02 5.76429377e+00] [ 1.20745898e-01 -3.12594780e-03 9.92678526e-01 2.34050504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:5.77, Z:2.34 [[ 9.37573558e-01 -3.28408658e-01 -1.14470856e-01 4.22652952e+01] [ 3.26369732e-01 9.44531008e-01 -3.66602485e-02 5.77187367e+00] [ 1.20160816e-01 -2.98814294e-03 9.92749943e-01 2.34329326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.30, Y:5.78, Z:2.35 [[ 9.38132317e-01 -3.24994371e-01 -1.19525790e-01 4.22997484e+01] [ 3.23237496e-01 9.45694227e-01 -3.43504078e-02 5.77634331e+00] [ 1.24198538e-01 -6.40998924e-03 9.92236683e-01 2.35155650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:5.79, Z:2.35 [[ 9.38529346e-01 -3.25692684e-01 -1.14398177e-01 4.23183094e+01] [ 3.23460895e-01 9.45474847e-01 -3.80836361e-02 5.78838395e+00] [ 1.20564160e-01 -1.26072659e-03 9.92704736e-01 2.34881041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:5.80, Z:2.35 [[ 9.38701907e-01 -3.24500381e-01 -1.16353908e-01 4.23507365e+01] [ 3.21390018e-01 9.45872702e-01 -4.50919914e-02 5.79912087e+00] [ 1.24688354e-01 4.93295374e-03 9.92183693e-01 2.35294087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:5.81, Z:2.35 [[ 9.38709811e-01 -3.25203505e-01 -1.14309104e-01 4.23736473e+01] [ 3.23005050e-01 9.45642929e-01 -3.77781477e-02 5.80633140e+00] [ 1.20381182e-01 -1.45970000e-03 9.92726669e-01 2.35372600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:5.82, Z:2.35 [[ 9.39643178e-01 -3.23585615e-01 -1.11189244e-01 4.23996218e+01] [ 3.20810373e-01 9.46189271e-01 -4.25037408e-02 5.81694173e+00] [ 1.18959669e-01 4.26768720e-03 9.92889915e-01 2.35305270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.43, Y:5.81, Z:2.37 [[ 9.40407743e-01 -3.18055540e-01 -1.20307731e-01 4.24324559e+01] [ 3.17507449e-01 9.47946559e-01 -2.42144901e-02 5.81185027e+00] [ 1.21746852e-01 -1.54271069e-02 9.92441287e-01 2.36750339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:5.84, Z:2.36 [[ 9.40142250e-01 -3.23236559e-01 -1.07938302e-01 4.24527393e+01] [ 3.19488975e-01 9.46224362e-01 -5.08551992e-02 5.83919290e+00] [ 1.18572111e-01 1.33260238e-02 9.92856018e-01 2.35707328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:5.83, Z:2.37 [[ 9.40816536e-01 -3.17542245e-01 -1.18453232e-01 4.24821429e+01] [ 3.16457551e-01 9.48182595e-01 -2.83616827e-02 5.83377294e+00] [ 1.21321325e-01 -1.08022797e-02 9.92554506e-01 2.37186760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:5.84, Z:2.38 [[ 9.41924443e-01 -3.13544029e-01 -1.20285019e-01 4.25131208e+01] [ 3.12760755e-01 9.49480653e-01 -2.58302277e-02 5.83865138e+00] [ 1.22307212e-01 -1.32903105e-02 9.92403302e-01 2.37911574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:5.86, Z:2.37 [[ 9.42167366e-01 -3.15328908e-01 -1.13526802e-01 4.25316753e+01] [ 3.11882149e-01 9.48937264e-01 -4.74087913e-02 5.86197304e+00] [ 1.22679175e-01 9.26003290e-03 9.92403180e-01 2.37297070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:5.85, Z:2.39 [[ 9.43349300e-01 -3.06248442e-01 -1.27687077e-01 4.25697430e+01] [ 3.07243970e-01 9.51551075e-01 -1.23164405e-02 5.84750573e+00] [ 1.25272666e-01 -2.76123789e-02 9.91738028e-01 2.39480433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:5.89, Z:2.38 [[ 9.43206181e-01 -3.13531097e-01 -1.09819628e-01 4.25847223e+01] [ 3.08841880e-01 9.49353923e-01 -5.78257881e-02 5.88504757e+00] [ 1.22387878e-01 2.06247403e-02 9.92268022e-01 2.37760095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:5.88, Z:2.39 [[ 9.43483683e-01 -3.09583379e-01 -1.18307527e-01 4.26132456e+01] [ 3.07615031e-01 9.50866378e-01 -3.50160566e-02 5.87990506e+00] [ 1.23335039e-01 -3.35609549e-03 9.92359413e-01 2.38831113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:5.89, Z:2.39 [[ 9.43877411e-01 -3.07782455e-01 -1.19855722e-01 4.26410363e+01] [ 3.06042866e-01 9.51441338e-01 -3.31231780e-02 5.88754019e+00] [ 1.24230422e-01 -5.41676915e-03 9.92238611e-01 2.39371084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:5.90, Z:2.39 [[ 9.44050858e-01 -3.08021825e-01 -1.17858101e-01 4.26661197e+01] [ 3.05170846e-01 9.51372267e-01 -4.19709996e-02 5.90069188e+00] [ 1.25054913e-01 3.65590174e-03 9.92143086e-01 2.39409194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:5.90, Z:2.40 [[ 9.44591849e-01 -3.03980349e-01 -1.23863582e-01 4.26960238e+01] [ 3.03043699e-01 9.52599863e-01 -2.67958558e-02 5.89933672e+00] [ 1.26137845e-01 -1.22249311e-02 9.91937395e-01 2.40431221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:5.91, Z:2.41 [[ 9.44392865e-01 -3.05357197e-01 -1.21979914e-01 4.27203711e+01] [ 3.03174945e-01 9.52234635e-01 -3.65260502e-02 5.91238004e+00] [ 1.27306991e-01 -2.48631253e-03 9.91860246e-01 2.40564228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.434340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.75, Y:5.92, Z:2.41 [[ 9.44038991e-01 -3.07460467e-01 -1.19408725e-01 4.27452333e+01] [ 3.04897770e-01 9.51560328e-01 -3.96269147e-02 5.92393083e+00] [ 1.25808315e-01 1.00189853e-03 9.92054063e-01 2.40701924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:5.93, Z:2.42 [[ 9.42936652e-01 -3.08803967e-01 -1.24541482e-01 4.27725941e+01] [ 3.07790420e-01 9.51048338e-01 -2.77869844e-02 5.92607882e+00] [ 1.27025701e-01 -1.21313091e-02 9.91825238e-01 2.41626653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:5.94, Z:2.42 [[ 9.42881237e-01 -3.09822304e-01 -1.22413691e-01 4.27989411e+01] [ 3.07032776e-01 9.50793207e-01 -4.15108725e-02 5.94076373e+00] [ 1.29251100e-01 1.55480764e-03 9.91610678e-01 2.41855014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.524340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:5.96, Z:2.41 [[ 9.42472362e-01 -3.14725557e-01 -1.12666192e-01 4.28211003e+01] [ 3.10395541e-01 9.49040029e-01 -5.45676834e-02 5.96057835e+00] [ 1.24098570e-01 1.64574499e-02 9.92133407e-01 2.41014049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:5.95, Z:2.43 [[ 9.41896805e-01 -3.11454850e-01 -1.25802566e-01 4.28525397e+01] [ 3.10267685e-01 9.50193605e-01 -2.94291683e-02 5.95156450e+00] [ 1.28702651e-01 -1.13132313e-02 9.91618696e-01 2.42699083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:5.97, Z:2.43 [[ 9.41404067e-01 -3.14167541e-01 -1.22707529e-01 4.28791836e+01] [ 3.12091913e-01 9.49358561e-01 -3.62899429e-02 5.96507650e+00] [ 1.27894566e-01 -4.13252768e-03 9.91779160e-01 2.42864017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:5.99, Z:2.42 [[ 9.40668516e-01 -3.19490831e-01 -1.14316896e-01 4.29004926e+01] [ 3.15438493e-01 9.47496621e-01 -5.24281535e-02 5.98526373e+00] [ 1.25065187e-01 1.32575641e-02 9.92059946e-01 2.42167835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:5.98, Z:2.44 [[ 9.39897040e-01 -3.17835022e-01 -1.24797645e-01 4.29297716e+01] [ 3.16264154e-01 9.48106127e-01 -3.27377111e-02 5.98047188e+00] [ 1.28726603e-01 -8.69894395e-03 9.91641967e-01 2.43655735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:5.99, Z:2.44 [[ 9.39546063e-01 -3.19569825e-01 -1.22997244e-01 4.29538635e+01] [ 3.16992306e-01 9.47562281e-01 -4.05166745e-02 5.99276788e+00] [ 1.29495455e-01 -9.21897813e-04 9.91579587e-01 2.43830864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:6.00, Z:2.44 [[ 9.39271874e-01 -3.20366768e-01 -1.23018211e-01 4.29801209e+01] [ 3.17926286e-01 9.47291489e-01 -3.95184986e-02 6.00077373e+00] [ 1.29194518e-01 -1.99210861e-03 9.91617269e-01 2.44225664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:5.99, Z:2.45 [[ 9.40574848e-01 -3.14278699e-01 -1.28638467e-01 4.30124194e+01] [ 3.14867701e-01 9.48996152e-01 -1.62675781e-02 5.99326196e+00] [ 1.27189963e-01 -2.52032234e-02 9.91558123e-01 2.44886489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:6.03, Z:2.44 [[ 9.38883362e-01 -3.25425685e-01 -1.12232594e-01 4.30271181e+01] [ 3.19904968e-01 9.45243108e-01 -6.46241351e-02 6.03425949e+00] [ 1.27117439e-01 2.47707609e-02 9.91578321e-01 2.43866174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:6.03, Z:2.44 [[ 9.39534283e-01 -3.22604600e-01 -1.14898230e-01 4.30606447e+01] [ 3.19180427e-01 9.46499938e-01 -4.75575681e-02 6.03341109e+00] [ 1.24093458e-01 8.00869947e-03 9.92238215e-01 2.43983212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:6.04, Z:2.45 [[ 9.39655050e-01 -3.22055891e-01 -1.15448647e-01 4.30846766e+01] [ 3.20065101e-01 9.46715185e-01 -3.58983310e-02 6.03569326e+00] [ 1.20858256e-01 -3.21903492e-03 9.92664555e-01 2.44592091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:6.03, Z:2.47 [[ 9.39183921e-01 -3.16306154e-01 -1.33730998e-01 4.31211350e+01] [ 3.17381470e-01 9.48197990e-01 -1.37685791e-02 6.02710220e+00] [ 1.31158549e-01 -2.95125125e-02 9.90922018e-01 2.47204301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:6.06, Z:2.46 [[ 9.38605709e-01 -3.24894055e-01 -1.16030923e-01 4.31378742e+01] [ 3.20144345e-01 9.45592565e-01 -5.79853463e-02 6.06352824e+00] [ 1.28557073e-01 1.72787332e-02 9.91551574e-01 2.45622450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:6.06, Z:2.47 [[ 9.38527615e-01 -3.22961833e-01 -1.21908039e-01 4.31673479e+01] [ 3.20444993e-01 9.46411127e-01 -4.02614743e-02 6.06246439e+00] [ 1.28378044e-01 -1.27831512e-03 9.91724480e-01 2.46517976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:6.07, Z:2.47 [[ 9.38751694e-01 -3.21838669e-01 -1.23146771e-01 4.31927458e+01] [ 3.20084319e-01 9.46767163e-01 -3.43215409e-02 6.06518614e+00] [ 1.27637318e-01 -7.19794580e-03 9.91794790e-01 2.47150984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:6.09, Z:2.47 [[ 9.38202517e-01 -3.25556433e-01 -1.17426774e-01 4.32175176e+01] [ 3.21369644e-01 9.45440342e-01 -5.35173997e-02 6.08570291e+00] [ 1.28442943e-01 1.24727585e-02 9.91638463e-01 2.46606299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:6.08, Z:2.48 [[ 9.37932363e-01 -3.23305742e-01 -1.25524016e-01 4.32474420e+01] [ 3.21506261e-01 9.46263896e-01 -3.49050639e-02 6.08290933e+00] [ 1.30063852e-01 -7.61816802e-03 9.91476353e-01 2.47890441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:6.09, Z:2.48 [[ 9.37932763e-01 -3.24008733e-01 -1.23695078e-01 4.32733589e+01] [ 3.21416903e-01 9.46053092e-01 -4.09233714e-02 6.09476843e+00] [ 1.30281641e-01 -1.37431818e-03 9.91476074e-01 2.48083852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:6.12, Z:2.47 [[ 9.38648889e-01 -3.26342446e-01 -1.11529689e-01 4.32933350e+01] [ 3.21336476e-01 9.45014073e-01 -6.07558252e-02 6.11631548e+00] [ 1.25224330e-01 2.11898307e-02 9.91902141e-01 2.46708771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:6.13, Z:2.48 [[ 9.37604130e-01 -3.26928705e-01 -1.18389684e-01 4.33230613e+01] [ 3.21614710e-01 9.44835117e-01 -6.20530444e-02 6.12560802e+00] [ 1.32145652e-01 2.01053268e-02 9.91026388e-01 2.47525805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.36, Y:6.10, Z:2.51 [[ 9.38018584e-01 -3.18311876e-01 -1.37108301e-01 4.33583582e+01] [ 3.21267586e-01 9.46988266e-01 -6.02777590e-04 6.09776244e+00] [ 1.30031823e-01 -4.34830362e-02 9.90555880e-01 2.50548801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:6.13, Z:2.50 [[ 9.38841805e-01 -3.21303243e-01 -1.23855930e-01 4.33752287e+01] [ 3.17784747e-01 9.46960656e-01 -4.77322686e-02 6.13030880e+00] [ 1.32623226e-01 5.45352360e-03 9.91151522e-01 2.49532582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:6.13, Z:2.50 [[ 9.39378900e-01 -3.18033451e-01 -1.28148374e-01 4.34085374e+01] [ 3.16739089e-01 9.48009050e-01 -3.09061458e-02 6.12923957e+00] [ 1.31315007e-01 -1.15570181e-02 9.91273325e-01 2.50347860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:6.15, Z:2.50 [[ 9.38366547e-01 -3.22633958e-01 -1.23998198e-01 4.34313851e+01] [ 3.19157583e-01 9.46510630e-01 -4.74980419e-02 6.14957583e+00] [ 1.32690094e-01 4.99560846e-03 9.91144986e-01 2.50246806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:6.15, Z:2.51 [[ 9.39291113e-01 -3.18960882e-01 -1.26475931e-01 4.34632649e+01] [ 3.16561426e-01 9.47762368e-01 -3.91836354e-02 6.15230346e+00] [ 1.32367175e-01 -3.23256059e-03 9.91195481e-01 2.50764185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.274340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:6.16, Z:2.51 [[ 9.39148704e-01 -3.18826674e-01 -1.27864241e-01 4.34838746e+01] [ 3.16751265e-01 9.47794429e-01 -3.68015757e-02 6.16016002e+00] [ 1.32922340e-01 -5.93900806e-03 9.91108662e-01 2.51298149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:6.17, Z:2.51 [[ 9.39664235e-01 -3.18933010e-01 -1.23745144e-01 4.35108548e+01] [ 3.15214136e-01 9.47750568e-01 -4.90806459e-02 6.17481581e+00] [ 1.32932969e-01 7.11310889e-03 9.91099505e-01 2.51090020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:6.19, Z:2.51 [[ 9.39194609e-01 -3.20704610e-01 -1.22727502e-01 4.35345236e+01] [ 3.16912936e-01 9.47146531e-01 -4.97959926e-02 6.18593631e+00] [ 1.32210732e-01 7.87419489e-03 9.91190355e-01 2.51247377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.56, Y:6.18, Z:2.53 [[ 9.39988177e-01 -3.15284158e-01 -1.30453540e-01 4.35624082e+01] [ 3.14419219e-01 9.48879394e-01 -2.77209246e-02 6.17881299e+00] [ 1.32524644e-01 -1.49597587e-02 9.91066811e-01 2.52598210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.394340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.59, Y:6.20, Z:2.52 [[ 9.39097600e-01 -3.19887985e-01 -1.25568206e-01 4.35889131e+01] [ 3.15994821e-01 9.47424998e-01 -5.03303819e-02 6.20149568e+00] [ 1.35066541e-01 7.58623826e-03 9.90807488e-01 2.52473384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:6.20, Z:2.53 [[ 9.39820748e-01 -3.16319527e-01 -1.29146885e-01 4.36144312e+01] [ 3.14690867e-01 9.48607347e-01 -3.33730174e-02 6.19891310e+00] [ 1.33066221e-01 -9.27669100e-03 9.91063734e-01 2.53177897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.454340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.64, Y:6.22, Z:2.53 [[ 9.40044607e-01 -3.17644685e-01 -1.24169206e-01 4.36410130e+01] [ 3.14130481e-01 9.48193277e-01 -4.74504934e-02 6.21521354e+00] [ 1.32808803e-01 5.60024803e-03 9.91125854e-01 2.53000179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.484340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.67, Y:6.24, Z:2.52 [[ 9.39205584e-01 -3.23115872e-01 -1.16142175e-01 4.36670063e+01] [ 3.17653884e-01 9.46090002e-01 -6.33223344e-02 6.23638178e+00] [ 1.30341401e-01 2.25796772e-02 9.91212024e-01 2.52221589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:6.22, Z:2.54 [[ 9.38971187e-01 -3.19048566e-01 -1.28612296e-01 4.37017311e+01] [ 3.17850206e-01 9.47656813e-01 -3.02954065e-02 6.22414825e+00] [ 1.31546025e-01 -1.24329311e-02 9.91232095e-01 2.54040040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.72, Y:6.24, Z:2.53 [[ 9.39129766e-01 -3.21645887e-01 -1.20744386e-01 4.37201940e+01] [ 3.17849483e-01 9.46821039e-01 -5.00162612e-02 6.24367735e+00] [ 1.30410850e-01 8.59321903e-03 9.91422799e-01 2.53414689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:6.24, Z:2.55 [[ 9.38040116e-01 -3.20945399e-01 -1.30670547e-01 4.37498807e+01] [ 3.19912378e-01 9.46990870e-01 -2.94000358e-02 6.24113204e+00] [ 1.33179621e-01 -1.42247123e-02 9.90989832e-01 2.55226900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:6.27, Z:2.54 [[ 9.37665653e-01 -3.26529908e-01 -1.19001441e-01 4.37741954e+01] [ 3.21912784e-01 9.45070124e-01 -5.66976283e-02 6.26604958e+00] [ 1.30978178e-01 1.48553336e-02 9.91273946e-01 2.54303133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:6.25, Z:2.56 [[ 9.37739893e-01 -3.21058859e-01 -1.32533400e-01 4.38032703e+01] [ 3.21541352e-01 9.46718001e-01 -1.83353670e-02 6.25113032e+00] [ 1.31358487e-01 -2.54211635e-02 9.91008937e-01 2.56456336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:6.28, Z:2.56 [[ 9.36605911e-01 -3.27400882e-01 -1.24811980e-01 4.38276778e+01] [ 3.23408163e-01 9.44852026e-01 -5.15927180e-02 6.27973948e+00] [ 1.34820354e-01 7.95683140e-03 9.90838110e-01 2.55980714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:6.28, Z:2.57 [[ 9.36127186e-01 -3.27605559e-01 -1.27829925e-01 4.38542683e+01] [ 3.24807090e-01 9.44813400e-01 -4.27550454e-02 6.28249275e+00] [ 1.34782217e-01 -1.49590576e-03 9.90874117e-01 2.56690276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.724340128 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.89, Y:6.29, Z:2.57 [[ 9.37012430e-01 -3.25529590e-01 -1.26641985e-01 4.38881587e+01] [ 3.22549073e-01 9.45531794e-01 -4.39513528e-02 6.28987563e+00] [ 1.34051489e-01 3.34709106e-04 9.90974312e-01 2.56918052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.754340128 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.91, Y:6.30, Z:2.57 [[ 9.36696361e-01 -3.28101616e-01 -1.22267154e-01 4.39124022e+01] [ 3.24684498e-01 9.44630410e-01 -4.74696228e-02 6.30287221e+00] [ 1.31072132e-01 4.76637343e-03 9.91361376e-01 2.56909737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.94, Y:6.30, Z:2.58 [[ 9.36383882e-01 -3.26745903e-01 -1.28149676e-01 4.39411622e+01] [ 3.24973917e-01 9.45071445e-01 -3.50986823e-02 6.30373262e+00] [ 1.32578950e-01 -8.77946166e-03 9.91133565e-01 2.57904457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:6.32, Z:2.58 [[ 9.35868037e-01 -3.30555510e-01 -1.22000296e-01 4.39635121e+01] [ 3.26791752e-01 9.43759379e-01 -5.02532179e-02 6.32203872e+00] [ 1.31750402e-01 7.16168974e-03 9.91257051e-01 2.57534287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:6.32, Z:2.59 [[ 9.35538702e-01 -3.28831726e-01 -1.28984624e-01 4.39923651e+01] [ 3.27257781e-01 9.44329435e-01 -3.38269619e-02 6.32143221e+00] [ 1.32927356e-01 -1.05647900e-02 9.91069475e-01 2.58666364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:6.34, Z:2.58 [[ 9.34876458e-01 -3.32437561e-01 -1.24463959e-01 4.40155626e+01] [ 3.29350896e-01 9.43124401e-01 -4.52145102e-02 6.33839080e+00] [ 1.32415998e-01 1.27766490e-03 9.91193407e-01 2.58485127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:6.34, Z:2.59 [[ 9.35210657e-01 -3.30157608e-01 -1.27972582e-01 4.40419735e+01] [ 3.29057111e-01 9.43824865e-01 -3.02661882e-02 6.33813072e+00] [ 1.30776317e-01 -1.38050263e-02 9.91315780e-01 2.59200463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:6.36, Z:2.59 [[ 9.33542476e-01 -3.37926280e-01 -1.19600483e-01 4.40654968e+01] [ 3.32976044e-01 9.41036340e-01 -5.98127155e-02 6.36482684e+00] [ 1.32760690e-01 1.60136147e-02 9.91018750e-01 2.58701204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:6.35, Z:2.60 [[ 9.34284766e-01 -3.32306007e-01 -1.29169248e-01 4.40965336e+01] [ 3.32186833e-01 9.42930584e-01 -2.31045709e-02 6.35227378e+00] [ 1.29475422e-01 -2.13220746e-02 9.91353360e-01 2.59903917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:6.38, Z:2.60 [[ 9.33150201e-01 -3.38940059e-01 -1.19792898e-01 4.41176061e+01] [ 3.34404520e-01 9.40719603e-01 -5.67472125e-02 6.38059590e+00] [ 1.31925431e-01 1.28943864e-02 9.91175774e-01 2.59644447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:6.38, Z:2.61 [[ 9.32155522e-01 -3.37736145e-01 -1.30462178e-01 4.41494591e+01] [ 3.36281452e-01 9.41158376e-01 -3.37001069e-02 6.37625475e+00] [ 1.34167316e-01 -1.24582700e-02 9.90880378e-01 2.61186100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:6.39, Z:2.61 [[ 9.33335167e-01 -3.35956110e-01 -1.26566021e-01 4.41723287e+01] [ 3.34236750e-01 9.41830509e-01 -3.52290592e-02 6.38576017e+00] [ 1.31039158e-01 -9.42249569e-03 9.91332414e-01 2.61400785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.084340128 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:44.19, Y:6.41, Z:2.61 [[ 9.31732431e-01 -3.43766709e-01 -1.17043269e-01 4.41925568e+01] [ 3.39543668e-01 9.38985516e-01 -5.49208281e-02 6.40980127e+00] [ 1.28781887e-01 1.14302158e-02 9.91607067e-01 2.60705285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:6.41, Z:2.62 [[ 9.32276218e-01 -3.39137627e-01 -1.25883770e-01 4.42237119e+01] [ 3.37001908e-01 9.40714424e-01 -3.85497927e-02 6.40906814e+00] [ 1.31494363e-01 -6.48401553e-03 9.91295713e-01 2.61714011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:6.42, Z:2.62 [[ 9.32741073e-01 -3.36047544e-01 -1.30637435e-01 4.42488034e+01] [ 3.34485013e-01 9.41773357e-01 -3.43907087e-02 6.41664723e+00] [ 1.34587769e-01 -1.16186377e-02 9.90833558e-01 2.62381457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:6.44, Z:2.62 [[ 9.33171010e-01 -3.38552477e-01 -1.20723181e-01 4.42715733e+01] [ 3.33788902e-01 9.40841297e-01 -5.83320005e-02 6.44163034e+00] [ 1.33329798e-01 1.41376737e-02 9.90970883e-01 2.61745193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:6.45, Z:2.62 [[ 9.34378985e-01 -3.34299310e-01 -1.23206670e-01 4.42994364e+01] [ 3.30801620e-01 9.42456188e-01 -4.84419479e-02 6.44748154e+00] [ 1.32310998e-01 4.50617221e-03 9.91198010e-01 2.62304457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:6.45, Z:2.63 [[ 9.35384228e-01 -3.30441074e-01 -1.25956510e-01 4.43266948e+01] [ 3.27907023e-01 9.43821875e-01 -4.09542676e-02 6.45151930e+00] [ 1.32413482e-01 -2.99404834e-03 9.91190045e-01 2.62947440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:6.44, Z:2.65 [[ 9.35559319e-01 -3.23001349e-01 -1.42824681e-01 4.43635687e+01] [ 3.24181488e-01 9.45866604e-01 -1.55797740e-02 6.44391830e+00] [ 1.40125384e-01 -3.17253149e-02 9.89625374e-01 2.65403853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:6.49, Z:2.63 [[ 9.36558284e-01 -3.30366531e-01 -1.17117611e-01 4.43739389e+01] [ 3.23444971e-01 9.43316483e-01 -7.44134696e-02 6.48803182e+00] [ 1.35062693e-01 3.18114491e-02 9.90326260e-01 2.63150113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:6.47, Z:2.65 [[ 9.36913948e-01 -3.24671359e-01 -1.29540579e-01 4.44070682e+01] [ 3.23017062e-01 9.45775870e-01 -3.41757510e-02 6.47495143e+00] [ 1.33612242e-01 -9.82407949e-03 9.90984993e-01 2.64797821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:6.47, Z:2.67 [[ 9.37354771e-01 -3.19259859e-01 -1.39424445e-01 4.44406688e+01] [ 3.19535618e-01 9.47341238e-01 -2.10134908e-02 6.47391610e+00] [ 1.38791291e-01 -2.48539804e-02 9.90009726e-01 2.66559464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:6.50, Z:2.66 [[ 9.37326371e-01 -3.22836282e-01 -1.31133554e-01 4.44631112e+01] [ 3.20494799e-01 9.46439932e-01 -3.91731992e-02 6.49668228e+00] [ 1.36756562e-01 -5.30954939e-03 9.90590456e-01 2.66408066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:6.52, Z:2.66 [[ 9.37430054e-01 -3.26881151e-01 -1.19889979e-01 4.44809665e+01] [ 3.20818755e-01 9.44743510e-01 -6.73426065e-02 6.52292128e+00] [ 1.35278308e-01 2.46660295e-02 9.90500563e-01 2.65511106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.51, Y:6.52, Z:2.67 [[ 9.37636395e-01 -3.22829405e-01 -1.28915343e-01 4.45107218e+01] [ 3.19809804e-01 9.46457167e-01 -4.40513269e-02 6.51945637e+00] [ 1.36233914e-01 7.57367017e-05 9.90676695e-01 2.66729002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:6.53, Z:2.67 [[ 9.37853899e-01 -3.21930212e-01 -1.29580105e-01 4.45377905e+01] [ 3.19685231e-01 9.46747636e-01 -3.83440572e-02 6.52898488e+00] [ 1.35023768e-01 -5.46372222e-03 9.90827296e-01 2.67275537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:6.54, Z:2.67 [[ 9.37950256e-01 -3.22686673e-01 -1.26974916e-01 4.45634350e+01] [ 3.19296720e-01 9.46500005e-01 -4.67690569e-02 6.54423305e+00] [ 1.35273510e-01 3.32437455e-03 9.90802718e-01 2.67419851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:6.55, Z:2.68 [[ 9.38748297e-01 -3.19087203e-01 -1.30134513e-01 4.45889277e+01] [ 3.16755853e-01 9.47713214e-01 -3.87994043e-02 6.54737584e+00] [ 1.35710591e-01 -4.79799383e-03 9.90736905e-01 2.68071187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:6.57, Z:2.68 [[ 9.39448856e-01 -3.19744102e-01 -1.23286478e-01 4.46118946e+01] [ 3.15078253e-01 9.47401494e-01 -5.61792031e-02 6.56807907e+00] [ 1.34764762e-01 1.39326001e-02 9.90779663e-01 2.67649879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:6.57, Z:2.68 [[ 9.39516299e-01 -3.17568973e-01 -1.28292911e-01 4.46396357e+01] [ 3.14617566e-01 9.48235150e-01 -4.31959277e-02 6.57011699e+00] [ 1.35369535e-01 2.20074490e-04 9.90795156e-01 2.68485884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:6.58, Z:2.69 [[ 9.39493236e-01 -3.16906925e-01 -1.30086355e-01 4.46681165e+01] [ 3.14126094e-01 9.48455482e-01 -4.19165346e-02 6.57896897e+00] [ 1.36664756e-01 -1.48321781e-03 9.90616245e-01 2.69112608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:6.59, Z:2.70 [[ 9.40170761e-01 -3.14108517e-01 -1.31965071e-01 4.46923201e+01] [ 3.11462612e-01 9.49383063e-01 -4.07779497e-02 6.58675621e+00] [ 1.38094105e-01 -2.76394980e-03 9.90415256e-01 2.69628061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:6.60, Z:2.70 [[ 9.40210238e-01 -3.14324004e-01 -1.31168327e-01 4.47184796e+01] [ 3.10904296e-01 9.49311717e-01 -4.63225970e-02 6.59929398e+00] [ 1.39079934e-01 2.77218359e-03 9.90277278e-01 2.69943336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:6.61, Z:2.70 [[ 9.40719800e-01 -3.13312186e-01 -1.29929720e-01 4.47445138e+01] [ 3.09542013e-01 9.49633201e-01 -4.87906280e-02 6.61028145e+00] [ 1.38672274e-01 5.67960278e-03 9.90322040e-01 2.70237673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:6.62, Z:2.71 [[ 9.41159072e-01 -3.11628285e-01 -1.30795311e-01 4.47692333e+01] [ 3.08019156e-01 9.50193838e-01 -4.74959936e-02 6.61691512e+00] [ 1.39081993e-01 4.41382399e-03 9.90271032e-01 2.70704867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:6.62, Z:2.71 [[ 9.41004469e-01 -3.10388391e-01 -1.34794789e-01 4.48001815e+01] [ 3.10070212e-01 9.50413523e-01 -2.38871935e-02 6.61501634e+00] [ 1.35525098e-01 -1.93178930e-02 9.90585568e-01 2.71283479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:6.64, Z:2.71 [[ 9.40986196e-01 -3.13381463e-01 -1.27816421e-01 4.48238448e+01] [ 3.10258606e-01 9.49625407e-01 -4.41722096e-02 6.63576238e+00] [ 1.35220472e-01 1.90929493e-03 9.90813695e-01 2.71034464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:6.65, Z:2.71 [[ 9.41761260e-01 -3.12473805e-01 -1.24281339e-01 4.48486773e+01] [ 3.07175283e-01 9.49745416e-01 -6.02245082e-02 6.64945867e+00] [ 1.36854213e-01 1.85409533e-02 9.90417668e-01 2.71422720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:6.65, Z:2.72 [[ 9.41684435e-01 -3.11057806e-01 -1.28348999e-01 4.48789705e+01] [ 3.07127091e-01 9.50361085e-01 -4.98674155e-02 6.65164536e+00] [ 1.37489543e-01 7.53991438e-03 9.90474520e-01 2.72171363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:6.65, Z:2.73 [[ 9.40897394e-01 -3.10984499e-01 -1.34166817e-01 4.49061885e+01] [ 3.08744201e-01 9.50396520e-01 -3.77289387e-02 6.65302197e+00] [ 1.39244792e-01 -5.92416666e-03 9.90240270e-01 2.73158936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.924340128000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:44.93, Y:6.67, Z:2.73 [[ 9.40346801e-01 -3.16476899e-01 -1.24860985e-01 4.49322600e+01] [ 3.11613755e-01 9.48482820e-01 -5.72468982e-02 6.67127116e+00] [ 1.36545820e-01 1.49235372e-02 9.90521341e-01 2.72624959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:6.67, Z:2.74 [[ 9.39201111e-01 -3.15720317e-01 -1.34988720e-01 4.49623432e+01] [ 3.13875297e-01 9.48807589e-01 -3.53052052e-02 6.66720774e+00] [ 1.39224892e-01 -9.21093658e-03 9.90217950e-01 2.74119145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:6.69, Z:2.74 [[ 9.38515284e-01 -3.21161795e-01 -1.26665553e-01 4.49847997e+01] [ 3.16664834e-01 9.46957519e-01 -5.47251343e-02 6.68738861e+00] [ 1.37522520e-01 1.12498486e-02 9.90434752e-01 2.73558215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:6.70, Z:2.74 [[ 9.36871828e-01 -3.25186509e-01 -1.28549262e-01 4.50113765e+01] [ 3.21377167e-01 9.45634117e-01 -4.99282796e-02 6.69627005e+00] [ 1.37796571e-01 5.46360080e-03 9.90445483e-01 2.73804708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:6.69, Z:2.76 [[ 9.36020419e-01 -3.22409229e-01 -1.41131373e-01 4.50437185e+01] [ 3.21959171e-01 9.46378468e-01 -2.66474708e-02 6.69177666e+00] [ 1.42155083e-01 -2.04959629e-02 9.89632178e-01 2.75561795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.074340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.07, Y:6.71, Z:2.75 [[ 9.35860193e-01 -3.25032077e-01 -1.36087646e-01 4.50692911e+01] [ 3.22347193e-01 9.45691744e-01 -4.19453583e-02 6.71030971e+00] [ 1.42330550e-01 -4.61247945e-03 9.89808436e-01 2.75464251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:6.74, Z:2.74 [[ 9.34961292e-01 -3.32576377e-01 -1.23451755e-01 4.50848585e+01] [ 3.26309276e-01 9.42776513e-01 -6.85179024e-02 6.73991230e+00] [ 1.39174851e-01 2.37781338e-02 9.89982303e-01 2.74353196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:6.73, Z:2.77 [[ 9.34815874e-01 -3.26636521e-01 -1.39383878e-01 4.51214379e+01] [ 3.25436563e-01 9.45023318e-01 -3.19682874e-02 6.72753765e+00] [ 1.42163025e-01 -1.54761478e-02 9.89722266e-01 2.76556956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:6.75, Z:2.76 [[ 9.35084024e-01 -3.31393695e-01 -1.25682483e-01 4.51370865e+01] [ 3.27520692e-01 9.43470458e-01 -5.09282939e-02 6.75024405e+00] [ 1.35455025e-01 6.45862031e-03 9.90762445e-01 2.75626070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:6.75, Z:2.77 [[ 9.34124261e-01 -3.31766567e-01 -1.31692105e-01 4.51689380e+01] [ 3.29985572e-01 9.43308048e-01 -3.57693781e-02 6.75360921e+00] [ 1.36093306e-01 -1.00434507e-02 9.90645114e-01 2.77166452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:6.77, Z:2.78 [[ 9.32414615e-01 -3.36773168e-01 -1.31098510e-01 4.51924019e+01] [ 3.34838403e-01 9.41540795e-01 -3.72045091e-02 6.76857347e+00] [ 1.35964076e-01 -9.20678783e-03 9.90670987e-01 2.77966249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:6.80, Z:2.77 [[ 9.32306117e-01 -3.43183534e-01 -1.14150630e-01 4.52121893e+01] [ 3.36792244e-01 9.38835227e-01 -7.18289688e-02 6.80165734e+00] [ 1.31819152e-01 2.85215403e-02 9.90863378e-01 2.76621873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.284340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.24, Y:6.79, Z:2.78 [[ 9.32065060e-01 -3.38787774e-01 -1.28364978e-01 4.52446014e+01] [ 3.37334203e-01 9.40786151e-01 -3.35716280e-02 6.79220388e+00] [ 1.32137651e-01 -1.20109562e-02 9.91158604e-01 2.78450057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.314340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.27, Y:6.80, Z:2.80 [[ 9.31332168e-01 -3.40421421e-01 -1.29358602e-01 4.52681560e+01] [ 3.40149475e-01 9.40042208e-01 -2.48793399e-02 6.80460338e+00] [ 1.30072006e-01 -2.08303310e-02 9.91285716e-01 2.79563836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.344340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:6.84, Z:2.79 [[ 9.31370450e-01 -3.45559370e-01 -1.14620271e-01 4.52869053e+01] [ 3.40350071e-01 9.38192808e-01 -6.28974057e-02 6.83858742e+00] [ 1.29270702e-01 1.95697677e-02 9.91416214e-01 2.78558163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:6.85, Z:2.79 [[ 9.31962287e-01 -3.43510594e-01 -1.15960198e-01 4.53126623e+01] [ 3.39864290e-01 9.39117606e-01 -5.05013497e-02 6.84943304e+00] [ 1.26248012e-01 7.65462313e-03 9.91969176e-01 2.79025022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:6.84, Z:2.81 [[ 9.32328508e-01 -3.37896169e-01 -1.28801136e-01 4.53432461e+01] [ 3.39070834e-01 9.40665845e-01 -1.33692967e-02 6.84262681e+00] [ 1.25676263e-01 -3.12081321e-02 9.91580319e-01 2.80957112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.434340128 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:45.36, Y:6.87, Z:2.81 [[ 9.32731636e-01 -3.40669147e-01 -1.18136481e-01 4.53623915e+01] [ 3.38138636e-01 9.40182385e-01 -4.14649932e-02 6.87123611e+00] [ 1.25195682e-01 -1.27079757e-03 9.92131255e-01 2.80603349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.464340128 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:45.38, Y:6.91, Z:2.80 [[ 9.34193897e-01 -3.41081113e-01 -1.04620441e-01 4.53801847e+01] [ 3.35041139e-01 9.39505630e-01 -7.12503063e-02 6.90784620e+00] [ 1.22593627e-01 3.15094496e-02 9.91956631e-01 2.79665782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:6.89, Z:2.82 [[ 9.34986464e-01 -3.31289506e-01 -1.26679027e-01 4.54150218e+01] [ 3.32655195e-01 9.42986211e-01 -1.08410281e-02 6.88879613e+00] [ 1.23048095e-01 -3.20042221e-02 9.91884518e-01 2.81992976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.524340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:6.92, Z:2.82 [[ 9.36545888e-01 -3.30943999e-01 -1.15576245e-01 4.54324343e+01] [ 3.28442141e-01 9.43650393e-01 -4.06164581e-02 6.92260819e+00] [ 1.22505342e-01 7.90673994e-05 9.92467851e-01 2.81553753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:6.95, Z:2.81 [[ 9.37179173e-01 -3.31023314e-01 -1.10085259e-01 4.54546469e+01] [ 3.26093533e-01 9.43390273e-01 -6.06448808e-02 6.94718037e+00] [ 1.23928232e-01 2.09370283e-02 9.92070277e-01 2.81305490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.584340128 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:45.48, Y:6.95, Z:2.82 [[ 9.38277345e-01 -3.26241539e-01 -1.14900309e-01 4.54821911e+01] [ 3.22660601e-01 9.45244318e-01 -4.90236192e-02 6.95373593e+00] [ 1.24602405e-01 8.92394843e-03 9.92166621e-01 2.82094011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.614340128 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:45.51, Y:6.96, Z:2.83 [[ 9.39112086e-01 -3.22386227e-01 -1.18893270e-01 4.55071939e+01] [ 3.19823386e-01 9.46608216e-01 -4.05695331e-02 6.96220460e+00] [ 1.25624405e-01 7.44907017e-05 9.92077872e-01 2.82782464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.53, Y:6.98, Z:2.83 [[ 9.41027509e-01 -3.17358314e-01 -1.17264347e-01 4.55308854e+01] [ 3.15022284e-01 9.48305391e-01 -3.84427531e-02 6.97924949e+00] [ 1.23402540e-01 -7.65194268e-04 9.92356402e-01 2.82872634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.674340128000004 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:45.56, Y:7.00, Z:2.83 [[ 9.41902478e-01 -3.15913713e-01 -1.14097540e-01 4.55551112e+01] [ 3.12721045e-01 9.48761856e-01 -4.53485163e-02 6.99659151e+00] [ 1.22577612e-01 7.03317780e-03 9.92434010e-01 2.83201609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704340128000005 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:45.59, Y:6.99, Z:2.85 [[ 9.42659999e-01 -3.10346120e-01 -1.22790116e-01 4.55872598e+01] [ 3.11062727e-01 9.50289453e-01 -1.37816866e-02 6.99303920e+00] [ 1.20963246e-01 -2.52039839e-02 9.92336965e-01 2.84574298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.734340128 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:45.61, Y:7.02, Z:2.84 [[ 9.43920946e-01 -3.10030444e-01 -1.13553383e-01 4.56067339e+01] [ 3.07447117e-01 9.50722249e-01 -4.00434316e-02 7.02223777e+00] [ 1.20372411e-01 2.88617358e-03 9.92724611e-01 2.84220229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.764340128 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:45.63, Y:7.05, Z:2.83 [[ 9.44052526e-01 -3.13089022e-01 -1.03634419e-01 4.56280213e+01] [ 3.07816890e-01 9.49298995e-01 -6.38762847e-02 7.04995979e+00] [ 1.18379014e-01 2.84021432e-02 9.92562203e-01 2.83232611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.794340128 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:45.66, Y:7.04, Z:2.85 [[ 9.45006691e-01 -3.02869960e-01 -1.23418563e-01 4.56636904e+01] [ 3.02954359e-01 9.52824723e-01 -1.85392645e-02 7.03530529e+00] [ 1.23211245e-01 -1.98704627e-02 9.92181513e-01 2.85244943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.824340128 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:45.69, Y:7.06, Z:2.85 [[ 9.45165820e-01 -3.05148579e-01 -1.16386930e-01 4.56857032e+01] [ 3.02394675e-01 9.52297886e-01 -4.10633388e-02 7.05834336e+00] [ 1.23365446e-01 3.61687651e-03 9.92354717e-01 2.85212263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:7.07, Z:2.85 [[ 9.45337382e-01 -3.04931705e-01 -1.15559030e-01 4.57116310e+01] [ 3.02210732e-01 9.52367206e-01 -4.08090486e-02 7.06984491e+00] [ 1.22498603e-01 3.65514016e-03 9.92461955e-01 2.85347042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:7.10, Z:2.85 [[ 9.45414242e-01 -3.08409686e-01 -1.05239618e-01 4.57308671e+01] [ 3.01610040e-01 9.50417681e-01 -7.57470507e-02 7.09977212e+00] [ 1.23382718e-01 3.98710152e-02 9.91557869e-01 2.84580540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.914340128 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:45.77, Y:7.09, Z:2.86 [[ 9.45954896e-01 -3.02490894e-01 -1.16912760e-01 4.57672933e+01] [ 3.00590988e-01 9.53147562e-01 -3.39821042e-02 7.08770627e+00] [ 1.21714390e-01 -2.99738427e-03 9.92560639e-01 2.85519098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.944340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.80, Y:7.09, Z:2.86 [[ 9.46412329e-01 -3.00089376e-01 -1.19373654e-01 4.57955403e+01] [ 2.98243466e-01 9.53902991e-01 -3.34651721e-02 7.09481844e+00] [ 1.23913429e-01 -3.93056096e-03 9.92285248e-01 2.86129266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.974340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.82, Y:7.10, Z:2.87 [[ 9.46736147e-01 -2.97095955e-01 -1.24196065e-01 4.58244329e+01] [ 2.96302442e-01 9.54760487e-01 -2.52443296e-02 7.09856656e+00] [ 1.26077484e-01 -1.28998779e-02 9.91936521e-01 2.87182259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.004340128 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:45.85, Y:7.11, Z:2.87 [[ 9.47481184e-01 -2.96882178e-01 -1.18913322e-01 4.58482332e+01] [ 2.93926996e-01 9.54901491e-01 -4.20721269e-02 7.11387051e+00] [ 1.26040973e-01 4.91071311e-03 9.92012882e-01 2.87181347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.034340128000004 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:45.87, Y:7.12, Z:2.88 [[ 9.47816063e-01 -2.95754744e-01 -1.19053947e-01 4.58749210e+01] [ 2.92781667e-01 9.55250388e-01 -4.21377646e-02 7.12113662e+00] [ 1.26188773e-01 5.08203712e-03 9.91993229e-01 2.87505027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.064340128000005 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:45.90, Y:7.12, Z:2.88 [[ 9.48741322e-01 -2.92707803e-01 -1.19214286e-01 4.59024531e+01] [ 2.89697083e-01 9.56185900e-01 -4.22389052e-02 7.12448683e+00] [ 1.26354676e-01 5.53776389e-03 9.91969671e-01 2.87723890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.094340128000006 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:45.93, Y:7.13, Z:2.88 [[ 9.49219220e-01 -2.91338811e-01 -1.18762660e-01 4.59290852e+01] [ 2.88336507e-01 9.56602791e-01 -4.21088985e-02 7.13011844e+00] [ 1.25876649e-01 5.72696514e-03 9.92029370e-01 2.87984079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.124340128 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:45.96, Y:7.14, Z:2.88 [[ 9.49485367e-01 -2.90354276e-01 -1.19045928e-01 4.59554325e+01] [ 2.87327860e-01 9.56901112e-01 -4.22251355e-02 7.13519182e+00] [ 1.26175430e-01 5.88693646e-03 9.91990476e-01 2.88347406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.154340128 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:45.99, Y:7.14, Z:2.89 [[ 9.50095291e-01 -2.88517021e-01 -1.18645972e-01 4.59852802e+01] [ 2.85491703e-01 9.57455024e-01 -4.21232044e-02 7.13594897e+00] [ 1.25751443e-01 6.14861753e-03 9.92042725e-01 2.88623947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:7.14, Z:2.89 [[ 9.50416263e-01 -2.87599653e-01 -1.18302019e-01 4.60137739e+01] [ 2.84579734e-01 9.57730059e-01 -4.20417575e-02 7.14076282e+00] [ 1.25392595e-01 6.29081288e-03 9.92087256e-01 2.88846457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.214340128 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:46.04, Y:7.14, Z:2.89 [[ 9.50591799e-01 -2.87162748e-01 -1.17952482e-01 4.60422962e+01] [ 2.84152448e-01 9.57860644e-01 -4.19567925e-02 7.14451848e+00] [ 1.25030468e-01 6.36729644e-03 9.92132471e-01 2.89234462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.244340128000005 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:46.07, Y:7.14, Z:2.90 [[ 9.51137784e-01 -2.85831238e-01 -1.16779361e-01 4.60722504e+01] [ 2.82865375e-01 9.58257800e-01 -4.15832678e-02 7.14193138e+00] [ 1.23790531e-01 6.51857928e-03 9.92286961e-01 2.89533830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.274340128000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.10, Y:7.15, Z:2.90 [[ 9.51461744e-01 -2.85171440e-01 -1.15748866e-01 4.61008854e+01] [ 2.82251323e-01 9.58454083e-01 -4.12305978e-02 7.14596033e+00] [ 1.22697762e-01 6.55906598e-03 9.92422409e-01 2.89824358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:7.15, Z:2.90 [[ 9.51745978e-01 -2.84815247e-01 -1.14279779e-01 4.61286973e+01] [ 2.81961845e-01 9.58560001e-01 -4.07460669e-02 7.14955874e+00] [ 1.21149126e-01 6.55736794e-03 9.92612659e-01 2.90143300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.334340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.16, Y:7.15, Z:2.91 [[ 9.52373403e-01 -2.84146184e-01 -1.10660955e-01 4.61584515e+01] [ 2.81462598e-01 9.58759175e-01 -3.94924151e-02 7.14770199e+00] [ 1.17318825e-01 6.46460593e-03 9.93073261e-01 2.90545032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.364340128 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:46.19, Y:7.15, Z:2.91 [[ 9.52738562e-01 -2.83839698e-01 -1.08278616e-01 4.61850939e+01] [ 2.81264162e-01 9.58850385e-01 -3.86834509e-02 7.15155614e+00] [ 1.14802892e-01 6.40032099e-03 9.93367672e-01 2.90959072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:7.15, Z:2.92 [[ 9.53655123e-01 -2.82071473e-01 -1.04773994e-01 4.62155987e+01] [ 2.79768212e-01 9.59378341e-01 -3.63723222e-02 7.14949529e+00] [ 1.10777496e-01 5.37421838e-03 9.93830702e-01 2.91545736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.424340128000004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:46.24, Y:7.15, Z:2.92 [[ 9.53918625e-01 -2.82582140e-01 -1.00928648e-01 4.62423399e+01] [ 2.80251016e-01 9.59218386e-01 -3.68707981e-02 7.15385979e+00] [ 1.07231644e-01 6.88638482e-03 9.94210215e-01 2.91918718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.454340128000005 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:46.27, Y:7.16, Z:2.92 [[ 9.53986256e-01 -2.83166879e-01 -9.86242474e-02 4.62705177e+01] [ 2.81023614e-01 9.59052271e-01 -3.52770552e-02 7.15615308e+00] [ 1.04575102e-01 5.93808340e-03 9.94499265e-01 2.92369128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:7.15, Z:2.93 [[ 9.53664368e-01 -2.85512675e-01 -9.49040831e-02 4.63005259e+01] [ 2.83536354e-01 9.58359151e-01 -3.39834357e-02 7.15182967e+00] [ 1.00654898e-01 5.50003398e-03 9.94906197e-01 2.92736908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.514340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.33, Y:7.16, Z:2.93 [[ 9.52810152e-01 -2.89104627e-01 -9.25814667e-02 4.63288561e+01] [ 2.87240427e-01 9.57284450e-01 -3.31574929e-02 7.15507502e+00] [ 9.82127830e-02 4.99965588e-03 9.95152879e-01 2.93111776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.544340128 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:46.36, Y:7.16, Z:2.94 [[ 9.50183969e-01 -2.96008386e-01 -9.76189525e-02 4.63585692e+01] [ 2.95059149e-01 9.55168557e-01 -2.43541815e-02 7.15544894e+00] [ 1.00451596e-01 -5.66241215e-03 9.94925833e-01 2.93961290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.38, Y:7.17, Z:2.93 [[ 9.48088145e-01 -3.05694888e-01 -8.76327828e-02 4.63839796e+01] [ 3.03089226e-01 9.52037628e-01 -4.19675595e-02 7.17010562e+00] [ 9.62589751e-02 1.32283933e-02 9.95268416e-01 2.93233754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:7.16, Z:2.94 [[ 9.41909139e-01 -3.24417512e-01 -8.69508582e-02 4.64167065e+01] [ 3.22915597e-01 9.45913073e-01 -3.12085883e-02 7.15997343e+00] [ 9.23725660e-02 1.31786623e-03 9.95723643e-01 2.93955911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.634340128000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.45, Y:7.16, Z:2.94 [[ 9.38469271e-01 -3.34880700e-01 -8.44413630e-02 4.64452230e+01] [ 3.33504163e-01 9.42260486e-01 -3.03339747e-02 7.16165294e+00] [ 8.97240224e-02 3.05957000e-04 9.95966619e-01 2.94467592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:7.16, Z:2.95 [[ 9.32220954e-01 -3.52683890e-01 -8.11058955e-02 4.64749289e+01] [ 3.51478049e-01 9.35741602e-01 -2.91690939e-02 7.15691326e+00] [ 8.61816301e-02 -1.31490136e-03 9.96278574e-01 2.94978705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:7.17, Z:2.95 [[ 9.32130133e-01 -3.52924093e-01 -8.11048728e-02 4.65014813e+01] [ 3.51718912e-01 9.35651006e-01 -2.91719410e-02 7.16668516e+00] [ 8.61813367e-02 -1.33407243e-03 9.96278574e-01 2.95379593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:7.16, Z:2.97 [[ 9.29562177e-01 -3.58430656e-01 -8.62648507e-02 4.65306297e+01] [ 3.58177253e-01 9.33461624e-01 -1.89327987e-02 7.16345855e+00] [ 8.73110231e-02 -1.32988937e-02 9.96092327e-01 2.96566068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.754340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.56, Y:7.18, Z:2.96 [[ 9.26691674e-01 -3.67110717e-01 -8.04503767e-02 4.65567773e+01] [ 3.65855409e-01 9.30176347e-01 -3.03608821e-02 7.17506154e+00] [ 8.59788427e-02 -1.29802878e-03 9.96296117e-01 2.96447501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:7.18, Z:2.97 [[ 9.24385927e-01 -3.73127866e-01 -7.92858916e-02 4.65847814e+01] [ 3.71973196e-01 9.27777088e-01 -2.94213438e-02 7.18037318e+00] [ 8.45375569e-02 -2.29555031e-03 9.96417649e-01 2.96764954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.814340128000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.61, Y:7.19, Z:2.97 [[ 9.22270599e-01 -3.78341561e-01 -7.92124055e-02 4.66096126e+01] [ 3.77589988e-01 9.25639606e-01 -2.48419347e-02 7.18826431e+00] [ 8.27208761e-02 -6.99882520e-03 9.96548179e-01 2.97343524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.844340128000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.63, Y:7.20, Z:2.97 [[ 9.21512149e-01 -3.80462019e-01 -7.78717639e-02 4.66348836e+01] [ 3.79388804e-01 9.24791430e-01 -2.87218673e-02 7.20076418e+00] [ 8.29427195e-02 -3.07612568e-03 9.96549569e-01 2.97396744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:7.22, Z:2.97 [[ 9.20164109e-01 -3.84704978e-01 -7.28017401e-02 4.66601165e+01] [ 3.82708172e-01 9.22994492e-01 -4.01948009e-02 7.21931564e+00] [ 8.26587451e-02 9.12399231e-03 9.96536143e-01 2.96888628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:7.22, Z:2.98 [[ 9.20010033e-01 -3.83942325e-01 -7.85482667e-02 4.66872294e+01] [ 3.82911274e-01 9.23348615e-01 -2.83952862e-02 7.22233947e+00] [ 8.34295855e-02 -3.95306863e-03 9.96505834e-01 2.97688465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:7.22, Z:2.99 [[ 9.20185854e-01 -3.81730683e-01 -8.68313235e-02 4.67107774e+01] [ 3.81868932e-01 9.24083630e-01 -1.56704592e-02 7.22444062e+00] [ 8.62212997e-02 -1.87384499e-02 9.96099773e-01 2.98917947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.964340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.73, Y:7.25, Z:2.98 [[ 9.19440541e-01 -3.84934801e-01 -8.03385956e-02 4.67324002e+01] [ 3.83524804e-01 9.22943609e-01 -3.29214213e-02 7.24554821e+00] [ 8.68205940e-02 -5.42554738e-04 9.96223815e-01 2.98436195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:7.26, Z:2.98 [[ 9.19743581e-01 -3.85015231e-01 -7.63872780e-02 4.67618150e+01] [ 3.82791226e-01 9.22857909e-01 -4.24753761e-02 7.26300183e+00] [ 8.68482704e-02 9.82607477e-03 9.96173090e-01 2.98069886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.024340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:7.27, Z:2.99 [[ 9.20579704e-01 -3.81956153e-01 -8.15015652e-02 4.67893585e+01] [ 3.80833566e-01 9.24172360e-01 -2.95168414e-02 7.26779006e+00] [ 8.65956331e-02 -3.86592651e-03 9.96236042e-01 2.98768276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:7.28, Z:2.99 [[ 9.23066257e-01 -3.74560859e-01 -8.74805648e-02 4.68097603e+01] [ 3.74261456e-01 9.27098303e-01 -2.04230019e-02 7.27701457e+00] [ 8.87527403e-02 -1.38888196e-02 9.95956852e-01 2.99198201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:7.30, Z:2.99 [[ 9.23675278e-01 -3.73923689e-01 -8.36962117e-02 4.68324799e+01] [ 3.72470147e-01 9.27459176e-01 -3.29464175e-02 7.29668988e+00] [ 8.99442655e-02 -7.42548955e-04 9.95946524e-01 2.98915345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:7.32, Z:2.99 [[ 9.23202910e-01 -3.75348785e-01 -8.25207573e-02 4.68613870e+01] [ 3.73082433e-01 9.26849684e-01 -4.19423592e-02 7.31565451e+00] [ 9.22273514e-02 7.93426314e-03 9.95706364e-01 2.98759775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:7.32, Z:2.99 [[ 9.25813432e-01 -3.65890269e-01 -9.48356478e-02 4.68840324e+01] [ 3.65139120e-01 9.30595831e-01 -2.57841559e-02 7.31930482e+00] [ 9.76878302e-02 -1.07568872e-02 9.95158971e-01 2.99473888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:7.34, Z:2.99 [[ 9.24642678e-01 -3.69568186e-01 -9.19525688e-02 4.69111382e+01] [ 3.67030175e-01 9.29179398e-01 -4.37549601e-02 7.34479124e+00] [ 1.01610874e-01 6.70833604e-03 9.94801603e-01 2.99017088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:7.35, Z:3.00 [[ 9.24937952e-01 -3.67198846e-01 -9.82588070e-02 4.69378346e+01] [ 3.65466869e-01 9.30138082e-01 -3.57367753e-02 7.35343358e+00] [ 1.04516761e-01 -2.85603872e-03 9.94519024e-01 2.99526969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:7.37, Z:2.99 [[ 9.25165379e-01 -3.65116598e-01 -1.03725072e-01 4.69593432e+01] [ 3.63168290e-01 9.30957799e-01 -3.77672971e-02 7.37337019e+00] [ 1.10353132e-01 -2.72866135e-03 9.93888696e-01 2.99411508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.264340128 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:46.98, Y:7.39, Z:3.00 [[ 9.25091218e-01 -3.64452307e-01 -1.06680623e-01 4.69840094e+01] [ 3.62385358e-01 9.31218097e-01 -3.88549596e-02 7.38853479e+00] [ 1.13503706e-01 -2.71511372e-03 9.93533863e-01 2.99629979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:7.39, Z:3.01 [[ 9.25342766e-01 -3.58933001e-01 -1.22097770e-01 4.70156658e+01] [ 3.59302009e-01 9.33012333e-01 -1.97497617e-02 7.38886615e+00] [ 1.21007567e-01 -2.55946750e-02 9.92321561e-01 3.01284557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:7.41, Z:3.01 [[ 9.26138478e-01 -3.58206350e-01 -1.18134376e-01 4.70323622e+01] [ 3.56189440e-01 9.33620347e-01 -3.84984562e-02 7.41200206e+00] [ 1.24083049e-01 -6.42331567e-03 9.92251046e-01 3.00859687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:7.46, Z:2.99 [[ 9.23834747e-01 -3.66876098e-01 -1.09230445e-01 4.70507190e+01] [ 3.61118260e-01 9.29946896e-01 -6.92269661e-02 7.45520288e+00] [ 1.26976232e-01 2.45091686e-02 9.91602913e-01 2.99240486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.384340128000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.09, Y:7.44, Z:3.01 [[ 9.23497156e-01 -3.60237055e-01 -1.31841823e-01 4.70872983e+01] [ 3.59545531e-01 9.32649908e-01 -2.98522938e-02 7.44332538e+00] [ 1.33716166e-01 -1.98346297e-02 9.90821162e-01 3.01345711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.414340128 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:47.10, Y:7.48, Z:3.00 [[ 9.22313071e-01 -3.65072504e-01 -1.26730685e-01 4.70983818e+01] [ 3.60673638e-01 9.30954420e-01 -5.69069007e-02 7.48130677e+00] [ 1.38755636e-01 6.77756124e-03 9.90303458e-01 3.00129567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:7.50, Z:3.00 [[ 9.20257409e-01 -3.68519295e-01 -1.31604827e-01 4.71267047e+01] [ 3.64380424e-01 9.29615897e-01 -5.51469885e-02 7.49790655e+00] [ 1.42664668e-01 2.79520214e-03 9.89767134e-01 3.00419074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:7.51, Z:3.01 [[ 9.19272960e-01 -3.68166148e-01 -1.39251254e-01 4.71571849e+01] [ 3.65086478e-01 9.29735731e-01 -4.79930667e-02 7.50794338e+00] [ 1.47136289e-01 -6.72002145e-03 9.89093400e-01 3.00913515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.504340128 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:47.17, Y:7.53, Z:3.01 [[ 9.15308053e-01 -3.77017185e-01 -1.41665842e-01 4.71735085e+01] [ 3.73368346e-01 9.26193836e-01 -5.25457598e-02 7.53270267e+00] [ 1.51020684e-01 -4.79798405e-03 9.88518959e-01 3.00993698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.534340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.20, Y:7.55, Z:3.01 [[ 9.13178065e-01 -3.81597419e-01 -1.43140602e-01 4.71968275e+01] [ 3.78068009e-01 9.24306015e-01 -5.21820995e-02 7.54668760e+00] [ 1.52218274e-01 -6.46533390e-03 9.88325754e-01 3.01330021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:7.56, Z:3.02 [[ 9.10927059e-01 -3.86726936e-01 -1.43715586e-01 4.72209550e+01] [ 3.83228126e-01 9.22165164e-01 -5.24176874e-02 7.56085130e+00] [ 1.52800838e-01 -7.32716462e-03 9.88229840e-01 3.01739016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.594340128000006 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:47.25, Y:7.57, Z:3.02 [[ 9.08611188e-01 -3.91867627e-01 -1.44448857e-01 4.72452034e+01] [ 3.88388919e-01 9.19985207e-01 -5.27377158e-02 7.57475987e+00] [ 1.53557016e-01 -8.18425705e-03 9.88105896e-01 3.02196028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:7.59, Z:3.03 [[ 9.06382427e-01 -3.96299992e-01 -1.46346209e-01 4.72639335e+01] [ 3.92965605e-01 9.18065348e-01 -5.22881395e-02 7.59080334e+00] [ 1.55077173e-01 -1.01159759e-02 9.87850564e-01 3.02703996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.654340128 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:47.29, Y:7.61, Z:3.03 [[ 9.04118398e-01 -4.02324949e-01 -1.43890787e-01 4.72903121e+01] [ 3.98446651e-01 9.15473170e-01 -5.61172027e-02 7.61080784e+00] [ 1.54305506e-01 -6.59620695e-03 9.88001164e-01 3.03112351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.684340128 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:47.31, Y:7.63, Z:3.04 [[ 9.03638971e-01 -4.04063773e-01 -1.42017878e-01 4.73124533e+01] [ 4.00830792e-01 9.14676605e-01 -5.19748390e-02 7.62982839e+00] [ 1.50901580e-01 -9.95864832e-03 9.88498628e-01 3.03743068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:7.66, Z:3.03 [[ 9.03736174e-01 -4.06925883e-01 -1.32937030e-01 4.73356379e+01] [ 4.01183424e-01 9.13419406e-01 -6.86793232e-02 7.65638241e+00] [ 1.49374657e-01 8.73585589e-03 9.88742078e-01 3.03433758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:7.66, Z:3.04 [[ 9.04085848e-01 -4.04158812e-01 -1.38868404e-01 4.73627193e+01] [ 4.01442916e-01 9.14609151e-01 -4.83082465e-02 7.65808571e+00] [ 1.46534516e-01 -1.20729348e-02 9.89131882e-01 3.04388940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.774340128000006 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:47.38, Y:7.68, Z:3.05 [[ 9.05886189e-01 -4.02306517e-01 -1.32361923e-01 4.73830712e+01] [ 3.99070392e-01 9.15483122e-01 -5.13173975e-02 7.67639236e+00] [ 1.41820430e-01 -6.33400297e-03 9.89872136e-01 3.04680693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.804340128 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:47.41, Y:7.68, Z:3.06 [[ 9.05557079e-01 -3.99058130e-01 -1.43940908e-01 4.74086652e+01] [ 3.98991650e-01 9.16443823e-01 -3.06003697e-02 7.67538235e+00] [ 1.44125083e-01 -2.97208390e-02 9.89113053e-01 3.06467325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.834340128 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:47.43, Y:7.70, Z:3.07 [[ 9.05610909e-01 -4.01988874e-01 -1.35180719e-01 4.74298087e+01] [ 3.99169526e-01 9.15590153e-01 -4.85629649e-02 7.70222848e+00] [ 1.43291907e-01 -9.98087288e-03 9.89630139e-01 3.06747637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864340128 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:47.45, Y:7.72, Z:3.06 [[ 9.06531652e-01 -4.03132858e-01 -1.25236825e-01 4.74531898e+01] [ 3.98352392e-01 9.15118117e-01 -6.22431061e-02 7.72357900e+00] [ 1.39698729e-01 6.53695680e-03 9.90172477e-01 3.06134663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.894340128 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:47.48, Y:7.73, Z:3.07 [[ 9.05275676e-01 -4.03336735e-01 -1.33399507e-01 4.74825861e+01] [ 3.99838018e-01 9.15037271e-01 -5.32574162e-02 7.73077989e+00] [ 1.43546193e-01 -5.12555090e-03 9.89630345e-01 3.07280216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924340128000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.51, Y:7.73, Z:3.08 [[ 9.06239730e-01 -3.98279902e-01 -1.41783889e-01 4.75100508e+01] [ 3.97529052e-01 9.16928511e-01 -3.48246651e-02 7.73033881e+00] [ 1.43875654e-01 -2.48037198e-02 9.89284879e-01 3.08445995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.954340128000005 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:47.53, Y:7.76, Z:3.08 [[ 9.07980324e-01 -3.98983571e-01 -1.27999384e-01 4.75263111e+01] [ 3.92886584e-01 9.16849910e-01 -7.08969324e-02 7.76082284e+00] [ 1.45642935e-01 1.40837789e-02 9.89236970e-01 3.07624230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:7.75, Z:3.09 [[ 9.11018994e-01 -3.86843995e-01 -1.42814975e-01 4.75587565e+01] [ 3.85077585e-01 9.21975433e-01 -4.09457428e-02 7.75428765e+00] [ 1.47511513e-01 -1.76924962e-02 9.88902083e-01 3.09005219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.014340128 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:47.58, Y:7.77, Z:3.10 [[ 9.11730844e-01 -3.84588367e-01 -1.44356002e-01 4.75840954e+01] [ 3.81936453e-01 9.23003783e-01 -4.67820700e-02 7.76949080e+00] [ 1.51232976e-01 -1.24821634e-02 9.88419335e-01 3.09838374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:7.78, Z:3.10 [[ 9.13775631e-01 -3.80733037e-01 -1.41620802e-01 4.76087644e+01] [ 3.77292302e-01 9.24662850e-01 -5.14697263e-02 7.78365906e+00] [ 1.50547719e-01 -6.40065665e-03 9.88582023e-01 3.10170283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.074340128 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:47.63, Y:7.81, Z:3.10 [[ 9.17164692e-01 -3.74449630e-01 -1.36368628e-01 4.76330841e+01] [ 3.68178543e-01 9.27147287e-01 -6.95878439e-02 7.80763441e+00] [ 1.52490946e-01 1.36155107e-02 9.88211075e-01 3.10054982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:7.80, Z:3.11 [[ 9.19789051e-01 -3.62964397e-01 -1.49147404e-01 4.76629582e+01] [ 3.61959005e-01 9.31543964e-01 -3.48069326e-02 7.79585574e+00] [ 1.51571041e-01 -2.19702104e-02 9.88202170e-01 3.11302994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:7.82, Z:3.12 [[ 9.23119700e-01 -3.56841793e-01 -1.43226935e-01 4.76853692e+01] [ 3.52903726e-01 9.34163256e-01 -5.28958444e-02 7.81506334e+00] [ 1.52672788e-01 -1.71612307e-03 9.88275303e-01 3.11521096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:7.83, Z:3.12 [[ 9.23987128e-01 -3.56778447e-01 -1.37684156e-01 4.77118495e+01] [ 3.50832433e-01 9.34101564e-01 -6.61125698e-02 7.83368152e+00] [ 1.52198525e-01 1.27830962e-02 9.88267272e-01 3.11514566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:7.82, Z:3.12 [[ 9.26440720e-01 -3.48604755e-01 -1.42064484e-01 4.77385086e+01] [ 3.47253193e-01 9.37117546e-01 -3.50132132e-02 7.82288469e+00] [ 1.45336893e-01 -1.68946793e-02 9.89237968e-01 3.11820732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:7.84, Z:3.13 [[ 9.25327874e-01 -3.51856400e-01 -1.41298974e-01 4.77656552e+01] [ 3.47419982e-01 9.36050650e-01 -5.57542533e-02 7.84263532e+00] [ 1.51880487e-01 2.50087784e-03 9.88395702e-01 3.12952098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.254340128 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:47.79, Y:7.86, Z:3.13 [[ 9.24405057e-01 -3.56956218e-01 -1.34378382e-01 4.77905105e+01] [ 3.50173741e-01 9.33918888e-01 -7.19295532e-02 7.86166434e+00] [ 1.51174210e-01 1.94362620e-02 9.88316037e-01 3.12620540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:7.86, Z:3.13 [[ 9.23645165e-01 -3.55771709e-01 -1.42499476e-01 4.78208624e+01] [ 3.52366349e-01 9.34561315e-01 -4.93265117e-02 7.85605321e+00] [ 1.50723475e-01 -4.65182610e-03 9.88565018e-01 3.13415294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.314340128000005 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:47.85, Y:7.86, Z:3.14 [[ 9.22435128e-01 -3.57635342e-01 -1.45637894e-01 4.78491494e+01] [ 3.53619935e-01 9.33858812e-01 -5.34851537e-02 7.86105194e+00] [ 1.55133412e-01 -2.16387792e-03 9.87891159e-01 3.14475551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.344340128000006 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:47.88, Y:7.85, Z:3.15 [[ 9.22946307e-01 -3.54446276e-01 -1.50126450e-01 4.78790554e+01] [ 3.54060864e-01 9.34734603e-01 -3.02014221e-02 7.85342309e+00] [ 1.51033169e-01 -2.52796096e-02 9.88205405e-01 3.15114583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:7.88, Z:3.14 [[ 9.23292910e-01 -3.59401829e-01 -1.35501023e-01 4.78997211e+01] [ 3.54278430e-01 9.33145490e-01 -6.10433298e-02 7.87980139e+00] [ 1.48381253e-01 8.35578382e-03 9.88894931e-01 3.14449312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:7.89, Z:3.15 [[ 9.20856094e-01 -3.63903683e-01 -1.39993442e-01 4.79292979e+01] [ 3.57335362e-01 9.31318895e-01 -7.04027973e-02 7.88696764e+00] [ 1.55998375e-01 1.48062377e-02 9.87646335e-01 3.15469111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.434340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.96, Y:7.88, Z:3.16 [[ 9.20344054e-01 -3.63239188e-01 -1.44996946e-01 4.79602581e+01] [ 3.58844552e-01 9.31695904e-01 -5.63323208e-02 7.88377619e+00] [ 1.55555167e-01 -1.86247676e-04 9.87827189e-01 3.16289613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:7.88, Z:3.17 [[ 9.19732381e-01 -3.66183369e-01 -1.41428740e-01 4.79890251e+01] [ 3.61904498e-01 9.30542700e-01 -5.58159207e-02 7.88335665e+00] [ 1.52044343e-01 1.52012463e-04 9.88373661e-01 3.16543224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.494340128000005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:48.02, Y:7.89, Z:3.17 [[ 9.19022962e-01 -3.67472613e-01 -1.42690834e-01 4.80166080e+01] [ 3.62853850e-01 9.30032930e-01 -5.81019144e-02 7.88904991e+00] [ 1.54058037e-01 1.62107503e-03 9.88060471e-01 3.17119025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.524340128000006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:48.05, Y:7.89, Z:3.18 [[ 9.18379571e-01 -3.66078449e-01 -1.50218284e-01 4.80473228e+01] [ 3.63405087e-01 9.30500677e-01 -4.58828097e-02 7.88601000e+00] [ 1.56574923e-01 -1.24522535e-02 9.87587583e-01 3.18223015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.554340128 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:48.07, Y:7.89, Z:3.18 [[ 9.18006206e-01 -3.69512360e-01 -1.43962571e-01 4.80721396e+01] [ 3.64470016e-01 9.29219343e-01 -6.09345579e-02 7.89423209e+00] [ 1.56288878e-01 3.46826177e-03 9.87705299e-01 3.18025921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.584340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.10, Y:7.89, Z:3.18 [[ 9.17951560e-01 -3.69324622e-01 -1.44790389e-01 4.81008410e+01] [ 3.65446321e-01 9.29292730e-01 -5.35164331e-02 7.89460825e+00] [ 1.54317593e-01 -3.78762181e-03 9.88014036e-01 3.18419271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.614340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:48.13, Y:7.90, Z:3.20 [[ 9.16506092e-01 -3.70597257e-01 -1.50579734e-01 4.81324345e+01] [ 3.67485313e-01 9.28735537e-01 -4.90392297e-02 7.89674988e+00] [ 1.58022555e-01 -1.03910881e-02 9.87380827e-01 3.19550236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.644340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:48.16, Y:7.91, Z:3.20 [[ 9.16406836e-01 -3.71687887e-01 -1.48481063e-01 4.81568350e+01] [ 3.67566598e-01 9.28349686e-01 -5.53322467e-02 7.91021468e+00] [ 1.58408674e-01 -3.86983007e-03 9.87366050e-01 3.19821876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.674340128000004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:48.19, Y:7.90, Z:3.21 [[ 9.16678740e-01 -3.69112342e-01 -1.53154060e-01 4.81860018e+01] [ 3.67346593e-01 9.29192031e-01 -4.07265364e-02 7.90425706e+00] [ 1.57342199e-01 -1.89274720e-02 9.87362741e-01 3.20834401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.704340128000005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:48.21, Y:7.93, Z:3.20 [[ 9.15812562e-01 -3.78309262e-01 -1.34794112e-01 4.82081322e+01] [ 3.70699438e-01 9.25416232e-01 -7.86557329e-02 7.92902670e+00] [ 1.54496852e-01 2.20658066e-02 9.87746842e-01 3.19578625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.734340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:48.24, Y:7.92, Z:3.21 [[ 9.14791120e-01 -3.76387806e-01 -1.46592721e-01 4.82412524e+01] [ 3.72875337e-01 9.26433734e-01 -5.18123533e-02 7.91788668e+00] [ 1.55309980e-01 -7.26332958e-03 9.87839083e-01 3.20980213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.764340128 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:48.27, Y:7.93, Z:3.21 [[ 9.14648140e-01 -3.78121901e-01 -1.42977647e-01 4.82676643e+01] [ 3.73838731e-01 9.25754560e-01 -5.67723313e-02 7.92601585e+00] [ 1.53829070e-01 -1.52387477e-03 9.88096298e-01 3.21076515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:7.92, Z:3.22 [[ 9.12873542e-01 -3.82133266e-01 -1.43652580e-01 4.82987040e+01] [ 3.78327747e-01 9.24093562e-01 -5.40296652e-02 7.92389810e+00] [ 1.53394957e-01 -5.02550529e-03 9.88152180e-01 3.21516757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:7.92, Z:3.22 [[ 9.12045538e-01 -3.82502875e-01 -1.47866453e-01 4.83285111e+01] [ 3.79435309e-01 9.23889950e-01 -4.95601363e-02 7.92480913e+00] [ 1.55569225e-01 -1.09046523e-02 9.87764802e-01 3.22369199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.854340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.36, Y:7.93, Z:3.23 [[ 9.11176211e-01 -3.84304720e-01 -1.48552328e-01 4.83561426e+01] [ 3.80260960e-01 9.23189498e-01 -5.58815943e-02 7.92663668e+00] [ 1.58617510e-01 -5.57067152e-03 9.87324391e-01 3.22539584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.884340128000005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:48.38, Y:7.93, Z:3.23 [[ 9.10619466e-01 -3.84922833e-01 -1.50354917e-01 4.83847536e+01] [ 3.80575655e-01 9.22937647e-01 -5.78642475e-02 7.93270152e+00] [ 1.61041483e-01 -4.52911090e-03 9.86937246e-01 3.22952864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.914340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:7.93, Z:3.23 [[ 9.11648796e-01 -3.82200369e-01 -1.51060750e-01 4.84105525e+01] [ 3.78389570e-01 9.24048278e-01 -5.43701531e-02 7.93485755e+00] [ 1.60367718e-01 -7.59332749e-03 9.87028134e-01 3.23286115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.944340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.44, Y:7.94, Z:3.24 [[ 9.10999106e-01 -3.83444573e-01 -1.51825188e-01 4.84399816e+01] [ 3.78936413e-01 9.23555227e-01 -5.87616988e-02 7.94431107e+00] [ 1.62750801e-01 -4.00023722e-03 9.86659098e-01 3.23826201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.974340128 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.47, Y:7.94, Z:3.25 [[ 9.12552168e-01 -3.78453810e-01 -1.54987916e-01 4.84726467e+01] [ 3.75659179e-01 9.25509168e-01 -4.80932534e-02 7.93774289e+00] [ 1.61643812e-01 -1.43350306e-02 9.86745046e-01 3.24727123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:7.95, Z:3.25 [[ 9.12840018e-01 -3.80645043e-01 -1.47758087e-01 4.84955746e+01] [ 3.75409707e-01 9.24719089e-01 -6.29456786e-02 7.95249339e+00] [ 1.60594684e-01 1.98951438e-03 9.87018434e-01 3.24503835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.034340128000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.53, Y:7.95, Z:3.25 [[ 9.13164105e-01 -3.79025552e-01 -1.49903126e-01 4.85281197e+01] [ 3.74847686e-01 9.25373969e-01 -5.63225564e-02 7.94900608e+00] [ 1.60064139e-01 -4.75910331e-03 9.87095144e-01 3.25493599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064340128000005 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:48.56, Y:7.95, Z:3.27 [[ 9.13952514e-01 -3.75283436e-01 -1.54444633e-01 4.85558333e+01] [ 3.73259388e-01 9.26728904e-01 -4.30228677e-02 7.94652236e+00] [ 1.59274076e-01 -1.83270512e-02 9.87064278e-01 3.26710979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094340128000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.58, Y:7.96, Z:3.27 [[ 9.15539267e-01 -3.74131695e-01 -1.47693350e-01 4.85789891e+01] [ 3.69926512e-01 9.27369596e-01 -5.60357715e-02 7.96368451e+00] [ 1.57931080e-01 -3.33273649e-03 9.87444513e-01 3.26634339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:7.97, Z:3.27 [[ 9.17302974e-01 -3.70573899e-01 -1.45706002e-01 4.86052361e+01] [ 3.66433706e-01 9.28799171e-01 -5.53031574e-02 7.97237632e+00] [ 1.55825521e-01 -2.66183967e-03 9.87781009e-01 3.26991545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:7.98, Z:3.27 [[ 9.20241370e-01 -3.65109895e-01 -1.40892105e-01 4.86352316e+01] [ 3.60008846e-01 9.30948351e-01 -6.10638955e-02 7.98214006e+00] [ 1.53458305e-01 5.47111878e-03 9.88139978e-01 3.27177138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.184340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.66, Y:7.98, Z:3.28 [[ 9.20758980e-01 -3.61476617e-01 -1.46756793e-01 4.86591653e+01] [ 3.58562017e-01 9.32332404e-01 -4.67928314e-02 7.98315938e+00] [ 1.53740628e-01 -9.53649192e-03 9.88065218e-01 3.28395213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.214340128 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.69, Y:7.99, Z:3.29 [[ 9.23286637e-01 -3.55559698e-01 -1.45324076e-01 4.86855924e+01] [ 3.51237451e-01 9.34653573e-01 -5.52716195e-02 7.99114195e+00] [ 1.55480027e-01 -1.17102166e-05 9.87839036e-01 3.28862402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:8.02, Z:3.29 [[ 9.22657716e-01 -3.58397929e-01 -1.42315366e-01 4.87081694e+01] [ 3.52391172e-01 9.33504310e-01 -6.62583210e-02 8.01503022e+00] [ 1.56598852e-01 1.09830725e-02 9.87601221e-01 3.28604194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.274340128000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.74, Y:8.01, Z:3.30 [[ 9.23951172e-01 -3.52186480e-01 -1.49261231e-01 4.87402315e+01] [ 3.48761115e-01 9.35907978e-01 -4.94160136e-02 8.01391081e+00] [ 1.57098429e-01 -6.39852962e-03 9.87562222e-01 3.29717288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:8.04, Z:3.29 [[ 9.25473961e-01 -3.51413975e-01 -1.41443157e-01 4.87632913e+01] [ 3.45623582e-01 9.36158518e-01 -6.44326701e-02 8.03739970e+00] [ 1.55055757e-01 1.07446676e-02 9.87847288e-01 3.29034953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.334340128 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.79, Y:8.04, Z:3.30 [[ 9.25840992e-01 -3.48545596e-01 -1.46063083e-01 4.87880761e+01] [ 3.44070122e-01 9.37290918e-01 -5.56909937e-02 8.04211470e+00] [ 1.56314451e-01 1.30506216e-03 9.87706479e-01 3.29816183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:8.04, Z:3.31 [[ 9.26857575e-01 -3.44387520e-01 -1.49439859e-01 4.88161905e+01] [ 3.41753624e-01 9.38769000e-01 -4.37861256e-02 8.04442661e+00] [ 1.55368903e-01 -1.04881112e-02 9.87800842e-01 3.30720389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:8.07, Z:3.30 [[ 9.27046851e-01 -3.46875915e-01 -1.42341966e-01 4.88394095e+01] [ 3.41636876e-01 9.37881212e-01 -6.05233579e-02 8.06614964e+00] [ 1.54493951e-01 7.47872382e-03 9.87965429e-01 3.30450788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:8.07, Z:3.31 [[ 9.26645872e-01 -3.45848330e-01 -1.47364718e-01 4.88694632e+01] [ 3.42634469e-01 9.38267982e-01 -4.74848966e-02 8.07105837e+00] [ 1.54690169e-01 -6.49054837e-03 9.87941711e-01 3.31481644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.454340128000005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:48.89, Y:8.09, Z:3.32 [[ 9.26761785e-01 -3.47051776e-01 -1.43762505e-01 4.88913615e+01] [ 3.42856587e-01 9.37845797e-01 -5.38016922e-02 8.08623484e+00] [ 1.53499034e-01 5.71430351e-04 9.88148633e-01 3.31583613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.92, Y:8.10, Z:3.32 [[ 9.26129941e-01 -3.47802927e-01 -1.46001563e-01 4.89152475e+01] [ 3.43170433e-01 9.37564747e-01 -5.66250842e-02 8.09889365e+00] [ 1.56580288e-01 2.33876630e-03 9.87662464e-01 3.32188120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:8.11, Z:3.32 [[ 9.26021622e-01 -3.49515545e-01 -1.42558195e-01 4.89426698e+01] [ 3.44102421e-01 9.36894748e-01 -6.18203376e-02 8.11206285e+00] [ 1.55169193e-01 8.19234936e-03 9.87853940e-01 3.32331765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:8.12, Z:3.33 [[ 9.24896972e-01 -3.50815418e-01 -1.46608778e-01 4.89728005e+01] [ 3.46976460e-01 9.36440065e-01 -5.18395653e-02 8.11796087e+00] [ 1.55476452e-01 -2.92353788e-03 9.87835273e-01 3.33244557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:8.12, Z:3.34 [[ 9.25389541e-01 -3.48479214e-01 -1.49051788e-01 4.89970054e+01] [ 3.45091591e-01 9.37295912e-01 -4.88688734e-02 8.12235768e+00] [ 1.56735418e-01 -6.21377450e-03 9.87621080e-01 3.33932885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:8.14, Z:3.34 [[ 9.23781698e-01 -3.56149725e-01 -1.40658266e-01 4.90219335e+01] [ 3.50917457e-01 9.34400981e-01 -6.12514906e-02 8.14456293e+00] [ 1.53245923e-01 7.22356522e-03 9.88161681e-01 3.33698895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.634340128000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.05, Y:8.15, Z:3.35 [[ 9.23943848e-01 -3.54154245e-01 -1.44577097e-01 4.90467212e+01] [ 3.50265548e-01 9.35184345e-01 -5.23859433e-02 8.14822880e+00] [ 1.53758942e-01 -2.23870624e-03 9.88105853e-01 3.34565231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:8.16, Z:3.35 [[ 9.23510024e-01 -3.56077077e-01 -1.42612588e-01 4.90730307e+01] [ 3.51579838e-01 9.34454466e-01 -5.64488053e-02 8.16355650e+00] [ 1.53365095e-01 1.99132692e-03 9.88167588e-01 3.34802703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:8.17, Z:3.35 [[ 9.22744899e-01 -3.57899121e-01 -1.43003741e-01 4.90981046e+01] [ 3.54112918e-01 9.33756451e-01 -5.19897197e-02 8.17386720e+00] [ 1.52137741e-01 -2.66622324e-03 9.88355705e-01 3.35245011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:8.19, Z:3.36 [[ 9.22209120e-01 -3.60053898e-01 -1.41037334e-01 4.91244398e+01] [ 3.55735474e-01 9.32930842e-01 -5.56085916e-02 8.18795103e+00] [ 1.51600169e-01 1.11076732e-03 9.88441275e-01 3.35572596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:8.19, Z:3.37 [[ 9.21608545e-01 -3.58334666e-01 -1.49110555e-01 4.91505493e+01] [ 3.55492391e-01 9.33535243e-01 -4.62288811e-02 8.19080646e+00] [ 1.55765369e-01 -1.04027359e-02 9.87739304e-01 3.36926339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:8.21, Z:3.36 [[ 9.21566333e-01 -3.63057407e-01 -1.37494775e-01 4.91720188e+01] [ 3.57853275e-01 9.31735065e-01 -6.17317036e-02 8.21299614e+00] [ 1.50520856e-01 7.68690410e-03 9.88576949e-01 3.36087542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.814340128000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.20, Y:8.22, Z:3.37 [[ 9.20666620e-01 -3.62373918e-01 -1.45114158e-01 4.92018720e+01] [ 3.59305907e-01 9.31996987e-01 -4.77585685e-02 8.21505046e+00] [ 1.52552418e-01 -8.17065437e-03 9.88261605e-01 3.37424324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844340128000006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:49.23, Y:8.24, Z:3.37 [[ 9.19187435e-01 -3.69385824e-01 -1.36559773e-01 4.92250723e+01] [ 3.63623145e-01 9.29211934e-01 -6.59044017e-02 8.23951214e+00] [ 1.51237122e-01 1.09222040e-02 9.88437170e-01 3.36959786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:8.24, Z:3.38 [[ 9.19546829e-01 -3.67033786e-01 -1.40427311e-01 4.92572037e+01] [ 3.63747427e-01 9.30190076e-01 -4.93379324e-02 8.24025416e+00] [ 1.48732780e-01 -5.71153384e-03 9.88860930e-01 3.37667962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.904340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.28, Y:8.25, Z:3.39 [[ 9.17715397e-01 -3.70330340e-01 -1.43714612e-01 4.92808160e+01] [ 3.67069272e-01 9.28871753e-01 -4.95723428e-02 8.25126792e+00] [ 1.51850586e-01 -7.25991583e-03 9.88376797e-01 3.38870160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.934340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.30, Y:8.27, Z:3.38 [[ 9.17289198e-01 -3.73731974e-01 -1.37495232e-01 4.93020630e+01] [ 3.69165082e-01 9.27532727e-01 -5.83110828e-02 8.26904138e+00] [ 1.49324044e-01 2.72968771e-03 9.88784546e-01 3.38448341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964340128 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:49.33, Y:8.27, Z:3.40 [[ 9.16255413e-01 -3.71926191e-01 -1.48818438e-01 4.93326055e+01] [ 3.69820617e-01 9.28124776e-01 -4.26275851e-02 8.26986577e+00] [ 1.53976395e-01 -1.59783711e-02 9.87945323e-01 3.40104984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.35, Y:8.29, Z:3.39 [[ 9.16299469e-01 -3.76025345e-01 -1.37841297e-01 4.93532660e+01] [ 3.70058639e-01 9.26544750e-01 -6.76123545e-02 8.29446958e+00] [ 1.53140089e-01 1.09438016e-02 9.88143889e-01 3.39125353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.38, Y:8.29, Z:3.40 [[ 9.15935796e-01 -3.74375079e-01 -1.44585332e-01 4.93825503e+01] [ 3.70704772e-01 9.27261391e-01 -5.25764657e-02 8.29481415e+00] [ 1.53751715e-01 -5.44180559e-03 9.88094528e-01 3.40161983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054340128 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.41, Y:8.31, Z:3.41 [[ 9.14848639e-01 -3.77900575e-01 -1.42278327e-01 4.94083134e+01] [ 3.73020081e-01 9.25843195e-01 -6.05838064e-02 8.30854453e+00] [ 1.54622076e-01 2.35233996e-03 9.87970890e-01 3.40500130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.084340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.44, Y:8.31, Z:3.41 [[ 9.14554009e-01 -3.77599362e-01 -1.44947187e-01 4.94364407e+01] [ 3.74041231e-01 9.25945954e-01 -5.21272225e-02 8.31398670e+00] [ 1.53896467e-01 -6.54306401e-03 9.88065314e-01 3.41315983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:8.31, Z:3.43 [[ 9.13796479e-01 -3.75935991e-01 -1.53779467e-01 4.94609349e+01] [ 3.74656907e-01 9.26370486e-01 -3.83396075e-02 8.31444712e+00] [ 1.56869998e-01 -2.25799413e-02 9.87361104e-01 3.42841764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144340128 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:49.48, Y:8.35, Z:3.42 [[ 9.13417774e-01 -3.82828046e-01 -1.38241300e-01 4.94837178e+01] [ 3.76179192e-01 9.23711070e-01 -7.24367018e-02 8.34629873e+00] [ 1.55425820e-01 1.41614703e-02 9.87746054e-01 3.41898377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.174340128000004 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:49.51, Y:8.34, Z:3.43 [[ 9.13457523e-01 -3.79695285e-01 -1.46379112e-01 4.95127923e+01] [ 3.76251457e-01 9.25077784e-01 -5.16326994e-02 8.34363512e+00] [ 1.55016757e-01 -7.91107631e-03 9.87880165e-01 3.42984859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204340128000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.54, Y:8.36, Z:3.43 [[ 9.12921748e-01 -3.82327177e-01 -1.42827909e-01 4.95378544e+01] [ 3.78001058e-01 9.24025614e-01 -5.73747680e-02 8.35836790e+00] [ 1.53912579e-01 -1.61042708e-03 9.88083157e-01 3.43153582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.57, Y:8.36, Z:3.44 [[ 9.13650763e-01 -3.78116122e-01 -1.49232981e-01 4.95654142e+01] [ 3.75904911e-01 9.25619525e-01 -4.38633333e-02 8.35772956e+00] [ 1.54718394e-01 -1.60216425e-02 9.87828692e-01 3.44388418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.264340128 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:49.59, Y:8.38, Z:3.44 [[ 9.13189913e-01 -3.82285504e-01 -1.41216064e-01 4.95882603e+01] [ 3.77161190e-01 9.24036394e-01 -6.24994351e-02 8.37893219e+00] [ 1.54381411e-01 3.81263496e-03 9.88003970e-01 3.43995788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.294340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.61, Y:8.39, Z:3.45 [[ 9.13765024e-01 -3.79264532e-01 -1.45574364e-01 4.96144842e+01] [ 3.75143581e-01 9.25281445e-01 -5.58707628e-02 8.38502016e+00] [ 1.55887057e-01 -3.55853929e-03 9.87768476e-01 3.45046625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324340128 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:49.64, Y:8.40, Z:3.45 [[ 9.15479106e-01 -3.76345779e-01 -1.42344166e-01 4.96397423e+01] [ 3.71929445e-01 9.26479226e-01 -5.74868006e-02 8.39697921e+00] [ 1.53513828e-01 -3.14021987e-04 9.88146450e-01 3.45175916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.354340128000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:49.67, Y:8.41, Z:3.45 [[ 9.14842744e-01 -3.78112549e-01 -1.41752087e-01 4.96660427e+01] [ 3.74033862e-01 9.25756764e-01 -5.54354083e-02 8.40826597e+00] [ 1.52188776e-01 -2.30539940e-03 9.88348755e-01 3.45481663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384340128000005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:49.69, Y:8.42, Z:3.46 [[ 9.14316240e-01 -3.80508187e-01 -1.38705921e-01 4.96890834e+01] [ 3.75408325e-01 9.24764716e-01 -6.22800925e-02 8.42416679e+00] [ 1.51968427e-01 4.87234259e-03 9.88373339e-01 3.45677182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.414340128000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.71, Y:8.43, Z:3.46 [[ 9.14849911e-01 -3.79683746e-01 -1.37440511e-01 4.97138453e+01] [ 3.74879279e-01 9.25109100e-01 -6.03214679e-02 8.43436921e+00] [ 1.50050548e-01 3.66148985e-03 9.88671546e-01 3.45945372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:8.43, Z:3.47 [[ 9.15915086e-01 -3.73471076e-01 -1.47033707e-01 4.97437242e+01] [ 3.70934711e-01 9.27550746e-01 -4.53547544e-02 8.43308136e+00] [ 1.53319913e-01 -1.29988018e-02 9.88091107e-01 3.47497967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.474340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.76, Y:8.46, Z:3.46 [[ 9.14845141e-01 -3.80953009e-01 -1.33914795e-01 4.97629176e+01] [ 3.74491508e-01 9.24468179e-01 -7.15171018e-02 8.46363012e+00] [ 1.51044622e-01 1.52771195e-02 9.88408889e-01 3.46356371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.504340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.80, Y:8.46, Z:3.48 [[ 9.15613498e-01 -3.74367118e-01 -1.46632818e-01 4.97966421e+01] [ 3.72491359e-01 9.27124997e-01 -4.11026505e-02 8.45784810e+00] [ 1.51334432e-01 -1.69853161e-02 9.88336678e-01 3.47695652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.534340128000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.82, Y:8.48, Z:3.48 [[ 9.15465000e-01 -3.76967520e-01 -1.40781114e-01 4.98202204e+01] [ 3.72803050e-01 9.26225545e-01 -5.58938783e-02 8.47717287e+00] [ 1.51465240e-01 -1.31473922e-03 9.88461710e-01 3.47620146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:8.49, Z:3.49 [[ 9.14291922e-01 -3.77935905e-01 -1.45721423e-01 4.98433985e+01] [ 3.73475786e-01 9.25830584e-01 -5.79099840e-02 8.48891690e+00] [ 1.56799612e-01 -1.47679229e-03 9.87629334e-01 3.48761267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.594340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:8.50, Z:3.48 [[ 9.13723019e-01 -3.80809605e-01 -1.41754331e-01 4.98690291e+01] [ 3.76621118e-01 9.24651535e-01 -5.63566616e-02 8.50249431e+00] [ 1.52534517e-01 -1.89329545e-03 9.88296330e-01 3.48339980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.89, Y:8.52, Z:3.48 [[ 9.13028267e-01 -3.84078633e-01 -1.37342592e-01 4.98903418e+01] [ 3.77238651e-01 9.23168647e-01 -7.38285209e-02 8.52309239e+00] [ 1.55146332e-01 1.55965923e-02 9.87768375e-01 3.48486506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.654340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.92, Y:8.51, Z:3.50 [[ 9.13001827e-01 -3.78872319e-01 -1.51272702e-01 4.99206863e+01] [ 3.77855364e-01 9.25143065e-01 -3.65463257e-02 8.51081251e+00] [ 1.53795282e-01 -2.37923397e-02 9.87816246e-01 3.50386128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.94, Y:8.53, Z:3.50 [[ 9.13445191e-01 -3.80823689e-01 -1.43496345e-01 4.99447656e+01] [ 3.77322445e-01 9.24623488e-01 -5.19536187e-02 8.53083382e+00] [ 1.52465260e-01 -6.68760880e-03 9.88286204e-01 3.50212532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.714340128 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:49.97, Y:8.55, Z:3.50 [[ 9.12649003e-01 -3.83862583e-01 -1.40432596e-01 4.99689367e+01] [ 3.79630621e-01 9.23389140e-01 -5.68602495e-02 8.54655161e+00] [ 1.51500457e-01 -1.41906383e-03 9.88456169e-01 3.50489274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:8.55, Z:3.51 [[ 9.12659175e-01 -3.83575037e-01 -1.41150347e-01 4.99948104e+01] [ 3.79892997e-01 9.23496087e-01 -5.32568037e-02 8.55497756e+00] [ 1.50779774e-01 -5.01671791e-03 9.88554648e-01 3.51048341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:8.58, Z:3.50 [[ 9.12538737e-01 -3.87497701e-01 -1.30838014e-01 5.00152351e+01] [ 3.80931979e-01 9.21718365e-01 -7.29800149e-02 8.57853031e+00] [ 1.48875388e-01 1.67567071e-02 9.88713979e-01 3.50397063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:8.58, Z:3.52 [[ 9.11877349e-01 -3.84871029e-01 -1.42667413e-01 5.00457929e+01] [ 3.81138798e-01 9.22954721e-01 -5.37382451e-02 8.57712278e+00] [ 1.52357856e-01 -5.37339775e-03 9.88310786e-01 3.51945554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:8.59, Z:3.52 [[ 9.12312950e-01 -3.85011784e-01 -1.39466871e-01 5.00697265e+01] [ 3.80659248e-01 9.22911561e-01 -5.77303029e-02 8.59031275e+00] [ 1.50942434e-01 -4.21251356e-04 9.88542464e-01 3.52040690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:8.61, Z:3.52 [[ 9.12348133e-01 -3.85521498e-01 -1.37818932e-01 5.00924158e+01] [ 3.80890275e-01 9.22696921e-01 -5.96069639e-02 8.60521833e+00] [ 1.50144871e-01 1.88841114e-03 9.88662203e-01 3.52097025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:8.62, Z:3.52 [[ 9.12081079e-01 -3.87004638e-01 -1.35408696e-01 5.01160871e+01] [ 3.81504440e-01 9.22042206e-01 -6.55174210e-02 8.62125168e+00] [ 1.50208079e-01 8.09818134e-03 9.88621238e-01 3.52092708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924340128000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:50.14, Y:8.63, Z:3.53 [[ 9.12365332e-01 -3.84992342e-01 -1.39177575e-01 5.01409778e+01] [ 3.80998084e-01 9.22916358e-01 -5.53701747e-02 8.62523522e+00] [ 1.49766354e-01 -2.50856172e-03 9.88718234e-01 3.52734694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:8.64, Z:3.53 [[ 9.12786393e-01 -3.84678023e-01 -1.37272794e-01 5.01710153e+01] [ 3.79550513e-01 9.23035966e-01 -6.28173032e-02 8.64167413e+00] [ 1.50872162e-01 5.23682020e-03 9.88539411e-01 3.53022157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:8.65, Z:3.54 [[ 9.12735987e-01 -3.84265490e-01 -1.38755366e-01 5.01949173e+01] [ 3.80922588e-01 9.23200920e-01 -5.09710025e-02 8.64602410e+00] [ 1.47685479e-01 -6.33198482e-03 9.89014108e-01 3.53632097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:8.66, Z:3.54 [[ 9.12254163e-01 -3.86158564e-01 -1.36652500e-01 5.02197897e+01] [ 3.81700380e-01 9.22431602e-01 -5.85214467e-02 8.66249144e+00] [ 1.48651142e-01 1.22612233e-03 9.88888939e-01 3.53979673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:8.68, Z:3.54 [[ 9.11870170e-01 -3.87608492e-01 -1.35101632e-01 5.02454118e+01] [ 3.82773253e-01 9.21815135e-01 -6.11677535e-02 8.67741137e+00] [ 1.48247869e-01 4.06375890e-03 9.88941887e-01 3.54351804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:8.69, Z:3.55 [[ 9.10595255e-01 -3.89610204e-01 -1.37913634e-01 5.02720038e+01] [ 3.85755547e-01 9.20973843e-01 -5.47707753e-02 8.68751811e+00] [ 1.48354103e-01 -3.32694119e-03 9.88928709e-01 3.54962528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.104340128000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.30, Y:8.70, Z:3.56 [[ 9.11109142e-01 -3.88061945e-01 -1.38881458e-01 5.02964913e+01] [ 3.83944798e-01 9.21631280e-01 -5.64107776e-02 8.69787282e+00] [ 1.49888372e-01 -1.92643810e-03 9.88701049e-01 3.55505373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:8.71, Z:3.56 [[ 9.11328706e-01 -3.87125834e-01 -1.40048483e-01 5.03228750e+01] [ 3.83440200e-01 9.22013729e-01 -5.35191295e-02 8.70700103e+00] [ 1.49845262e-01 -4.92669923e-03 9.88697186e-01 3.56018106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:8.72, Z:3.57 [[ 9.10767945e-01 -3.88550356e-01 -1.39751102e-01 5.03518475e+01] [ 3.84266622e-01 9.21426594e-01 -5.75516745e-02 8.72188426e+00] [ 1.51132106e-01 -1.28546357e-03 9.88512739e-01 3.56538222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:8.73, Z:3.57 [[ 9.10722008e-01 -3.88130700e-01 -1.41209005e-01 5.03760319e+01] [ 3.84323299e-01 9.21592379e-01 -5.44342666e-02 8.73138526e+00] [ 1.51264753e-01 -4.69542616e-03 9.88482133e-01 3.57087936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:8.75, Z:3.57 [[ 9.10246291e-01 -3.90263183e-01 -1.38370293e-01 5.04003311e+01] [ 3.85422799e-01 9.20699976e-01 -6.13255206e-02 8.74825845e+00] [ 1.51330618e-01 2.49026215e-03 9.88480067e-01 3.57206623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:8.76, Z:3.58 [[ 9.10021572e-01 -3.90184028e-01 -1.40061282e-01 5.04245586e+01] [ 3.86740387e-01 9.20712492e-01 -5.21572643e-02 8.75771062e+00] [ 1.49307104e-01 -6.70311895e-03 9.88768151e-01 3.57779113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:8.77, Z:3.58 [[ 9.10466050e-01 -3.90403255e-01 -1.36516926e-01 5.04489097e+01] [ 3.85373186e-01 9.20633415e-01 -6.26228561e-02 8.77425665e+00] [ 1.50130210e-01 4.40602180e-03 9.88656415e-01 3.57878531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:8.78, Z:3.59 [[ 9.09915551e-01 -3.88542655e-01 -1.45218094e-01 5.04750613e+01] [ 3.85566913e-01 9.21363208e-01 -4.92746932e-02 8.77914087e+00] [ 1.52943929e-01 -1.11554826e-02 9.88171903e-01 3.59055717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:8.79, Z:3.59 [[ 9.09576529e-01 -3.89405456e-01 -1.45030785e-01 5.04984740e+01] [ 3.85389889e-01 9.21053095e-01 -5.59984786e-02 8.79368860e+00] [ 1.55387166e-01 -4.95849625e-03 9.87841203e-01 3.59449423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:8.82, Z:3.59 [[ 9.10520035e-01 -3.91334591e-01 -1.33456002e-01 5.05219620e+01] [ 3.85054498e-01 9.20151757e-01 -7.10899235e-02 8.81590650e+00] [ 1.50619721e-01 1.33409658e-02 9.88501754e-01 3.58845675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.404340128 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:50.55, Y:8.81, Z:3.61 [[ 9.08551294e-01 -3.89680964e-01 -1.50609734e-01 5.05529434e+01] [ 3.87840702e-01 9.20739735e-01 -4.26371916e-02 8.81035204e+00] [ 1.55287269e-01 -1.96745095e-02 9.87673417e-01 3.60868286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.434340128 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:50.57, Y:8.83, Z:3.61 [[ 9.08704323e-01 -3.91774959e-01 -1.44113967e-01 5.05742462e+01] [ 3.87947092e-01 9.20041714e-01 -5.49572393e-02 8.82875294e+00] [ 1.54121731e-01 -5.96871346e-03 9.88033839e-01 3.60890108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:8.85, Z:3.61 [[ 9.07680289e-01 -3.96146474e-01 -1.38507992e-01 5.06009675e+01] [ 3.91672583e-01 9.18187258e-01 -5.93695784e-02 8.84669714e+00] [ 1.50695322e-01 -3.61186812e-04 9.88580189e-01 3.60638869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:8.86, Z:3.62 [[ 9.07858077e-01 -3.95172677e-01 -1.40115189e-01 5.06240101e+01] [ 3.90824499e-01 9.18605347e-01 -5.84844213e-02 8.85584737e+00] [ 1.51822007e-01 -1.66489428e-03 9.88406448e-01 3.61528676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:8.87, Z:3.62 [[ 9.06732612e-01 -3.96743514e-01 -1.42935489e-01 5.06501448e+01] [ 3.92832507e-01 9.17912942e-01 -5.58431039e-02 8.86624198e+00] [ 1.53357725e-01 -5.51494309e-03 9.88155349e-01 3.62132810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.554340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:50.67, Y:8.88, Z:3.62 [[ 9.05438504e-01 -3.99629702e-01 -1.43098626e-01 5.06742179e+01] [ 3.95493947e-01 9.16665557e-01 -5.75221121e-02 8.88053244e+00] [ 1.54161126e-01 -4.51190540e-03 9.88035419e-01 3.62466779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:8.89, Z:3.62 [[ 9.05846076e-01 -4.00378084e-01 -1.38348390e-01 5.06992675e+01] [ 3.95879874e-01 9.16349869e-01 -5.98501697e-02 8.89369904e+00] [ 1.50738225e-01 -5.54301881e-04 9.88573558e-01 3.62425595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:8.90, Z:3.64 [[ 9.04052031e-01 -4.02476901e-01 -1.43882830e-01 5.07239241e+01] [ 3.98938882e-01 9.15389440e-01 -5.39438798e-02 8.90261682e+00] [ 1.53419989e-01 -8.63238128e-03 9.88123367e-01 3.63502384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.644340128 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:50.75, Y:8.93, Z:3.63 [[ 9.03607996e-01 -4.06816854e-01 -1.34136631e-01 5.07470863e+01] [ 4.01064862e-01 9.13472492e-01 -6.86657296e-02 8.92544242e+00] [ 1.50464499e-01 8.24941282e-03 9.88580994e-01 3.63136842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:8.92, Z:3.65 [[ 9.03595881e-01 -4.02298578e-01 -1.47208483e-01 5.07744238e+01] [ 4.00290758e-01 9.15314396e-01 -4.43493489e-02 8.92175402e+00] [ 1.52583724e-01 -1.88523063e-02 9.88110721e-01 3.64722022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:8.95, Z:3.64 [[ 9.04332387e-01 -4.05315475e-01 -1.33799477e-01 5.07933001e+01] [ 3.99562853e-01 9.14136809e-01 -6.85814878e-02 8.95128611e+00] [ 1.50108165e-01 8.55916000e-03 9.88632530e-01 3.63908860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.82, Y:8.95, Z:3.65 [[ 9.04497967e-01 -4.00565002e-01 -1.46393673e-01 5.08219216e+01] [ 3.98513558e-01 9.16087733e-01 -4.43870373e-02 8.94822524e+00] [ 1.51889342e-01 -1.81918784e-02 9.88230076e-01 3.65417892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:8.97, Z:3.65 [[ 9.05421475e-01 -4.01399543e-01 -1.38167864e-01 5.08422439e+01] [ 3.97097018e-01 9.15901342e-01 -5.86403492e-02 8.96855565e+00] [ 1.50086342e-01 -1.77181550e-03 9.88671306e-01 3.65109300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:8.98, Z:3.66 [[ 9.04042980e-01 -4.02825423e-01 -1.42961427e-01 5.08703221e+01] [ 3.98580130e-01 9.15267564e-01 -5.84736388e-02 8.98308248e+00] [ 1.54402626e-01 -4.11890172e-03 9.87999425e-01 3.65944507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:9.00, Z:3.66 [[ 9.05156192e-01 -4.00735998e-01 -1.41784792e-01 5.08948084e+01] [ 3.96092292e-01 9.16192922e-01 -6.08393440e-02 8.99902050e+00] [ 1.54282738e-01 -1.09075419e-03 9.88026137e-01 3.66259334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.92, Y:9.01, Z:3.67 [[ 9.05511126e-01 -3.98124408e-01 -1.46787455e-01 5.09193145e+01] [ 3.94213770e-01 9.17304285e-01 -5.61101798e-02 9.00729836e+00] [ 1.56987594e-01 -7.05724398e-03 9.87575360e-01 3.66968499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:9.02, Z:3.67 [[ 9.05992038e-01 -3.97344066e-01 -1.45931904e-01 5.09430557e+01] [ 3.92922072e-01 9.17662334e-01 -5.92290959e-02 9.02139365e+00] [ 1.57450541e-01 -3.67877670e-03 9.87520022e-01 3.67358450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.914340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.97, Y:9.04, Z:3.67 [[ 9.07438299e-01 -3.96188913e-01 -1.39964564e-01 5.09670767e+01] [ 3.92101739e-01 9.18163136e-01 -5.68566814e-02 9.03662266e+00] [ 1.51036290e-01 -3.28641860e-03 9.88522756e-01 3.67320561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:9.04, Z:3.68 [[ 9.09207504e-01 -3.90347837e-01 -1.44811190e-01 5.09912485e+01] [ 3.88242311e-01 9.20519995e-01 -4.37132379e-02 9.03789076e+00] [ 1.50364963e-01 -1.64774270e-02 9.88493233e-01 3.68378521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:9.07, Z:3.68 [[ 9.09144507e-01 -3.93897487e-01 -1.35281320e-01 5.10134070e+01] [ 3.88548255e-01 9.19131002e-01 -6.50265734e-02 9.06517097e+00] [ 1.49955059e-01 6.55523122e-03 9.88671082e-01 3.68223711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:9.08, Z:3.68 [[ 9.09220510e-01 -3.95015348e-01 -1.31456982e-01 5.10372933e+01] [ 3.88780883e-01 9.18573098e-01 -7.12242066e-02 9.08099714e+00] [ 1.48887502e-01 1.36505479e-02 9.88759917e-01 3.68084513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:9.09, Z:3.68 [[ 9.10111069e-01 -3.93945104e-01 -1.28472162e-01 5.10671333e+01] [ 3.88065200e-01 9.19042328e-01 -6.90405692e-02 9.09250226e+00] [ 1.45269549e-01 1.29790111e-02 9.89306981e-01 3.68112645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:9.09, Z:3.69 [[ 9.11035586e-01 -3.87403117e-01 -1.41184225e-01 5.10952524e+01] [ 3.84939584e-01 9.21820089e-01 -4.54889066e-02 9.08773765e+00] [ 1.47768999e-01 -1.29053842e-02 9.88937700e-01 3.69270793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.094340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:9.10, Z:3.71 [[ 9.08639423e-01 -3.89107773e-01 -1.51557055e-01 5.11202957e+01] [ 3.87070539e-01 9.21001899e-01 -4.39533923e-02 9.09902621e+00] [ 1.56686942e-01 -1.87254858e-02 9.87470789e-01 3.70931712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:9.14, Z:3.69 [[ 9.10227334e-01 -3.95091516e-01 -1.24051980e-01 5.11406369e+01] [ 3.86306743e-01 9.18034987e-01 -8.93244775e-02 9.13927597e+00] [ 1.49175401e-01 3.33834647e-02 9.88247056e-01 3.68928072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:9.13, Z:3.70 [[ 9.10333390e-01 -3.90103532e-01 -1.38247433e-01 5.11717018e+01] [ 3.86157571e-01 9.20766332e-01 -5.54228563e-02 9.13060953e+00] [ 1.48914234e-01 -2.93201629e-03 9.88845769e-01 3.70140670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.184340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.20, Y:9.13, Z:3.72 [[ 9.09429585e-01 -3.88300573e-01 -1.48864013e-01 5.11992624e+01] [ 3.87719078e-01 9.21146104e-01 -3.41140923e-02 9.12992584e+00] [ 1.50372028e-01 -2.66930531e-02 9.88269060e-01 3.71765708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:9.17, Z:3.70 [[ 9.09821911e-01 -3.95107712e-01 -1.26940876e-01 5.12188782e+01] [ 3.88249510e-01 9.18421602e-01 -7.59215373e-02 9.16654484e+00] [ 1.46582427e-01 1.97903455e-02 9.89000472e-01 3.70475882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:9.16, Z:3.72 [[ 9.10000074e-01 -3.91571626e-01 -1.36277391e-01 5.12490034e+01] [ 3.88411745e-01 9.20118891e-01 -5.01751110e-02 9.16154409e+00] [ 1.45038552e-01 -7.27238458e-03 9.89399278e-01 3.71543625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.274340128000006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:51.27, Y:9.17, Z:3.72 [[ 9.08614303e-01 -3.92828052e-01 -1.41796229e-01 5.12723207e+01] [ 3.89343888e-01 9.19582874e-01 -5.27131362e-02 9.17198973e+00] [ 1.51100582e-01 -7.31158544e-03 9.88491353e-01 3.72328439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:9.19, Z:3.72 [[ 9.08129230e-01 -3.95980260e-01 -1.36018144e-01 5.12968153e+01] [ 3.91065202e-01 9.18252827e-01 -6.22876621e-02 9.19043157e+00] [ 1.49563730e-01 3.37328372e-03 9.88746333e-01 3.72217134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:9.18, Z:3.75 [[ 9.06401487e-01 -3.91559231e-01 -1.58485688e-01 5.13272474e+01] [ 3.92049660e-01 9.19471390e-01 -2.94860409e-02 9.17969987e+00] [ 1.57268588e-01 -3.54080691e-02 9.86920899e-01 3.74795794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.364340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.35, Y:9.20, Z:3.75 [[ 9.05655315e-01 -3.98201223e-01 -1.45685402e-01 5.13488872e+01] [ 3.94855134e-01 9.17243578e-01 -5.24751483e-02 9.20250605e+00] [ 1.54524667e-01 -1.00002319e-02 9.87938319e-01 3.74623360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:9.22, Z:3.75 [[ 9.04712437e-01 -4.01600910e-01 -1.42169320e-01 5.13725751e+01] [ 3.96280546e-01 9.15810929e-01 -6.52079105e-02 9.21938151e+00] [ 1.56387774e-01 2.65547162e-03 9.87692165e-01 3.74817025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:9.24, Z:3.74 [[ 9.05475192e-01 -4.05522944e-01 -1.25163167e-01 5.13988011e+01] [ 3.97643425e-01 9.13714552e-01 -8.36984106e-02 9.24337952e+00] [ 1.48305033e-01 2.60165239e-02 9.88599392e-01 3.73701468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.454340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:9.24, Z:3.75 [[ 9.05505977e-01 -4.01489793e-01 -1.37349450e-01 5.14316313e+01] [ 3.97666072e-01 9.15852903e-01 -5.54540805e-02 9.23775509e+00] [ 1.48056140e-01 -4.40521501e-03 9.88969147e-01 3.74870321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:9.23, Z:3.77 [[ 9.03433077e-01 -3.99371188e-01 -1.55920911e-01 5.14577810e+01] [ 3.99692317e-01 9.16135925e-01 -3.06760219e-02 9.23228161e+00] [ 1.55095868e-01 -3.46066574e-02 9.87293093e-01 3.76963615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:9.26, Z:3.77 [[ 9.03206839e-01 -4.04329242e-01 -1.43997466e-01 5.14781667e+01] [ 4.00014352e-01 9.14603619e-01 -5.90655509e-02 9.25983959e+00] [ 1.55582533e-01 -4.25264357e-03 9.87813743e-01 3.76691460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:9.28, Z:3.76 [[ 9.04099127e-01 -4.05990424e-01 -1.33328706e-01 5.15040211e+01] [ 4.00239826e-01 9.13835945e-01 -6.86436276e-02 9.27856343e+00] [ 1.49709220e-01 8.69718564e-03 9.88691817e-01 3.76201546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:9.29, Z:3.77 [[ 9.03833564e-01 -4.05144152e-01 -1.37633953e-01 5.15302589e+01] [ 3.99616864e-01 9.14236376e-01 -6.69194407e-02 9.28809347e+00] [ 1.52941986e-01 5.48318804e-03 9.88219957e-01 3.76885026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:9.29, Z:3.78 [[ 9.04392245e-01 -4.02833612e-01 -1.40711579e-01 5.15605099e+01] [ 3.99331618e-01 9.15240441e-01 -5.35648533e-02 9.29275923e+00] [ 1.50362651e-01 -7.74694444e-03 9.88600555e-01 3.77522348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:9.31, Z:3.78 [[ 9.04341724e-01 -4.03346034e-01 -1.39563686e-01 5.15855195e+01] [ 3.99044496e-01 9.15044074e-01 -5.88033427e-02 9.30758407e+00] [ 1.51425019e-01 -2.51380436e-03 9.88465550e-01 3.77908593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.664340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:9.32, Z:3.78 [[ 9.05492914e-01 -4.00554489e-01 -1.40138086e-01 5.16109431e+01] [ 3.95813511e-01 9.16272925e-01 -6.14458467e-02 9.32051153e+00] [ 1.53017144e-01 1.70230754e-04 9.88223520e-01 3.78350100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:9.33, Z:3.79 [[ 9.06143418e-01 -3.97966238e-01 -1.43272396e-01 5.16370742e+01] [ 3.94922217e-01 9.17334491e-01 -5.03375978e-02 9.32635994e+00] [ 1.51461375e-01 -1.09683695e-02 9.88402320e-01 3.79000509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:9.35, Z:3.79 [[ 9.06214092e-01 -3.99002716e-01 -1.39903008e-01 5.16611665e+01] [ 3.93865807e-01 9.16945512e-01 -6.38800042e-02 9.34686678e+00] [ 1.53771731e-01 2.78594881e-03 9.88102471e-01 3.79210497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:9.35, Z:3.80 [[ 9.06770379e-01 -3.96751126e-01 -1.42674539e-01 5.16866736e+01] [ 3.93030588e-01 9.17902756e-01 -5.46029914e-02 9.35276674e+00] [ 1.52625151e-01 -6.56308263e-03 9.88262359e-01 3.79795397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:9.36, Z:3.80 [[ 9.07259413e-01 -3.96196711e-01 -1.41097569e-01 5.17116131e+01] [ 3.92287621e-01 9.18153137e-01 -5.57246755e-02 9.36381589e+00] [ 1.51627109e-01 -4.79409318e-03 9.88426141e-01 3.80190517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:9.38, Z:3.80 [[ 9.06694693e-01 -3.98523310e-01 -1.38144511e-01 5.17385383e+01] [ 3.93297702e-01 9.17148993e-01 -6.44565112e-02 9.38088695e+00] [ 1.52386521e-01 4.11045783e-03 9.88312426e-01 3.80410988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:9.39, Z:3.81 [[ 9.06824472e-01 -3.98629366e-01 -1.36981775e-01 5.17663328e+01] [ 3.93512635e-01 9.17103655e-01 -6.37863035e-02 9.38994764e+00] [ 1.51053580e-01 3.93892174e-03 9.88517729e-01 3.80608065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:9.39, Z:3.82 [[ 9.06391945e-01 -3.97218640e-01 -1.43774109e-01 5.17942846e+01] [ 3.94046133e-01 9.17666288e-01 -5.11490821e-02 9.39205355e+00] [ 1.52254022e-01 -1.02925157e-02 9.88287801e-01 3.81628729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:9.41, Z:3.82 [[ 9.06298037e-01 -3.98379330e-01 -1.41130357e-01 5.18199018e+01] [ 3.94227684e-01 9.17213886e-01 -5.74736530e-02 9.40697143e+00] [ 1.52343039e-01 -3.54923496e-03 9.88321305e-01 3.81923993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:9.42, Z:3.82 [[ 9.07404199e-01 -3.97432889e-01 -1.36618879e-01 5.18443408e+01] [ 3.92381740e-01 9.17623329e-01 -6.32771431e-02 9.42175897e+00] [ 1.50513089e-01 3.81119179e-03 9.88600670e-01 3.81728413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:9.42, Z:3.83 [[ 9.07594475e-01 -3.94171476e-01 -1.44572186e-01 5.18713755e+01] [ 3.91326977e-01 9.18955195e-01 -4.88318258e-02 9.42246949e+00] [ 1.52103474e-01 -1.22555012e-02 9.88288589e-01 3.82752044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:9.44, Z:3.82 [[ 9.08577216e-01 -3.95566106e-01 -1.34219592e-01 5.18946729e+01] [ 3.89569952e-01 9.18373730e-01 -6.94618236e-02 9.44396167e+00] [ 1.50740490e-01 1.08235103e-02 9.88514115e-01 3.82143182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.93, Y:9.44, Z:3.83 [[ 9.10150258e-01 -3.89261723e-01 -1.41780884e-01 5.19261279e+01] [ 3.87071624e-01 9.21005748e-01 -4.38630773e-02 9.43689425e+00] [ 1.47655226e-01 -1.49573659e-02 9.88925787e-01 3.83037201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.95, Y:9.46, Z:3.83 [[ 9.09628691e-01 -3.92138907e-01 -1.37123018e-01 5.19501330e+01] [ 3.86651867e-01 9.19881171e-01 -6.57188404e-02 9.45866029e+00] [ 1.51907797e-01 6.76087192e-03 9.88371546e-01 3.83253334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.98, Y:9.46, Z:3.85 [[ 9.09273276e-01 -3.90007043e-01 -1.45315572e-01 5.19826239e+01] [ 3.86533176e-01 9.20774119e-01 -5.26034718e-02 9.46105854e+00] [ 1.54318542e-01 -8.33835838e-03 9.87985961e-01 3.84524621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:9.47, Z:3.84 [[ 9.09407942e-01 -3.91902486e-01 -1.39246676e-01 5.20078228e+01] [ 3.87180133e-01 9.20005900e-01 -6.06686736e-02 9.47480506e+00] [ 1.51883968e-01 1.25902702e-03 9.88397529e-01 3.84388100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.03, Y:9.49, Z:3.84 [[ 9.08430314e-01 -3.95063602e-01 -1.36671560e-01 5.20323339e+01] [ 3.89755900e-01 9.18636814e-01 -6.47822710e-02 9.48856702e+00] [ 1.51144644e-01 5.58163187e-03 9.88495899e-01 3.84398272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:9.49, Z:3.85 [[ 9.07741694e-01 -3.95498825e-01 -1.39948907e-01 5.20610188e+01] [ 3.91096300e-01 9.18465559e-01 -5.88617101e-02 9.49306466e+00] [ 1.51817988e-01 -1.30227130e-03 9.88407609e-01 3.85010497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:9.49, Z:3.86 [[ 9.07269456e-01 -3.93880768e-01 -1.47377322e-01 5.20925093e+01] [ 3.92033357e-01 9.18962980e-01 -4.26249724e-02 9.48868915e+00] [ 1.52223460e-01 -1.91044906e-02 9.88161443e-01 3.86212634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:9.50, Z:3.87 [[ 9.05527881e-01 -3.98873204e-01 -1.44635487e-01 5.21191109e+01] [ 3.95233533e-01 9.16971604e-01 -5.43464004e-02 9.49680213e+00] [ 1.54303957e-01 -7.95261373e-03 9.87991419e-01 3.86799342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:9.51, Z:3.87 [[ 9.04262942e-01 -4.03078227e-01 -1.40842020e-01 5.21443515e+01] [ 3.98366386e-01 9.15165370e-01 -6.14537798e-02 9.51045563e+00] [ 1.53664420e-01 -5.36350836e-04 9.88122947e-01 3.86954144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:9.51, Z:3.88 [[ 9.02063451e-01 -4.06917510e-01 -1.43873799e-01 5.21767975e+01] [ 4.04284523e-01 9.13350158e-01 -4.84304972e-02 9.51197893e+00] [ 1.51114374e-01 -1.44785686e-02 9.88410247e-01 3.87687055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:9.52, Z:3.88 [[ 9.01684517e-01 -4.07877735e-01 -1.43529734e-01 5.22026971e+01] [ 4.04085903e-01 9.13005668e-01 -5.59931445e-02 9.52291324e+00] [ 1.53881818e-01 -7.51019092e-03 9.88060718e-01 3.88227722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:9.53, Z:3.88 [[ 9.01174845e-01 -4.10431814e-01 -1.39390189e-01 5.22288599e+01] [ 4.06517682e-01 9.11874899e-01 -5.68114588e-02 9.53398651e+00] [ 1.50423645e-01 -5.46751891e-03 9.88606511e-01 3.88278945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:9.54, Z:3.89 [[ 9.01062771e-01 -4.10506783e-01 -1.39893043e-01 5.22576914e+01] [ 4.07346371e-01 9.11799908e-01 -5.18638903e-02 9.53609775e+00] [ 1.48844943e-01 -1.02523028e-02 9.88807399e-01 3.89030385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.414340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.28, Y:9.55, Z:3.89 [[ 9.00514427e-01 -4.13795476e-01 -1.33592927e-01 5.22809118e+01] [ 4.09195102e-01 9.10369565e-01 -6.15355495e-02 9.55186169e+00] [ 1.47082067e-01 7.48078513e-04 9.89124009e-01 3.88978073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.31, Y:9.56, Z:3.90 [[ 9.00407195e-01 -4.12953784e-01 -1.36879711e-01 5.23068375e+01] [ 4.08820587e-01 9.10745655e-01 -5.83787536e-02 9.55651061e+00] [ 1.48770330e-01 -3.39459423e-03 9.88865949e-01 3.89738650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.34, Y:9.56, Z:3.91 [[ 9.00469688e-01 -4.11189460e-01 -1.41695341e-01 5.23388214e+01] [ 4.07942383e-01 9.11490297e-01 -5.26160760e-02 9.55878009e+00] [ 1.50789104e-01 -1.04243535e-02 9.88510991e-01 3.90826154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:9.57, Z:3.91 [[ 8.99863598e-01 -4.13172608e-01 -1.39763733e-01 5.23623088e+01] [ 4.08929982e-01 9.10644406e-01 -5.91864505e-02 9.57331502e+00] [ 1.51729281e-01 -3.89384846e-03 9.88414419e-01 3.91066310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:9.58, Z:3.92 [[ 9.00123266e-01 -4.11714262e-01 -1.42370896e-01 5.23906248e+01] [ 4.08308293e-01 9.11260756e-01 -5.37417141e-02 9.58004335e+00] [ 1.51863241e-01 -9.75705047e-03 9.88353356e-01 3.91774997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:9.59, Z:3.92 [[ 9.00921214e-01 -4.09602644e-01 -1.43410740e-01 5.24187428e+01] [ 4.06028881e-01 9.12220349e-01 -5.47227785e-02 9.58680535e+00] [ 1.53236790e-01 -8.92799012e-03 9.88149168e-01 3.92347032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.594340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:9.60, Z:3.93 [[ 9.00490539e-01 -4.10786810e-01 -1.42726963e-01 5.24431155e+01] [ 4.06967534e-01 9.11701966e-01 -5.63644589e-02 9.59833112e+00] [ 1.53278229e-01 -7.32957819e-03 9.88155889e-01 3.92868878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:9.61, Z:3.93 [[ 9.00475130e-01 -4.10407363e-01 -1.43910864e-01 5.24687632e+01] [ 4.06696894e-01 9.11863830e-01 -5.56955276e-02 9.60571937e+00] [ 1.54084966e-01 -8.37566405e-03 9.88022101e-01 3.93494579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:9.62, Z:3.94 [[ 9.00349923e-01 -4.09839449e-01 -1.46293000e-01 5.24958206e+01] [ 4.05980770e-01 9.12119700e-01 -5.67209642e-02 9.61524707e+00] [ 1.56683216e-01 -8.32342911e-03 9.87613837e-01 3.94162880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:9.62, Z:3.95 [[ 9.00786283e-01 -4.08123115e-01 -1.48390011e-01 5.25197116e+01] [ 4.04395799e-01 9.12875621e-01 -5.58760924e-02 9.62328707e+00] [ 1.58265948e-01 -9.67587947e-03 9.87349111e-01 3.94661490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:9.64, Z:3.95 [[ 9.00176426e-01 -4.10261718e-01 -1.46177031e-01 5.25459256e+01] [ 4.05675880e-01 9.11958557e-01 -6.13079982e-02 9.63661501e+00] [ 1.58459719e-01 -4.11248074e-03 9.87356878e-01 3.95094756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:9.65, Z:3.95 [[ 8.99879517e-01 -4.12021271e-01 -1.43022119e-01 5.25713888e+01] [ 4.06755429e-01 9.11173764e-01 -6.56688138e-02 9.65090676e+00] [ 1.57374951e-01 9.18996910e-04 9.87538496e-01 3.95198373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:9.65, Z:3.96 [[ 9.01211648e-01 -4.06242396e-01 -1.50945954e-01 5.25979952e+01] [ 4.03040714e-01 9.13667086e-01 -5.26368520e-02 9.64864710e+00] [ 1.59297671e-01 -1.34004208e-02 9.87139646e-01 3.96307534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:9.67, Z:3.96 [[ 9.00884467e-01 -4.09071745e-01 -1.45146422e-01 5.26255796e+01] [ 4.04511792e-01 9.12494566e-01 -6.10235810e-02 9.66683886e+00] [ 1.57408344e-01 -3.73824296e-03 9.87526526e-01 3.96499639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:9.68, Z:3.97 [[ 9.00890665e-01 -4.07607597e-01 -1.49171235e-01 5.26474383e+01] [ 4.02536769e-01 9.13154368e-01 -6.41346188e-02 9.67509877e+00] [ 1.62358122e-01 -2.26862742e-03 9.86729291e-01 3.96960428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.68, Y:9.69, Z:3.98 [[ 8.99914330e-01 -4.08756714e-01 -1.51895185e-01 5.26755147e+01] [ 4.04404019e-01 9.12612830e-01 -5.99600908e-02 9.68544879e+00] [ 1.63130584e-01 -7.46807834e-03 9.86576221e-01 3.97940646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:9.70, Z:3.98 [[ 9.00277699e-01 -4.08012498e-01 -1.51742762e-01 5.27009738e+01] [ 4.04004765e-01 9.12929251e-01 -5.77956010e-02 9.69512541e+00] [ 1.62111734e-01 -9.27270826e-03 9.86728840e-01 3.98470555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924340128000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.72, Y:9.71, Z:3.98 [[ 9.00830421e-01 -4.09490701e-01 -1.44298021e-01 5.27244697e+01] [ 4.04041714e-01 9.12312718e-01 -6.66017939e-02 9.71345509e+00] [ 1.58917735e-01 1.69450242e-03 9.87290374e-01 3.98130268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:9.72, Z:3.99 [[ 9.01316550e-01 -4.06936700e-01 -1.48428427e-01 5.27481151e+01] [ 4.00732562e-01 9.13445532e-01 -7.09272477e-02 9.72487736e+00] [ 1.64444184e-01 4.44779816e-03 9.86376362e-01 3.98577477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:9.73, Z:4.00 [[ 9.01864074e-01 -4.03855804e-01 -1.53432987e-01 5.27755733e+01] [ 4.00095875e-01 9.14758340e-01 -5.60399021e-02 9.72826427e+00] [ 1.62986144e-01 -1.08475306e-02 9.86568724e-01 3.99584945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:9.74, Z:4.00 [[ 9.01909139e-01 -4.04903282e-01 -1.50376983e-01 5.27994506e+01] [ 4.00072804e-01 9.14351557e-01 -6.24738432e-02 9.74412923e+00] [ 1.62793293e-01 -3.81601116e-03 9.86652817e-01 3.99741683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:9.76, Z:4.00 [[ 9.01728595e-01 -4.06008263e-01 -1.48468285e-01 5.28227626e+01] [ 3.98668922e-01 9.13805743e-01 -7.76025423e-02 9.76212893e+00] [ 1.67178445e-01 1.07867402e-02 9.85867645e-01 3.99572821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:9.76, Z:4.01 [[ 9.02437468e-01 -4.01025598e-01 -1.57432798e-01 5.28513369e+01] [ 3.97508253e-01 9.15970639e-01 -5.46349425e-02 9.76013730e+00] [ 1.66113832e-01 -1.32762175e-02 9.86017209e-01 4.00828131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:9.79, Z:4.01 [[ 9.01874769e-01 -4.04544946e-01 -1.51543021e-01 5.28751234e+01] [ 3.97121582e-01 9.14463756e-01 -7.77848761e-02 9.78894683e+00] [ 1.70048079e-01 9.97121286e-03 9.85385318e-01 4.00570679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:9.79, Z:4.01 [[ 9.02704564e-01 -4.00051559e-01 -1.58376829e-01 5.29008972e+01] [ 3.94125254e-01 9.16492504e-01 -6.86059274e-02 9.79184131e+00] [ 1.72597085e-01 -4.89424426e-04 9.84992389e-01 4.01237549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164340128000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.93, Y:9.80, Z:4.02 [[ 9.04031304e-01 -3.96224165e-01 -1.60417618e-01 5.29259406e+01] [ 3.92213586e-01 9.18086695e-01 -5.73177322e-02 9.79630696e+00] [ 1.69987952e-01 -1.11009452e-02 9.85383613e-01 4.01990461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:9.82, Z:4.02 [[ 9.03173584e-01 -3.99999728e-01 -1.55813011e-01 5.29489002e+01] [ 3.92040623e-01 9.16444926e-01 -8.02050304e-02 9.82347288e+00] [ 1.74876034e-01 1.13540350e-02 9.84524991e-01 4.01742378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.98, Y:9.83, Z:4.03 [[ 9.03319539e-01 -3.97099360e-01 -1.62252610e-01 5.29790821e+01] [ 3.92441357e-01 9.17737421e-01 -6.12193339e-02 9.82530288e+00] [ 1.73215450e-01 -8.37401415e-03 9.84848356e-01 4.02717538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:9.85, Z:4.03 [[ 9.03238996e-01 -3.98569882e-01 -1.59064030e-01 5.29994216e+01] [ 3.91102651e-01 9.17107486e-01 -7.71529349e-02 9.84542933e+00] [ 1.76629649e-01 7.47717552e-03 9.84248982e-01 4.02731039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:9.85, Z:4.04 [[ 9.03628333e-01 -3.95741698e-01 -1.63842437e-01 5.30278000e+01] [ 3.90964916e-01 9.18325498e-01 -6.18442719e-02 9.84865268e+00] [ 1.74935045e-01 -8.17240846e-03 9.84546059e-01 4.03581588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:9.87, Z:4.04 [[ 9.02949655e-01 -3.98263674e-01 -1.61455772e-01 5.30481563e+01] [ 3.90432162e-01 9.17233209e-01 -7.90314367e-02 9.86998447e+00] [ 1.79567947e-01 8.32388223e-03 9.83710357e-01 4.03593465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:9.88, Z:4.04 [[ 9.02821635e-01 -3.97217774e-01 -1.64715316e-01 5.30754493e+01] [ 3.90722293e-01 9.17724352e-01 -7.15409225e-02 9.87670823e+00] [ 1.79580583e-01 2.30746710e-04 9.83743239e-01 4.04327261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.10, Y:9.89, Z:4.05 [[ 9.02936375e-01 -3.96356855e-01 -1.66153985e-01 5.31029185e+01] [ 3.91285206e-01 9.18065567e-01 -6.36514088e-02 9.88516195e+00] [ 1.77768925e-01 -7.54042395e-03 9.84043369e-01 4.04933354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.12, Y:9.91, Z:4.05 [[ 9.02347623e-01 -3.98950371e-01 -1.63117652e-01 5.31246265e+01] [ 3.91128551e-01 9.16942226e-01 -7.89646147e-02 9.90588171e+00] [ 1.81072425e-01 7.45356166e-03 9.83441519e-01 4.05034504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.15, Y:9.91, Z:4.06 [[ 9.01511620e-01 -3.99109093e-01 -1.67298327e-01 5.31496562e+01] [ 3.92415073e-01 9.16903447e-01 -7.27906533e-02 9.91424709e+00] [ 1.82447825e-01 -2.87655189e-05 9.83215536e-01 4.05646608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:9.93, Z:4.06 [[ 9.00776619e-01 -4.00509101e-01 -1.67910521e-01 5.31742456e+01] [ 3.93784572e-01 9.16292736e-01 -7.30844290e-02 9.92639747e+00] [ 1.83126169e-01 -2.87827543e-04 9.83089377e-01 4.06107059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:9.94, Z:4.07 [[ 8.99493376e-01 -4.02988912e-01 -1.68853794e-01 5.31992678e+01] [ 3.96220238e-01 9.15204560e-01 -7.35536329e-02 9.93931771e+00] [ 1.84177060e-01 -7.42284782e-04 9.82892802e-01 4.06607905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.524340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.22, Y:9.94, Z:4.07 [[ 9.00848480e-01 -3.99284430e-01 -1.70422884e-01 5.32224395e+01] [ 3.94506628e-01 9.16762383e-01 -6.25400149e-02 9.94202813e+00] [ 1.81208543e-01 -1.08938797e-02 9.83384354e-01 4.07239866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.25, Y:9.96, Z:4.07 [[ 8.99993473e-01 -4.03593138e-01 -1.64694652e-01 5.32450708e+01] [ 3.96326464e-01 9.14932201e-01 -7.63177623e-02 9.96244080e+00] [ 1.81485766e-01 3.41263890e-03 9.83387650e-01 4.07273498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:9.97, Z:4.08 [[ 8.98767328e-01 -4.06046271e-01 -1.65359353e-01 5.32703310e+01] [ 3.99291020e-01 9.13852480e-01 -7.37585655e-02 9.97325735e+00] [ 1.81063445e-01 2.65284115e-04 9.83471382e-01 4.07716110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:9.99, Z:4.08 [[ 8.96234267e-01 -4.12222862e-01 -1.63818345e-01 5.32979743e+01] [ 4.03816844e-01 9.11043740e-01 -8.32541935e-02 9.99220130e+00] [ 1.83564960e-01 8.46265403e-03 9.82971154e-01 4.08117768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:10.00, Z:4.09 [[ 8.95462883e-01 -4.12562757e-01 -1.67147232e-01 5.33252846e+01] [ 4.06085212e-01 9.10925396e-01 -7.28678440e-02 9.99622553e+00] [ 1.82321217e-01 -2.62556951e-03 9.83235516e-01 4.08924560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:10.01, Z:4.10 [[ 8.93849698e-01 -4.16687339e-01 -1.65542679e-01 5.33516642e+01] [ 4.10132175e-01 9.09047526e-01 -7.36491282e-02 1.00079577e+01] [ 1.81174822e-01 -2.06312802e-03 9.83448742e-01 4.09553980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:10.02, Z:4.10 [[ 8.92345654e-01 -4.19903799e-01 -1.65529553e-01 5.33770771e+01] [ 4.12702701e-01 9.07568281e-01 -7.74357606e-02 1.00217747e+01] [ 1.82744942e-01 7.84970814e-04 9.83160043e-01 4.10001225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:10.03, Z:4.11 [[ 8.92875255e-01 -4.17914222e-01 -1.67694607e-01 5.34026496e+01] [ 4.12346650e-01 9.08451078e-01 -6.84607904e-02 1.00260915e+01] [ 1.80953084e-01 -8.02136359e-03 9.83459017e-01 4.10594123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:10.04, Z:4.11 [[ 8.91427751e-01 -4.22142729e-01 -1.64778884e-01 5.34276676e+01] [ 4.14873135e-01 9.06528610e-01 -7.80138576e-02 1.00445268e+01] [ 1.82309755e-01 1.18138566e-03 9.83240437e-01 4.10906111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:10.04, Z:4.12 [[ 8.93883258e-01 -4.16548775e-01 -1.65710105e-01 5.34504958e+01] [ 4.11344593e-01 9.09069337e-01 -6.62462524e-02 1.00427981e+01] [ 1.78236770e-01 -8.94753977e-03 9.83946947e-01 4.11617694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:10.07, Z:4.12 [[ 8.91933866e-01 -4.22559657e-01 -1.60926428e-01 5.34781993e+01] [ 4.14799885e-01 9.06319614e-01 -8.07825051e-02 1.00653444e+01] [ 1.79986206e-01 5.30038822e-03 9.83654854e-01 4.11924972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:10.07, Z:4.13 [[ 8.92987376e-01 -4.18380650e-01 -1.65925215e-01 5.35059605e+01] [ 4.12526756e-01 9.08252336e-01 -6.99954935e-02 1.00668965e+01] [ 1.79986724e-01 -5.94349854e-03 9.83651083e-01 4.12688963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:10.08, Z:4.13 [[ 8.93748212e-01 -4.17082549e-01 -1.65094763e-01 5.35318971e+01] [ 4.11174089e-01 9.08853798e-01 -7.01472966e-02 1.00775273e+01] [ 1.79304215e-01 -5.18866775e-03 9.83779994e-01 4.13087177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.914340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:10.09, Z:4.13 [[ 8.95884771e-01 -4.13188004e-01 -1.63297735e-01 5.35550859e+01] [ 4.06879045e-01 9.10643597e-01 -7.19561109e-02 1.00869016e+01] [ 1.78437439e-01 -1.97804284e-03 9.83949271e-01 4.13351343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.58, Y:10.10, Z:4.14 [[ 8.98804252e-01 -4.07894844e-01 -1.60538821e-01 5.35804511e+01] [ 4.01106182e-01 9.13026150e-01 -7.41422978e-02 1.00967249e+01] [ 1.76818402e-01 2.24629911e-03 9.84240929e-01 4.13663384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:10.11, Z:4.14 [[ 8.99391443e-01 -4.07411698e-01 -1.58463690e-01 5.36048551e+01] [ 3.99779110e-01 9.13213213e-01 -7.88561399e-02 1.01113821e+01] [ 1.76838049e-01 7.57206448e-03 9.84210835e-01 4.14049470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:10.12, Z:4.15 [[ 9.00263323e-01 -4.04873255e-01 -1.60011238e-01 5.36315810e+01] [ 3.97984590e-01 9.14366730e-01 -7.44429265e-02 1.01198244e+01] [ 1.76448902e-01 3.33622946e-03 9.84304147e-01 4.14633075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:10.13, Z:4.15 [[ 9.00712181e-01 -4.03084627e-01 -1.61988735e-01 5.36614972e+01] [ 3.96756210e-01 9.15162690e-01 -7.11460562e-02 1.01270975e+01] [ 1.76923928e-01 -1.87917289e-04 9.84224511e-01 4.15380090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:10.14, Z:4.16 [[ 9.01297977e-01 -4.02570584e-01 -1.59996503e-01 5.36883511e+01] [ 3.95118195e-01 9.15365710e-01 -7.73771805e-02 1.01413021e+01] [ 1.77605089e-01 6.52236682e-03 9.84080226e-01 4.15881935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.094340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:10.15, Z:4.16 [[ 9.00599918e-01 -4.03434503e-01 -1.61741734e-01 5.37142125e+01] [ 3.97200628e-01 9.15008318e-01 -7.06501216e-02 1.01482991e+01] [ 1.76497729e-01 -6.16424689e-04 9.84300854e-01 4.16407816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.74, Y:10.16, Z:4.17 [[ 9.01084120e-01 -4.02432832e-01 -1.61540163e-01 5.37393142e+01] [ 3.96193621e-01 9.15449431e-01 -7.05900403e-02 1.01575274e+01] [ 1.76289600e-01 -3.93617871e-04 9.84338266e-01 4.16904511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:10.17, Z:4.17 [[ 9.02942239e-01 -3.98729102e-01 -1.60344681e-01 5.37601163e+01] [ 3.92390370e-01 9.17068177e-01 -7.08220065e-02 1.01667257e+01] [ 1.75285800e-01 1.03047235e-03 9.84517052e-01 4.17242667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:10.18, Z:4.18 [[ 9.01579922e-01 -4.01890929e-01 -1.60116600e-01 5.37900418e+01] [ 3.95364498e-01 9.15685876e-01 -7.21546267e-02 1.01817271e+01] [ 1.75614799e-01 1.74874359e-03 9.84457406e-01 4.17768195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:10.18, Z:4.19 [[ 9.02606710e-01 -3.94964058e-01 -1.71185628e-01 5.38154108e+01] [ 3.90750455e-01 9.18596819e-01 -5.91097810e-02 1.01817069e+01] [ 1.80596812e-01 -1.35379769e-02 9.83464038e-01 4.19192602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:10.21, Z:4.18 [[ 9.02292521e-01 -4.01912909e-01 -1.55994295e-01 5.38377160e+01] [ 3.93096847e-01 9.15546665e-01 -8.51420753e-02 1.02135696e+01] [ 1.77039756e-01 1.55021921e-02 9.84081606e-01 4.18267996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.274340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:10.21, Z:4.20 [[ 9.01984221e-01 -3.96304743e-01 -1.71368069e-01 5.38703087e+01] [ 3.92355081e-01 9.17995034e-01 -5.78152893e-02 1.02050532e+01] [ 1.80227510e-01 -1.50886538e-02 9.83509216e-01 4.20221600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:10.23, Z:4.19 [[ 9.01665370e-01 -4.02686643e-01 -1.57616714e-01 5.38898920e+01] [ 3.93789109e-01 9.15214358e-01 -8.55150099e-02 1.02345563e+01] [ 1.78688832e-01 1.50381776e-02 9.83790707e-01 4.19299168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:10.22, Z:4.21 [[ 9.01597319e-01 -3.95572989e-01 -1.75055091e-01 5.39195421e+01] [ 3.91761799e-01 9.18279119e-01 -5.73249729e-02 1.02245580e+01] [ 1.83425646e-01 -1.68958555e-02 9.82888377e-01 4.21378312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:10.26, Z:4.20 [[ 9.00465273e-01 -4.05433975e-01 -1.57434381e-01 5.39398888e+01] [ 3.95805043e-01 9.13936743e-01 -8.97663540e-02 1.02608641e+01] [ 1.80279395e-01 1.85181626e-02 9.83441110e-01 4.20060296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.394340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.97, Y:10.26, Z:4.21 [[ 8.99315776e-01 -4.04975650e-01 -1.65002603e-01 5.39674836e+01] [ 3.98447947e-01 9.14327264e-01 -7.24216051e-02 1.02606618e+01] [ 1.80195365e-01 -6.15056600e-04 9.83630648e-01 4.21175407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:10.27, Z:4.22 [[ 8.99535266e-01 -4.05068028e-01 -1.63573222e-01 5.39899480e+01] [ 3.97917766e-01 9.14281191e-01 -7.58376920e-02 1.02737925e+01] [ 1.80271345e-01 3.12998734e-03 9.83611938e-01 4.21613145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.454340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:10.29, Z:4.22 [[ 8.98524340e-01 -4.07069884e-01 -1.64158824e-01 5.40151700e+01] [ 4.00112592e-01 9.13395492e-01 -7.49572529e-02 1.02861553e+01] [ 1.80454770e-01 1.66890357e-03 9.83581868e-01 4.22173599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.04, Y:10.29, Z:4.23 [[ 8.95865651e-01 -4.11861438e-01 -1.66717997e-01 5.40430485e+01] [ 4.06127125e-01 9.11226007e-01 -6.87598977e-02 1.02936297e+01] [ 1.80237325e-01 -6.10907038e-03 9.83604181e-01 4.22977349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:10.29, Z:4.25 [[ 8.95172937e-01 -4.07068000e-01 -1.81551800e-01 5.40735412e+01] [ 4.04985789e-01 9.12948158e-01 -5.01215741e-02 1.02872966e+01] [ 1.86150271e-01 -2.86584225e-02 9.82103239e-01 4.25358563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:10.33, Z:4.23 [[ 8.92878636e-01 -4.22189691e-01 -1.56600144e-01 5.40876964e+01] [ 4.11283969e-01 9.06210466e-01 -9.81228181e-02 1.03316906e+01] [ 1.83339132e-01 2.32046391e-02 9.82775817e-01 4.23451566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:10.33, Z:4.25 [[ 8.91679385e-01 -4.20308022e-01 -1.68074509e-01 5.41190564e+01] [ 4.13606954e-01 9.07377128e-01 -7.48066540e-02 1.03285283e+01] [ 1.83948802e-01 -2.81323445e-03 9.82931800e-01 4.24754499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:10.34, Z:4.25 [[ 8.90966600e-01 -4.21403181e-01 -1.69109068e-01 5.41441222e+01] [ 4.14669844e-01 9.06867704e-01 -7.50991898e-02 1.03416460e+01] [ 1.85006590e-01 -3.21356131e-03 9.82732026e-01 4.25300710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:10.36, Z:4.26 [[ 8.89570377e-01 -4.23320462e-01 -1.71651769e-01 5.41682812e+01] [ 4.16308486e-01 9.05974551e-01 -7.67942504e-02 1.03555341e+01] [ 1.88020712e-01 -3.14619797e-03 9.82160024e-01 4.25834043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:10.36, Z:4.27 [[ 8.89854410e-01 -4.19847798e-01 -1.78569190e-01 5.41966217e+01] [ 4.15234215e-01 9.07437112e-01 -6.43306684e-02 1.03575711e+01] [ 1.89049399e-01 -1.69031085e-02 9.81822087e-01 4.27149907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:10.38, Z:4.27 [[ 8.89525049e-01 -4.22815475e-01 -1.73124987e-01 5.42193082e+01] [ 4.16081541e-01 9.06201852e-01 -7.53283144e-02 1.03768081e+01] [ 1.88736161e-01 -5.02768879e-03 9.82014961e-01 4.27265658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:10.40, Z:4.27 [[ 8.88650631e-01 -4.26608358e-01 -1.68241981e-01 5.42438552e+01] [ 4.18557624e-01 9.04431714e-01 -8.25396338e-02 1.03956109e+01] [ 1.87375481e-01 2.92993396e-03 9.82283994e-01 4.27327338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:10.40, Z:4.28 [[ 8.87802542e-01 -4.25933707e-01 -1.74319032e-01 5.42699286e+01] [ 4.19587610e-01 9.04721209e-01 -7.36598361e-02 1.03991239e+01] [ 1.89084332e-01 -7.74671620e-03 9.81930295e-01 4.28293250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784340128000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.29, Y:10.41, Z:4.28 [[ 8.87136964e-01 -4.28577814e-01 -1.71198904e-01 5.42923933e+01] [ 4.20873653e-01 9.03504829e-01 -8.08974203e-02 1.04141583e+01] [ 1.89349876e-01 -2.86016548e-04 9.81909641e-01 4.28455305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:10.43, Z:4.29 [[ 8.85541171e-01 -4.31695526e-01 -1.71626945e-01 5.43169439e+01] [ 4.24168852e-01 9.02017768e-01 -8.02790801e-02 1.04266695e+01] [ 1.89466673e-01 -1.70837349e-03 9.81885666e-01 4.29080547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:10.44, Z:4.30 [[ 8.84665048e-01 -4.32151756e-01 -1.74964603e-01 5.43411523e+01] [ 4.25349806e-01 9.01776707e-01 -7.66571093e-02 1.04361534e+01] [ 1.90906508e-01 -6.60529462e-03 9.81586000e-01 4.29910055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:10.45, Z:4.30 [[ 8.84419892e-01 -4.32701708e-01 -1.74844748e-01 5.43664533e+01] [ 4.25837656e-01 9.01514917e-01 -7.70269088e-02 1.04476461e+01] [ 1.90954824e-01 -6.33134741e-03 9.81578407e-01 4.30476063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:10.46, Z:4.31 [[ 8.83535981e-01 -4.35180576e-01 -1.73153221e-01 5.43908475e+01] [ 4.27207374e-01 9.00342917e-01 -8.29246089e-02 1.04610548e+01] [ 1.91984455e-01 -7.05457003e-04 9.81397713e-01 4.31103308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.42, Y:10.46, Z:4.32 [[ 8.84011271e-01 -4.32900751e-01 -1.76411485e-01 5.44173330e+01] [ 4.27487324e-01 9.01335150e-01 -6.96386072e-02 1.04644300e+01] [ 1.89152478e-01 -1.38523602e-02 9.81850015e-01 4.31970761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:10.48, Z:4.32 [[ 8.84664408e-01 -4.33000697e-01 -1.72856247e-01 5.44406256e+01] [ 4.26234980e-01 9.01373509e-01 -7.64822881e-02 1.04794888e+01] [ 1.88924926e-01 -6.01622091e-03 9.81973104e-01 4.32342418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1791.48 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%| | 0/1999 [00:00