+ python -m lidar_slam --no-model /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.00432 Adjusted end_distance from 9.223372036854776e+18 to 48.62432 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00432 meters Centerline goodness : 1.000000 Centerline is valid? [0, True] SLAMing on 0.034319999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99998896e-01 1.41619050e-03 4.49676215e-04 3.03707287e-02] [-1.41618484e-03 9.99998997e-01 -1.29119834e-05 -1.58360365e-04] [-4.49694050e-04 1.22751445e-05 9.99999899e-01 2.28912335e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06431999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99997733e-01 1.62065806e-03 1.38081294e-03 6.11612028e-02] [-1.61992535e-03 9.99998547e-01 -5.31586495e-04 4.86631871e-04] [-1.38167245e-03 5.29348476e-04 9.99998905e-01 -3.34268012e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09431999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:0.00 [[ 9.99982554e-01 5.57593942e-03 1.94953502e-03 9.23036975e-02] [-5.57672756e-03 9.99984370e-01 3.99068749e-04 -2.10843954e-04] [-1.94727936e-03 -4.09933812e-04 9.99998020e-01 8.56364372e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12431999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:0.00 [[ 9.99973699e-01 7.13199368e-03 1.31754452e-03 1.24080348e-01] [-7.13195844e-03 9.99974567e-01 -3.14410780e-05 -1.51106020e-03] [-1.31773525e-03 2.20435782e-05 9.99999132e-01 1.23724356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15431999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.00, Z:0.00 [[ 9.99952010e-01 9.79669389e-03 4.99022994e-05 1.57364236e-01] [-9.79669416e-03 9.99952011e-01 5.11965019e-06 -1.75589103e-03] [-4.98497490e-05 -5.60828206e-06 9.99999999e-01 1.88837624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18431999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.00, Z:0.00 [[ 9.99945461e-01 1.04395484e-02 3.01868210e-04 1.89047902e-01] [-1.04399977e-02 9.99944336e-01 1.52711115e-03 -1.85933334e-03] [-2.85909056e-04 -1.53017937e-03 9.99998788e-01 1.70356074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.22, Y:0.00, Z:-0.00 [[ 9.99928872e-01 1.19262140e-02 1.28934824e-04 2.20142124e-01] [-1.19259999e-02 9.99927681e-01 -1.55027966e-03 3.11531189e-04] [-1.47414467e-04 1.54863172e-03 9.99998790e-01 -1.66563564e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.25, Y:0.00, Z:-0.00 [[ 9.99936403e-01 1.12768117e-02 1.53041260e-04 2.53324965e-01] [-1.12766642e-02 9.99935982e-01 -9.32464261e-04 9.14265607e-04] [-1.63546686e-04 9.30679164e-04 9.99999554e-01 -2.13431141e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:0.00, Z:0.00 [[ 9.99926956e-01 1.20215483e-02 1.25061663e-03 2.83188024e-01] [-1.20226824e-02 9.99927317e-01 9.03331220e-04 9.09594037e-04] [-1.23966629e-03 -9.18301004e-04 9.99998810e-01 3.03312777e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3043199999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:0.32, Y:0.00, Z:-0.00 [[ 9.99933486e-01 1.14209576e-02 1.60794952e-03 3.15626874e-01] [-1.14209051e-02 9.99934778e-01 -4.18665340e-05 7.97192911e-04] [-1.60832280e-03 2.34995104e-05 9.99998706e-01 -2.60798599e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.00, Z:-0.00 [[ 9.99943916e-01 1.05167920e-02 1.24940471e-03 3.48837327e-01] [-1.05167609e-02 9.99944697e-01 -3.14288786e-05 -3.54630162e-04] [-1.24966615e-03 1.82874252e-05 9.99999219e-01 -4.37322597e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3643199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.00, Z:-0.00 [[ 9.99973726e-01 7.04788605e-03 1.69525296e-03 3.80370252e-01] [-7.04781833e-03 9.99975163e-01 -4.59150938e-05 -1.09130453e-03] [-1.69553446e-03 3.39660526e-05 9.99998562e-01 -5.25140489e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39431999999999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.00, Z:-0.00 [[ 9.99981863e-01 5.58606562e-03 2.25162683e-03 4.12936490e-01] [-5.58593699e-03 9.99984397e-01 -6.34120599e-05 -1.44368582e-03] [-2.25194592e-03 5.08334642e-05 9.99997463e-01 -9.04171289e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4243199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.00, Z:-0.00 [[ 9.99988144e-01 4.22096136e-03 2.42811593e-03 4.45813316e-01] [-4.22080552e-03 9.99991090e-01 -6.93021609e-05 -1.32616235e-03] [-2.42838682e-03 5.90527341e-05 9.99997050e-01 -1.49950353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.48, Y:0.00, Z:-0.00 [[ 9.99993818e-01 1.84750307e-03 2.99180142e-03 4.77956861e-01] [-1.84724727e-03 9.99998290e-01 -8.82625853e-05 4.34688915e-04] [-2.99195937e-03 8.27354427e-05 9.99995521e-01 -2.23658947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4843199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.51, Y:0.00, Z:-0.00 [[ 9.99993414e-01 1.39564394e-03 3.35028070e-03 5.10155029e-01] [-1.39531472e-03 9.99999021e-01 -1.00602967e-04 4.69080499e-04] [-3.35041783e-03 9.59276088e-05 9.99994383e-01 -2.41160653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5143199999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:0.54, Y:0.00, Z:-0.00 [[ 9.99990005e-01 5.47388534e-04 4.43733600e-03 5.41937715e-01] [-5.46786396e-04 9.99999841e-01 -1.36909946e-04 1.58397879e-03] [-4.43741024e-03 1.34482303e-04 9.99990146e-01 -2.49220855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5443199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.58, Y:0.00, Z:-0.00 [[ 9.99989392e-01 4.73628795e-04 4.58176049e-03 5.75222761e-01] [-4.72983089e-04 9.99999878e-01 -1.42012266e-04 1.48721013e-03] [-4.58182719e-03 1.39843664e-04 9.99989494e-01 -3.30942171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5743199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.61, Y:0.00, Z:-0.00 [[ 9.99991497e-01 4.38213262e-04 4.10052102e-03 6.08393792e-01] [-4.37693397e-04 9.99999896e-01 -1.27676877e-04 1.71213434e-03] [-4.10057654e-03 1.25881020e-04 9.99991585e-01 -4.25530849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6043199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.64, Y:0.00, Z:-0.01 [[ 9.99992774e-01 6.97460436e-04 3.73709825e-03 6.40857816e-01] [-6.97020753e-04 9.99999750e-01 -1.18954761e-04 2.10621892e-03] [-3.73718029e-03 1.16349066e-04 9.99993010e-01 -5.36479767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6343199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.67, Y:0.00, Z:-0.01 [[ 9.99988635e-01 2.27585063e-03 4.18936706e-03 6.72259776e-01] [-2.27529704e-03 9.99997402e-01 -1.36903070e-04 3.66450476e-03] [-4.18966775e-03 1.27369459e-04 9.99991215e-01 -5.06251111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6643199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.70, Y:0.00, Z:-0.01 [[ 9.99980092e-01 3.68069456e-03 5.12524674e-03 7.04436486e-01] [-3.67988465e-03 9.99993215e-01 -1.67446208e-04 4.66159888e-03] [-5.12582829e-03 1.48582557e-04 9.99986852e-01 -5.17527756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6943199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.74, Y:0.01, Z:-0.01 [[ 9.99968621e-01 5.36254410e-03 5.83099646e-03 7.36993529e-01] [-5.36152190e-03 9.99985609e-01 -1.90922630e-04 6.32280245e-03] [-5.83193637e-03 1.59653624e-04 9.99982981e-01 -6.05873077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7243199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.77, Y:0.01, Z:-0.01 [[ 9.99946180e-01 8.37058410e-03 6.12947030e-03 7.69428612e-01] [-8.36950390e-03 9.99964955e-01 -2.01860165e-04 1.07233962e-02] [-6.13094518e-03 1.50548675e-04 9.99981194e-01 -7.68001262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7543199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.80, Y:0.01, Z:-0.01 [[ 9.99929551e-01 9.63902238e-03 6.92694902e-03 8.02073915e-01] [-9.63768767e-03 9.99953531e-01 -2.26038562e-04 1.11327961e-02] [-6.92880592e-03 1.59262867e-04 9.99975983e-01 -8.62173654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7843199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.01 [[ 9.99904235e-01 1.08609960e-02 8.57671022e-03 8.33787680e-01] [-1.08589559e-02 9.99940999e-01 -2.84390525e-04 1.13610957e-02] [-8.57929296e-03 1.91229172e-04 9.99963179e-01 -8.32817736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8143199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.87, Y:0.01, Z:-0.01 [[ 9.99891686e-01 1.13687584e-02 9.34705898e-03 8.66624780e-01] [-1.13663305e-02 9.99935352e-01 -3.12834501e-04 1.16783915e-02] [-9.35001126e-03 2.06558855e-04 9.99956266e-01 -8.64608585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8443199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.90, Y:0.01, Z:-0.01 [[ 9.99883580e-01 1.16147107e-02 9.89568892e-03 8.98531172e-01] [-1.16119637e-02 9.99932523e-01 -3.35008255e-04 1.32573328e-02] [-9.89891221e-03 2.20060873e-04 9.99950980e-01 -9.80692670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8743199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.93, Y:0.01, Z:-0.01 [[ 9.99881988e-01 1.17511325e-02 9.89552624e-03 9.31971190e-01] [-1.17483455e-02 9.99930928e-01 -3.39728532e-04 1.19780924e-02] [-9.89883493e-03 2.23432379e-04 9.99950980e-01 -1.05178861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.96, Y:0.02, Z:-0.01 [[ 9.99876290e-01 1.14000508e-02 1.08371336e-02 9.63640557e-01] [-1.13966856e-02 9.99934986e-01 -3.72232348e-04 1.62718592e-02] [-1.08406725e-02 2.48678895e-04 9.99941207e-01 -1.23351775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9343199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.00, Y:0.02, Z:-0.01 [[ 9.99876832e-01 1.15016687e-02 1.06786216e-02 9.96423047e-01] [-1.14983684e-02 9.99933823e-01 -3.70401310e-04 1.72467228e-02] [-1.06821751e-02 2.47568963e-04 9.99942913e-01 -1.32559937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9643199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.03, Y:0.02, Z:-0.01 [[ 0.99988854 0.01241979 0.00828545 1.02813607] [-0.0123674 0.99990339 -0.00634552 0.02101882] [-0.00836346 0.00624235 0.99994554 -0.01470072] [ 0. 0. 0. 1. ]] SLAMing on 0.9943199999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.06, Y:0.02, Z:-0.01 [[ 9.99901466e-01 1.05031156e-02 9.31354026e-03 1.06272090e+00] [-1.05033947e-02 9.99944838e-01 -1.89488802e-05 2.03106682e-02] [-9.31322552e-03 -7.88767764e-05 9.99956628e-01 -1.49265936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.10, Y:0.02, Z:-0.02 [[ 9.99893892e-01 1.03511374e-02 1.02497936e-02 1.09531123e+00] [-1.03435537e-02 9.99946190e-01 -7.92630883e-04 2.09026576e-02] [-1.02574467e-02 6.86527489e-04 9.99947155e-01 -1.58236531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.13, Y:0.02, Z:-0.02 [[ 0.9998737 0.01007212 0.0122937 1.12577423] [-0.01014213 0.99993263 0.00564565 0.01751153] [-0.01223601 -0.00576962 0.99990849 -0.01501518] [ 0. 0. 0. 1. ]] SLAMing on 1.08432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.16, Y:0.02, Z:-0.02 [[ 9.99872669e-01 9.89034117e-03 1.25230523e-02 1.15854776e+00] [-9.88551246e-03 9.99951037e-01 -4.47429187e-04 2.21486935e-02] [-1.25268644e-02 3.23575426e-04 9.99921483e-01 -1.76029850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.11432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.19, Y:0.03, Z:-0.02 [[ 9.99863418e-01 1.03793096e-02 1.28613817e-02 1.19155131e+00] [-1.03742525e-02 9.99946080e-01 -4.59853671e-04 2.61791326e-02] [-1.28654612e-02 3.26363642e-04 9.99917183e-01 -1.92606963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.14432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.22, Y:0.03, Z:-0.02 [[ 9.99859644e-01 1.05374600e-02 1.30251362e-02 1.22318022e+00] [-1.05322266e-02 9.99944424e-01 -4.70327446e-04 2.69316476e-02] [-1.30293684e-02 3.33077747e-04 9.99915059e-01 -2.04745089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.17432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.26, Y:0.03, Z:-0.02 [[ 9.99863054e-01 1.01602193e-02 1.30630818e-02 1.25574914e+00] [-1.01548723e-02 9.99948325e-01 -4.75587859e-04 2.76539180e-02] [-1.30672388e-02 3.42868802e-04 9.99914561e-01 -2.13226136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2043199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.29, Y:0.03, Z:-0.02 [[ 9.99873836e-01 8.67746841e-03 1.33046512e-02 1.28902547e+00] [-8.67173023e-03 9.99962280e-01 -4.88921477e-04 2.93278871e-02] [-1.33083919e-02 3.73485447e-04 9.99911370e-01 -2.24967130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2343199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.32, Y:0.03, Z:-0.02 [[ 9.99880353e-01 7.91277155e-03 1.32916176e-02 1.32100599e+00] [-7.90691703e-03 9.99968618e-01 -4.92960089e-04 2.89730577e-02] [-1.32951012e-02 3.87805391e-04 9.99911541e-01 -2.29488989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2643199999999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:1.35, Y:0.03, Z:-0.02 [[ 9.99888202e-01 6.29136332e-03 1.35647195e-02 1.35360012e+00] [-6.28506056e-03 9.99980120e-01 -5.07223544e-04 3.04561230e-02] [-1.35676410e-02 4.21911754e-04 9.99907866e-01 -2.35514536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.39, Y:0.03, Z:-0.02 [[ 9.99885005e-01 5.84286251e-03 1.39942301e-02 1.38688180e+00] [-5.83604456e-03 9.99982831e-01 -5.27985750e-04 3.05813423e-02] [-1.39970748e-02 4.46254084e-04 9.99901937e-01 -2.39070827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.32432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.42, Y:0.03, Z:-0.02 [[ 9.99872619e-01 5.60065002e-03 1.49458372e-02 1.41965447e+00] [-5.59276580e-03 9.99984198e-01 -5.69264198e-04 3.05913146e-02] [-1.49487893e-02 4.85603117e-04 9.99888143e-01 -2.47343618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.35432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:0.03, Z:-0.03 [[ 9.99853481e-01 6.28511414e-03 1.59221160e-02 1.45213208e+00] [-6.27616082e-03 9.99980117e-01 -6.12225475e-04 3.05916332e-02] [-1.59256474e-02 5.12206011e-04 9.99873048e-01 -2.56235145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.49, Y:0.03, Z:-0.03 [[ 9.99825752e-01 9.10270863e-03 1.62974347e-02 1.48502007e+00] [-9.09361208e-03 9.99958452e-01 -6.32178980e-04 3.34187123e-02] [-1.63025121e-02 4.83866275e-04 9.99866988e-01 -2.60493170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4143199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.52, Y:0.05, Z:-0.04 [[ 0.99975275 0.01130938 0.01914511 1.51858952] [-0.01070081 0.99944342 -0.03159662 0.05321131] [-0.0194918 0.03138394 0.99931733 -0.04157313] [ 0. 0. 0. 1. ]] SLAMing on 1.4443199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.55, Y:0.02, Z:-0.02 [[ 0.99975465 0.01304277 0.01790347 1.54767451] [-0.0135826 0.99944646 0.03036924 0.01699599] [-0.01749746 -0.03060496 0.99937839 -0.02130195] [ 0. 0. 0. 1. ]] SLAMing on 1.4743199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.58, Y:0.03, Z:-0.03 [[ 9.99699060e-01 1.76693094e-02 1.70171914e-02 1.58081086e+00] [-1.76603949e-02 9.99843816e-01 -6.73995034e-04 3.48326675e-02] [-1.70264426e-02 3.73261881e-04 9.99854970e-01 -2.84801779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5043199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.61, Y:0.03, Z:-0.03 [[ 9.99629194e-01 2.01479851e-02 1.83175409e-02 1.61356234e+00] [-2.01379517e-02 9.99796943e-01 -7.32053997e-04 3.36518913e-02] [-1.83285708e-02 3.62904794e-04 9.99831952e-01 -2.91903333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.53432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.65, Y:0.03, Z:-0.03 [[ 9.99568008e-01 2.37504197e-02 1.73122763e-02 1.64513857e+00] [-2.37419004e-02 9.99717878e-01 -6.97486255e-04 3.42550698e-02] [-1.73239578e-02 2.86158605e-04 9.99849888e-01 -2.98673586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.68, Y:0.03, Z:-0.03 [[ 9.99523306e-01 2.56650628e-02 1.71599887e-02 1.67782876e+00] [-2.56568831e-02 9.99670565e-01 -6.96691363e-04 3.45837128e-02] [-1.71722163e-02 2.56087429e-04 9.99852514e-01 -3.07114828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.59432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:0.04, Z:-0.03 [[ 9.99479099e-01 2.69012625e-02 1.78284304e-02 1.71039674e+00] [-2.68925207e-02 9.99638064e-01 -7.29938690e-04 3.50506174e-02] [-1.78416139e-02 2.50107032e-04 9.99840794e-01 -3.23984947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.74, Y:0.03, Z:-0.03 [[ 9.99436605e-01 2.79618337e-02 1.85636461e-02 1.74207568e+00] [-2.79524167e-02 9.99608961e-01 -7.66611788e-04 3.43577648e-02] [-1.85778229e-02 2.47281111e-04 9.99827387e-01 -3.31074635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6543199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.77, Y:0.03, Z:-0.03 [[ 9.99420078e-01 2.81533345e-02 1.91545639e-02 1.77450516e+00] [-2.81432258e-02 9.99603583e-01 -7.97152426e-04 3.14321979e-02] [-1.91694132e-02 2.57618923e-04 9.99816217e-01 -3.32201046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6843199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.81, Y:0.03, Z:-0.03 [[ 9.99408840e-01 2.78872975e-02 2.01064366e-02 1.80734223e+00] [-2.78759657e-02 9.99611034e-01 -8.43697551e-04 2.84783708e-02] [-2.01221443e-02 2.82712456e-04 9.99797489e-01 -3.32577718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7143199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.84, Y:0.03, Z:-0.03 [[ 9.99431982e-01 2.62800969e-02 2.10966735e-02 1.83966274e+00] [-2.62671064e-02 9.99654561e-01 -8.92678236e-04 2.59520286e-02] [-2.11128455e-02 3.38022613e-04 9.99777042e-01 -3.33217282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7443199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:0.02, Z:-0.03 [[ 9.99452815e-01 2.56153366e-02 2.09266687e-02 1.87291844e+00] [-2.56022728e-02 9.99671810e-01 -8.91985399e-04 2.46761807e-02] [-2.09426493e-02 3.55727037e-04 9.99780615e-01 -3.44262839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.77432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.91, Y:0.02, Z:-0.04 [[ 9.99496493e-01 2.44480958e-02 2.02250208e-02 1.90532174e+00] [-2.44355214e-02 9.99701031e-01 -8.68660012e-04 2.38015005e-02] [-2.02402112e-02 3.74013707e-04 9.99795076e-01 -3.56788321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.94, Y:0.02, Z:-0.04 [[ 9.99572283e-01 2.15954198e-02 1.97202413e-02 1.93747091e+00] [-2.15828345e-02 9.99766701e-01 -8.50825091e-04 2.22441732e-02] [-1.97340145e-02 4.24842475e-04 9.99805175e-01 -3.67026734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8343199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.97, Y:0.02, Z:-0.04 [[ 9.99606784e-01 1.97987670e-02 1.98566296e-02 1.97082072e+00] [-1.97855317e-02 9.99803875e-01 -8.62795375e-04 1.93826041e-02] [-1.98698175e-02 4.69582136e-04 9.99802465e-01 -3.73317104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8643199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.00, Y:0.01, Z:-0.04 [[ 9.99669455e-01 1.64163942e-02 1.97859365e-02 2.00354320e+00] [-1.64024642e-02 9.99865095e-01 -8.66127896e-04 1.43616280e-02] [-1.97974860e-02 5.41303487e-04 9.99803864e-01 -3.73482508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8943199999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.04, Y:0.03, Z:-0.04 [[ 0.99982027 0.01512427 0.01143172 2.03757843] [-0.01481964 0.99954479 -0.02627892 0.02679191] [-0.01182397 0.02610478 0.99958928 -0.04020227] [ 0. 0. 0. 1. ]] SLAMing on 1.9243199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.00, Z:-0.03 [[ 0.9996984 0.01354174 0.02048717 2.06553832] [-0.01405157 0.99958996 0.02494945 -0.00466982] [-0.02014091 -0.0252298 0.99947876 -0.03271711] [ 0. 0. 0. 1. ]] SLAMing on 1.9543199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.10, Y:0.01, Z:-0.04 [[ 9.99719563e-01 1.37210147e-02 1.93010317e-02 2.09831481e+00] [-1.37070163e-02 9.99905687e-01 -8.57379497e-04 8.14455148e-03] [-1.93109755e-02 5.92579500e-04 9.99813350e-01 -3.86639989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9843199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.13, Y:0.01, Z:-0.04 [[ 9.99734730e-01 1.35600293e-02 1.86170717e-02 2.13122477e+00] [-1.35468774e-02 9.99907890e-01 -8.32382561e-04 6.87325708e-03] [-1.86266441e-02 5.79958567e-04 9.99826341e-01 -3.97576214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0143199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:0.01, Z:-0.04 [[ 9.99739932e-01 1.37708609e-02 1.81777631e-02 2.16425710e+00] [-1.37582490e-02 9.99905016e-01 -8.18689520e-04 5.26211637e-03] [-1.81873106e-02 5.68382413e-04 9.99834436e-01 -4.06758503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0443199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.20, Y:0.00, Z:-0.04 [[ 9.99741255e-01 1.43271688e-02 1.76679234e-02 2.19644992e+00] [-1.43152372e-02 9.99897210e-01 -8.01618672e-04 3.20528910e-03] [-1.76775923e-02 5.48490742e-04 9.99843589e-01 -4.10456297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0743199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.23, Y:0.00, Z:-0.04 [[ 9.99735601e-01 1.52297957e-02 1.72273406e-02 2.22898161e+00] [-1.52184961e-02 9.99883882e-01 -7.86828971e-04 5.70149533e-04] [-1.72373234e-02 5.24446719e-04 9.99851289e-01 -4.16065033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1043199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.00, Z:-0.04 [[ 9.99718664e-01 1.68559550e-02 1.66874216e-02 2.26045810e+00] [-1.68454876e-02 9.99857810e-01 -7.67641695e-04 -2.29001244e-03] [-1.66979881e-02 4.86317977e-04 9.99860461e-01 -4.22011980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1343199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.00, Z:-0.04 [[ 9.99660341e-01 2.03134621e-02 1.63268218e-02 2.29314114e+00] [-2.03038242e-02 9.99793570e-01 -7.55875682e-04 -3.49498222e-03] [-1.63388059e-02 4.24122023e-04 9.99866423e-01 -4.27608632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1643199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.00, Z:-0.04 [[ 9.99595893e-01 2.28113470e-02 1.69615142e-02 2.32498791e+00] [-2.28012007e-02 9.99739706e-01 -7.91363269e-04 -4.57448981e-03] [-1.69751513e-02 4.04300583e-04 9.99855830e-01 -4.35160984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1943199999999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.01, Z:-0.04 [[ 9.99533590e-01 2.53128127e-02 1.70840430e-02 2.35676880e+00] [-2.53027920e-02 9.99679511e-01 -8.02486157e-04 -5.58650951e-03] [-1.70988809e-02 3.69837884e-04 9.99853735e-01 -4.40418313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.01, Z:-0.04 [[ 9.99394893e-01 3.06800479e-02 1.63884841e-02 2.38989461e+00] [-3.06714711e-02 9.99529220e-01 -7.74492581e-04 -8.36681126e-03] [-1.64045302e-02 2.71365014e-04 9.99865400e-01 -4.48416756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2543199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.01, Z:-0.05 [[ 0.99934139 0.03344432 0.01408089 2.42241167] [-0.03334453 0.99941752 -0.00726351 -0.0082665 ] [-0.01431561 0.0067892 0.99987448 -0.04564818] [ 0. 0. 0. 1. ]] SLAMing on 2.2843199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.02, Z:-0.04 [[ 0.99925385 0.03457796 0.01720756 2.45362201] [-0.03468289 0.99938132 0.00583759 -0.01874447] [-0.01699506 -0.00643004 0.9998349 -0.04370896] [ 0. 0. 0. 1. ]] SLAMing on 2.3143199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.02, Z:-0.05 [[ 9.99114906e-01 3.78296856e-02 1.83934887e-02 2.48541746e+00] [-3.78198185e-02 9.99284184e-01 -8.84123421e-04 -1.73284312e-02] [-1.84137684e-02 1.87702485e-04 9.99830435e-01 -4.61319525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3443199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.01, Z:-0.05 [[ 0.99916449 0.03841673 0.01394529 2.51825926] [-0.03821914 0.99916892 -0.01416919 -0.01128205] [-0.01447804 0.01362437 0.99980236 -0.04834571] [ 0. 0. 0. 1. ]] SLAMing on 2.3743199999999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.03, Z:-0.04 [[ 0.99906605 0.03872962 0.01915827 2.54984124] [-0.03896695 0.99916635 0.01217324 -0.02925729] [-0.01867083 -0.01290841 0.99974235 -0.04493068] [ 0. 0. 0. 1. ]] SLAMing on 2.4043199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.03, Z:-0.05 [[ 9.99059785e-01 3.90659289e-02 1.87988894e-02 2.58153552e+00] [-3.90555907e-02 9.99236619e-01 -9.16899190e-04 -2.68950218e-02] [-1.88203582e-02 1.81835378e-04 9.99822865e-01 -4.79301581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4343199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.02, Z:-0.05 [[ 0.99909411 0.03958865 0.01561071 2.6127227 ] [-0.03942032 0.99916275 -0.01094694 -0.02442798] [-0.01603101 0.01032164 0.99981822 -0.05012191] [ 0. 0. 0. 1. ]] SLAMing on 2.4643199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.04, Z:-0.05 [[ 0.99912491 0.03685478 0.01977707 2.64518789] [-0.03704488 0.99927002 0.00933302 -0.04071371] [-0.01941867 -0.01005749 0.99976085 -0.04730293] [ 0. 0. 0. 1. ]] SLAMing on 2.4943199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.04, Z:-0.05 [[ 9.99149844e-01 3.63647095e-02 1.94215526e-02 2.67804715e+00] [-3.63528877e-02 9.99338553e-01 -9.61510192e-04 -3.79642790e-02] [-1.94436713e-02 2.54663239e-04 9.99810922e-01 -5.00538375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.04, Z:-0.05 [[ 9.99160553e-01 3.58207574e-02 1.98761812e-02 2.71094037e+00] [-3.58081354e-02 9.99358192e-01 -9.90684231e-04 -4.12388222e-02] [-1.98989116e-02 2.78123616e-04 9.99801958e-01 -5.09447526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5543199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.04, Z:-0.05 [[ 9.99197783e-01 3.47780353e-02 1.98564538e-02 2.74257644e+00] [-3.47651005e-02 9.99395015e-01 -9.96334006e-04 -4.41740920e-02] [-1.98790914e-02 3.05223119e-04 9.99802345e-01 -5.15988517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5843199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.05, Z:-0.05 [[ 9.99272050e-01 3.21457315e-02 2.05431610e-02 2.77566855e+00] [-3.21311950e-02 9.99483122e-01 -1.03737187e-03 -4.91854058e-02] [-2.05658898e-02 3.76540402e-04 9.99788429e-01 -5.18991864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6143199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.05, Z:-0.05 [[ 9.99312260e-01 3.06457724e-02 2.08768753e-02 2.80716073e+00] [-3.06302861e-02 9.99530219e-01 -1.06122973e-03 -5.25289727e-02] [-2.08995900e-02 4.21035217e-04 9.99781491e-01 -5.26898173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.06, Z:-0.05 [[ 9.99418662e-01 2.76209836e-02 1.99854966e-02 2.83960342e+00] [-2.76061090e-02 9.99618359e-01 -1.01982970e-03 -5.73401090e-02] [-2.00060380e-02 4.67515039e-04 9.99799750e-01 -5.28673106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6743199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.06, Z:-0.05 [[ 9.99455444e-01 2.67507256e-02 1.93187264e-02 2.87289140e+00] [-2.67365441e-02 9.99642022e-01 -9.92037132e-04 -6.07552331e-02] [-1.93383485e-02 4.74980932e-04 9.99812884e-01 -5.39969176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.06, Z:-0.06 [[ 0.99946901 0.02630468 0.01922921 2.9058612 ] [-0.02601471 0.99954634 -0.01517754 -0.05564942] [-0.01961972 0.01466924 0.99969989 -0.0617744 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7343199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.07, Z:-0.06 [[ 9.99485165e-01 2.66134067e-02 1.79201540e-02 2.93553703e+00] [-2.65968870e-02 9.99645568e-01 -1.15959262e-03 -6.79973323e-02] [-1.79446633e-02 6.82375307e-04 9.99838749e-01 -5.82878423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.07, Z:-0.06 [[ 9.99479674e-01 2.70087579e-02 1.76325913e-02 2.96806506e+00] [-2.70003788e-02 9.99635169e-01 -7.13137118e-04 -7.02379916e-02] [-1.76454193e-02 2.36679410e-04 9.99844279e-01 -5.85507952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7943199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.07, Z:-0.06 [[ 9.99498128e-01 2.62355685e-02 1.77534975e-02 3.00213008e+00] [-2.62242957e-02 9.99655708e-01 -8.67513930e-04 -7.25778504e-02] [-1.77701448e-02 4.01505581e-04 9.99842018e-01 -5.89261549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8243199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.08, Z:-0.05 [[ 0.99949795 0.02677949 0.01693235 3.03201818] [-0.02701078 0.99954287 0.01358157 -0.08357779] [-0.0165609 -0.01403211 0.99976439 -0.05258544] [ 0. 0. 0. 1. ]] SLAMing on 2.8543199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.08, Z:-0.06 [[ 9.99448414e-01 2.98286309e-02 1.45986732e-02 3.06495020e+00] [-2.98205287e-02 9.99554971e-01 -7.72411633e-04 -7.85165462e-02] [-1.46152164e-02 3.36645427e-04 9.99893135e-01 -5.70008576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8843199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.08, Z:-0.06 [[ 9.99420138e-01 3.10727951e-02 1.39236758e-02 3.09632967e+00] [-3.10654817e-02 9.99517077e-01 -7.41277271e-04 -8.08299441e-02] [-1.39399852e-02 3.08301738e-04 9.99902786e-01 -5.74363201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9143199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.08, Z:-0.06 [[ 9.99394313e-01 3.18383670e-02 1.40472956e-02 3.12867976e+00] [-3.18309366e-02 9.99492984e-01 -7.52279122e-04 -8.38868803e-02] [-1.40641247e-02 3.04684901e-04 9.99901049e-01 -5.78990963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9443199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:-0.06 [[ 9.99374026e-01 3.24450601e-02 1.41023033e-02 3.16157035e+00] [-3.24375627e-02 9.99473475e-01 -7.60117040e-04 -8.98667572e-02] [-1.41195402e-02 3.02196878e-04 9.99900269e-01 -5.75357844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9743199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.09, Z:-0.06 [[ 9.99379493e-01 3.24026102e-02 1.38093842e-02 3.19458338e+00] [-3.23953589e-02 9.99474852e-01 -7.48521878e-04 -9.31269259e-02] [-1.38263863e-02 3.00697458e-04 9.99904366e-01 -5.83384772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0043199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.10, Z:-0.06 [[ 9.99401053e-01 3.18729842e-02 1.34777060e-02 3.22698022e+00] [-3.18659728e-02 9.99491881e-01 -7.34703293e-04 -9.57718409e-02] [-1.34942749e-02 3.04783032e-04 9.99908902e-01 -5.90638708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0343199999999992 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.10, Z:-0.06 [[ 9.99424846e-01 3.11324082e-02 1.34443578e-02 3.25833024e+00] [-3.11253047e-02 9.99515218e-01 -7.37326624e-04 -1.00165320e-01] [-1.34607950e-02 3.18442814e-04 9.99909349e-01 -5.91982983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0643199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.10, Z:-0.06 [[ 9.99421517e-01 3.11061708e-02 1.37490732e-02 3.29098911e+00] [-3.10986814e-02 9.99516031e-01 -7.58239161e-04 -1.03768647e-01] [-1.37660050e-02 3.30222485e-04 9.99905190e-01 -5.94219744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0943199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.10, Z:-0.06 [[ 9.99409186e-01 3.16153160e-02 1.34814947e-02 3.32342381e+00] [-3.15676686e-02 9.99494647e-01 -3.73260849e-03 -1.04999690e-01] [-1.35926894e-02 3.30482386e-03 9.99902154e-01 -6.06628926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.11, Z:-0.06 [[ 9.99412446e-01 3.06223500e-02 1.53959468e-02 3.35491651e+00] [-3.06596803e-02 9.99527473e-01 2.19447027e-03 -1.11056362e-01] [-1.53214719e-02 -2.66521570e-03 9.99879067e-01 -5.97924167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1543199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.12, Z:-0.06 [[ 0.99934003 0.03230703 0.01660621 3.3839962 ] [-0.0323791 0.99946729 0.00408995 -0.11531752] [-0.01646523 -0.00462494 0.99985374 -0.05994837] [ 0. 0. 0. 1. ]] SLAMing on 3.1843199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.11, Z:-0.06 [[ 0.99937869 0.03151798 0.01577523 3.41840078] [-0.03143108 0.99948952 -0.00572612 -0.11235856] [-0.01594765 0.00522673 0.99985917 -0.06267829] [ 0. 0. 0. 1. ]] SLAMing on 3.2143199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.12, Z:-0.06 [[ 9.99356277e-01 3.21956714e-02 1.58262469e-02 3.45082250e+00] [-3.21855542e-02 9.99481511e-01 -8.93621042e-04 -1.18764925e-01] [-1.58468119e-02 3.83669270e-04 9.99874358e-01 -6.17361522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.244319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.12, Z:-0.06 [[ 9.99337829e-01 3.27169824e-02 1.59217455e-02 3.48256918e+00] [-3.27067276e-02 9.99464583e-01 -9.04107881e-04 -1.21141879e-01] [-1.59428004e-02 3.82761013e-04 9.99872832e-01 -6.21499536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2743199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.12, Z:-0.06 [[ 9.99348682e-01 3.22344651e-02 1.62219195e-02 3.51459333e+00] [-3.22236782e-02 9.99480254e-01 -9.25971002e-04 -1.23654333e-01] [-1.62433364e-02 4.02637986e-04 9.99867987e-01 -6.28810608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3043199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.13, Z:-0.06 [[ 9.99358667e-01 3.18307024e-02 1.64030550e-02 3.54734117e+00] [-3.18195415e-02 9.99493187e-01 -9.41022573e-04 -1.26761327e-01] [-1.64246951e-02 4.18481376e-04 9.99865018e-01 -6.37423481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3343199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.13, Z:-0.06 [[ 9.99395643e-01 3.07434501e-02 1.62230955e-02 3.58054221e+00] [-3.07323106e-02 9.99527213e-01 -9.35557228e-04 -1.29999731e-01] [-1.62441877e-02 4.36418607e-04 9.99867959e-01 -6.41827339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3643199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.14, Z:-0.06 [[ 9.99461374e-01 2.83643668e-02 1.65052616e-02 3.61294693e+00] [-2.83524283e-02 9.99597531e-01 -9.56913547e-04 -1.35347250e-01] [-1.65257610e-02 4.88433884e-04 9.99863321e-01 -6.43972829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3943199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.14, Z:-0.06 [[ 9.99491446e-01 2.72772437e-02 1.65166750e-02 3.64553788e+00] [-2.72650578e-02 9.99627776e-01 -9.62568998e-04 -1.38664621e-01] [-1.65367833e-02 5.11751382e-04 9.99863127e-01 -6.42135747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4243199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.13, Z:-0.07 [[ 0.99956116 0.02695637 0.01228138 3.67759482] [-0.02678198 0.99954115 -0.01414964 -0.13422129] [-0.01265717 0.01381451 0.99982446 -0.06731094] [ 0. 0. 0. 1. ]] SLAMing on 3.454319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.15, Z:-0.06 [[ 0.99950182 0.02635321 0.01736727 3.70905244] [-0.02657086 0.99956974 0.01242261 -0.15189396] [-0.01703242 -0.01287789 0.999772 -0.06115769] [ 0. 0. 0. 1. ]] SLAMing on 3.4843199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.15, Z:-0.07 [[ 9.99475440e-01 2.80056308e-02 1.62643832e-02 3.74177937e+00] [-2.79936838e-02 9.99607637e-01 -9.61797013e-04 -1.47185225e-01] [-1.62849374e-02 5.05992492e-04 9.99867264e-01 -6.55705556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5143199999999992 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.15, Z:-0.07 [[ 9.99422160e-01 2.97885954e-02 1.63702540e-02 3.77335282e+00] [-2.97766458e-02 9.99556104e-01 -9.73269048e-04 -1.50003880e-01] [-1.63919796e-02 4.85255399e-04 9.99865525e-01 -6.66405141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5443199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.15, Z:-0.07 [[ 9.99306436e-01 3.34890119e-02 1.62829221e-02 3.80604517e+00] [-3.34776048e-02 9.99438995e-01 -9.72699292e-04 -1.54215797e-01] [-1.63063620e-02 4.26911431e-04 9.99866951e-01 -6.71868547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5743199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.16, Z:-0.07 [[ 9.99237543e-01 3.57371002e-02 1.57223673e-02 3.83904131e+00] [-3.57266699e-02 9.99361153e-01 -9.43866602e-04 -1.57398115e-01] [-1.57460541e-02 3.81439119e-04 9.99875950e-01 -6.77394549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.16, Z:-0.07 [[ 9.99163497e-01 3.79291841e-02 1.52867200e-02 3.87064341e+00] [-3.79195068e-02 9.99280371e-01 -9.22505797e-04 -1.60385143e-01] [-1.53107091e-02 3.42069235e-04 9.99882726e-01 -6.86230670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6343199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.16, Z:-0.07 [[ 9.99027591e-01 4.15056553e-02 1.48711822e-02 3.90366536e+00] [-4.14968310e-02 9.99138229e-01 -9.01596808e-04 -1.63635341e-01] [-1.48957880e-02 2.83613153e-04 9.99889011e-01 -6.96919105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.664319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.17, Z:-0.07 [[ 9.98945562e-01 4.32401826e-02 1.54289073e-02 3.93559351e+00] [-4.32308103e-02 9.99064669e-01 -9.40608114e-04 -1.66648126e-01] [-1.54551482e-02 2.72612136e-04 9.99880525e-01 -7.02318780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6943199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.17, Z:-0.07 [[ 9.98881923e-01 4.45624591e-02 1.57826487e-02 3.96836379e+00] [-4.45527432e-02 9.99006566e-01 -9.66848131e-04 -1.69708164e-01] [-1.58100548e-02 2.62606827e-04 9.99874979e-01 -7.10079128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.17, Z:-0.07 [[ 9.98836243e-01 4.55447410e-02 1.58693744e-02 4.00015816e+00] [-4.55349591e-02 9.98962268e-01 -9.77371003e-04 -1.72961587e-01] [-1.58974203e-02 2.53622265e-04 9.99873596e-01 -7.14700315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7543199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.18, Z:-0.07 [[ 9.98779117e-01 4.62711514e-02 1.72990087e-02 4.03297644e+00] [-4.62595375e-02 9.98928880e-01 -1.07112220e-03 -1.77709361e-01] [-1.73300415e-02 2.69570347e-04 9.99849787e-01 -7.21931384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7843199999999992 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.18, Z:-0.07 [[ 9.98750096e-01 4.66702644e-02 1.78922164e-02 4.06432344e+00] [-4.66578008e-02 9.98910311e-01 -1.11363187e-03 -1.81333415e-01] [-1.79246929e-02 2.77428468e-04 9.99839301e-01 -7.21933002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8143199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.19, Z:-0.07 [[ 9.98771507e-01 4.59781920e-02 1.84792229e-02 4.09683259e+00] [-4.59646771e-02 9.98942397e-01 -1.15564836e-03 -1.86052836e-01] [-1.85128138e-02 3.04837140e-04 9.99828577e-01 -7.34468991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8443199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.19, Z:-0.07 [[ 9.98790986e-01 4.53658996e-02 1.89341254e-02 4.12961951e+00] [-4.53514883e-02 9.98970383e-01 -1.19003968e-03 -1.89464937e-01] [-1.89686177e-02 3.29910143e-04 9.99820025e-01 -7.45581176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.19, Z:-0.08 [[ 9.98815686e-01 4.46422997e-02 1.93465679e-02 4.16219440e+00] [-4.46270002e-02 9.99002972e-01 -1.22204034e-03 -1.92819090e-01] [-1.93818335e-02 3.57213777e-04 9.99812091e-01 -7.51042132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9043199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.20, Z:-0.08 [[ 9.98821892e-01 4.43575374e-02 1.96783585e-02 4.19473482e+00] [-4.43415327e-02 9.99015650e-01 -1.24911100e-03 -1.96359806e-01] [-1.97143956e-02 3.75070831e-04 9.99805582e-01 -7.54069562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.934319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.20, Z:-0.08 [[ 9.98884561e-01 4.30121767e-02 1.94829649e-02 4.22594043e+00] [-4.29961155e-02 9.99074467e-01 -1.24270008e-03 -2.00763957e-01] [-1.95183840e-02 4.03622110e-04 9.99809417e-01 -7.63733300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9643199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.20, Z:-0.08 [[ 9.98902140e-01 4.26340070e-02 1.94127683e-02 4.25794161e+00] [-4.26178814e-02 9.99090671e-01 -1.24381078e-03 -2.04142958e-01] [-1.94481443e-02 4.15114194e-04 9.99810781e-01 -7.71556753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.994319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.21, Z:-0.08 [[ 9.98949737e-01 4.14675438e-02 1.94901531e-02 4.29029417e+00] [-4.14509583e-02 9.99139752e-01 -1.25435271e-03 -2.08793954e-01] [-1.95254017e-02 4.45149783e-04 9.99809262e-01 -7.69515781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.20, Z:-0.09 [[ 0.99889288 0.04171923 0.0217376 4.32553842] [-0.0412873 0.99894804 -0.01995408 -0.20287058] [-0.02254721 0.0190345 0.99956456 -0.0893509 ] [ 0. 0. 0. 1. ]] SLAMing on 4.05432 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.23, Z:-0.07 [[ 0.99897532 0.04029425 0.020608 4.3532699 ] [-0.04065249 0.99902407 0.01727073 -0.22610157] [-0.01989198 -0.0180908 0.99963845 -0.07236165] [ 0. 0. 0. 1. ]] SLAMing on 4.084319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.21, Z:-0.08 [[ 0.99911219 0.03946004 0.01475585 4.38859434] [-0.03930821 0.99917258 -0.01044172 -0.21392713] [-0.01515567 0.00985242 0.9998366 -0.08107393] [ 0. 0. 0. 1. ]] SLAMing on 4.114319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.23, Z:-0.08 [[ 0.99901418 0.04041639 0.01836281 4.41759299] [-0.04057368 0.99914228 0.0082753 -0.2274182 ] [-0.0180126 -0.00901219 0.99979714 -0.07685294] [ 0. 0. 0. 1. ]] SLAMing on 4.14432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.23, Z:-0.08 [[ 9.98990241e-01 4.13576145e-02 1.75512161e-02 4.45055143e+00] [-4.13438804e-02 9.99144320e-01 -1.14479568e-03 -2.25029944e-01] [-1.75835439e-02 4.18004333e-04 9.99845310e-01 -8.03511451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.21, Z:-0.10 [[ 0.99886784 0.04271444 0.02094052 4.48563549] [-0.04213066 0.99873169 -0.02756851 -0.21402743] [-0.02209153 0.02665506 0.99940056 -0.09763255] [ 0. 0. 0. 1. ]] SLAMing on 4.204319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.25, Z:-0.07 [[ 0.99884577 0.04435676 0.01842833 4.51268354] [-0.04481029 0.99868332 0.02497308 -0.24595909] [-0.01729634 -0.02577004 0.99951825 -0.07393765] [ 0. 0. 0. 1. ]] SLAMing on 4.234319999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.23, Z:-0.08 [[ 9.98789908e-01 4.63347462e-02 1.64867190e-02 4.54598220e+00] [-4.63231384e-02 9.98925917e-01 -1.08546171e-03 -2.33900123e-01] [-1.65193055e-02 3.20431637e-04 9.99863496e-01 -8.28784511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.24, Z:-0.08 [[ 9.98729711e-01 4.75973303e-02 1.65365915e-02 4.57849803e+00] [-4.75857375e-02 9.98866558e-01 -1.09403411e-03 -2.36970761e-01] [-1.65699214e-02 3.05738467e-04 9.99862663e-01 -8.37718646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.24, Z:-0.08 [[ 9.98650205e-01 4.93050376e-02 1.63334483e-02 4.60988106e+00] [-4.92938717e-02 9.98783728e-01 -1.08576097e-03 -2.40499840e-01] [-1.63671159e-02 2.79156515e-04 9.99866011e-01 -8.41407073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.24, Z:-0.08 [[ 9.98612927e-01 5.01151145e-02 1.61461436e-02 4.64269728e+00] [-5.01042338e-02 9.98743412e-01 -1.07795843e-03 -2.43365418e-01] [-1.61798766e-02 2.67473073e-04 9.99869061e-01 -8.48174641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3543199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.25, Z:-0.09 [[ 9.98595803e-01 5.03639006e-02 1.64286382e-02 4.67504857e+00] [-5.03525843e-02 9.98730896e-01 -1.10199078e-03 -2.46174810e-01] [-1.64632891e-02 2.73218979e-04 9.99864434e-01 -8.59441223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.25, Z:-0.09 [[ 9.98577082e-01 5.05365785e-02 1.70254638e-02 4.70667502e+00] [-5.05243491e-02 9.98722170e-01 -1.14794160e-03 -2.51614637e-01] [-1.70617212e-02 2.86107692e-04 9.99854397e-01 -8.56490779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.26, Z:-0.09 [[ 9.98571305e-01 5.05165002e-02 1.74193221e-02 4.73982697e+00] [-5.05036372e-02 9.98723183e-01 -1.17782896e-03 -2.55444003e-01] [-1.74565806e-02 2.96407077e-04 9.99847578e-01 -8.58662246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.25, Z:-0.10 [[ 0.99851298 0.0510549 0.01911083 4.77555123] [-0.05081369 0.99862481 -0.01290186 -0.25341453] [-0.01974325 0.01191158 0.99973412 -0.09515514] [ 0. 0. 0. 1. ]] SLAMing on 4.47432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.25, Z:-0.10 [[ 0.99855232 0.04926389 0.02159494 4.80732067] [-0.048927 0.99867641 -0.01586102 -0.25440488] [-0.02234773 0.01478148 0.99964098 -0.10113058] [ 0. 0. 0. 1. ]] SLAMing on 4.504319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.28, Z:-0.08 [[ 0.99866476 0.04758713 0.02010377 4.83498209] [-0.04807855 0.99853782 0.02471182 -0.27989992] [-0.01889841 -0.02564539 0.99949245 -0.08028342] [ 0. 0. 0. 1. ]] SLAMing on 4.534319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.27, Z:-0.09 [[ 9.98735934e-01 4.66379878e-02 1.87465472e-02 4.86815444e+00] [-4.66220590e-02 9.98911773e-01 -1.28607244e-03 -2.69166125e-01] [-1.87861265e-02 4.10444126e-04 9.99823441e-01 -8.90436531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5643199999999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.27, Z:-0.09 [[ 9.98858941e-01 4.36120633e-02 1.94628844e-02 4.90086175e+00] [-4.35941977e-02 9.99048420e-01 -1.34146477e-03 -2.74237966e-01] [-1.95028680e-02 4.91465246e-04 9.99809680e-01 -8.90244809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.28, Z:-0.09 [[ 9.98890031e-01 4.27026590e-02 1.98793792e-02 4.93334917e+00] [-4.26837155e-02 9.99087687e-01 -1.37644423e-03 -2.78172062e-01] [-1.99200208e-02 5.26390659e-04 9.99801438e-01 -8.91280180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.28, Z:-0.10 [[ 0.99888139 0.04213543 0.02146092 4.96802633] [-0.04188093 0.99904845 -0.01217332 -0.27651387] [-0.02195343 0.0112609 0.99969557 -0.09722589] [ 0. 0. 0. 1. ]] SLAMing on 4.654319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.29, Z:-0.09 [[ 0.99894492 0.041335 0.02001146 4.99722593] [-0.04152936 0.9990931 0.00939626 -0.29087516] [-0.01960492 -0.01021741 0.9997556 -0.08639364] [ 0. 0. 0. 1. ]] SLAMing on 4.68432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.29, Z:-0.09 [[ 9.98945502e-01 4.16757949e-02 1.92616665e-02 5.03094937e+00] [-4.16575742e-02 9.99131039e-01 -1.34640176e-03 -2.87304792e-01] [-1.93010412e-02 5.42587682e-04 9.99813570e-01 -9.05040407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.29, Z:-0.09 [[ 9.98923538e-01 4.23782921e-02 1.88638691e-02 5.06406578e+00] [-4.23608966e-02 9.99101501e-01 -1.32096518e-03 -2.88604798e-01] [-1.89029002e-02 5.20452808e-04 9.99821189e-01 -9.22088220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.29, Z:-0.09 [[ 9.98886573e-01 4.31297852e-02 1.91164031e-02 5.09668537e+00] [-4.31119439e-02 9.99069343e-01 -1.34461965e-03 -2.90572885e-01] [-1.91566054e-02 5.18977216e-04 9.99816361e-01 -9.35358647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7743199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.28, Z:-0.11 [[ 0.99882257 0.0437412 0.02098071 5.13087822] [-0.04338759 0.99891327 -0.01702363 -0.28465485] [-0.02170254 0.01609329 0.99963494 -0.10534313] [ 0. 0. 0. 1. ]] SLAMing on 4.804319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.31, Z:-0.09 [[ 0.99888328 0.04330483 0.01889133 5.16173672] [-0.04357708 0.99894849 0.0142458 -0.30651404] [-0.01825455 -0.01505312 0.99972005 -0.08967937] [ 0. 0. 0. 1. ]] SLAMing on 4.834319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.30, Z:-0.10 [[ 9.98897689e-01 4.36764377e-02 1.71981065e-02 5.19452127e+00] [-4.36618339e-02 9.99045618e-01 -1.22389236e-03 -3.00913629e-01] [-1.72351482e-02 4.71642383e-04 9.99851353e-01 -9.53170378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.29, Z:-0.11 [[ 0.99880222 0.04536519 0.0183338 5.22931634] [-0.04493077 0.99871483 -0.02345043 -0.29267711] [-0.01937407 0.02259859 0.99955688 -0.11079054] [ 0. 0. 0. 1. ]] SLAMing on 4.89432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.33, Z:-0.09 [[ 0.9986909 0.04712427 0.01989469 5.25302695] [-0.04772745 0.99837867 0.03101819 -0.3251496 ] [-0.01840073 -0.0319271 0.99932081 -0.08857017] [ 0. 0. 0. 1. ]] SLAMing on 4.924319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.30, Z:-0.11 [[ 0.99868664 0.04861436 0.01617537 5.29202182] [-0.04825244 0.99859154 -0.02205985 -0.29775168] [-0.01722501 0.02125037 0.99962579 -0.10938889] [ 0. 0. 0. 1. ]] SLAMing on 4.954319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.32, Z:-0.10 [[ 0.99863548 0.04945417 0.01677711 5.32268494] [-0.04962377 0.99871943 0.00984776 -0.31570359] [-0.01626861 -0.01066686 0.99981076 -0.09546505] [ 0. 0. 0. 1. ]] SLAMing on 4.984319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.31, Z:-0.10 [[ 9.98561724e-01 5.11083631e-02 1.61993569e-02 5.35530527e+00] [-5.10960887e-02 9.98693055e-01 -1.17096592e-03 -3.11905843e-01] [-1.62380314e-02 3.41557972e-04 9.99868096e-01 -9.99130599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.31, Z:-0.10 [[ 9.98518487e-01 5.19463512e-02 1.61990116e-02 5.38823330e+00] [-5.19341100e-02 9.98649821e-01 -1.17571243e-03 -3.14995466e-01] [-1.62382140e-02 3.32689345e-04 9.99868096e-01 -1.00542490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.31, Z:-0.12 [[ 0.99839449 0.05332859 0.01909176 5.4244858 ] [-0.05281651 0.99825545 -0.02639084 -0.30661211] [-0.02046584 0.0253401 0.99946937 -0.11555881] [ 0. 0. 0. 1. ]] SLAMing on 5.074319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.34, Z:-0.09 [[ 0.99845867 0.05216765 0.01894281 5.45086309] [-0.05260885 0.99833649 0.0235917 -0.33678302] [-0.01768058 -0.02455189 0.9995422 -0.09219709] [ 0. 0. 0. 1. ]] SLAMing on 5.1043199999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.33, Z:-0.10 [[ 9.98459949e-01 5.27210604e-02 1.72690300e-02 5.48408908e+00] [-5.27070498e-02 9.98609215e-01 -1.26576377e-03 -3.25722157e-01] [-1.73117449e-02 3.53614809e-04 9.99850078e-01 -1.01176862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.33, Z:-0.10 [[ 9.98464265e-01 5.22877437e-02 1.83058208e-02 5.51622902e+00] [-5.22718165e-02 9.98631985e-01 -1.34779131e-03 -3.29194795e-01] [-1.83512511e-02 3.88842960e-04 9.99831526e-01 -1.01602023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.33, Z:-0.10 [[ 9.98450124e-01 5.22825491e-02 1.90757545e-02 5.54950635e+00] [-5.22651431e-02 9.98632248e-01 -1.41021630e-03 -3.32259582e-01] [-1.91233933e-02 4.11033608e-04 9.99817047e-01 -1.01900725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.34, Z:-0.10 [[ 9.98437037e-01 5.24589223e-02 1.92754958e-02 5.58249049e+00] [-5.24410688e-02 9.98622995e-01 -1.43087404e-03 -3.35029038e-01] [-1.93240155e-02 4.17810036e-04 9.99813186e-01 -1.02205089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.34, Z:-0.10 [[ 9.98411646e-01 5.28958892e-02 1.93961299e-02 5.61486372e+00] [-5.28777794e-02 9.98599945e-01 -1.44571826e-03 -3.37623829e-01] [-1.94454468e-02 4.17797669e-04 9.99810832e-01 -1.03147579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.34, Z:-0.10 [[ 9.98404566e-01 5.31353071e-02 1.91039807e-02 5.64689982e+00] [-5.31176747e-02 9.98587237e-01 -1.42956997e-03 -3.40059108e-01] [-1.91529519e-02 4.12530156e-04 9.99816480e-01 -1.04501986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.34, Z:-0.11 [[ 9.98398268e-01 5.33364523e-02 1.88711950e-02 5.67965418e+00] [-5.33191847e-02 9.98576515e-01 -1.41734886e-03 -3.42534378e-01] [-1.89199285e-02 4.08881919e-04 9.99820919e-01 -1.05178714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3143199999999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.34, Z:-0.11 [[ 9.98395760e-01 5.33587129e-02 1.89408328e-02 5.71227736e+00] [-5.33412136e-02 9.98575323e-01 -1.42826221e-03 -3.44674573e-01] [-1.89900585e-02 4.15643921e-04 9.99819586e-01 -1.06519946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344319999999999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.35, Z:-0.11 [[ 9.98406382e-01 5.31453988e-02 1.89806139e-02 5.74538633e+00] [-5.31276758e-02 9.98586694e-01 -1.43712345e-03 -3.47667588e-01] [-1.90301649e-02 4.26437324e-04 9.99818819e-01 -1.07205298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.35, Z:-0.11 [[ 9.98457787e-01 5.23619759e-02 1.84464520e-02 5.77752947e+00] [-5.23450002e-02 9.98628076e-01 -1.40223317e-03 -3.50326471e-01] [-1.84945685e-02 4.34491093e-04 9.99828866e-01 -1.08024347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.35, Z:-0.11 [[ 9.98495598e-01 5.15429455e-02 1.87046868e-02 5.81045313e+00] [-5.15252449e-02 9.98670672e-01 -1.42733229e-03 -3.52956940e-01] [-1.87533911e-02 4.61421436e-04 9.99824033e-01 -1.09130642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.35, Z:-0.11 [[ 9.98609259e-01 4.93194311e-02 1.86317348e-02 5.84185242e+00] [-4.93013751e-02 9.98782928e-01 -1.42746647e-03 -3.54483093e-01] [-1.86794604e-02 5.06911087e-04 9.99825395e-01 -1.10243109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.36, Z:-0.11 [[ 9.98621302e-01 4.90931442e-02 1.85837973e-02 5.87503639e+00] [-4.90750431e-02 9.98794072e-01 -1.42909094e-03 -3.57134256e-01] [-1.86315452e-02 5.15120001e-04 9.99826285e-01 -1.11232100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.36, Z:-0.11 [[ 9.98632903e-01 4.91390645e-02 1.78235196e-02 5.90753136e+00] [-4.91223299e-02 9.98791822e-01 -1.37575845e-03 -3.60846892e-01] [-1.78695891e-02 4.98344847e-04 9.99840202e-01 -1.12567791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.36, Z:-0.11 [[ 9.98622980e-01 4.95000810e-02 1.73748781e-02 5.93981995e+00] [-4.94841421e-02 9.98774002e-01 -1.34634480e-03 -3.63650392e-01] [-1.74202207e-02 4.84709920e-04 9.99848139e-01 -1.13234189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.37, Z:-0.11 [[ 9.98587136e-01 5.01638893e-02 1.75304335e-02 5.97216863e+00] [-5.01476771e-02 9.98740883e-01 -1.36344724e-03 -3.66321177e-01] [-1.75767565e-02 4.82410356e-04 9.99845401e-01 -1.13885401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.37, Z:-0.11 [[ 9.98538402e-01 5.09844317e-02 1.79345434e-02 6.00492160e+00] [-5.09674991e-02 9.98699331e-01 -1.40024690e-03 -3.68460060e-01] [-1.79826073e-02 4.84121475e-04 9.99838183e-01 -1.14784902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.37, Z:-0.12 [[ 0.99835903 0.0539202 0.01928348 6.03949959] [-0.0537534 0.99851308 -0.00906641 -0.36658647] [-0.01974367 0.00801498 0.99977295 -0.12265787] [ 0. 0. 0. 1. ]] SLAMing on 5.644319999999999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.38, Z:-0.11 [[ 0.99834381 0.05477172 0.01759795 6.06927044] [-0.05488846 0.99847312 0.00622014 -0.37651785] [-0.01723039 -0.00717577 0.9998258 -0.11461703] [ 0. 0. 0. 1. ]] SLAMing on 5.674319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.38, Z:-0.12 [[ 9.98268508e-01 5.64127130e-02 1.66611146e-02 6.10252820e+00] [-5.63986859e-02 9.98407467e-01 -1.31094718e-03 -3.75146639e-01] [-1.67085353e-02 3.69012318e-04 9.99860335e-01 -1.17729490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.38, Z:-0.12 [[ 9.98197226e-01 5.76349856e-02 1.67483394e-02 6.13533930e+00] [-5.76208991e-02 9.98337659e-01 -1.32281765e-03 -3.78875559e-01] [-1.67967385e-02 3.55378529e-04 9.99858862e-01 -1.17924573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.38, Z:-0.12 [[ 9.98078910e-01 5.95227443e-02 1.71910649e-02 6.16793674e+00] [-5.95080880e-02 9.98226892e-01 -1.36329192e-03 -3.84029642e-01] [-1.72417301e-02 3.37665514e-04 9.99851293e-01 -1.16965886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764319999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.39, Z:-0.12 [[ 9.98021508e-01 6.03436111e-02 1.76555519e-02 6.20021450e+00] [-6.03281778e-02 9.98177607e-01 -1.40591691e-03 -3.86977920e-01] [-1.77082146e-02 3.38008040e-04 9.99843140e-01 -1.17797833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.39, Z:-0.12 [[ 9.97963238e-01 6.16401122e-02 1.64278086e-02 6.23239664e+00] [-6.16268812e-02 9.98098396e-01 -1.31090190e-03 -3.89038410e-01] [-1.64773736e-02 2.95837290e-04 9.99864195e-01 -1.19083230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.39, Z:-0.12 [[ 9.97963743e-01 6.17991761e-02 1.57870252e-02 6.26442776e+00] [-6.17869081e-02 9.98088563e-01 -1.26413211e-03 -3.91675875e-01] [-1.58349716e-02 2.86126539e-04 9.99874578e-01 -1.20021082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.40, Z:-0.12 [[ 9.97942378e-01 6.19182132e-02 1.66476865e-02 6.29746848e+00] [-6.19044983e-02 9.98081180e-01 -1.33838484e-03 -3.95219429e-01] [-1.66986130e-02 3.05064270e-04 9.99860522e-01 -1.21328713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.40, Z:-0.12 [[ 9.97997093e-01 6.10153255e-02 1.67012898e-02 6.32894083e+00] [-6.10013620e-02 9.98136777e-01 -1.34471278e-03 -4.00409499e-01] [-1.67522197e-02 3.23218020e-04 9.99859619e-01 -1.20467617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.40, Z:-0.12 [[ 9.98045425e-01 6.01970071e-02 1.67824040e-02 6.36202263e+00] [-6.01827088e-02 9.98186457e-01 -1.35618576e-03 -4.03939218e-01] [-1.68336067e-02 3.43524462e-04 9.99858246e-01 -1.20860783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.41, Z:-0.12 [[ 9.97988596e-01 6.11787538e-02 1.66109014e-02 6.39743251e+00] [-6.12908898e-02 9.98099891e-01 6.32726562e-03 -4.14808052e-01] [-1.61922447e-02 -7.33263586e-03 9.99842009e-01 -1.18047242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.41, Z:-0.13 [[ 0.99819235 0.05743226 0.01770795 6.4258649 ] [-0.05727204 0.99831411 -0.00942643 -0.40521895] [-0.01821947 0.00839522 0.99979877 -0.12523384] [ 0. 0. 0. 1. ]] SLAMing on 6.004319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.41, Z:-0.12 [[ 9.98235550e-01 5.63677884e-02 1.86670843e-02 6.45755642e+00] [-5.63492262e-02 9.98409964e-01 -1.51929902e-03 -4.12692035e-01] [-1.87230425e-02 4.64742536e-04 9.99824600e-01 -1.23534421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.42, Z:-0.12 [[ 9.98290906e-01 5.52700259e-02 1.89865881e-02 6.49075084e+00] [-5.52505519e-02 9.98471320e-01 -1.54910308e-03 -4.15991644e-01] [-1.90431827e-02 4.97436045e-04 9.99818538e-01 -1.23878018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.43, Z:-0.12 [[ 9.98225323e-01 5.62732499e-02 1.94814317e-02 6.52359206e+00] [-5.63490562e-02 9.98405463e-01 3.36395504e-03 -4.25372165e-01] [-1.92610671e-02 -4.45574540e-03 9.99804560e-01 -1.23104624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.42, Z:-0.13 [[ 9.98397496e-01 5.36264349e-02 1.80733326e-02 6.55314218e+00] [-5.35047942e-02 9.98542006e-01 -7.14839626e-03 -4.20085604e-01] [-1.84303248e-02 6.16993098e-03 9.99811110e-01 -1.26256464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124319999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.43, Z:-0.12 [[ 9.98390711e-01 5.36097920e-02 1.84926796e-02 6.58614035e+00] [-5.35906175e-02 9.98561816e-01 -1.53122832e-03 -4.26325767e-01] [-1.85481726e-02 5.37730007e-04 9.99827823e-01 -1.24710344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.42, Z:-0.13 [[ 0.99846242 0.05453918 0.00991281 6.62298344] [-0.05430091 0.99826204 -0.02289789 -0.41865801] [-0.01114441 0.0223244 0.99968866 -0.13029599] [ 0. 0. 0. 1. ]] SLAMing on 6.184319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.43, Z:-0.12 [[ 9.98411237e-01 5.53140780e-02 1.07403709e-02 6.65527947e+00] [-5.53533137e-02 9.98461073e-01 3.39064479e-03 -4.34629770e-01] [-1.05362918e-02 -3.97977298e-03 9.99936572e-01 -1.21918604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.44, Z:-0.12 [[ 0.99826463 0.05624987 0.01742637 6.68193383] [-0.05652999 0.99827234 0.01602143 -0.44092907] [-0.01649506 -0.01697874 0.99971978 -0.12184185] [ 0. 0. 0. 1. ]] SLAMing on 6.244319999999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.44, Z:-0.12 [[ 9.98052865e-01 6.05929287e-02 1.47978082e-02 6.71767582e+00] [-6.06877316e-02 9.98138506e-01 6.04340405e-03 -4.39990524e-01] [-1.44040746e-02 -6.92968214e-03 9.99872243e-01 -1.24341418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.43, Z:-0.13 [[ 0.99802018 0.06107737 0.01500898 6.74768309] [-0.06095153 0.99810278 -0.00870386 -0.43147971] [-0.01551212 0.0077718 0.99984948 -0.13147192] [ 0. 0. 0. 1. ]] SLAMing on 6.304319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.44, Z:-0.13 [[ 9.97923115e-01 6.26583300e-02 1.49462185e-02 6.77991123e+00] [-6.26468583e-02 9.98034992e-01 -1.23495360e-03 -4.38669979e-01] [-1.49942292e-02 2.96055110e-04 9.99887536e-01 -1.29665394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.44, Z:-0.13 [[ 9.97767643e-01 6.52869963e-02 1.40477643e-02 6.81228259e+00] [-6.52770587e-02 9.97866498e-01 -1.16526677e-03 -4.39781202e-01] [-1.40938701e-02 2.45668743e-04 9.99900646e-01 -1.30976094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.44, Z:-0.13 [[ 0.99773785 0.06633909 0.01087655 6.84438208] [-0.06625127 0.99776891 -0.00824492 -0.43735727] [-0.01139925 0.00750569 0.99990686 -0.13365133] [ 0. 0. 0. 1. ]] SLAMing on 6.394319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.45, Z:-0.13 [[ 9.97641361e-01 6.74446515e-02 1.27645798e-02 6.87617751e+00] [-6.74960601e-02 9.97712901e-01 3.63994316e-03 -4.46889325e-01] [-1.24898912e-02 -4.49291669e-03 9.99911904e-01 -1.31096801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.45, Z:-0.13 [[ 0.99754006 0.06885396 0.01315185 6.91037046] [-0.06896989 0.99758189 0.00857468 -0.45469895] [-0.01252964 -0.00946067 0.99987674 -0.1291058 ] [ 0. 0. 0. 1. ]] SLAMing on 6.454319999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.45, Z:-0.14 [[ 0.99758604 0.0678464 0.0147976 6.93988111] [-0.06771648 0.997663 -0.00911122 -0.44510252] [-0.01538118 0.00808719 0.999849 -0.13593118] [ 0. 0. 0. 1. ]] SLAMing on 6.4843199999999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.45, Z:-0.14 [[ 9.97665953e-01 6.68275721e-02 1.40257746e-02 6.97376439e+00] [-6.67409467e-02 9.97748795e-01 -6.55645794e-03 -4.49250134e-01] [-1.44323518e-02 5.60506139e-03 9.99880138e-01 -1.35000399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.46, Z:-0.13 [[ 9.97656270e-01 6.63720974e-02 1.66346684e-02 7.00473730e+00] [-6.64440624e-02 9.97782874e-01 3.81091405e-03 -4.58206453e-01] [-1.63448489e-02 -4.90725724e-03 9.99854372e-01 -1.32577496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.46, Z:-0.13 [[ 9.97801747e-01 6.41366618e-02 1.66781691e-02 7.03799545e+00] [-6.41229813e-02 9.97941085e-01 -1.35428837e-03 -4.58805457e-01] [-1.67306897e-02 2.81857377e-04 9.99859992e-01 -1.34472302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.46, Z:-0.14 [[ 9.97785733e-01 6.43869763e-02 1.66717714e-02 7.07030613e+00] [-6.43719152e-02 9.97924940e-01 -1.43901441e-03 -4.61594779e-01] [-1.67298303e-02 3.62634194e-04 9.99859981e-01 -1.35081580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.47, Z:-0.13 [[ 0.99778878 0.06444735 0.01625068 7.10460946] [-0.06458636 0.9978786 0.008179 -0.472567 ] [-0.0156891 -0.00921049 0.9998345 -0.13080455] [ 0. 0. 0. 1. ]] SLAMing on 6.634319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.46, Z:-0.14 [[ 0.99794513 0.06170769 0.01725341 7.13407134] [-0.06151309 0.99803897 -0.01159155 -0.46129961] [-0.01793486 0.01050642 0.99978395 -0.14009832] [ 0. 0. 0. 1. ]] SLAMing on 6.664319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.47, Z:-0.14 [[ 9.98107067e-01 5.87586052e-02 1.81579194e-02 7.16569237e+00] [-5.87404899e-02 9.98272114e-01 -1.52986001e-03 -4.70877288e-01] [-1.82164370e-02 4.60359012e-04 9.99833961e-01 -1.37301889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6943199999999985 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.47, Z:-0.14 [[ 9.98160457e-01 5.79038237e-02 1.79679876e-02 7.19801366e+00] [-5.78858537e-02 9.98322052e-01 -1.51903103e-03 -4.74032749e-01] [-1.80257959e-02 4.76144406e-04 9.99837409e-01 -1.37891203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.48, Z:-0.14 [[ 9.98280718e-01 5.58719420e-02 1.77181716e-02 7.23147794e+00] [-5.58989199e-02 9.98435901e-01 1.03064885e-03 -4.77375531e-01] [-1.76328743e-02 -2.01930353e-03 9.99842490e-01 -1.37235769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.48, Z:-0.14 [[ 9.98208456e-01 5.75168847e-02 1.64829346e-02 7.26229594e+00] [-5.74597799e-02 9.98340135e-01 -3.91776814e-03 -4.76930801e-01] [-1.66809130e-02 2.96364349e-03 9.99856472e-01 -1.39583826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.49, Z:-0.13 [[ 0.99811944 0.05947333 0.01484967 7.29755384] [-0.05968654 0.99811398 0.01435272 -0.49303615] [-0.01396806 -0.01521205 0.99978672 -0.13103826] [ 0. 0. 0. 1. ]] SLAMing on 6.814319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.47, Z:-0.15 [[ 0.99819703 0.05824808 0.01448597 7.32625131] [-0.05799559 0.9981673 -0.01727891 -0.47213105] [-0.01546589 0.01640764 0.99974577 -0.14630131] [ 0. 0. 0. 1. ]] SLAMing on 6.844319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.48, Z:-0.14 [[ 9.98190026e-01 5.81417278e-02 1.53691838e-02 7.35829768e+00] [-5.81283858e-02 9.98308251e-01 -1.31377712e-03 -4.83808714e-01] [-1.54195683e-02 4.18013370e-04 9.99881024e-01 -1.42004523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.49, Z:-0.14 [[ 9.98198964e-01 5.81645799e-02 1.46870794e-02 7.38998961e+00] [-5.81523344e-02 9.98306926e-01 -1.25981662e-03 -4.86925675e-01] [-1.47354898e-02 4.03459689e-04 9.99891345e-01 -1.42311284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9043199999999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.49, Z:-0.14 [[ 9.98221405e-01 5.78606253e-02 1.43587953e-02 7.42301961e+00] [-5.78488329e-02 9.98324589e-01 -1.23559732e-03 -4.90185405e-01] [-1.44062308e-02 4.02760142e-04 9.99896144e-01 -1.42642553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.49, Z:-0.14 [[ 9.98217701e-01 5.78487303e-02 1.46610610e-02 7.45593642e+00] [-5.78363699e-02 9.98325273e-01 -1.26602681e-03 -4.92525120e-01] [-1.47097457e-02 4.15827825e-04 9.99891719e-01 -1.43711437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.49, Z:-0.14 [[ 9.98164005e-01 5.87427685e-02 1.47616340e-02 7.48934472e+00] [-5.87302666e-02 9.98273068e-01 -1.27937192e-03 -4.93428523e-01] [-1.48112956e-02 4.10068301e-04 9.99890223e-01 -1.44349010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.49, Z:-0.15 [[ 9.98144800e-01 5.93818787e-02 1.34443299e-02 7.52305160e+00] [-5.93199022e-02 9.98226687e-01 -4.96299134e-03 -4.93895732e-01] [-1.37152006e-02 4.15626767e-03 9.99897304e-01 -1.45666418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.50, Z:-0.14 [[ 9.97813154e-01 6.43395633e-02 1.51436841e-02 7.55364754e+00] [-6.43835649e-02 9.97922253e-01 2.43573549e-03 -5.00191657e-01] [-1.49555052e-02 -3.40541327e-03 9.99882361e-01 -1.43477447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.50, Z:-0.15 [[ 0.99772787 0.06620292 0.01250077 7.58673813] [-0.06609446 0.99777369 -0.00889904 -0.49566016] [-0.01306208 0.00805259 0.99988226 -0.14773499] [ 0. 0. 0. 1. ]] SLAMing on 7.084319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.51, Z:-0.14 [[ 9.97599853e-01 6.74826794e-02 1.55119946e-02 7.61673113e+00] [-6.75896434e-02 9.97692179e-01 6.47736988e-03 -5.06924325e-01] [-1.50390854e-02 -7.51027342e-03 9.99858701e-01 -1.43239939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.51, Z:-0.15 [[ 9.97433883e-01 6.98925709e-02 1.55137629e-02 7.64985780e+00] [-6.98797912e-02 9.97554486e-01 -1.36498956e-03 -5.05464440e-01] [-1.55712264e-02 2.77388328e-04 9.99878723e-01 -1.45907779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.51, Z:-0.15 [[ 9.97365093e-01 7.08722845e-02 1.54916039e-02 7.68117626e+00] [-7.08595807e-02 9.97485362e-01 -1.36810322e-03 -5.08111623e-01] [-1.55496087e-02 2.66769841e-04 9.99879062e-01 -1.46388681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.51, Z:-0.15 [[ 9.97386522e-01 7.06989026e-02 1.48926487e-02 7.71350891e+00] [-7.06231760e-02 9.97487618e-01 -5.55146880e-03 -5.07360619e-01] [-1.52477154e-02 4.48519401e-03 9.99873687e-01 -1.48774842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.51, Z:-0.15 [[ 9.97366215e-01 7.09154398e-02 1.52194876e-02 7.74466012e+00] [-7.08443678e-02 9.97474035e-01 -5.15988891e-03 -5.10288602e-01] [-1.55469595e-02 4.06808390e-03 9.99870863e-01 -1.49403575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2343199999999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.52, Z:-0.15 [[ 9.97427017e-01 6.91001929e-02 1.90921390e-02 7.77646827e+00] [-6.92306451e-02 9.97581054e-01 6.25768184e-03 -5.19330368e-01] [-1.86135491e-02 -7.56334203e-03 9.99798145e-01 -1.46499850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.52, Z:-0.15 [[ 9.97480154e-01 6.84325212e-02 1.87171695e-02 7.80991763e+00] [-6.84131727e-02 9.97655672e-01 -1.67284600e-03 -5.18474366e-01] [-1.87877674e-02 3.88129734e-04 9.99823419e-01 -1.49258150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294319999999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.52, Z:-0.15 [[ 9.97663659e-01 6.59388472e-02 1.78687446e-02 7.84290080e+00] [-6.59207232e-02 9.97823577e-01 -1.60204665e-03 -5.23124459e-01] [-1.79354918e-02 4.20383157e-04 9.99839058e-01 -1.49765871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324319999999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.53, Z:-0.15 [[ 9.97759505e-01 6.44609619e-02 1.79096317e-02 7.87472678e+00] [-6.44424157e-02 9.97920126e-01 -1.61134144e-03 -5.26527334e-01] [-1.79762505e-02 4.53591308e-04 9.99838311e-01 -1.50687722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.53, Z:-0.15 [[ 9.97827706e-01 6.34485263e-02 1.77243571e-02 7.90713302e+00] [-6.34301119e-02 9.97985001e-01 -1.59975119e-03 -5.29606898e-01] [-1.77901444e-02 4.72018107e-04 9.99841631e-01 -1.51308909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.53, Z:-0.15 [[ 9.97967228e-01 6.10259235e-02 1.83643246e-02 7.93945522e+00] [-6.10056342e-02 9.98136035e-01 -1.66353385e-03 -5.31722079e-01] [-1.84316129e-02 5.39824995e-04 9.99829978e-01 -1.52480957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.53, Z:-0.15 [[ 9.98018771e-01 6.01191964e-02 1.85530492e-02 7.97161600e+00] [-6.00982288e-02 9.98191044e-01 -1.68614145e-03 -5.34143290e-01] [-1.86208570e-02 5.67795424e-04 9.99826456e-01 -1.53509899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4443199999999985 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.53, Z:-0.16 [[ 9.98140320e-01 5.88535729e-02 1.58795083e-02 8.00384591e+00] [-5.87387371e-02 9.98244428e-01 -7.60410120e-03 -5.33616423e-01] [-1.62991592e-02 6.65721775e-03 9.99844997e-01 -1.55914112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.54, Z:-0.15 [[ 9.98168969e-01 5.76130453e-02 1.84240640e-02 8.03623550e+00] [-5.77056437e-02 9.98323345e-01 4.53400496e-03 -5.43636841e-01] [-1.81319554e-02 -5.58887553e-03 9.99819982e-01 -1.53000560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.54, Z:-0.16 [[ 0.99827623 0.05695181 0.01417937 8.06995005] [-0.05679018 0.99831929 -0.0115526 -0.53738635] [-0.01481348 0.01072744 0.99983273 -0.15829892] [ 0. 0. 0. 1. ]] SLAMing on 7.534319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.55, Z:-0.15 [[ 0.99826636 0.05599992 0.01811834 8.10031251] [-0.05616267 0.99838457 0.00860206 -0.55181122] [-0.01760735 -0.00960472 0.99979885 -0.15265885] [ 0. 0. 0. 1. ]] SLAMing on 7.564319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.54, Z:-0.16 [[ 0.9983177 0.05644147 0.01327109 8.13442042] [-0.05630458 0.99835871 -0.01047238 -0.543512 ] [-0.01384039 0.00970754 0.99985709 -0.15895979] [ 0. 0. 0. 1. ]] SLAMing on 7.594319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.56, Z:-0.16 [[ 9.98104648e-01 5.95233231e-02 1.56232210e-02 8.16026124e+00] [-5.96101753e-02 9.98208431e-01 5.15323354e-03 -5.55693495e-01] [-1.52884933e-02 -6.07476930e-03 9.99864670e-01 -1.55623315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624319999999999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.55, Z:-0.16 [[ 9.97974267e-01 6.18412613e-02 1.49338535e-02 8.20017249e+00] [-6.17229394e-02 9.98059154e-01 -8.25853402e-03 -5.51802891e-01] [-1.54155874e-02 7.32004310e-03 9.99854378e-01 -1.62509949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6543199999999985 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.56, Z:-0.16 [[ 9.97872721e-01 6.32586138e-02 1.57601219e-02 8.22692613e+00] [-6.33843303e-02 9.97960186e-01 7.60883107e-03 -5.61571553e-01] [-1.52466500e-02 -8.59158973e-03 9.99846850e-01 -1.55445481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.56, Z:-0.16 [[ 9.97710849e-01 6.59117382e-02 1.51229497e-02 8.25956514e+00] [-6.58978818e-02 9.97825371e-01 -1.41328466e-03 -5.58395907e-01] [-1.51832150e-02 4.13479083e-04 9.99884643e-01 -1.58952976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.56, Z:-0.16 [[ 9.97383436e-01 7.09227876e-02 1.40085746e-02 8.29202529e+00] [-7.09113412e-02 9.97481758e-01 -1.31275081e-03 -5.59932332e-01] [-1.40664016e-02 3.15949100e-04 9.99901013e-01 -1.60074749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.56, Z:-0.16 [[ 9.97128100e-01 7.46864220e-02 1.25495462e-02 8.32361525e+00] [-7.46774937e-02 9.97207040e-01 -1.17920545e-03 -5.63868802e-01] [-1.26025664e-02 2.38650240e-04 9.99920556e-01 -1.60317044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.57, Z:-0.16 [[ 9.97110419e-01 7.47186609e-02 1.37089298e-02 8.35667635e+00] [-7.47079394e-02 9.97204619e-01 -1.29324841e-03 -5.66425091e-01] [-1.37672379e-02 2.65345566e-04 9.99905192e-01 -1.60563446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.57, Z:-0.16 [[ 9.96912253e-01 7.71075026e-02 1.48456523e-02 8.39017895e+00] [-7.71319843e-02 9.97020303e-01 1.08277807e-03 -5.72320652e-01] [-1.47179264e-02 -2.22450935e-03 9.99889211e-01 -1.59246683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.57, Z:-0.16 [[ 9.96901081e-01 7.70901380e-02 1.56635091e-02 8.42055275e+00] [-7.70351418e-02 9.97020007e-01 -4.08553907e-03 -5.71799516e-01] [-1.59317867e-02 2.86623767e-03 9.99868973e-01 -1.60903645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.58, Z:-0.16 [[ 9.96856796e-01 7.74638585e-02 1.66096151e-02 8.45286808e+00] [-7.74482664e-02 9.96995119e-01 -1.58090214e-03 -5.76908501e-01] [-1.66821680e-02 2.89547147e-04 9.99860801e-01 -1.59913260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.58, Z:-0.16 [[ 9.96902306e-01 7.67115249e-02 1.73532136e-02 8.48466798e+00] [-7.66942889e-02 9.97053278e-01 -1.65755088e-03 -5.80285633e-01] [-1.74292318e-02 3.21523921e-04 9.99848048e-01 -1.60292218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.58, Z:-0.16 [[ 9.96946422e-01 7.62055022e-02 1.70456427e-02 8.51764015e+00] [-7.61887450e-02 9.97092079e-01 -1.63126070e-03 -5.84348136e-01] [-1.71203864e-02 3.27593386e-04 9.99853382e-01 -1.60548379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.59, Z:-0.16 [[ 9.96995022e-01 7.54563343e-02 1.75290806e-02 8.54959470e+00] [-7.54383954e-02 9.97149043e-01 -1.68331352e-03 -5.88660136e-01] [-1.76061226e-02 3.55889483e-04 9.99844937e-01 -1.60942046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9843199999999985 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.60, Z:-0.16 [[ 9.97034780e-01 7.48450759e-02 1.78846941e-02 8.58470943e+00] [-7.48188916e-02 9.97194865e-01 -2.12965166e-03 -5.95829563e-01] [-1.79939191e-02 7.85223785e-04 9.99837788e-01 -1.62274086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.60, Z:-0.16 [[ 9.97130368e-01 7.35127947e-02 1.80803058e-02 8.61488968e+00] [-7.34467834e-02 9.97289914e-01 -4.28922630e-03 -5.97224228e-01] [-1.83466196e-02 2.94897750e-03 9.99827338e-01 -1.64218474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.60, Z:-0.17 [[ 9.97226051e-01 7.21493342e-02 1.82941497e-02 8.64660223e+00] [-7.20536346e-02 9.97383672e-01 -5.83827445e-03 -5.99335050e-01] [-1.86675139e-02 4.50391939e-03 9.99815602e-01 -1.66990938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.61, Z:-0.17 [[ 9.97318064e-01 7.09329530e-02 1.80331852e-02 8.67953980e+00] [-7.08887688e-02 9.97479476e-01 -3.07850081e-03 -6.05873255e-01] [-1.82060993e-02 1.79189417e-03 9.99832650e-01 -1.66909021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.61, Z:-0.17 [[ 9.97387245e-01 6.98612288e-02 1.83872930e-02 8.71140001e+00] [-6.98612478e-02 9.97556512e-01 -6.42085499e-04 -6.10421393e-01] [-1.83872207e-02 -6.44151344e-04 9.99830733e-01 -1.66494062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.62, Z:-0.16 [[ 9.97470385e-01 6.89431691e-02 1.73109909e-02 8.74111018e+00] [-6.90435885e-02 9.97599718e-01 5.27114749e-03 -6.16584017e-01] [-1.69060300e-02 -6.45302645e-03 9.99836259e-01 -1.61917032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.61, Z:-0.18 [[ 0.99761481 0.06671489 0.01771456 8.77573387] [-0.06637494 0.99761132 -0.01913161 -0.60698273] [-0.01894861 0.01791018 0.99966003 -0.17644055] [ 0. 0. 0. 1. ]] SLAMing on 8.19432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.63, Z:-0.16 [[ 0.99765306 0.0660434 0.01807298 8.80421897] [-0.06633242 0.99767107 0.01588837 -0.63162478] [-0.01698157 -0.0170499 0.99971042 -0.1593964 ] [ 0. 0. 0. 1. ]] SLAMing on 8.224319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.62, Z:-0.17 [[ 0.99771893 0.06522451 0.0173984 8.83897913] [-0.06498908 0.99779095 -0.01377122 -0.61860194] [-0.01825818 0.0126091 0.99975379 -0.1740427 ] [ 0. 0. 0. 1. ]] SLAMing on 8.254319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.62, Z:-0.18 [[ 9.97823955e-01 6.33451723e-02 1.82960299e-02 8.87067182e+00] [-6.31997179e-02 9.97965360e-01 -8.42233221e-03 -6.24885847e-01] [-1.87923182e-02 7.24770091e-03 9.99797139e-01 -1.75656398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.64, Z:-0.16 [[ 0.99784085 0.06357934 0.01647133 8.90038211] [-0.0638673 0.99780338 0.0175894 -0.64385667] [-0.01531682 -0.0186034 0.99970961 -0.16116946] [ 0. 0. 0. 1. ]] SLAMing on 8.314319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.63, Z:-0.18 [[ 0.99785688 0.06350472 0.01577346 8.93485828] [-0.0632503 0.99786723 -0.01613664 -0.62755642] [-0.01676457 0.01510438 0.99974537 -0.17820455] [ 0. 0. 0. 1. ]] SLAMing on 8.344319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.65, Z:-0.16 [[ 0.9978418 0.06370302 0.01592693 8.9640756 ] [-0.06391615 0.9978673 0.01325032 -0.64863799] [-0.01504888 -0.01423971 0.99978536 -0.16355455] [ 0. 0. 0. 1. ]] SLAMing on 8.374319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.64, Z:-0.18 [[ 0.99767864 0.06620876 0.01592891 8.9973122 ] [-0.06597206 0.99770943 -0.01495275 -0.63526447] [-0.01688243 0.01386718 0.99976131 -0.17720726] [ 0. 0. 0. 1. ]] SLAMing on 8.404319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.65, Z:-0.17 [[ 9.97574678e-01 6.82807657e-02 1.35092226e-02 9.02740073e+00] [-6.83715701e-02 9.97639542e-01 6.37751073e-03 -6.51273599e-01] [-1.30418734e-02 -7.28568997e-03 9.99888408e-01 -1.65028681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.65, Z:-0.17 [[ 9.97427905e-01 7.02438456e-02 1.42610386e-02 9.05929958e+00] [-7.03171942e-02 9.97513572e-01 4.70809577e-03 -6.53770640e-01] [-1.38948648e-02 -5.69878231e-03 9.99887222e-01 -1.66439150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.65, Z:-0.17 [[ 9.97228153e-01 7.32607400e-02 1.29951921e-02 9.09273752e+00] [-7.32502263e-02 9.97312767e-01 -1.28381710e-03 -6.53871511e-01] [-1.30543243e-02 3.28357801e-04 9.99914735e-01 -1.68883796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.66, Z:-0.17 [[ 9.97218161e-01 7.33967137e-02 1.29947164e-02 9.12601934e+00] [-7.33861491e-02 9.97302769e-01 -1.28861211e-03 -6.57299664e-01] [-1.30542465e-02 3.31395200e-04 9.99914735e-01 -1.69469347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.66, Z:-0.17 [[ 9.97126521e-01 7.46114730e-02 1.31083568e-02 9.15819426e+00] [-7.46008123e-02 9.97212628e-01 -1.30105202e-03 -6.60491490e-01] [-1.31688924e-02 3.19419407e-04 9.99913235e-01 -1.69959238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.66, Z:-0.17 [[ 9.96985399e-01 7.63302208e-02 1.39216147e-02 9.19143510e+00] [-7.63183034e-02 9.97082542e-01 -1.38606918e-03 -6.62318558e-01] [-1.39867979e-02 3.19416725e-04 9.99902129e-01 -1.70061995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584319999999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.66, Z:-0.17 [[ 9.96834760e-01 7.82258613e-02 1.41836219e-02 9.22303446e+00] [-7.82136172e-02 9.96935616e-01 -1.41676576e-03 -6.63898553e-01] [-1.42509856e-02 3.02928981e-04 9.99898404e-01 -1.71641402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.66, Z:-0.18 [[ 0.9968513 0.07763766 0.01612086 9.25558615] [-0.07738873 0.99688002 -0.01553106 -0.65827952] [-0.01727636 0.01423458 0.99974942 -0.18196422] [ 0. 0. 0. 1. ]] SLAMing on 8.644319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.68, Z:-0.17 [[ 0.9968603 0.07744947 0.01646574 9.28559139] [-0.07765934 0.99690143 0.01251277 -0.6784208 ] [-0.01544561 -0.0137522 0.99978613 -0.16749397] [ 0. 0. 0. 1. ]] SLAMing on 8.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.67, Z:-0.17 [[ 9.96947252e-01 7.61542957e-02 1.72249983e-02 9.31910828e+00] [-7.61357043e-02 9.97095958e-01 -1.73348809e-03 -6.73370208e-01] [-1.73069887e-02 4.16758814e-04 9.99850136e-01 -1.72825874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.68, Z:-0.17 [[ 9.97042223e-01 7.49230346e-02 1.71272823e-02 9.35131569e+00] [-7.49043821e-02 9.97189222e-01 -1.72886942e-03 -6.76377422e-01] [-1.72086735e-02 4.40847308e-04 9.99851823e-01 -1.73256421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.68, Z:-0.17 [[ 9.97207077e-01 7.26226354e-02 1.74355489e-02 9.38281852e+00] [-7.26028947e-02 9.97359369e-01 -1.76337597e-03 -6.78968511e-01] [-1.75175691e-02 4.92579678e-04 9.99846434e-01 -1.73662127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.68, Z:-0.18 [[ 9.97234033e-01 7.19471085e-02 1.86519812e-02 9.41555829e+00] [-7.18609714e-02 9.97400848e-01 -5.24880687e-03 -6.80044214e-01] [-1.89811384e-02 3.89393935e-03 9.99812259e-01 -1.77184506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794319999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.68, Z:-0.18 [[ 0.99735035 0.07104168 0.01566399 9.44564809] [-0.07079981 0.99737026 -0.01549055 -0.67506856] [-0.01672327 0.01434049 0.99975731 -0.18060431] [ 0. 0. 0. 1. ]] SLAMing on 8.824319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.69, Z:-0.18 [[ 9.97327234e-01 6.99010478e-02 2.12657409e-02 9.47836774e+00] [-7.00375604e-02 9.97527824e-01 5.74286352e-03 -6.90038102e-01] [-2.08117360e-02 -7.21691480e-03 9.99757364e-01 -1.75845949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.69, Z:-0.17 [[ 9.97473034e-01 6.81900622e-02 1.99414796e-02 9.50938829e+00] [-6.83492480e-02 9.97633920e-01 7.41232481e-03 -6.93110596e-01] [-1.93888496e-02 -8.75657925e-03 9.99773672e-01 -1.72757901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.69, Z:-0.18 [[ 9.97504489e-01 6.80521909e-02 1.88067286e-02 9.54313371e+00] [-6.80280325e-02 9.97681559e-01 -1.92208164e-03 -6.91002494e-01] [-1.88939282e-02 6.37900318e-04 9.99821290e-01 -1.75897392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.69, Z:-0.18 [[ 0.9974863 0.06790519 0.02024784 9.57728967] [-0.06763626 0.9976162 -0.01368408 -0.68696639] [-0.02112879 0.0122802 0.99970134 -0.18457582] [ 0. 0. 0. 1. ]] SLAMing on 8.94432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.69, Z:-0.19 [[ 9.97498899e-01 6.76394070e-02 2.05148037e-02 9.60779389e+00] [-6.75058491e-02 9.97693364e-01 -7.13520848e-03 -6.90683186e-01] [-2.09501047e-02 5.73249337e-03 9.99764088e-01 -1.86206142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.70, Z:-0.19 [[ 9.97491979e-01 6.81618174e-02 1.90714135e-02 9.64073349e+00] [-6.81286758e-02 9.97673697e-01 -2.38287309e-03 -6.96207365e-01] [-1.91894686e-02 1.07758665e-03 9.99815284e-01 -1.85830756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.71, Z:-0.17 [[ 0.99751507 0.06857092 0.01617783 9.67016166] [-0.06883865 0.9974894 0.01661723 -0.71039073] [-0.01499775 -0.01768959 0.99973104 -0.17428679] [ 0. 0. 0. 1. ]] SLAMing on 9.03432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.70, Z:-0.18 [[ 9.97481780e-01 6.95750302e-02 1.37627359e-02 9.70252917e+00] [-6.95620127e-02 9.97576614e-01 -1.42288772e-03 -7.03320657e-01] [-1.38283809e-02 4.61940966e-04 9.99904277e-01 -1.80202000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.69, Z:-0.19 [[ 0.99745075 0.06960705 0.01571207 9.73554965] [-0.06926968 0.99737517 -0.02108253 -0.69359291] [-0.01713832 0.01994042 0.99965427 -0.19381859] [ 0. 0. 0. 1. ]] SLAMing on 9.094319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.71, Z:-0.19 [[ 9.97367763e-01 7.04442230e-02 1.71801463e-02 9.76618194e+00] [-7.04245943e-02 9.97515579e-01 -1.74560878e-03 -7.08184622e-01] [-1.72604316e-02 5.31109089e-04 9.99850887e-01 -1.88322586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.71, Z:-0.19 [[ 9.97309543e-01 7.17950078e-02 1.48038199e-02 9.79885729e+00] [-7.18041046e-02 9.97418750e-01 8.32088369e-05 -7.12150694e-01] [-1.47596336e-02 -1.14596000e-03 9.99890414e-01 -1.88011208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154319999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.73, Z:-0.18 [[ 0.99726314 0.07285484 0.01258607 9.82814259] [-0.07306746 0.99717605 0.01735166 -0.72544887] [-0.01128638 -0.0182238 0.99977023 -0.1763826 ] [ 0. 0. 0. 1. ]] SLAMing on 9.184319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.72, Z:-0.18 [[ 9.97140550e-01 7.47277345e-02 1.12467643e-02 9.86213387e+00] [-7.47192153e-02 9.97203918e-01 -1.17635741e-03 -7.18071798e-01] [-1.13032239e-02 3.32644269e-04 9.99936061e-01 -1.81786431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.72, Z:-0.18 [[ 9.97099005e-01 7.51550118e-02 1.20539924e-02 9.89385134e+00] [-7.51452058e-02 9.97171800e-01 -1.26501281e-03 -7.21381483e-01] [-1.21149733e-02 3.55543272e-04 9.99926548e-01 -1.82196676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.73, Z:-0.18 [[ 9.97072073e-01 7.55407939e-02 1.18688238e-02 9.92619014e+00] [-7.55312745e-02 9.97142651e-01 -1.24890101e-03 -7.25350413e-01] [-1.19292534e-02 3.48776938e-04 9.99928783e-01 -1.82334585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.73, Z:-0.18 [[ 9.97107970e-01 7.53637604e-02 9.79799581e-03 9.95946387e+00] [-7.52946983e-02 9.97135066e-01 -7.23663033e-03 -7.25504616e-01] [-1.03153049e-02 6.47796463e-03 9.99925812e-01 -1.84206144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.73, Z:-0.18 [[ 9.97129006e-01 7.50640480e-02 9.95665795e-03 9.99346962e+00] [-7.50402600e-02 9.97176735e-01 -2.74213069e-03 -7.32931560e-01] [-1.01343831e-02 1.98710784e-03 9.99946671e-01 -1.84110984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.74, Z:-0.18 [[ 9.97221554e-01 7.35126511e-02 1.20442117e-02 1.00218329e+01] [-7.36044151e-02 9.97260350e-01 7.36095951e-03 -7.39484306e-01] [-1.14700911e-02 -8.22701463e-03 9.99900372e-01 -1.80183140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.74, Z:-0.18 [[ 9.97281246e-01 7.25898924e-02 1.26815999e-02 1.00548990e+01] [-7.25787586e-02 9.97361789e-01 -1.33659370e-03 -7.39637475e-01] [-1.27451664e-02 4.12545048e-04 9.99918692e-01 -1.83205521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.74, Z:-0.18 [[ 9.97290453e-01 7.23855418e-02 1.31181606e-02 1.00867985e+01] [-7.23735526e-02 9.97376632e-01 -1.38699079e-03 -7.44448065e-01] [-1.31841449e-02 4.33824789e-04 9.99912991e-01 -1.83090559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.75, Z:-0.18 [[ 9.97176686e-01 7.38330985e-02 1.36868556e-02 1.01228396e+01] [-7.38391727e-02 9.97270160e-01 -6.16912848e-05 -7.53072364e-01] [-1.36540475e-02 -9.49108982e-04 9.99906329e-01 -1.83350859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.75, Z:-0.18 [[ 9.97314638e-01 7.19154484e-02 1.38448874e-02 1.01506129e+01] [-7.18796787e-02 9.97408602e-01 -3.06474228e-03 -7.51849520e-01] [-1.40294121e-02 2.06134628e-03 9.99899458e-01 -1.84193139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.76, Z:-0.18 [[ 9.97264969e-01 7.25684464e-02 1.40143798e-02 1.01831608e+01] [-7.25546194e-02 9.97363323e-01 -1.49322294e-03 -7.56561058e-01] [-1.40857893e-02 4.72330937e-04 9.99900679e-01 -1.84346210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.75, Z:-0.19 [[ 0.99714208 0.0741121 0.01466534 10.21951298] [-0.07388681 0.99714848 -0.01535053 -0.75464792] [-0.01576118 0.01422309 0.99977462 -0.19382473] [ 0. 0. 0. 1. ]] SLAMing on 9.544319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.77, Z:-0.18 [[ 0.99712224 0.07437635 0.0146764 10.24946012] [-0.07454112 0.99715708 0.0110176 -0.77323252] [-0.01381522 -0.01207989 0.99983159 -0.18255403] [ 0. 0. 0. 1. ]] SLAMing on 9.574319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.77, Z:-0.19 [[ 9.97106520e-01 7.50302516e-02 1.22085853e-02 1.02779852e+01] [-7.50262655e-02 9.97181249e-01 -7.84817428e-04 -7.67920711e-01] [-1.22330574e-02 -1.33417987e-04 9.99925164e-01 -1.86416649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.77, Z:-0.19 [[ 9.96961376e-01 7.70844840e-02 1.12248463e-02 1.03146811e+01] [-7.69827328e-02 9.96989686e-01 -9.23168874e-03 -7.69377161e-01] [-1.19026760e-02 8.33951776e-03 9.99894384e-01 -1.91551273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.78, Z:-0.19 [[ 9.96881608e-01 7.80889873e-02 1.13652528e-02 1.03467749e+01] [-7.81593131e-02 9.96923539e-01 5.88039535e-03 -7.82272490e-01] [-1.08710940e-02 -6.75035833e-03 9.99918123e-01 -1.86035817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.78, Z:-0.19 [[ 9.96800892e-01 7.92637316e-02 1.02587377e-02 1.03732402e+01] [-7.92598851e-02 9.96853680e-01 -7.81612159e-04 -7.79250723e-01] [-1.02884139e-02 -3.39946734e-05 9.99947072e-01 -1.88236565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.78, Z:-0.19 [[ 9.96689545e-01 8.06981103e-02 9.88765656e-03 1.04063342e+01] [-8.06916722e-02 9.96738558e-01 -1.04898873e-03 -7.82812070e-01] [-9.94005995e-03 2.47664560e-04 9.99950566e-01 -1.88823068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.79, Z:-0.19 [[ 9.96547082e-01 8.25345429e-02 9.05327974e-03 1.04420503e+01] [-8.25495648e-02 9.96586115e-01 1.29769205e-03 -7.90029233e-01] [-8.91526846e-03 -2.04055553e-03 9.99958176e-01 -1.88563266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.79, Z:-0.19 [[ 9.96359880e-01 8.46699527e-02 9.89896285e-03 1.04705245e+01] [-8.46395325e-02 9.96405652e-01 -3.45339613e-03 -7.87974695e-01] [-1.01557814e-02 2.60298177e-03 9.99945041e-01 -1.91113194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.79, Z:-0.19 [[ 9.96248910e-01 8.59520431e-02 1.00177253e-02 1.05031240e+01] [-8.59456370e-02 9.96299255e-01 -1.06902371e-03 -7.93695522e-01] [-1.00725370e-02 2.04033918e-04 9.99949250e-01 -1.90573937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.81, Z:-0.18 [[ 9.96008465e-01 8.87240437e-02 9.75614808e-03 1.05372958e+01] [-8.88541799e-02 9.95948629e-01 1.38298059e-02 -8.10208506e-01] [-8.48958600e-03 -1.46414783e-02 9.99856767e-01 -1.82502717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.79, Z:-0.20 [[ 9.96060008e-01 8.82202677e-02 9.03572523e-03 1.05668860e+01] [-8.80663527e-02 9.95982676e-01 -1.62119032e-02 -7.94712295e-01] [-1.04296442e-02 1.53522851e-02 9.99827750e-01 -1.95504887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.81, Z:-0.19 [[ 9.96002121e-01 8.86913815e-02 1.06589812e-02 1.05980005e+01] [-8.86842213e-02 9.96059135e-01 -1.14347352e-03 -8.07083127e-01] [-1.07183919e-02 1.93618596e-04 9.99942538e-01 -1.91365387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.81, Z:-0.19 [[ 9.95951977e-01 8.92151088e-02 1.09692373e-02 1.06302258e+01] [-8.92075385e-02 9.96012363e-01 -1.17847122e-03 -8.10616210e-01] [-1.10306334e-02 1.95162079e-04 9.99939142e-01 -1.91921230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.81, Z:-0.19 [[ 9.95965621e-01 8.89038930e-02 1.21893253e-02 1.06632369e+01] [-8.88944687e-02 9.96040184e-01 -1.31386761e-03 -8.14329662e-01] [-1.22578658e-02 2.25003372e-04 9.99924844e-01 -1.92406595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.82, Z:-0.19 [[ 9.96024737e-01 8.81664284e-02 1.27045266e-02 1.06961788e+01] [-8.81560773e-02 9.96105727e-01 -1.37356700e-03 -8.18266932e-01] [-1.27761542e-02 2.48125483e-04 9.99918351e-01 -1.93174418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.82, Z:-0.19 [[ 9.96121493e-01 8.70523108e-02 1.28010088e-02 1.07289105e+01] [-8.70416589e-02 9.96203706e-01 -1.38796316e-03 -8.22757460e-01] [-1.28732378e-02 2.68358898e-04 9.99917100e-01 -1.93698955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.83, Z:-0.19 [[ 9.96221499e-01 8.59002758e-02 1.28010512e-02 1.07605568e+01] [-8.58894757e-02 9.96303699e-01 -1.39209131e-03 -8.27337693e-01] [-1.28733156e-02 2.87355716e-04 9.99917094e-01 -1.93856212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.83, Z:-0.19 [[ 9.96449083e-01 8.31184330e-02 1.34369070e-02 1.07932171e+01] [-8.31062243e-02 9.96539617e-01 -1.46539796e-03 -8.33304750e-01] [-1.35122117e-02 3.43503845e-04 9.99908647e-01 -1.93622406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.84, Z:-0.19 [[ 9.96369488e-01 8.38662421e-02 1.46388658e-02 1.08264140e+01] [-8.38517591e-02 9.96476953e-01 -1.60142801e-03 -8.35940420e-01] [-1.47215982e-02 3.68119357e-04 9.99891564e-01 -1.93835209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.84, Z:-0.20 [[ 9.96360682e-01 8.38423118e-02 1.53576485e-02 1.08595072e+01] [-8.38262919e-02 9.96478958e-01 -1.68503120e-03 -8.38806094e-01] [-1.54448504e-02 3.91524115e-04 9.99880645e-01 -1.95292199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.84, Z:-0.20 [[ 9.96407809e-01 8.34882557e-02 1.41841391e-02 1.08919807e+01] [-8.34744976e-02 9.96508692e-01 -1.56028185e-03 -8.42435391e-01] [-1.42648832e-02 3.70663134e-04 9.99898183e-01 -1.95504214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.85, Z:-0.20 [[ 9.96441703e-01 8.31644879e-02 1.36967246e-02 1.09232500e+01] [-8.31515721e-02 9.96535766e-01 -1.51076477e-03 -8.45595579e-01] [-1.37749180e-02 3.66484832e-04 9.99905054e-01 -1.96278556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.85, Z:-0.20 [[ 9.96483565e-01 8.27160730e-02 1.33624807e-02 1.09561590e+01] [-8.27036905e-02 9.96573086e-01 -1.47755700e-03 -8.49091325e-01] [-1.34389063e-02 3.67234797e-04 9.99909626e-01 -1.97115773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.85, Z:-0.20 [[ 9.96605113e-01 8.12170035e-02 1.34924762e-02 1.09882022e+01] [-8.12041820e-02 9.96696364e-01 -1.49632017e-03 -8.52215232e-01] [-1.35694286e-02 3.95594835e-04 9.99907853e-01 -1.97888356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.85, Z:-0.20 [[ 9.96653238e-01 8.06372220e-02 1.34150103e-02 1.10206063e+01] [-8.06244421e-02 9.96743435e-01 -1.49164008e-03 -8.54880306e-01] [-1.34916052e-02 4.05070186e-04 9.99908902e-01 -1.98774985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.86, Z:-0.20 [[ 9.96674272e-01 8.04378553e-02 1.30440343e-02 1.10538737e+01] [-8.04257040e-02 9.96759545e-01 -1.45430920e-03 -8.57630206e-01] [-1.31187472e-02 4.00396919e-04 9.99913865e-01 -1.99619588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.86, Z:-0.21 [[ 9.96646940e-01 8.07035411e-02 1.34839196e-02 1.10885986e+01] [-8.05542910e-02 9.96686523e-01 -1.12685441e-02 -8.55814349e-01] [-1.43486523e-02 1.01445724e-02 9.99845590e-01 -2.07790087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.86, Z:-0.21 [[ 9.96614434e-01 8.08734946e-02 1.48036492e-02 1.11214035e+01] [-8.07993015e-02 9.96714972e-01 -5.54409636e-03 -8.62892658e-01] [-1.52033892e-02 4.32920194e-03 9.99875050e-01 -2.06983623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.87, Z:-0.21 [[ 9.96612878e-01 8.08632793e-02 1.49633491e-02 1.11546084e+01] [-8.08476223e-02 9.96725108e-01 -1.64931781e-03 -8.68923934e-01] [-1.50477150e-02 4.33980175e-04 9.99886683e-01 -2.06055852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.88, Z:-0.20 [[ 0.99665314 0.08051674 0.01412676 11.18375636] [-0.0806903 0.99666482 0.01217827 -0.87874375] [-0.01309909 -0.0132774 0.99982605 -0.19606799] [ 0. 0. 0. 1. ]] SLAMing on 10.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.87, Z:-0.20 [[ 9.96618233e-01 8.12813429e-02 1.20598988e-02 1.12175588e+01] [-8.12708810e-02 9.96691128e-01 -1.35586593e-03 -8.71997393e-01] [-1.21302007e-02 3.71162106e-04 9.99926358e-01 -2.01155098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.87, Z:-0.20 [[ 9.96685087e-01 8.09307160e-02 8.31007831e-03 1.12518265e+01] [-8.08450335e-02 9.96674739e-01 -1.01757260e-02 -8.68945248e-01] [-9.10597392e-03 9.47016581e-03 9.99913695e-01 -2.04472476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.88, Z:-0.20 [[ 9.96602486e-01 8.14880395e-02 1.19659803e-02 1.12816725e+01] [-8.15859158e-02 9.96634748e-01 7.93205720e-03 -8.82336373e-01] [-1.12793439e-02 -8.88136338e-03 9.99896944e-01 -2.00055343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.88, Z:-0.20 [[ 9.96564666e-01 8.20216442e-02 1.14593024e-02 1.13168759e+01] [-8.20071586e-02 9.96630240e-01 -1.72909795e-03 -8.82215537e-01] [-1.15625107e-02 7.83413097e-04 9.99932845e-01 -2.04650830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.88, Z:-0.20 [[ 9.96688291e-01 8.04491941e-02 1.18481253e-02 1.13457746e+01] [-8.04429709e-02 9.96758710e-01 -1.00165507e-03 -8.83537242e-01] [-1.18903045e-02 4.52394830e-05 9.99929307e-01 -2.02768608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.88, Z:-0.20 [[ 9.96683384e-01 8.06133772e-02 1.11227652e-02 1.13777280e+01] [-8.05717570e-02 9.96740208e-01 -4.14132309e-03 -8.84881325e-01] [-1.14203534e-02 3.23140717e-03 9.99929564e-01 -2.03612421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.89, Z:-0.20 [[ 9.96706672e-01 8.00382403e-02 1.30265524e-02 1.14098890e+01] [-8.00634179e-02 9.96788757e-01 1.42206860e-03 -8.90804849e-01] [-1.28709011e-02 -2.46033557e-03 9.99914140e-01 -2.02305188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.89, Z:-0.20 [[ 9.96728994e-01 7.96728565e-02 1.35480055e-02 1.14430496e+01] [-7.96592197e-02 9.96820959e-01 -1.54409024e-03 -8.90347341e-01] [-1.36279579e-02 4.59815967e-04 9.99907029e-01 -2.03679805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.89, Z:-0.20 [[ 9.96691167e-01 8.00282122e-02 1.42198374e-02 1.14760691e+01] [-8.00131584e-02 9.96792482e-01 -1.62534252e-03 -8.92650560e-01] [-1.43043003e-02 4.82190427e-04 9.99897572e-01 -2.03994662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.89, Z:-0.20 [[ 9.96605929e-01 8.08711576e-02 1.53778556e-02 1.15083483e+01] [-8.08535715e-02 9.96724431e-01 -1.76290967e-03 -8.94742019e-01] [-1.54700529e-02 5.13571683e-04 9.99880200e-01 -2.03643577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.90, Z:-0.20 [[ 9.96546448e-01 8.15253230e-02 1.57733589e-02 1.15407081e+01] [-8.15068271e-02 9.96671134e-01 -1.81300247e-03 -8.98316034e-01] [-1.58686571e-02 5.21104744e-04 9.99873949e-01 -2.03587372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.90, Z:-0.20 [[ 9.96492826e-01 8.21479947e-02 1.59296494e-02 1.15721492e+01] [-8.21291273e-02 9.96620005e-01 -1.83611527e-03 -9.00993331e-01] [-1.60266404e-02 5.21387492e-04 9.99871429e-01 -2.04022668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804319999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.90, Z:-0.20 [[ 9.96361292e-01 8.37532653e-02 1.57976975e-02 1.16048111e+01] [-8.37348359e-02 9.96486400e-01 -1.82561549e-03 -9.02475221e-01] [-1.58950919e-02 4.96154998e-04 9.99873542e-01 -2.04846195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.91, Z:-0.21 [[ 9.96265504e-01 8.49848326e-02 1.52519929e-02 1.16379782e+01] [-8.49677277e-02 9.96382137e-01 -1.76718202e-03 -9.05563764e-01] [-1.53469969e-02 4.64655313e-04 9.99882120e-01 -2.05110148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.91, Z:-0.21 [[ 9.96105439e-01 8.69342259e-02 1.47103738e-02 1.16699855e+01] [-8.69184584e-02 9.96213963e-01 -1.70903753e-03 -9.06508447e-01] [-1.48032536e-02 4.23778566e-04 9.99890336e-01 -2.06120004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.90, Z:-0.21 [[ 9.96073058e-01 8.77030260e-02 1.21095915e-02 1.17031714e+01] [-8.75974514e-02 9.96115383e-01 -8.99056723e-03 -9.04870425e-01] [-1.28510503e-02 7.89449244e-03 9.99886257e-01 -2.09158673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.91, Z:-0.21 [[ 9.95883851e-01 8.96425191e-02 1.34005310e-02 1.17376079e+01] [-8.95869881e-02 9.95967961e-01 -4.68953272e-03 -9.12226060e-01] [-1.37668811e-02 3.46971669e-03 9.99899212e-01 -2.10677728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.92, Z:-0.21 [[ 9.95870884e-01 8.99390068e-02 1.23351760e-02 1.17659198e+01] [-8.99666094e-02 9.95943331e-01 1.70025318e-03 -9.17818693e-01] [-1.21322172e-02 -2.80298660e-03 9.99922473e-01 -2.06013165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.92, Z:-0.21 [[ 9.95574151e-01 9.28154667e-02 1.47444728e-02 1.17985277e+01] [-9.29143102e-02 9.95655022e-01 6.16501320e-03 -9.22785960e-01] [-1.41081998e-02 -7.50770030e-03 9.99872288e-01 -2.05485413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.92, Z:-0.21 [[ 9.95272123e-01 9.60845652e-02 1.41830276e-02 1.18350414e+01] [-9.59380393e-02 9.95330067e-01 -1.06747773e-02 -9.17810151e-01] [-1.51424751e-02 9.26361643e-03 9.99842433e-01 -2.14974966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044319999999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.92, Z:-0.22 [[ 9.95141724e-01 9.73304676e-02 1.48232764e-02 1.18658916e+01] [-9.72168643e-02 9.95229421e-01 -8.20244253e-03 -9.20309989e-01] [-1.55509084e-02 6.72152035e-03 9.99856485e-01 -2.16544834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.93, Z:-0.21 [[ 9.95051373e-01 9.87663697e-02 1.08613849e-02 1.18940618e+01] [-9.87967242e-02 9.95104994e-01 2.29329218e-03 -9.26207831e-01] [-1.05817182e-02 -3.35501278e-03 9.99938384e-01 -2.09529525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.93, Z:-0.21 [[ 9.94880113e-01 1.00528500e-01 1.03721425e-02 1.19247778e+01] [-1.00539192e-01 9.94932966e-01 5.13280957e-04 -9.28680129e-01] [-1.02679871e-02 -1.55345984e-03 9.99946076e-01 -2.10371919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.94, Z:-0.21 [[ 9.94957916e-01 9.93155098e-02 1.39704949e-02 1.19578974e+01] [-9.94412123e-02 9.95006195e-01 8.60913785e-03 -9.36795649e-01] [-1.30457080e-02 -9.95497280e-03 9.99865345e-01 -2.09466818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.93, Z:-0.21 [[ 9.94950431e-01 9.99548927e-02 9.09169859e-03 1.19896131e+01] [-9.98878573e-02 9.94970044e-01 -7.55165047e-03 -9.31653333e-01] [-9.80079216e-03 6.60536760e-03 9.99930154e-01 -2.13471214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.94, Z:-0.21 [[ 9.95136090e-01 9.76012274e-02 1.33477724e-02 1.20217371e+01] [-9.76747577e-02 9.95205974e-01 4.97100391e-03 -9.42502707e-01] [-1.27986067e-02 -6.25056582e-03 9.99898558e-01 -2.10875194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.94, Z:-0.21 [[ 9.95223174e-01 9.68240957e-02 1.24871200e-02 1.20541042e+01] [-9.68130105e-02 9.95301471e-01 -1.49059848e-03 -9.42483624e-01] [-1.25727747e-02 2.74562477e-04 9.99920922e-01 -2.13279629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.94, Z:-0.21 [[ 9.95493520e-01 9.40502829e-02 1.21324711e-02 1.20866295e+01] [-9.40395725e-02 9.95567402e-01 -1.45154357e-03 -9.44080888e-01] [-1.22152108e-02 3.04069816e-04 9.99925345e-01 -2.14904580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.95, Z:-0.22 [[ 9.95630239e-01 9.25710551e-02 1.22892709e-02 1.21186359e+01] [-9.25599061e-02 9.95706026e-01 -1.47412312e-03 -9.47589529e-01] [-1.23729623e-02 3.30187788e-04 9.99923397e-01 -2.15231899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.94, Z:-0.23 [[ 9.95739228e-01 9.15193395e-02 1.12959996e-02 1.21532818e+01] [-9.11263979e-02 9.95343242e-01 -3.14294394e-02 -9.35334940e-01] [-1.41197984e-02 3.02661619e-02 9.99442140e-01 -2.32219149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.96, Z:-0.22 [[ 9.96088358e-01 8.69894626e-02 1.55182808e-02 1.21868046e+01] [-8.69846142e-02 9.96209165e-01 -9.88409066e-04 -9.60269484e-01] [-1.55454348e-02 -3.65308909e-04 9.99879096e-01 -2.22235975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.96, Z:-0.22 [[ 9.96286094e-01 8.46865653e-02 1.55629241e-02 1.22182065e+01] [-8.46727573e-02 9.96407616e-01 -1.54520684e-03 -9.63977911e-01] [-1.56378743e-02 2.21712393e-04 9.99877696e-01 -2.22385431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.98, Z:-0.21 [[ 9.96551564e-01 8.17692631e-02 1.40984886e-02 1.22463272e+01] [-8.20951788e-02 9.96327272e-01 2.43382178e-02 -9.80809024e-01] [-1.20565906e-02 -2.54117069e-02 9.99604364e-01 -2.06362012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.97, Z:-0.21 [[ 9.96715462e-01 8.01990949e-02 1.12424431e-02 1.22804323e+01] [-8.01888395e-02 9.96778761e-01 -1.36075572e-03 -9.70160175e-01] [-1.13153599e-02 4.54767797e-04 9.99935876e-01 -2.14381060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.95, Z:-0.24 [[ 9.97114839e-01 7.49299644e-02 1.21449265e-02 1.23188319e+01] [-7.42422100e-02 9.96005063e-01 -4.96186367e-02 -9.45253536e-01] [-1.58143310e-02 4.85738128e-02 9.98694394e-01 -2.41831563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.98, Z:-0.23 [[ 9.97013772e-01 7.52788683e-02 1.72229695e-02 1.23473854e+01] [-7.53825674e-02 9.97139780e-01 5.45223325e-03 -9.82769038e-01] [-1.67632701e-02 -6.73426330e-03 9.99836808e-01 -2.25542811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.97, Z:-0.23 [[ 9.97217299e-01 7.33390964e-02 1.33804521e-02 1.23792019e+01] [-7.31665180e-02 9.97235506e-01 -1.29617054e-02 -9.74899480e-01] [-1.42940617e-02 1.19466358e-02 9.99826464e-01 -2.31034974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.99, Z:-0.22 [[ 9.96988800e-01 7.59073795e-02 1.58556938e-02 1.24101816e+01] [-7.60805155e-02 9.97045154e-01 1.06168095e-02 -9.94177872e-01] [-1.50029484e-02 -1.17911495e-02 9.99817924e-01 -2.23588872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.44, Y:-1.01, Z:-0.21 [[ 9.96880382e-01 7.80794692e-02 1.15368775e-02 1.24363484e+01] [-7.83909876e-02 9.96482938e-01 2.96075627e-02 -1.00776481e+00] [-9.18455883e-03 -3.04195856e-02 9.99495019e-01 -2.08469075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.99, Z:-0.22 [[ 9.96327209e-01 8.53723078e-02 6.60771991e-03 1.24702929e+01] [-8.53651264e-02 9.96348805e-01 -1.36184603e-03 -9.93074636e-01] [-6.69985778e-03 7.92775405e-04 9.99977241e-01 -2.18150214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.99, Z:-0.23 [[ 9.95938753e-01 8.96475611e-02 8.32555355e-03 1.25077819e+01] [-8.94799889e-02 9.95813177e-01 -1.86935316e-02 -9.88093665e-01] [-9.96652545e-03 1.78726421e-02 9.99790597e-01 -2.30243590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-1.01, Z:-0.21 [[ 9.95674375e-01 9.26389317e-02 7.11108156e-03 1.25338477e+01] [-9.27441493e-02 9.95557223e-01 1.62584709e-02 -1.00929736e+00] [-5.57332124e-03 -1.68476541e-02 9.99842535e-01 -2.13889551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.57, Y:-1.00, Z:-0.22 [[ 9.95350621e-01 9.61775801e-02 5.19761958e-03 1.25659343e+01] [-9.61868398e-02 9.95362072e-01 1.56134409e-03 -1.00434787e+00] [-5.02334709e-03 -2.05402741e-03 9.99985273e-01 -2.18121893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.60, Y:-1.01, Z:-0.22 [[ 9.94708626e-01 1.02563174e-01 5.96197399e-03 1.25972967e+01] [-1.02585846e-01 9.94717534e-01 3.62934641e-03 -1.00927255e+00] [-5.55824278e-03 -4.22175633e-03 9.99975641e-01 -2.17806179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:-1.01, Z:-0.22 [[ 9.94475120e-01 1.04841840e-01 5.23686917e-03 1.26302534e+01] [-1.04839911e-01 9.94488904e-01 -6.42292532e-04 -1.01101071e+00] [-5.27534741e-03 8.97110444e-05 9.99986081e-01 -2.19170165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:-1.01, Z:-0.22 [[ 9.94133364e-01 1.08157171e-01 9.38204915e-04 1.26623287e+01] [-1.08141202e-01 9.94078761e-01 -1.06252964e-02 -1.01065013e+00] [-2.08185158e-03 1.04615031e-02 9.99943110e-01 -2.20448885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:-1.03, Z:-0.22 [[ 9.94092199e-01 1.08302095e-01 7.16627359e-03 1.26940289e+01] [-1.08368638e-01 9.94063851e-01 9.65915081e-03 -1.02709087e+00] [-6.07762725e-03 -1.03786858e-02 9.99927670e-01 -2.16063095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:-1.03, Z:-0.22 [[ 9.93930378e-01 1.09802766e-01 6.76430360e-03 1.27266885e+01] [-1.09799620e-01 9.93953392e-01 -8.35770521e-04 -1.02564275e+00] [-6.81517242e-03 8.79797436e-05 9.99976773e-01 -2.19762363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:-1.02, Z:-0.23 [[ 9.94032642e-01 1.08908476e-01 6.16853151e-03 1.27631174e+01] [-1.08835188e-01 9.93996940e-01 -1.11796856e-02 -1.02408532e+00] [-7.34906397e-03 1.04416191e-02 9.99918479e-01 -2.27027926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.04, Z:-0.22 [[ 9.94289787e-01 1.06477679e-01 7.09394632e-03 1.27902223e+01] [-1.06549768e-01 9.94249743e-01 1.07049443e-02 -1.03979149e+00] [-5.91331668e-03 -1.13996751e-02 9.99917537e-01 -2.15721266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:-1.04, Z:-0.22 [[ 9.94399156e-01 1.05539304e-01 5.63691415e-03 1.28227563e+01] [-1.05537045e-01 9.94415127e-01 -6.97494013e-04 -1.03905458e+00] [-5.67904574e-03 9.86841929e-05 9.99983869e-01 -2.18698201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:-1.04, Z:-0.22 [[ 9.94567283e-01 1.03899045e-01 6.39585953e-03 1.28543391e+01] [-1.03896094e-01 9.94587841e-01 -7.92909080e-04 -1.04445503e+00] [-6.44362662e-03 1.24096609e-04 9.99979232e-01 -2.19120773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:-1.05, Z:-0.22 [[ 9.94898692e-01 1.00649557e-01 6.80140727e-03 1.28864207e+01] [-1.00646136e-01 9.94921928e-01 -8.44344361e-04 -1.05032230e+00] [-6.85185212e-03 1.55501740e-04 9.99976514e-01 -2.19203120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:-1.05, Z:-0.22 [[ 9.95018086e-01 9.93965060e-02 7.70351292e-03 1.29180905e+01] [-9.93920571e-02 9.95047888e-01 -9.59176954e-04 -1.05481356e+00] [-7.76070309e-03 1.88730421e-04 9.99969867e-01 -2.19779937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:-1.06, Z:-0.22 [[ 9.95213563e-01 9.73588090e-02 8.43959980e-03 1.29494202e+01] [-9.73533725e-02 9.95249321e-01 -1.05357936e-03 -1.06050592e+00] [-8.50208120e-03 2.26912965e-04 9.99963831e-01 -2.20533731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:-1.07, Z:-0.22 [[ 9.95224623e-01 9.72448842e-02 8.44883573e-03 1.29816542e+01] [-9.72394108e-02 9.95260458e-01 -1.05719853e-03 -1.06579616e+00] [-8.51159927e-03 2.30590199e-04 9.99963749e-01 -2.20683753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:-1.07, Z:-0.22 [[ 9.95241045e-01 9.70950555e-02 8.23483724e-03 1.30146485e+01] [-9.70898309e-02 9.95275087e-01 -1.03280482e-03 -1.07064445e+00] [-8.29620859e-03 2.28370790e-04 9.99965560e-01 -2.20794859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:-1.07, Z:-0.23 [[ 9.95165113e-01 9.78281818e-02 8.72040619e-03 1.30494228e+01] [-9.77018817e-02 9.95118748e-01 -1.38931261e-02 -1.06948811e+00] [-1.00369790e-02 1.29739543e-02 9.99865459e-01 -2.30190780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.09, Z:-0.22 [[ 9.95096479e-01 9.85407749e-02 8.52721771e-03 1.30771817e+01] [-9.86381680e-02 9.95052529e-01 1.18733170e-02 -1.08846787e+00] [-7.31502369e-03 -1.26562051e-02 9.99893150e-01 -2.17969017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.09, Z:-0.22 [[ 9.94974094e-01 9.99352641e-02 6.28456786e-03 1.31104288e+01] [-9.99322552e-02 9.94993928e-01 -7.91767444e-04 -1.08553007e+00] [-6.33223235e-03 1.59757056e-04 9.99979938e-01 -2.22081954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:-1.08, Z:-0.24 [[ 9.94868265e-01 1.00951494e-01 6.77719206e-03 1.31451724e+01] [-1.00778244e-01 9.94658716e-01 -2.23110899e-02 -1.07655176e+00] [-8.99333099e-03 2.15136018e-02 9.99728106e-01 -2.36573537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.11, Z:-0.22 [[ 9.94537482e-01 1.04118663e-01 7.38251154e-03 1.31732382e+01] [-1.04251300e-01 9.94335067e-01 2.07229723e-02 -1.10605784e+00] [-5.18304193e-03 -2.13794091e-02 9.99757999e-01 -2.16835471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:-1.10, Z:-0.22 [[ 9.94518407e-01 1.04456946e-01 4.67810985e-03 1.32078997e+01] [-1.04455310e-01 9.94529404e-01 -5.93455423e-04 -1.09834529e+00] [-4.71450835e-03 1.01548929e-04 9.99988881e-01 -2.23491972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334319999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.24, Y:-1.09, Z:-0.24 [[ 9.94477497e-01 1.04787620e-01 5.83635406e-03 1.32417846e+01] [-1.04648847e-01 9.94299101e-01 -2.04429820e-02 -1.09102934e+00] [-7.94525302e-03 1.97193178e-02 9.99773985e-01 -2.36641061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:-1.11, Z:-0.23 [[ 9.94340938e-01 1.05954127e-01 7.73442843e-03 1.32731961e+01] [-1.05955859e-01 9.94370817e-01 -1.86609315e-04 -1.10803929e+00] [-7.71066194e-03 -6.33954725e-04 9.99970071e-01 -2.30152469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.31, Y:-1.11, Z:-0.23 [[ 9.94196557e-01 1.07430080e-01 5.65549686e-03 1.33053035e+01] [-1.07408011e-01 9.94206688e-01 -4.07198032e-03 -1.11085602e+00] [-6.06018597e-03 3.44090315e-03 9.99975717e-01 -2.30905427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.12, Z:-0.22 [[ 9.93999869e-01 1.09362887e-01 2.00477731e-03 1.33337327e+01] [-1.09375403e-01 9.93969355e-01 7.87031509e-03 -1.12350400e+00] [-1.13196684e-03 -8.04236550e-03 9.99967019e-01 -2.22294444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.13, Z:-0.22 [[ 9.93981965e-01 1.09539088e-01 1.02082637e-03 1.33671769e+01] [-1.09540358e-01 9.93981520e-01 1.28402743e-03 -1.12533034e+00] [-8.74031351e-04 -1.38812179e-03 9.99998655e-01 -2.24008691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.14, Z:-0.22 [[ 9.93868455e-01 1.10450820e-01 5.10992241e-03 1.33969329e+01] [-1.10501117e-01 9.93816061e-01 1.09151093e-02 -1.13617076e+00] [-3.87274019e-03 -1.14128349e-02 9.99927372e-01 -2.22264034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:-1.12, Z:-0.24 [[ 9.93985102e-01 1.09413516e-01 4.72226472e-03 1.34305028e+01] [-1.09303230e-01 9.93819545e-01 -1.93782276e-02 -1.12144201e+00] [-6.81331899e-03 1.87455107e-02 9.99801072e-01 -2.38697330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:-1.15, Z:-0.22 [[ 9.93907800e-01 1.10061326e-01 5.81296201e-03 1.34596053e+01] [-1.10150609e-01 9.93745827e-01 1.83323647e-02 -1.14941349e+00] [-3.75892236e-03 -1.88609816e-02 9.99815050e-01 -2.20981981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.14, Z:-0.23 [[ 9.93986960e-01 1.09475085e-01 2.26476313e-03 1.34916958e+01] [-1.09468250e-01 9.93985918e-01 -2.94913150e-03 -1.14485299e+00] [-2.57399908e-03 2.68347859e-03 9.99993087e-01 -2.27704143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.14, Z:-0.24 [[ 9.93994451e-01 1.09353358e-01 4.10789694e-03 1.35217056e+01] [-1.09281892e-01 9.93900669e-01 -1.47962275e-02 -1.14224066e+00] [-5.70085867e-03 1.42584493e-02 9.99882091e-01 -2.37359814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.16, Z:-0.22 [[ 9.94184750e-01 1.07664301e-01 2.25424721e-03 1.35527111e+01] [-1.07677722e-01 9.94160743e-01 7.06572443e-03 -1.16041241e+00] [-1.48035780e-03 -7.26736768e-03 9.99972497e-01 -2.24905836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.17, Z:-0.23 [[ 9.94569920e-01 1.03934991e-01 5.30960815e-03 1.35836310e+01] [-1.03976489e-01 9.94545533e-01 8.25064644e-03 -1.16755106e+00] [-4.42311620e-03 -8.75791919e-03 9.99951866e-01 -2.25671628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.16, Z:-0.23 [[ 9.94641251e-01 1.03381858e-01 9.86820203e-04 1.36151266e+01] [-1.03371779e-01 9.94615107e-01 -7.42051552e-03 -1.16386251e+00] [-1.74865297e-03 7.27874148e-03 9.99971981e-01 -2.30230564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.17, Z:-0.24 [[ 9.94939695e-01 1.00416575e-01 3.39325486e-03 1.36488591e+01] [-1.00379552e-01 9.94901645e-01 -9.72946418e-03 -1.16673617e+00] [-4.35295431e-03 9.33961673e-03 9.99946910e-01 -2.35108105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.18, Z:-0.23 [[ 9.95044170e-01 9.93630385e-02 3.75305013e-03 1.36812595e+01] [-9.93576717e-02 9.95050512e-01 -1.59081463e-03 -1.17803796e+00] [-3.89254263e-03 1.21003650e-03 9.99991692e-01 -2.32343680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.19, Z:-0.23 [[ 9.95308334e-01 9.67469288e-02 1.16254274e-03 1.37119302e+01] [-9.67519686e-02 9.95292661e-01 5.61923629e-03 -1.19201043e+00] [-6.13426409e-04 -5.70535101e-03 9.99983536e-01 -2.25712984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.20, Z:-0.22 [[ 9.95398444e-01 9.57558278e-02 3.57196263e-03 1.37428850e+01] [-9.57975645e-02 9.95297638e-01 1.43330994e-02 -1.20249183e+00] [-2.18268817e-03 -1.46093302e-02 9.99890896e-01 -2.20329531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844319999999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.78, Y:-1.20, Z:-0.23 [[ 9.95452903e-01 9.52275923e-02 2.28539657e-03 1.37767603e+01] [-9.52147472e-02 9.95443219e-01 -5.19139752e-03 -1.19653767e+00] [-2.76934680e-03 4.95018827e-03 9.99983913e-01 -2.29447658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:-1.20, Z:-0.22 [[ 9.95585260e-01 9.38181388e-02 2.85414040e-03 1.38065003e+01] [-9.38305791e-02 9.95577591e-01 4.59150498e-03 -1.20441875e+00] [-2.41075177e-03 -4.83904033e-03 9.99985386e-01 -2.24634475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.21, Z:-0.23 [[ 9.95394338e-01 9.58102715e-02 3.24085014e-03 1.38407056e+01] [-9.57954801e-02 9.95391103e-01 -4.44736148e-03 -1.20514721e+00] [-3.65201631e-03 4.11641964e-03 9.99984859e-01 -2.29964798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.21, Z:-0.23 [[ 9.95382794e-01 9.59273946e-02 3.32094059e-03 1.38695469e+01] [-9.59392967e-02 9.95380561e-01 3.63193345e-03 -1.21328940e+00] [-2.95719779e-03 -3.93377277e-03 9.99987890e-01 -2.25293030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.21, Z:-0.23 [[ 9.95138198e-01 9.84127941e-02 3.85870011e-03 1.39041356e+01] [-9.83537364e-02 9.95062602e-01 -1.33026621e-02 -1.20738109e+00] [-5.14880032e-03 1.28584696e-02 9.99904070e-01 -2.34419229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.22, Z:-0.23 [[ 9.94708562e-01 1.02734001e-01 7.75792135e-04 1.39320557e+01] [-1.02734212e-01 9.94708814e-01 2.37514811e-04 -1.21858484e+00] [-7.47286428e-04 -3.15958410e-04 9.99999671e-01 -2.27393168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.23, Z:-0.23 [[ 9.94504113e-01 1.04568139e-01 5.20326230e-03 1.39624577e+01] [-1.04618335e-01 9.94456470e-01 1.05514511e-02 -1.22912629e+00] [-4.07107226e-03 -1.10378182e-02 9.99930794e-01 -2.26304725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.23, Z:-0.23 [[ 9.94269301e-01 1.06853162e-01 3.31054748e-03 1.39980314e+01] [-1.06842818e-01 9.94270907e-01 -3.15855264e-03 -1.22635766e+00] [-3.62908238e-03 2.78674370e-03 9.99989532e-01 -2.32311894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.23, Z:-0.23 [[ 9.93909920e-01 1.10158204e-01 2.87084957e-03 1.40275430e+01] [-1.10170961e-01 9.93901316e-01 4.74687521e-03 -1.23051558e+00] [-2.33043392e-03 -5.03425061e-03 9.99984613e-01 -2.28484663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.24, Z:-0.23 [[ 9.93488331e-01 1.13898262e-01 2.84991528e-03 1.40629268e+01] [-1.13910908e-01 9.93479573e-01 4.75852977e-03 -1.23682027e+00] [-2.28934435e-03 -5.05218023e-03 9.99984617e-01 -2.28841351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:-1.23, Z:-0.23 [[ 9.93418875e-01 1.14507776e-01 2.62834546e-03 1.40918659e+01] [-1.14491761e-01 9.93408426e-01 -5.59788373e-03 -1.23121025e+00] [-3.25202175e-03 5.26011945e-03 9.99980878e-01 -2.32659438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:-1.24, Z:-0.23 [[ 9.93309460e-01 1.15429685e-01 3.50782752e-03 1.41236607e+01] [-1.15428764e-01 9.93315652e-01 -4.64712701e-04 -1.23876588e+00] [-3.53802162e-03 5.66993284e-05 9.99993740e-01 -2.30932609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.24, Z:-0.23 [[ 9.93261347e-01 1.15815478e-01 4.32117598e-03 1.41550088e+01] [-1.15814074e-01 9.93270744e-01 -5.74637841e-04 -1.24375846e+00] [-4.35864964e-03 7.03125626e-05 9.99990499e-01 -2.30810258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.25, Z:-0.23 [[ 9.93295982e-01 1.15454562e-01 5.77379525e-03 1.41877503e+01] [-1.15452034e-01 9.93312758e-01 -7.70350092e-04 -1.25027884e+00] [-5.82412491e-03 9.85892474e-05 9.99983035e-01 -2.30418306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.26, Z:-0.23 [[ 9.93335532e-01 1.15073698e-01 6.52415340e-03 1.42199184e+01] [-1.15070446e-01 9.93356950e-01 -8.72949936e-04 -1.25548263e+00] [-6.58126670e-03 1.16394947e-04 9.99978336e-01 -2.30588787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.27, Z:-0.23 [[ 9.93144034e-01 1.16708640e-01 6.63482109e-03 1.42557195e+01] [-1.16736155e-01 9.93155219e-01 3.92176515e-03 -1.26682651e+00] [-6.13170332e-03 -4.66940116e-03 9.99970299e-01 -2.28019769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.29, Y:-1.26, Z:-0.23 [[ 9.93233376e-01 1.16078172e-01 3.64962329e-03 1.42851227e+01] [-1.16042152e-01 9.93204543e-01 -8.88564392e-03 -1.26375110e+00] [-4.65625174e-03 8.40200796e-03 9.99953862e-01 -2.32342499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.28, Z:-0.23 [[ 9.93348624e-01 1.14931716e-01 7.01513308e-03 1.43189566e+01] [-1.14948858e-01 9.93369212e-01 2.09013033e-03 -1.27618629e+00] [-6.72839496e-03 -2.88260963e-03 9.99973209e-01 -2.30212637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.28, Z:-0.23 [[ 9.93220088e-01 1.15965649e-01 8.11329314e-03 1.43467535e+01] [-1.15993254e-01 9.93245418e-01 3.01734015e-03 -1.28134622e+00] [-7.70858343e-03 -3.93797012e-03 9.99962534e-01 -2.30702168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:-1.28, Z:-0.23 [[ 9.93501903e-01 1.13701991e-01 5.08197708e-03 1.43819829e+01] [-1.13690811e-01 9.93513188e-01 -2.43822704e-03 -1.28275584e+00] [-5.32624252e-03 1.84460911e-03 9.99984114e-01 -2.31618011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.28, Z:-0.23 [[ 9.93908517e-01 1.10046826e-01 5.96294433e-03 1.44085851e+01] [-1.10030597e-01 9.93923716e-01 -2.98564141e-03 -1.28387839e+00] [-6.25527215e-03 2.31134810e-03 9.99977764e-01 -2.32686583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.29, Z:-0.23 [[ 9.93926662e-01 1.09887230e-01 5.88117303e-03 1.44405241e+01] [-1.09884474e-01 9.93944051e-01 -7.90604167e-04 -1.29021601e+00] [-5.93243425e-03 1.39552954e-04 9.99982393e-01 -2.32227307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.30, Z:-0.23 [[ 9.93559882e-01 1.13136030e-01 6.24493389e-03 1.44725038e+01] [-1.13187319e-01 9.93536605e-01 8.58171939e-03 -1.30455704e+00] [-5.23366875e-03 -9.23329943e-03 9.99943676e-01 -2.28016938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.29, Z:-0.24 [[ 9.93958277e-01 1.09732797e-01 2.37849831e-03 1.45076328e+01] [-1.09654392e-01 9.93725605e-01 -2.20303309e-02 -1.29056679e+00] [-4.78102450e-03 2.16364169e-02 9.99754473e-01 -2.41204189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:-1.31, Z:-0.23 [[ 9.94027902e-01 1.08994077e-01 5.36847532e-03 1.45404196e+01] [-1.09023057e-01 9.94024345e-01 5.43826229e-03 -1.31176518e+00] [-4.74365678e-03 -5.99107205e-03 9.99970802e-01 -2.31368386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:-1.31, Z:-0.23 [[ 9.94275121e-01 1.06747587e-01 4.68362988e-03 1.45669449e+01] [-1.06773142e-01 9.94267666e-01 5.59508439e-03 -1.31300569e+00] [-4.05952000e-03 -6.06313909e-03 9.99973379e-01 -2.29972335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.31, Z:-0.23 [[ 9.94303021e-01 1.06522934e-01 3.79041162e-03 1.45999523e+01] [-1.06521756e-01 9.94310240e-01 -5.11899986e-04 -1.31461431e+00] [-3.82337417e-03 1.05222400e-04 9.99992685e-01 -2.32374164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.31, Z:-0.23 [[ 9.94402809e-01 1.05655341e-01 4.84159207e-05 1.46323808e+01] [-1.05651489e-01 9.94370263e-01 -8.09589827e-03 -1.31457688e+00] [-9.03518242e-04 8.04546877e-03 9.99967227e-01 -2.33968557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.33, Z:-0.23 [[ 9.94356568e-01 1.05996632e-01 4.44171884e-03 1.46629387e+01] [-1.06027650e-01 9.94335254e-01 7.45250973e-03 -1.32813769e+00] [-3.62661670e-03 -7.88139701e-03 9.99962365e-01 -2.29271328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.33, Z:-0.23 [[ 9.94315421e-01 1.06410319e-01 3.69968746e-03 1.46965919e+01] [-1.06409186e-01 9.94322298e-01 -5.02222128e-04 -1.32850902e+00] [-3.73212336e-03 1.05686474e-04 9.99993030e-01 -2.32223753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744319999999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.33, Z:-0.23 [[ 9.94239013e-01 1.07116598e-01 3.84958416e-03 1.47281212e+01] [-1.07115371e-01 9.94246460e-01 -5.23976212e-04 -1.33318804e+00] [-3.88356197e-03 1.08607955e-04 9.99992453e-01 -2.32420546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.33, Z:-0.23 [[ 9.94297041e-01 1.06642366e-01 -8.94522817e-04 1.47630266e+01] [-1.06645627e-01 9.94232041e-01 -1.13736406e-02 -1.33089102e+00] [-3.23548705e-04 1.14041742e-02 9.99934918e-01 -2.34512705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804319999999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.34, Z:-0.23 [[ 9.93960230e-01 1.09740507e-01 -2.87801694e-04 1.47945322e+01] [-1.09740732e-01 9.93959799e-01 -9.43407069e-04 -1.34045649e+00] [ 1.82533344e-04 9.69292676e-04 9.99999514e-01 -2.31227746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:-1.35, Z:-0.23 [[ 9.93701369e-01 1.11996146e-01 3.80156721e-03 1.48250536e+01] [-1.12034241e-01 9.93631801e-01 1.20072195e-02 -1.35228065e+00] [-2.43259576e-03 -1.23574962e-02 9.99920684e-01 -2.28004651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864319999999998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:14.86, Y:-1.35, Z:-0.23 [[ 9.93432474e-01 1.14407849e-01 1.66257326e-03 1.48588453e+01] [-1.14407631e-01 9.93433864e-01 -2.26347101e-04 -1.35012377e+00] [-1.67755247e-03 3.46494932e-05 9.99998592e-01 -2.32166028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894319999999997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.35, Z:-0.23 [[ 9.93331753e-01 1.15279380e-01 1.64100921e-03 1.48906352e+01] [-1.15279167e-01 9.93333108e-01 -2.24039162e-04 -1.35438134e+00] [-1.65589588e-03 3.33710377e-05 9.99998628e-01 -2.32467820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.36, Z:-0.23 [[ 9.93258179e-01 1.15909782e-01 1.76444184e-03 1.49231696e+01] [-1.15909536e-01 9.93259745e-01 -2.41493078e-04 -1.35826193e+00] [-1.78054046e-03 3.53493403e-05 9.99998414e-01 -2.32798869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:-1.36, Z:-0.23 [[ 9.93221840e-01 1.16197857e-01 2.90435855e-03 1.49559306e+01] [-1.16197184e-01 9.93226084e-01 -3.99899811e-04 -1.36132016e+00] [-2.93115217e-03 5.97109404e-05 9.99995702e-01 -2.33067867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.37, Z:-0.23 [[ 9.93215384e-01 1.16232461e-01 3.63542783e-03 1.49879759e+01] [-1.16231400e-01 9.93222034e-01 -5.02394766e-04 -1.36565766e+00] [-3.66918160e-03 7.64353421e-05 9.99993266e-01 -2.33097146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.37, Z:-0.23 [[ 9.93227738e-01 1.16103822e-01 4.30856864e-03 1.50203470e+01] [-1.16102324e-01 9.93237078e-01 -5.97060850e-04 -1.37017867e+00] [-4.34875118e-03 9.27825645e-05 9.99990540e-01 -2.33749540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.37, Z:-0.23 [[ 9.93416320e-01 1.14408857e-01 5.88469282e-03 1.50516277e+01] [-1.14406016e-01 9.93433739e-01 -8.18193486e-04 -1.37393429e+00] [-5.93966097e-03 1.39562499e-04 9.99982350e-01 -2.33820277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.38, Z:-0.23 [[ 9.93513851e-01 1.13501965e-01 6.89427580e-03 1.50843583e+01] [-1.13498028e-01 9.93537757e-01 -9.60948640e-04 -1.37836026e+00] [-6.95879288e-03 1.72229078e-04 9.99975772e-01 -2.34014693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.12, Y:-1.38, Z:-0.23 [[ 9.93619603e-01 1.12525934e-01 7.61565470e-03 1.51172109e+01] [-1.12521081e-01 9.93648768e-01 -1.06411927e-03 -1.38304529e+00] [-7.68702693e-03 2.00408061e-04 9.99970434e-01 -2.33893613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.39, Z:-0.24 [[ 9.93852998e-01 1.10376553e-01 8.55775279e-03 1.51486487e+01] [-1.10370320e-01 9.93889811e-01 -1.19866578e-03 -1.38615747e+00] [-8.63776790e-03 2.46775659e-04 9.99962663e-01 -2.35239018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.39, Z:-0.24 [[ 9.93743163e-01 1.11350051e-01 8.70015166e-03 1.51777090e+01] [-1.11361220e-01 9.93779666e-01 8.08520105e-04 -1.39104906e+00] [-8.55600506e-03 -1.77232083e-03 9.99961826e-01 -2.35434980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.39, Z:-0.24 [[ 9.93704263e-01 1.11714030e-01 8.47422372e-03 1.52108513e+01] [-1.11708715e-01 9.93740386e-01 -1.09942075e-03 -1.39499462e+00] [-8.54399907e-03 1.45854445e-04 9.99963489e-01 -2.36321392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.40, Z:-0.24 [[ 9.93966102e-01 1.09350876e-01 8.58922502e-03 1.52462032e+01] [-1.09327729e-01 9.94000858e-01 -3.12115331e-03 -1.39687759e+00] [-8.87899789e-03 2.16328012e-03 9.99958241e-01 -2.37797791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.40, Z:-0.24 [[ 9.94010974e-01 1.08901432e-01 9.09183456e-03 1.52773190e+01] [-1.08894229e-01 9.94052511e-01 -1.28502579e-03 -1.40170369e+00] [-9.17770213e-03 2.87281423e-04 9.99957843e-01 -2.37933165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.41, Z:-0.24 [[ 9.94159524e-01 1.07510974e-01 9.39315428e-03 1.53096437e+01] [-1.07503197e-01 9.94203849e-01 -1.33046425e-03 -1.40521380e+00] [-9.48174964e-03 3.12899590e-04 9.99954998e-01 -2.38820797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.41, Z:-0.24 [[ 9.94198502e-01 1.07139985e-01 9.50593070e-03 1.53415186e+01] [-1.07131977e-01 9.94243893e-01 -1.34916577e-03 -1.40885388e+00] [-9.59576315e-03 3.22949435e-04 9.99953907e-01 -2.39317792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.41, Z:-0.24 [[ 9.94222639e-01 1.06933722e-01 9.30182934e-03 1.53738713e+01] [-1.06926026e-01 9.94266100e-01 -1.32221667e-03 -1.41210427e+00] [-9.38988313e-03 3.19970102e-04 9.99955863e-01 -2.39955228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:-1.42, Z:-0.24 [[ 9.94227052e-01 1.06953040e-01 8.58000659e-03 1.54051544e+01] [-1.06946471e-01 9.94264029e-01 -1.22211181e-03 -1.41574747e+00] [-8.66150050e-03 2.97455201e-04 9.99962444e-01 -2.40993146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.42, Z:-0.24 [[ 9.94190725e-01 1.07322432e-01 8.16690493e-03 1.54375291e+01] [-1.07316474e-01 9.94224228e-01 -1.16558223e-03 -1.41984960e+00] [-8.24482787e-03 2.82367601e-04 9.99965971e-01 -2.41880078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.42, Z:-0.24 [[ 9.94094198e-01 1.08238431e-01 7.82098640e-03 1.54703546e+01] [-1.08232976e-01 9.94124928e-01 -1.11857467e-03 -1.42329455e+00] [-7.89611031e-03 2.65479951e-04 9.99968790e-01 -2.42686259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.42, Z:-0.25 [[ 9.93711294e-01 1.11759142e-01 6.91071652e-03 1.55072214e+01] [-1.11641044e-01 9.93626089e-01 -1.56036203e-02 -1.41896582e+00] [-8.61051545e-03 1.47339742e-02 9.99854374e-01 -2.54016263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.44, Z:-0.24 [[ 9.93648631e-01 1.12094591e-01 9.85901234e-03 1.55328513e+01] [-1.12219799e-01 9.93595406e-01 1.32244406e-02 -1.43664504e+00] [-8.31348111e-03 -1.42468237e-02 9.99863948e-01 -2.40818597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.43, Z:-0.25 [[ 9.93401551e-01 1.14409649e-01 7.98688862e-03 1.55661857e+01] [-1.14404117e-01 9.93433632e-01 -1.14764147e-03 -1.43261074e+00] [-8.06574502e-03 2.26335878e-04 9.99967446e-01 -2.45533536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.44, Z:-0.25 [[ 9.92904282e-01 1.18586862e-01 8.84554302e-03 1.55991296e+01] [-1.18580216e-01 9.92943659e-01 -1.27395105e-03 -1.43562164e+00] [-8.93419971e-03 2.16005051e-04 9.99960066e-01 -2.45734915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.44, Z:-0.25 [[ 9.92640783e-01 1.20752313e-01 9.11893410e-03 1.56317305e+01] [-1.20745315e-01 9.92682646e-01 -1.31620653e-03 -1.43979532e+00] [-9.21114262e-03 2.05451711e-04 9.99957555e-01 -2.46057662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.44, Z:-0.25 [[ 9.92403369e-01 1.22666195e-01 9.41055709e-03 1.56631809e+01] [-1.22658800e-01 9.92447966e-01 -1.36121230e-03 -1.44393583e+00] [-9.50646298e-03 1.96584032e-04 9.99954793e-01 -2.46344853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.45, Z:-0.25 [[ 9.92178266e-01 1.24429282e-01 9.98206623e-03 1.56943636e+01] [-1.24421020e-01 9.92228460e-01 -1.44684219e-03 -1.44810902e+00] [-1.00845197e-02 1.93546506e-04 9.99949131e-01 -2.46584170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.45, Z:-0.25 [[ 9.91885314e-01 1.26708458e-01 1.04159000e-02 1.57272631e+01] [-1.26699556e-01 9.91939985e-01 -1.51279495e-03 -1.45078778e+00] [-1.05236316e-02 1.80829192e-04 9.99944609e-01 -2.47097761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.45, Z:-0.25 [[ 9.91794754e-01 1.27397209e-01 1.06356723e-02 1.57595881e+01] [-1.27387932e-01 9.91851762e-01 -1.54794327e-03 -1.45495182e+00] [-1.07462139e-02 1.80385727e-04 9.99942242e-01 -2.47843307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.45, Z:-0.25 [[ 9.91747385e-01 1.28139443e-01 4.17232628e-03 1.57927485e+01] [-1.28060894e-01 9.91644841e-01 -1.55215231e-02 -1.45160906e+00] [-6.12638516e-03 1.48591181e-02 9.99870829e-01 -2.50830978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.47, Z:-0.24 [[ 9.91899860e-01 1.26250220e-01 1.39839088e-02 1.58227361e+01] [-1.26430688e-01 9.91891918e-01 1.28725829e-02 -1.47436132e+00] [-1.22453597e-02 -1.45363084e-02 9.99819357e-01 -2.43971752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.47, Z:-0.25 [[ 9.92064802e-01 1.25099662e-01 1.25500045e-02 1.58568744e+01] [-1.25086430e-01 9.92144148e-01 -1.83685704e-03 -1.47112495e+00] [-1.26812038e-02 2.52445948e-04 9.99919558e-01 -2.48253197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.48, Z:-0.25 [[ 9.92225778e-01 1.23789877e-01 1.28090410e-02 1.58884584e+01] [-1.23775932e-01 9.92308414e-01 -1.87881440e-03 -1.47559329e+00] [-1.29430974e-02 2.78757090e-04 9.99916196e-01 -2.48488995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.48, Z:-0.25 [[ 9.92644819e-01 1.20302199e-01 1.35515671e-02 1.59198104e+01] [-1.20286209e-01 9.92737256e-01 -1.99185825e-03 -1.47908974e+00] [-1.36927705e-02 3.47141132e-04 9.99906189e-01 -2.49691462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:-1.48, Z:-0.25 [[ 9.92844592e-01 1.18611317e-01 1.38192317e-02 1.59519214e+01] [-1.18594467e-01 9.92940688e-01 -2.03538664e-03 -1.48389780e+00] [-1.39630973e-02 3.81938206e-04 9.99902438e-01 -2.50301614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.49, Z:-0.25 [[ 9.93216034e-01 1.15469228e-01 1.37392890e-02 1.59832909e+01] [-1.15452212e-01 9.93310965e-01 -2.02798484e-03 -1.49012979e+00] [-1.38815563e-02 4.27995760e-04 9.99903555e-01 -2.50912572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.49, Z:-0.25 [[ 9.93520840e-01 1.13205013e-01 1.00481525e-02 1.60156833e+01] [-1.13114358e-01 9.93539612e-01 -9.17502244e-03 -1.49138896e+00] [-1.10218961e-02 7.97898568e-03 9.99907423e-01 -2.52167312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.50, Z:-0.25 [[ 9.93539606e-01 1.12974490e-01 1.07618207e-02 1.60445917e+01] [-1.12950936e-01 9.93596695e-01 -2.77384854e-03 -1.50106995e+00] [-1.10062836e-02 1.54037067e-03 9.99938243e-01 -2.49914295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.51, Z:-0.25 [[ 9.93825959e-01 1.10155611e-01 1.32553453e-02 1.60782695e+01] [-1.10223649e-01 9.93896557e-01 4.51450174e-03 -1.51055224e+00] [-1.26771443e-02 -5.94768154e-03 9.99901953e-01 -2.48494916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.51, Z:-0.25 [[ 9.93917038e-01 1.09397991e-01 1.26886250e-02 1.61112621e+01] [-1.09418015e-01 9.93995423e-01 8.92701403e-04 -1.51294808e+00] [-1.25147755e-02 -2.27563530e-03 9.99919098e-01 -2.50697997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.51, Z:-0.26 [[ 9.94013374e-01 1.08731028e-01 1.07227206e-02 1.61480130e+01] [-1.08535012e-01 9.93939884e-01 -1.74257837e-02 -1.50729450e+00] [-1.25524631e-02 1.61576715e-02 9.99790661e-01 -2.60089537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.52, Z:-0.25 [[ 9.93925079e-01 1.09541965e-01 1.06534035e-02 1.61729083e+01] [-1.09601510e-01 9.93962140e-01 5.17429885e-03 -1.52430095e+00] [-1.00222769e-02 -6.31049451e-03 9.99929863e-01 -2.49380752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.53, Z:-0.25 [[ 9.93811074e-01 1.10326087e-01 1.29500380e-02 1.62034211e+01] [-1.10440595e-01 9.93846500e-01 8.48578019e-03 -1.53185599e+00] [-1.19341470e-02 -9.86347223e-03 9.99880137e-01 -2.49323418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.53, Z:-0.25 [[ 9.93791883e-01 1.10742372e-01 1.06686762e-02 1.62369329e+01] [-1.10731628e-01 9.93849065e-01 -1.59438756e-03 -1.53179090e+00] [-1.07796201e-02 4.03129540e-04 9.99941817e-01 -2.52353846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.54, Z:-0.25 [[ 9.93746533e-01 1.11154091e-01 1.06111006e-02 1.62695706e+01] [-1.11143449e-01 9.93803103e-01 -1.58917305e-03 -1.53809923e+00] [-1.07219878e-02 3.99880895e-04 9.99942438e-01 -2.52484429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.54, Z:-0.25 [[ 9.93871913e-01 1.10131215e-01 9.47290170e-03 1.63024308e+01] [-1.10113597e-01 9.93916199e-01 -2.36322622e-03 -1.54322010e+00] [-9.67553543e-03 1.30564888e-03 9.99952339e-01 -2.52936177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.55, Z:-0.25 [[ 9.93774659e-01 1.10965131e-01 9.93307846e-03 1.63329557e+01] [-1.10964798e-01 9.93824164e-01 -5.86332183e-04 -1.54936632e+00] [-9.93679583e-03 -5.19539982e-04 9.99950494e-01 -2.52853261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.55, Z:-0.25 [[ 9.93782823e-01 1.10881874e-01 1.00454026e-02 1.63654665e+01] [-1.10872251e-01 9.93833517e-01 -1.51158634e-03 -1.55389572e+00] [-1.01510653e-02 3.88432148e-04 9.99948401e-01 -2.53095434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.56, Z:-0.26 [[ 9.93747585e-01 1.11172798e-01 1.03124462e-02 1.64003570e+01] [-1.11083907e-01 9.93771828e-01 -8.82722447e-03 -1.55721376e+00] [-1.12295657e-02 7.62648618e-03 9.99907863e-01 -2.58569316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.57, Z:-0.25 [[ 9.93895539e-01 1.09741442e-01 1.13345820e-02 1.64276863e+01] [-1.09809680e-01 9.93936954e-01 5.58256253e-03 -1.56841283e+00] [-1.06532215e-02 -6.79313082e-03 9.99920178e-01 -2.51082891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.57, Z:-0.25 [[ 9.93995157e-01 1.08865203e-01 1.10451494e-02 1.64609866e+01] [-1.08853362e-01 9.94056416e-01 -1.66940114e-03 -1.57154343e+00] [-1.11612413e-02 4.57075010e-04 9.99937607e-01 -2.53013055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.58, Z:-0.25 [[ 9.93838415e-01 1.10273929e-01 1.11742988e-02 1.64931155e+01] [-1.10261862e-01 9.93901131e-01 -1.69218398e-03 -1.57792139e+00] [-1.12927520e-02 4.49658449e-04 9.99936134e-01 -2.52873436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.58, Z:-0.25 [[ 9.93975449e-01 1.09035448e-01 1.11389793e-02 1.65257305e+01] [-1.09023344e-01 9.94037753e-01 -1.68999754e-03 -1.58264614e+00] [-1.12568356e-02 4.65407287e-04 9.99936532e-01 -2.53115124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.58, Z:-0.25 [[ 9.93986249e-01 1.09190478e-01 8.29319884e-03 1.65572034e+01] [-1.09126584e-01 9.93997237e-01 -7.80266938e-03 -1.58328176e+00] [-9.09539393e-03 6.85073760e-03 9.99935169e-01 -2.54511867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.59, Z:-0.25 [[ 9.93741431e-01 1.11076727e-01 1.18291420e-02 1.65869294e+01] [-1.11124671e-01 9.93800402e-01 3.47393989e-03 -1.59432193e+00] [-1.13699322e-02 -4.76670751e-03 9.99923999e-01 -2.52040545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.60, Z:-0.25 [[ 9.93765301e-01 1.10893864e-01 1.15358969e-02 1.66204296e+01] [-1.10897801e-01 9.93831770e-01 -2.99814126e-04 -1.59665824e+00] [-1.14979883e-02 -9.81360715e-04 9.99933414e-01 -2.53575712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.59, Z:-0.27 [[ 9.93784588e-01 1.10670604e-01 1.20087408e-02 1.66543943e+01] [-1.10412552e-01 9.93677174e-01 -2.03652249e-02 -1.58923177e+00] [-1.41866434e-02 1.89127309e-02 9.99720485e-01 -2.66487556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.62, Z:-0.25 [[ 9.93509886e-01 1.12821061e-01 1.44746008e-02 1.66811139e+01] [-1.13055827e-01 9.93450323e-01 1.65781636e-02 -1.61615522e+00] [-1.25094308e-02 -1.81070074e-02 9.99757796e-01 -2.48318655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:-1.61, Z:-0.25 [[ 9.93429010e-01 1.13830771e-01 1.18894054e-02 1.67155053e+01] [-1.13817104e-01 9.93500049e-01 -1.82208820e-03 -1.61019469e+00] [-1.20195345e-02 4.56897589e-04 9.99927658e-01 -2.53793340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.61, Z:-0.25 [[ 9.93270036e-01 1.15216121e-01 1.18271517e-02 1.67472979e+01] [-1.15202650e-01 9.93340350e-01 -1.81626392e-03 -1.61449814e+00] [-1.19576498e-02 4.41521321e-04 9.99928407e-01 -2.54436054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.62, Z:-0.26 [[ 9.92918877e-01 1.18337177e-01 1.04123036e-02 1.67795173e+01] [-1.18326877e-01 9.92973405e-01 -1.60195037e-03 -1.61874893e+00] [-1.05287108e-02 3.58551404e-04 9.99944507e-01 -2.55085492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.62, Z:-0.26 [[ 9.92722295e-01 1.19950349e-01 1.06939047e-02 1.68129334e+01] [-1.19815227e-01 9.92717625e-01 -1.24911078e-02 -1.61698353e+00] [-1.21143404e-02 1.11189085e-02 9.99864797e-01 -2.62355147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.62, Z:-0.26 [[ 9.92283555e-01 1.23508279e-01 1.09110957e-02 1.68431105e+01] [-1.23412122e-01 9.92313889e-01 -9.08813852e-03 -1.62219097e+00] [-1.19496921e-02 7.67144893e-03 9.99899172e-01 -2.62405163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.63, Z:-0.26 [[ 9.92037958e-01 1.25527302e-01 1.01777795e-02 1.68744716e+01] [-1.25505239e-01 9.92089060e-01 -2.78075696e-03 -1.62976972e+00] [-1.04463246e-02 1.48125181e-03 9.99944339e-01 -2.60571088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.64, Z:-0.26 [[ 9.91686310e-01 1.28060713e-01 1.25982684e-02 1.69033130e+01] [-1.28152826e-01 9.91731154e-01 6.79490374e-03 -1.63946222e+00] [-1.16239351e-02 -8.35291672e-03 9.99897551e-01 -2.58315125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.64, Z:-0.26 [[ 9.91119962e-01 1.32730813e-01 7.98451064e-03 1.69373704e+01] [-1.32757349e-01 9.91144361e-01 2.88833405e-03 -1.64322218e+00] [-7.53043177e-03 -3.92268800e-03 9.99963952e-01 -2.56761792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.65, Z:-0.26 [[ 9.90880990e-01 1.34571535e-01 6.73540492e-03 1.69701674e+01] [-1.34588286e-01 9.90899388e-01 2.09681964e-03 -1.64880703e+00] [-6.39193638e-03 -2.98420532e-03 9.99975119e-01 -2.55851594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.65, Z:-0.26 [[ 9.90747441e-01 1.35604229e-01 5.56783264e-03 1.70029236e+01] [-1.35594695e-01 9.90762255e-01 -2.05728288e-03 -1.65232950e+00] [-5.79537468e-03 1.28327918e-03 9.99982383e-01 -2.57222671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.66, Z:-0.25 [[ 9.90580798e-01 1.36828634e-01 5.25437643e-03 1.70342184e+01] [-1.36860554e-01 9.90570354e-01 6.28979724e-03 -1.66326022e+00] [-4.34420516e-03 -6.94966923e-03 9.99966414e-01 -2.52696398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.66, Z:-0.26 [[ 9.90627160e-01 1.36526058e-01 4.29704524e-03 1.70665301e+01] [-1.36508525e-01 9.90630245e-01 -4.13997902e-03 -1.66170175e+00] [-4.82199800e-03 3.51459235e-03 9.99982198e-01 -2.57336053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.66, Z:-0.26 [[ 9.90589674e-01 1.36847751e-01 2.18863026e-03 1.70970006e+01] [-1.36828195e-01 9.90566934e-01 -7.42926571e-03 -1.66489683e+00] [-3.18466307e-03 7.05988757e-03 9.99970008e-01 -2.58632659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.67, Z:-0.26 [[ 9.90734293e-01 1.35711475e-01 5.28728178e-03 1.71297174e+01] [-1.35692615e-01 9.90743784e-01 -3.77749742e-03 -1.67250008e+00] [-5.75099130e-03 3.02505114e-03 9.99978887e-01 -2.60336207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.69, Z:-0.25 [[ 9.90978346e-01 1.33899811e-01 5.72341499e-03 1.71575692e+01] [-1.33957620e-01 9.90922436e-01 1.13172889e-02 -1.68767575e+00] [-4.15607748e-03 -1.19818833e-02 9.99919578e-01 -2.52097577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.68, Z:-0.27 [[ 9.91166950e-01 1.32607323e-01 1.83696498e-03 1.71937189e+01] [-1.32550550e-01 9.91000877e-01 -1.86444154e-02 -1.67741469e+00] [-4.29281991e-03 1.82362376e-02 9.99824490e-01 -2.65246455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.71, Z:-0.25 [[ 9.90863479e-01 1.34308054e-01 1.22846473e-02 1.72142784e+01] [-1.34624505e-01 9.90436639e-01 3.01911874e-02 -1.71142443e+00] [-8.11224515e-03 -3.15691596e-02 9.99468649e-01 -2.45951013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.70, Z:-0.26 [[ 9.90815863e-01 1.34997706e-01 7.71656244e-03 1.72497607e+01] [-1.34996117e-01 9.90845859e-01 -7.28852778e-04 -1.69936553e+00] [-7.74431739e-03 -3.19547069e-04 9.99969961e-01 -2.56106993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.69, Z:-0.27 [[ 9.91238607e-01 1.32022450e-01 4.01195657e-03 1.72890778e+01] [-1.31837637e-01 9.90789810e-01 -3.08932026e-02 -1.68771094e+00] [-8.05360197e-03 3.00936082e-02 9.99514639e-01 -2.70243621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.72, Z:-0.25 [[ 9.91433671e-01 1.30370830e-01 7.91971468e-03 1.73143171e+01] [-1.30488057e-01 9.91308671e-01 1.67327514e-02 -1.72155711e+00] [-5.66941914e-03 -1.76228414e-02 9.99828632e-01 -2.50123254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.72, Z:-0.26 [[ 9.91500003e-01 1.30016498e-01 4.84286548e-03 1.73479833e+01] [-1.30014309e-01 9.91511822e-01 -7.65554389e-04 -1.71769993e+00] [-4.90129308e-03 1.29405370e-04 9.99987980e-01 -2.55698570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.71, Z:-0.27 [[ 9.91690155e-01 1.28549068e-01 5.07682850e-03 1.73821664e+01] [-1.28432234e-01 9.91537227e-01 -1.89496297e-02 -1.71357425e+00] [-7.46982168e-03 1.81401327e-02 9.99807550e-01 -2.67100246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.73, Z:-0.26 [[ 9.91729869e-01 1.28141923e-01 7.17735812e-03 1.74133871e+01] [-1.28135027e-01 9.91755723e-01 -1.41442209e-03 -1.72993240e+00] [-7.29943276e-03 4.83053658e-04 9.99973242e-01 -2.61934345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.74, Z:-0.26 [[ 9.91805384e-01 1.27606622e-01 6.21526354e-03 1.74462112e+01] [-1.27604512e-01 9.91824857e-01 -7.36463260e-04 -1.73682871e+00] [-6.25843045e-03 -6.26674430e-05 9.99980414e-01 -2.61429193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.74, Z:-0.26 [[ 9.92008799e-01 1.26075136e-01 4.85820115e-03 1.74773217e+01] [-1.26072655e-01 9.92020676e-01 -8.14794468e-04 -1.74368147e+00] [-4.92216132e-03 1.95796962e-04 9.99987867e-01 -2.61373679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.75, Z:-0.26 [[ 9.92081195e-01 1.25531380e-01 4.09587166e-03 1.75099787e+01] [-1.25508257e-01 9.92077414e-01 -5.48472361e-03 -1.74667751e+00] [-4.75192669e-03 4.92722544e-03 9.99976571e-01 -2.64459697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.77, Z:-0.25 [[ 9.92114614e-01 1.25255253e-01 4.44017862e-03 1.75364193e+01] [-1.25325035e-01 9.91843505e-01 2.32400056e-02 -1.76786201e+00] [-1.49302954e-03 -2.36132147e-02 9.99720054e-01 -2.47672280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.76, Z:-0.26 [[ 9.92123246e-01 1.25264881e-01 -4.17532161e-04 1.75702688e+01] [-1.25264864e-01 9.92123334e-01 6.76599045e-05 -1.76127488e+00] [ 4.22718809e-04 -1.48248548e-05 9.99999911e-01 -2.55300327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.77, Z:-0.26 [[ 9.92021252e-01 1.26064344e-01 -1.27163564e-03 1.76027152e+01] [-1.26064184e-01 9.92022066e-01 2.04996512e-04 -1.76809772e+00] [ 1.28733337e-03 -4.30531865e-05 9.99999170e-01 -2.55305282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.77, Z:-0.26 [[ 9.91904292e-01 1.26975565e-01 -1.75522595e-03 1.76349312e+01] [-1.26975263e-01 9.91905844e-01 2.82874974e-04 -1.77477917e+00] [ 1.77693708e-03 -5.77146254e-05 9.99998420e-01 -2.55279721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504319999999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.78, Z:-0.26 [[ 9.91738354e-01 1.28257098e-01 -2.27048679e-03 1.76666152e+01] [-1.28256595e-01 9.91740950e-01 3.65984155e-04 -1.78123298e+00] [ 2.29867479e-03 -7.17556178e-05 9.99997355e-01 -2.55202295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.79, Z:-0.26 [[ 9.91334134e-01 1.31347816e-01 -2.09417010e-03 1.76975918e+01] [-1.31347394e-01 9.91336344e-01 3.38279596e-04 -1.78797173e+00] [ 2.12045922e-03 -6.02843251e-05 9.99997750e-01 -2.55334122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56432 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.79, Z:-0.26 [[ 9.91044870e-01 1.33513121e-01 -2.07646510e-03 1.77287705e+01] [-1.33512710e-01 9.91047044e-01 3.36012347e-04 -1.79371499e+00] [ 2.10273666e-03 -5.57688310e-05 9.99997788e-01 -2.55712284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.80, Z:-0.26 [[ 9.90760665e-01 1.35607295e-01 -1.99144586e-03 1.77610170e+01] [-1.35606919e-01 9.90762665e-01 3.23042674e-04 -1.79980241e+00] [ 2.01685715e-03 -5.00041373e-05 9.99997965e-01 -2.55932300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.81, Z:-0.26 [[ 9.90294338e-01 1.38982010e-01 -1.06030881e-03 1.77920759e+01] [-1.38981905e-01 9.90294906e-01 1.72345465e-04 -1.80649158e+00] [ 1.07397133e-03 -2.33089998e-05 9.99999423e-01 -2.56004006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.81, Z:-0.26 [[ 9.90062750e-01 1.40623185e-01 -9.33607371e-04 1.78239388e+01] [-1.40623103e-01 9.90063190e-01 1.52851194e-04 -1.81325627e+00] [ 9.45824713e-04 -2.00455079e-05 9.99999553e-01 -2.55445153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.82, Z:-0.25 [[ 9.89666095e-01 1.43387787e-01 -9.81189418e-04 1.78555289e+01] [-1.43387698e-01 9.89666581e-01 1.60865157e-04 -1.82208121e+00] [ 9.94116476e-04 -1.85123006e-05 9.99999506e-01 -2.54778004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.83, Z:-0.25 [[ 9.89520083e-01 1.44390291e-01 -1.20382714e-03 1.78878999e+01] [-1.44390158e-01 9.89520815e-01 1.97381907e-04 -1.82879588e+00] [ 1.21971204e-03 -2.14925707e-05 9.99999256e-01 -2.54634039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.84, Z:-0.25 [[ 9.89424821e-01 1.45044545e-01 -7.77053650e-04 1.79202286e+01] [-1.45044489e-01 9.89425126e-01 1.28245976e-04 -1.83524888e+00] [ 7.87437785e-04 -1.41824014e-05 9.99999690e-01 -2.54912227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.84, Z:-0.25 [[ 9.89339804e-01 1.45624259e-01 -5.72497348e-04 1.79523539e+01] [-1.45624228e-01 9.89339969e-01 9.50977330e-05 -1.84155014e+00] [ 5.80243046e-04 -1.07144879e-05 9.99999832e-01 -2.54868245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.85, Z:-0.25 [[ 9.89428834e-01 1.45018288e-01 -5.28450208e-04 1.79832117e+01] [-1.45018262e-01 9.89428975e-01 8.79509698e-05 -1.84858385e+00] [ 5.35618446e-04 -1.03862949e-05 9.99999857e-01 -2.54879551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.85, Z:-0.25 [[ 9.89281705e-01 1.46018256e-01 6.14016959e-04 1.80158440e+01] [-1.46018223e-01 9.89281896e-01 -9.89354214e-05 -1.85403051e+00] [-6.21882238e-04 8.21733732e-06 9.99999807e-01 -2.54758641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.86, Z:-0.25 [[ 9.89318886e-01 1.45756811e-01 1.75871546e-03 1.80484624e+01] [-1.45756531e-01 9.89320449e-01 -2.87006798e-04 -1.86053160e+00] [-1.78176636e-03 2.75969817e-05 9.99998412e-01 -2.54280735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894319999999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.87, Z:-0.25 [[ 9.89270113e-01 1.46087223e-01 1.77972671e-03 1.80810810e+01] [-1.46086936e-01 9.89271713e-01 -2.91036695e-04 -1.86672040e+00] [-1.80315003e-03 2.79190825e-05 9.99998374e-01 -2.54317470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.87, Z:-0.25 [[ 9.89260963e-01 1.46151246e-01 1.59999651e-03 1.81132351e+01] [-1.46151013e-01 9.89262257e-01 -2.61967095e-04 -1.87188163e+00] [-1.62110297e-03 2.53127095e-05 9.99998686e-01 -2.54507483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.88, Z:-0.26 [[ 9.89316122e-01 1.45776399e-01 1.68865491e-03 1.81451304e+01] [-1.45776138e-01 9.89317563e-01 -2.77205271e-04 -1.87699566e+00] [-1.71102595e-03 2.80780523e-05 9.99998536e-01 -2.55095761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.88, Z:-0.26 [[ 9.89290167e-01 1.45952456e-01 1.68728366e-03 1.81774661e+01] [-1.45952195e-01 9.89291605e-01 -2.77417912e-04 -1.88108667e+00] [-1.70970539e-03 2.81840585e-05 9.99998538e-01 -2.55540236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.89, Z:-0.26 [[ 9.89391905e-01 1.45270092e-01 5.08726636e-04 1.82102513e+01] [-1.45270069e-01 9.89392036e-01 -8.26255659e-05 -1.88709772e+00] [-5.15333106e-04 7.84631245e-06 9.99999867e-01 -2.55721984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.89, Z:-0.26 [[ 9.89428769e-01 1.45018889e-01 -4.82822086e-04 1.82418370e+01] [-1.45018867e-01 9.89428887e-01 8.17383694e-05 -1.89233064e+00] [ 4.89571727e-04 -1.08559824e-05 9.99999880e-01 -2.55572849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.88, Z:-0.27 [[ 9.89783834e-01 1.42567639e-01 -1.55872492e-03 1.82776879e+01] [-1.42563537e-01 9.89491590e-01 -2.41253196e-02 -1.88172994e+00] [-1.89714465e-03 2.41010687e-02 9.99707727e-01 -2.72429497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.91, Z:-0.25 [[ 9.89623377e-01 1.43674837e-01 1.76424820e-03 1.83002126e+01] [-1.43677132e-01 9.89356132e-01 2.30505066e-02 -1.91407554e+00] [ 1.56630801e-03 -2.30648023e-02 9.99732745e-01 -2.48635456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.89, Z:-0.27 [[ 9.90079195e-01 1.40491102e-01 -2.33186143e-03 1.83409050e+01] [-1.40508321e-01 9.89836390e-01 -2.19392913e-02 -1.89318729e+00] [-7.74113919e-04 2.20492818e-02 9.99756585e-01 -2.71290604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.92, Z:-0.25 [[ 9.90323048e-01 1.38779771e-01 6.59437681e-04 1.83664230e+01] [-1.38754978e-01 9.90031164e-01 2.41940317e-02 -1.92372003e+00] [ 2.70477833e-03 -2.40514074e-02 9.99707064e-01 -2.47077312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.91, Z:-0.26 [[ 9.90258286e-01 1.39208220e-01 -3.09823939e-03 1.84042181e+01] [-1.39236630e-01 9.90177659e-01 -1.27029465e-02 -1.90916069e+00] [ 1.29945285e-03 1.30105865e-02 9.99914514e-01 -2.64795915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.93, Z:-0.25 [[ 9.90406936e-01 1.38175935e-01 -1.22983706e-03 1.84302721e+01] [-1.38146710e-01 9.90318463e-01 1.35951629e-02 -1.92680603e+00] [ 3.09645470e-03 -1.32948457e-02 9.99906825e-01 -2.50399201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.92, Z:-0.25 [[ 9.90468974e-01 1.37700039e-01 -3.14805077e-03 1.84636540e+01] [-1.37699049e-01 9.90473973e-01 5.30031140e-04 -1.92320582e+00] [ 3.19104766e-03 -9.14958013e-05 9.99994904e-01 -2.53721924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.92, Z:-0.26 [[ 9.90357905e-01 1.38498218e-01 -3.07641681e-03 1.84991368e+01] [-1.38526128e-01 9.90279988e-01 -1.24922872e-02 -1.92231924e+00] [ 1.31635449e-03 1.27979994e-02 9.99917236e-01 -2.62701233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.94, Z:-0.25 [[ 9.90438873e-01 1.37951311e-01 -5.23325143e-04 1.85250100e+01] [-1.37932308e-01 9.90352775e-01 1.32687435e-02 -1.93973503e+00] [ 2.34871708e-03 -1.30696959e-02 9.99911829e-01 -2.48660116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.94, Z:-0.25 [[ 9.90268554e-01 1.39147943e-01 -2.45777999e-03 1.85601939e+01] [-1.39147361e-01 9.90271602e-01 4.07010692e-04 -1.93703250e+00] [ 2.49050443e-03 -6.10562895e-05 9.99996897e-01 -2.52777500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.94, Z:-0.25 [[ 9.90075196e-01 1.40514712e-01 -2.59267086e-03 1.85914170e+01] [-1.40513510e-01 9.90078554e-01 6.40982800e-04 -1.94229431e+00] [ 2.65701533e-03 -2.70315889e-04 9.99996434e-01 -2.52100128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.94, Z:-0.25 [[ 9.89990995e-01 1.41113193e-01 -2.21287819e-03 1.86213896e+01] [-1.41113097e-01 9.89993461e-01 1.99837627e-04 -1.94474306e+00] [ 2.21893467e-03 1.14428645e-04 9.99997532e-01 -2.51378611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.95, Z:-0.26 [[ 9.89775164e-01 1.42626167e-01 -1.70333253e-03 1.86557049e+01] [-1.42635501e-01 9.89739688e-01 -8.39422136e-03 -1.94525577e+00] [ 4.88620192e-04 8.55134751e-03 9.99963317e-01 -2.57457249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.95, Z:-0.26 [[ 9.89699001e-01 1.43163528e-01 -3.03793899e-04 1.86890064e+01] [-1.43157314e-01 9.89631310e-01 -1.16556626e-02 -1.94630361e+00] [-1.36802183e-03 1.15790880e-02 9.99932024e-01 -2.60699620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.96, Z:-0.25 [[ 9.89552647e-01 1.44162565e-01 1.64710207e-03 1.87179800e+01] [-1.44170142e-01 9.89533090e-01 6.26373210e-03 -1.96163036e+00] [-7.26866319e-04 -6.43575562e-03 9.99979026e-01 -2.52942260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.96, Z:-0.26 [[ 9.89559790e-01 1.44122729e-01 2.47677003e-04 1.87516523e+01] [-1.44117039e-01 9.89533353e-01 -7.34999718e-03 -1.95817672e+00] [-1.30438631e-03 7.23756718e-03 9.99972958e-01 -2.58967215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.97, Z:-0.26 [[ 9.89539503e-01 1.44252462e-01 1.67330335e-03 1.87839257e+01] [-1.44251587e-01 9.89540843e-01 -6.32950726e-04 -1.96737056e+00] [-1.74710670e-03 3.84953083e-04 9.99998400e-01 -2.56598904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.97, Z:-0.26 [[ 9.89644328e-01 1.43538566e-01 8.85872654e-04 1.88171071e+01] [-1.43529004e-01 9.89621489e-01 -6.98096077e-03 -1.96834356e+00] [-1.87871571e-03 6.78151981e-03 9.99975240e-01 -2.58970333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.98, Z:-0.25 [[ 9.89718907e-01 1.43021987e-01 1.09376336e-03 1.88482704e+01] [-1.43024346e-01 9.89715963e-01 2.51969130e-03 -1.97838492e+00] [-7.22143799e-04 -2.65022091e-03 9.99996227e-01 -2.54982723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.98, Z:-0.26 [[ 9.89823250e-01 1.42302091e-01 2.21666006e-04 1.88816676e+01] [-1.42298796e-01 9.89808802e-01 -5.43946861e-03 -1.97837336e+00] [-9.93454718e-04 5.35256969e-03 9.99985181e-01 -2.58786045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:-2.00, Z:-0.24 [[ 9.90005174e-01 1.41029277e-01 7.05652563e-04 1.89072470e+01] [-1.40976779e-01 9.89473086e-01 3.26888237e-02 -2.00225299e+00] [ 3.91185693e-03 -3.24615852e-02 9.99465328e-01 -2.36204144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.97, Z:-0.27 [[ 9.90197173e-01 1.39623637e-01 -3.84697369e-03 1.89477225e+01] [-1.39670187e-01 9.89511517e-01 -3.68672871e-02 -1.96783101e+00] [-1.34091993e-03 3.70431909e-02 9.99312766e-01 -2.69972414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.99, Z:-0.26 [[ 9.90331788e-01 1.38709579e-01 1.61305547e-03 1.89753084e+01] [-1.38712238e-01 9.90331317e-01 1.67280384e-03 -1.99469621e+00] [-1.36542543e-03 -1.88038135e-03 9.99997300e-01 -2.58278194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:-2.00, Z:-0.25 [[ 9.90581226e-01 1.36926241e-01 1.96096752e-04 1.90062366e+01] [-1.36919450e-01 9.90515652e-01 1.14807745e-02 -2.00479759e+00] [ 1.37778240e-03 -1.13994892e-02 9.99934075e-01 -2.52652405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:-2.01, Z:-0.24 [[ 9.90527375e-01 1.37291578e-01 -2.55775944e-03 1.90333978e+01] [-1.37207444e-01 9.90315378e-01 2.12030670e-02 -2.01481595e+00] [ 5.44399104e-03 -2.06512747e-02 9.99771918e-01 -2.42783801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.99, Z:-0.26 [[ 9.90897989e-01 1.34420839e-01 -7.22591231e-03 1.90728502e+01] [-1.34560243e-01 9.90597238e-01 -2.47113906e-02 -1.99266861e+00] [ 3.83624292e-03 2.54587878e-02 9.99668512e-01 -2.64685198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:-2.01, Z:-0.26 [[ 9.90952956e-01 1.34116803e-01 -4.99227394e-03 1.91041855e+01] [-1.34128613e-01 9.90961686e-01 -2.10974604e-03 -2.01068477e+00] [ 4.66419980e-03 2.76026585e-03 9.99985313e-01 -2.57752853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:-2.02, Z:-0.26 [[ 9.90975942e-01 1.33987631e-01 -3.74134697e-03 1.91337656e+01] [-1.33975847e-01 9.90979296e-01 3.24139216e-03 -2.01781576e+00] [ 4.14190384e-03 -2.71089152e-03 9.99987748e-01 -2.56454857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-2.02, Z:-0.26 [[ 9.90964387e-01 1.34019859e-01 -5.31620557e-03 1.91681072e+01] [-1.34023083e-01 9.90978178e-01 -2.53342611e-04 -2.01985386e+00] [ 5.23429077e-03 9.63547765e-04 9.99985837e-01 -2.56124694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-2.02, Z:-0.26 [[ 9.91010233e-01 1.33705277e-01 -4.64945715e-03 1.91990857e+01] [-1.33716490e-01 9.91017208e-01 -2.18929665e-03 -2.02289190e+00] [ 4.31497153e-03 2.79132447e-03 9.99986795e-01 -2.57138354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:-2.03, Z:-0.26 [[ 9.90918975e-01 1.34364005e-01 -5.08917876e-03 1.92270676e+01] [-1.34383284e-01 9.90922685e-01 -3.65593032e-03 -2.02693320e+00] [ 4.55175724e-03 4.30663128e-03 9.99980367e-01 -2.56923306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:-2.04, Z:-0.25 [[ 9.90864555e-01 1.34764077e-01 -5.10650789e-03 1.92599558e+01] [-1.34759910e-01 9.90877609e-01 1.15309827e-03 -2.03563921e+00] [ 5.21532056e-03 -4.54411654e-04 9.99986297e-01 -2.54728762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:-2.06, Z:-0.24 [[ 9.90805828e-01 1.35273055e-01 -2.23892210e-03 1.92842834e+01] [-1.35149970e-01 9.90390177e-01 2.93561259e-02 -2.05579187e+00] [ 6.18849928e-03 -2.87836304e-02 9.99566509e-01 -2.38868746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:-2.04, Z:-0.26 [[ 9.90767191e-01 1.35509004e-01 -4.20517707e-03 1.93253504e+01] [-1.35553021e-01 9.90684217e-01 -1.30445901e-02 -2.03592167e+00] [ 2.39834315e-03 1.34941763e-02 9.99906073e-01 -2.58000545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:-2.05, Z:-0.25 [[ 9.90631814e-01 1.36527966e-01 -2.95349305e-03 1.93568488e+01] [-1.36531979e-01 9.90634935e-01 -1.20169432e-03 -2.04707810e+00] [ 2.76176852e-03 1.59368288e-03 9.99994916e-01 -2.53483597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.05, Z:-0.26 [[ 9.90567407e-01 1.37019397e-01 -1.37713433e-03 1.93864912e+01] [-1.37024939e-01 9.90552487e-01 -5.47144786e-03 -2.04847172e+00] [ 6.14429347e-04 5.60853967e-03 9.99984083e-01 -2.56102761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.07, Z:-0.24 [[ 9.90139471e-01 1.40081708e-01 -9.70866371e-04 1.94167794e+01] [-1.40048861e-01 9.90017321e-01 1.58751518e-02 -2.06558261e+00] [ 3.18499291e-03 -1.55826457e-02 9.99873510e-01 -2.42168655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:-2.05, Z:-0.26 [[ 9.90063824e-01 1.40608708e-01 -1.67775902e-03 1.94521495e+01] [-1.40617351e-01 9.89931120e-01 -1.62215413e-02 -2.05055941e+00] [-6.20024110e-04 1.62962833e-02 9.99867015e-01 -2.57289750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.48, Y:-2.07, Z:-0.25 [[ 9.89480162e-01 1.44659261e-01 1.64534520e-03 1.94814379e+01] [-1.44665477e-01 9.89469627e-01 4.66439944e-03 -2.06611968e+00] [-9.53270523e-04 -4.85335536e-03 9.99987768e-01 -2.48355895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.51, Y:-2.07, Z:-0.25 [[ 9.89228541e-01 1.46368424e-01 -1.78284774e-03 1.95136491e+01] [-1.46372282e-01 9.89226974e-01 -2.26917530e-03 -2.06627504e+00] [ 1.43150546e-03 2.50569246e-03 9.99995836e-01 -2.49006768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:-2.09, Z:-0.23 [[ 9.88806026e-01 1.49196013e-01 1.78670691e-03 1.95409521e+01] [-1.49154630e-01 9.88073641e-01 3.82541053e-02 -2.09343429e+00] [ 3.94196198e-03 -3.80923854e-02 9.99266447e-01 -2.26428883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:-2.08, Z:-0.24 [[ 9.88504696e-01 1.51108712e-01 -4.96220619e-03 1.95771246e+01] [-1.51106271e-01 9.88517145e-01 8.65474937e-04 -2.07711909e+00] [ 5.03600670e-03 -1.05705568e-04 9.99987314e-01 -2.38197454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:-2.06, Z:-0.26 [[ 9.88260935e-01 1.52694285e-01 -4.97799571e-03 1.96134638e+01] [-1.52775366e-01 9.87759927e-01 -3.14644815e-02 -2.06215141e+00] [ 1.12618181e-04 3.18556330e-02 9.99492474e-01 -2.57720434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:-2.10, Z:-0.23 [[ 9.87942082e-01 1.54823874e-01 1.07137027e-04 1.96367671e+01] [-1.54744893e-01 9.87415515e-01 3.26284919e-02 -2.10354404e+00] [ 4.94588076e-03 -3.22516391e-02 9.99467543e-01 -2.28090372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:-2.09, Z:-0.24 [[ 9.87814477e-01 1.55563671e-01 -4.74386003e-03 1.96727543e+01] [-1.55561475e-01 9.87825864e-01 8.30716770e-04 -2.09058865e+00] [ 4.81533698e-03 -8.26321883e-05 9.99988403e-01 -2.37271782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.71, Y:-2.08, Z:-0.26 [[ 9.88023781e-01 1.54254622e-01 -3.81041931e-03 1.97081499e+01] [-1.54300216e-01 9.87605638e-01 -2.87497309e-02 -2.07756358e+00] [-6.71587277e-04 2.89933664e-02 9.99579378e-01 -2.55271080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:-2.12, Z:-0.23 [[ 9.87861896e-01 1.55334196e-01 4.01869609e-04 1.97331684e+01] [-1.55277677e-01 9.87425741e-01 2.96521439e-02 -2.11523741e+00] [ 4.20917555e-03 -2.93546245e-02 9.99560198e-01 -2.29127985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:-2.09, Z:-0.26 [[ 9.88159014e-01 1.53382243e-01 -3.95601093e-03 1.97718447e+01] [-1.53431155e-01 9.87682248e-01 -3.07027403e-02 -2.08529873e+00] [-8.01973414e-04 3.09461649e-02 9.99520731e-01 -2.56563570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:-2.11, Z:-0.25 [[ 9.88213787e-01 1.53079817e-01 2.82640384e-04 1.98020453e+01] [-1.53078707e-01 9.88211066e-01 -2.40820379e-03 -2.10724222e+00] [-6.47955751e-04 2.33655396e-03 9.99997060e-01 -2.48840307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:-2.12, Z:-0.25 [[ 9.88642045e-01 1.50289381e-01 9.07071068e-05 1.98328682e+01] [-1.50289184e-01 9.88639349e-01 2.32368404e-03 -2.11625241e+00] [ 2.59548421e-04 -2.31092404e-03 9.99997296e-01 -2.46857227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.87, Y:-2.12, Z:-0.25 [[ 9.88971951e-01 1.48100091e-01 -9.18007648e-04 1.98657139e+01] [-1.48101240e-01 9.88971292e-01 -1.34436892e-03 -2.11993572e+00] [ 7.08782051e-04 1.46550122e-03 9.99998675e-01 -2.48260284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.90, Y:-2.12, Z:-0.25 [[ 9.89171971e-01 1.46746198e-01 -2.08932733e-03 1.98957472e+01] [-1.46755880e-01 9.89156476e-01 -5.67245431e-03 -2.12288712e+00] [ 1.23426056e-03 5.91765388e-03 9.99981729e-01 -2.50097231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:-2.14, Z:-0.24 [[ 9.89421764e-01 1.45046679e-01 -2.45650078e-03 1.99286454e+01] [-1.44982673e-01 9.89280498e-01 1.74390706e-02 -2.14233696e+00] [ 4.95964759e-03 -1.68984459e-02 9.99844910e-01 -2.37047877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.13, Z:-0.25 [[ 9.89951438e-01 1.41327585e-01 -4.76061997e-03 1.99610885e+01] [-1.41377113e-01 9.89876648e-01 -1.25193558e-02 -2.12780936e+00] [ 2.94309621e-03 1.30665970e-02 9.99910297e-01 -2.49310336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:-2.14, Z:-0.25 [[ 9.90367006e-01 1.38437527e-01 -2.87138098e-03 1.99920810e+01] [-1.38447379e-01 9.90363339e-01 -3.57478663e-03 -2.13740024e+00] [ 2.34882584e-03 3.93788590e-03 9.99989488e-01 -2.47593043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.14, Z:-0.25 [[ 9.90525152e-01 1.37315745e-01 -2.07572176e-03 2.00229383e+01] [-1.37318613e-01 9.90526066e-01 -1.30803638e-03 -2.14459680e+00] [ 1.87644251e-03 1.58067817e-03 9.99996990e-01 -2.46894756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:-2.15, Z:-0.24 [[ 9.90595405e-01 1.36761427e-01 -4.12978525e-03 2.00550287e+01] [-1.36741589e-01 9.90595335e-01 4.75606387e-03 -2.15453345e+00] [ 4.74139208e-03 -4.14662162e-03 9.99980162e-01 -2.41940050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:-2.16, Z:-0.24 [[ 9.90609364e-01 1.36642441e-01 -4.68306456e-03 2.00869977e+01] [-1.36631677e-01 9.90618643e-01 2.54750599e-03 -2.15962364e+00] [ 4.98722849e-03 -1.88372832e-03 9.99985789e-01 -2.41847579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.12, Y:-2.17, Z:-0.24 [[ 9.90509711e-01 1.37312585e-01 -5.98044055e-03 2.01193055e+01] [-1.37299924e-01 9.90526415e-01 2.48051387e-03 -2.16503307e+00] [ 6.26439010e-03 -1.63585905e-03 9.99979040e-01 -2.41044522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:-2.17, Z:-0.24 [[ 9.90419810e-01 1.37883780e-01 -7.52754809e-03 2.01518077e+01] [-1.37895731e-01 9.90446152e-01 -1.08993301e-03 -2.16780152e+00] [ 7.30534695e-03 2.11750799e-03 9.99971074e-01 -2.41218398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:-2.18, Z:-0.24 [[ 9.90155327e-01 1.39777321e-01 -7.39786590e-03 2.01826282e+01] [-1.39755310e-01 9.90180179e-01 3.41562861e-03 -2.17625954e+00] [ 7.80264759e-03 -2.34811183e-03 9.99966802e-01 -2.38651243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:-2.18, Z:-0.24 [[ 9.89656652e-01 1.43235140e-01 -7.96278291e-03 2.02136837e+01] [-1.43210452e-01 9.89685741e-01 3.59161629e-03 -2.18197304e+00] [ 8.39509837e-03 -2.41411321e-03 9.99961846e-01 -2.37540945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:-2.19, Z:-0.23 [[ 9.89352296e-01 1.45254791e-01 -9.11484975e-03 2.02451917e+01] [-1.45215503e-01 9.89388226e-01 4.83699619e-03 -2.18834987e+00] [ 9.72072190e-03 -3.46187579e-03 9.99946760e-01 -2.34871613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:-2.19, Z:-0.23 [[ 9.88993574e-01 1.47619783e-01 -1.00055190e-02 2.02786548e+01] [-1.47610583e-01 9.89044172e-01 1.65587107e-03 -2.19212875e+00] [ 1.01403396e-02 -1.60725346e-04 9.99948573e-01 -2.34891430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:-2.20, Z:-0.23 [[ 9.88207743e-01 1.52760412e-01 -1.04744207e-02 2.03099990e+01] [-1.52747969e-01 9.88263187e-01 1.98254968e-03 -2.19752400e+00] [ 1.06543395e-02 -3.59224445e-04 9.99943176e-01 -2.34214420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:-2.22, Z:-0.21 [[ 9.87770884e-01 1.55586775e-01 -1.00715746e-02 2.03367000e+01] [-1.55132637e-01 9.87230488e-01 3.61915418e-02 -2.22123894e+00] [ 1.55738908e-02 -3.41865213e-02 9.99294119e-01 -2.12714361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:-2.19, Z:-0.24 [[ 9.87539442e-01 1.56657176e-01 -1.49793276e-02 2.03768260e+01] [-1.57031136e-01 9.87186929e-01 -2.83406158e-02 -2.19142753e+00] [ 1.03476356e-02 3.03396967e-02 9.99486083e-01 -2.40152392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-2.23, Z:-0.21 [[ 9.87162006e-01 1.59407675e-01 -1.00183570e-02 2.03994408e+01] [-1.59001711e-01 9.86725012e-01 3.30485484e-02 -2.22933240e+00] [ 1.51535556e-02 -3.10313355e-02 9.99403535e-01 -2.12345228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:-2.22, Z:-0.22 [[ 9.86732241e-01 1.61608905e-01 -1.55578485e-02 2.04352095e+01] [-1.61584637e-01 9.86854849e-01 2.81276661e-03 -2.21782786e+00] [ 1.58079063e-02 -2.61538205e-04 9.99875013e-01 -2.20939252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:-2.22, Z:-0.22 [[ 9.86669408e-01 1.62010176e-01 -1.53681922e-02 2.04671253e+01] [-1.61986470e-01 9.86789054e-01 2.78328101e-03 -2.22433816e+00] [ 1.56160837e-02 -2.56739022e-04 9.99878029e-01 -2.20717097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:-2.23, Z:-0.22 [[ 9.86684383e-01 1.61894938e-01 -1.56191293e-02 2.04983400e+01] [-1.61870358e-01 9.86807964e-01 2.83370206e-03 -2.23040688e+00] [ 1.58718432e-02 -2.67695514e-04 9.99873999e-01 -2.20050573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204319999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.53, Y:-2.24, Z:-0.22 [[ 9.86888632e-01 1.60595471e-01 -1.61221076e-02 2.05308036e+01] [-1.60569027e-01 9.87020265e-01 2.92992200e-03 -2.23570654e+00] [ 1.63833791e-02 -3.02795579e-04 9.99865738e-01 -2.19691445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.22, Z:-0.24 [[ 9.87283698e-01 1.58027753e-01 -1.72664343e-02 2.05686820e+01] [-1.58562531e-01 9.86692971e-01 -3.59847865e-02 -2.21972500e+00] [ 1.13500744e-02 3.82650026e-02 9.99203165e-01 -2.40860468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-2.26, Z:-0.21 [[ 9.87400549e-01 1.57759195e-01 -1.23366224e-02 2.05912726e+01] [-1.57281860e-01 9.86999625e-01 3.30780505e-02 -2.26430605e+00] [ 1.73946083e-02 -3.07209583e-02 9.99376631e-01 -2.10799332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-2.26, Z:-0.22 [[ 9.87818259e-01 1.55011457e-01 -1.36578030e-02 2.06247017e+01] [-1.54870254e-01 9.87875145e-01 1.08583226e-02 -2.25968071e+00] [ 1.51753685e-02 -8.61086194e-03 9.99847769e-01 -2.17506295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:-2.24, Z:-0.24 [[ 9.88174234e-01 1.52424505e-01 -1.66869181e-02 2.06634118e+01] [-1.52951804e-01 9.87540057e-01 -3.70186517e-02 -2.23969114e+00] [ 1.08364504e-02 3.91331720e-02 9.99175243e-01 -2.41299985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.29, Z:-0.21 [[ 9.88329466e-01 1.52091207e-01 -8.55165773e-03 2.06834535e+01] [-1.51610900e-01 9.87557126e-01 4.17739008e-02 -2.28991800e+00] [ 1.47986935e-02 -3.99898525e-02 9.99090492e-01 -2.07929038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:-2.26, Z:-0.22 [[ 9.88438445e-01 1.49586023e-01 -2.47681600e-02 2.07211356e+01] [-1.50014993e-01 9.88546596e-01 -1.64659958e-02 -2.26387147e+00] [ 2.20213974e-02 1.99912186e-02 9.99557607e-01 -2.22524356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:-2.29, Z:-0.21 [[ 9.88867424e-01 1.48292343e-01 -1.22718656e-02 2.07480040e+01] [-1.47983909e-01 9.88720474e-01 2.30778448e-02 -2.29268184e+00] [ 1.55557125e-02 -2.10048903e-02 9.99658349e-01 -2.12111972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:-2.28, Z:-0.22 [[ 9.88969417e-01 1.46655795e-01 -2.07742759e-02 2.07828929e+01] [-1.46835182e-01 9.89133427e-01 -7.38197673e-03 -2.28044112e+00] [ 1.94659211e-02 1.03509438e-02 9.99756938e-01 -2.20173166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:-2.29, Z:-0.22 [[ 9.88704956e-01 1.47601162e-01 -2.60078088e-02 2.08127964e+01] [-1.47867537e-01 9.88969568e-01 -8.62467709e-03 -2.28581624e+00] [ 2.44479191e-02 1.23729716e-02 9.99624534e-01 -2.18846688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.31, Z:-0.21 [[ 9.89109909e-01 1.46630170e-01 -1.26957200e-02 2.08410791e+01] [-1.46237367e-01 9.88860889e-01 2.77267951e-02 -2.31448476e+00] [ 1.66198856e-02 -2.55682591e-02 9.99534914e-01 -2.09196091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:-2.31, Z:-0.22 [[ 9.88595514e-01 1.49628945e-01 -1.70319731e-02 2.08761132e+01] [-1.49597017e-01 9.88742064e-01 3.14066364e-03 -2.30898584e+00] [ 1.73101624e-02 -5.56913614e-04 9.99850013e-01 -2.15288072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:-2.31, Z:-0.21 [[ 9.88964311e-01 1.47267260e-01 -1.61847187e-02 2.09086235e+01] [-1.47238033e-01 9.89096570e-01 2.98936659e-03 -2.31409751e+00] [ 1.64484856e-02 -5.73370725e-04 9.99864550e-01 -2.14587699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:-2.32, Z:-0.21 [[ 9.88729984e-01 1.48700975e-01 -1.73504851e-02 2.09415088e+01] [-1.48667519e-01 9.88882029e-01 3.20960921e-03 -2.31999420e+00] [ 1.76348549e-02 -5.93983297e-04 9.99844317e-01 -2.13541015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:-2.33, Z:-0.21 [[ 9.88699900e-01 1.49017454e-01 -1.63188956e-02 2.09744875e+01] [-1.48987846e-01 9.88834409e-01 3.02211422e-03 -2.32542706e+00] [ 1.65870333e-02 -5.56646924e-04 9.99862271e-01 -2.13375846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:-2.33, Z:-0.21 [[ 9.88527615e-01 1.50154360e-01 -1.63346938e-02 2.10063850e+01] [-1.50124753e-01 9.88662416e-01 3.03086003e-03 -2.33145926e+00] [ 1.66045947e-02 -5.43846958e-04 9.99861986e-01 -2.12476234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:-2.34, Z:-0.21 [[ 9.88218633e-01 1.52214125e-01 -1.59622412e-02 2.10381337e+01] [-1.52186040e-01 9.88347412e-01 2.96680351e-03 -2.33810879e+00] [ 1.62278292e-02 -5.02620233e-04 9.99868194e-01 -2.11863868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.07, Y:-2.34, Z:-0.21 [[ 9.88076033e-01 1.53160642e-01 -1.57343994e-02 2.10699393e+01] [-1.53133394e-01 9.88201185e-01 2.92930163e-03 -2.34460580e+00] [ 1.59974058e-02 -4.84910749e-04 9.99871916e-01 -2.11159767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:-2.35, Z:-0.21 [[ 9.87952780e-01 1.53930217e-01 -1.59622314e-02 2.11010318e+01] [-1.53902190e-01 9.88081603e-01 2.97694247e-03 -2.35058997e+00] [ 1.62302286e-02 -4.84456215e-04 9.99868164e-01 -2.10438587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:-2.36, Z:-0.21 [[ 9.87706141e-01 1.55448510e-01 -1.65027036e-02 2.11328241e+01] [-1.55418679e-01 9.87843879e-01 3.08290761e-03 -2.35562314e+00] [ 1.67813282e-02 -4.80178389e-04 9.99859068e-01 -2.10649188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.36, Z:-0.21 [[ 9.87573860e-01 1.56260520e-01 -1.67487629e-02 2.11650702e+01] [-1.56229820e-01 9.87715759e-01 3.13404528e-03 -2.36109006e+00] [ 1.70327446e-02 -4.78444984e-04 9.99854818e-01 -2.10336333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.20, Y:-2.37, Z:-0.21 [[ 9.87444895e-01 1.57040566e-01 -1.70540432e-02 2.11974699e+01] [-1.57008758e-01 9.87592037e-01 3.19662170e-03 -2.36703642e+00] [ 1.73444366e-02 -4.78853623e-04 9.99849459e-01 -2.09365011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.37, Z:-0.21 [[ 9.87418441e-01 1.57210673e-01 -1.70184059e-02 2.12297550e+01] [-1.57178930e-01 9.87564972e-01 3.19537373e-03 -2.37359564e+00] [ 1.73091284e-02 -4.80236113e-04 9.99850070e-01 -2.09076818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:-2.38, Z:-0.21 [[ 9.87464570e-01 1.56928436e-01 -1.69466528e-02 2.12613104e+01] [-1.56896834e-01 9.87609856e-01 3.18678460e-03 -2.37977154e+00] [ 1.72367784e-02 -4.87960722e-04 9.99851317e-01 -2.08256378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:-2.39, Z:-0.21 [[ 9.87443350e-01 1.57061962e-01 -1.69460871e-02 2.12941763e+01] [-1.57030328e-01 9.87588630e-01 3.18978999e-03 -2.38608967e+00] [ 1.72367576e-02 -4.88687294e-04 9.99851317e-01 -2.07846093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:-2.39, Z:-0.21 [[ 9.87601274e-01 1.56141340e-01 -1.62359614e-02 2.13270910e+01] [-1.56112129e-01 9.87734603e-01 3.05907534e-03 -2.39169015e+00] [ 1.65144690e-02 -4.86516199e-04 9.99863508e-01 -2.07513771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.40, Z:-0.21 [[ 9.87646929e-01 1.55834266e-01 -1.64081075e-02 2.13581077e+01] [-1.55804303e-01 9.87783088e-01 3.09668139e-03 -2.39703595e+00] [ 1.66902201e-02 -5.01974115e-04 9.99860583e-01 -2.06814741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:-2.40, Z:-0.21 [[ 9.87709557e-01 1.55477408e-01 -1.60189704e-02 2.13905209e+01] [-1.55448726e-01 9.87839321e-01 3.02798050e-03 -2.40264217e+00] [ 1.62949514e-02 -5.00636750e-04 9.99867103e-01 -2.07322446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.39, Z:-0.23 [[ 9.88118621e-01 1.52985252e-01 -1.47344660e-02 2.14276397e+01] [-1.53419238e-01 9.87535555e-01 -3.51577264e-02 -2.38725373e+00] [ 9.17219543e-03 3.70005546e-02 9.99273151e-01 -2.28860036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:-2.43, Z:-0.19 [[ 9.87992612e-01 1.54254727e-01 -8.72229931e-03 2.14493505e+01] [-1.53794256e-01 9.87298011e-01 3.98743610e-02 -2.43476345e+00] [ 1.47623174e-02 -3.80541345e-02 9.99166631e-01 -1.94996342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.42, Z:-0.21 [[ 9.87996762e-01 1.53668185e-01 -1.57634572e-02 2.14850176e+01] [-1.53640009e-01 9.88122364e-01 2.99039554e-03 -2.42051767e+00] [ 1.60357533e-02 -5.32603408e-04 9.99871277e-01 -2.05176484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.43, Z:-0.21 [[ 9.88007389e-01 1.53565775e-01 -1.60919931e-02 2.15173806e+01] [-1.53536320e-01 9.88138275e-01 3.05750995e-03 -2.42680191e+00] [ 1.63706432e-02 -5.50137024e-04 9.99865841e-01 -2.05178217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.43, Z:-0.20 [[ 9.87977598e-01 1.53712963e-01 -1.65103267e-02 2.15499875e+01] [-1.53681887e-01 9.88115379e-01 3.14234358e-03 -2.43344822e+00] [ 1.67971267e-02 -5.67226891e-04 9.99858757e-01 -2.04751759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:-2.44, Z:-0.20 [[ 9.87920843e-01 1.54060120e-01 -1.66699744e-02 2.15814410e+01] [-1.54028393e-01 9.88061310e-01 3.17840719e-03 -2.43843635e+00] [ 1.69606225e-02 -5.72365344e-04 9.99855994e-01 -2.04401336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.44, Z:-0.20 [[ 9.87831065e-01 1.54647186e-01 -1.65539926e-02 2.16141833e+01] [-1.54615883e-01 9.87969599e-01 3.16213488e-03 -2.44368161e+00] [ 1.68438567e-02 -5.64144870e-04 9.99857973e-01 -2.04489187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.45, Z:-0.20 [[ 9.87594211e-01 1.56111328e-01 -1.69389450e-02 2.16453347e+01] [-1.56078661e-01 9.87739309e-01 3.24179550e-03 -2.44898026e+00] [ 1.72373428e-02 -5.57770615e-04 9.99851270e-01 -2.04673248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:-2.45, Z:-0.21 [[ 9.87469389e-01 1.56416335e-01 -2.09316927e-02 2.16787864e+01] [-1.56549453e-01 9.87658117e-01 -4.86965525e-03 -2.45062155e+00] [ 1.99116626e-02 8.08548054e-03 9.99769049e-01 -2.05161498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-2.47, Z:-0.20 [[ 9.87232690e-01 1.58517677e-01 -1.56129033e-02 2.17085683e+01] [-1.58342415e-01 9.87312625e-01 1.18937210e-02 -2.46668970e+00] [ 1.73001816e-02 -9.26968538e-03 9.99807370e-01 -2.00516210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:-2.47, Z:-0.20 [[ 9.86791530e-01 1.60973891e-01 -1.81626827e-02 2.17421864e+01] [-1.60936885e-01 9.86958527e-01 3.49060304e-03 -2.46751956e+00] [ 1.84877106e-02 -5.21451924e-04 9.99828952e-01 -2.02504543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:-2.47, Z:-0.20 [[ 9.86597052e-01 1.62215507e-01 -1.76744283e-02 2.17748478e+01] [-1.62180564e-01 9.86755232e-01 3.40234781e-03 -2.47337004e+00] [ 1.79922482e-02 -4.90297577e-04 9.99838006e-01 -2.02269016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:-2.48, Z:-0.20 [[ 9.86422081e-01 1.63280348e-01 -1.76353425e-02 2.18069196e+01] [-1.63245627e-01 9.86579597e-01 3.40046608e-03 -2.47907306e+00] [ 1.79538983e-02 -4.75402292e-04 9.99838703e-01 -2.01841654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.49, Z:-0.20 [[ 9.86191102e-01 1.64654803e-01 -1.77737738e-02 2.18389574e+01] [-1.64619654e-01 9.86351147e-01 3.43289624e-03 -2.48583449e+00] [ 1.80964250e-02 -4.59579233e-04 9.99836141e-01 -2.00490508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.49, Z:-0.20 [[ 9.86052602e-01 1.65446158e-01 -1.81062205e-02 2.18715269e+01] [-1.65409707e-01 9.86218717e-01 3.50297832e-03 -2.49305905e+00] [ 1.84362478e-02 -4.59176256e-04 9.99829933e-01 -1.99819861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.49, Z:-0.20 [[ 9.85986869e-01 1.64930003e-01 -2.50597050e-02 2.19050965e+01] [-1.65224283e-01 9.86203779e-01 -1.01509889e-02 -2.49188021e+00] [ 2.30397732e-02 1.41492136e-02 9.99634417e-01 -2.01189090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.51, Z:-0.19 [[ 9.85861487e-01 1.65101934e-01 -2.86091014e-02 2.19385229e+01] [-1.65100325e-01 9.86273773e-01 2.43471737e-03 -2.50576246e+00] [ 2.86183829e-02 2.32307786e-03 9.99587711e-01 -1.93627980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.52, Z:-0.19 [[ 9.86036808e-01 1.65484063e-01 -1.86128364e-02 2.19681361e+01] [-1.65052066e-01 9.86022291e-01 2.27564791e-02 -2.52372896e+00] [ 2.21185062e-02 -1.93666389e-02 9.99567759e-01 -1.89332977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.51, Z:-0.20 [[ 9.85847372e-01 1.65446238e-01 -2.70647549e-02 2.20002861e+01] [-1.65776517e-01 9.86108119e-01 -1.04366335e-02 -2.51039136e+00] [ 2.49620728e-02 1.47756285e-02 9.99579199e-01 -1.97897600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.53, Z:-0.19 [[ 9.86313549e-01 1.63929825e-01 -1.76803922e-02 2.20292149e+01] [-1.63653357e-01 9.86386527e-01 1.60996371e-02 -2.52992588e+00] [ 2.00789114e-02 -1.29858347e-02 9.99714062e-01 -1.91439090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644319999999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.53, Z:-0.19 [[ 9.86405504e-01 1.63209298e-01 -1.91548343e-02 2.20634000e+01] [-1.63101221e-01 9.86583897e-01 7.08560474e-03 -2.53316075e+00] [ 2.00542877e-02 -3.86510265e-03 9.99791422e-01 -1.94860750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:-2.54, Z:-0.19 [[ 9.86646709e-01 1.61603368e-01 -2.03131328e-02 2.20938171e+01] [-1.61589146e-01 9.86855320e-01 2.35038298e-03 -2.53634015e+00] [ 2.04259530e-02 9.63384151e-04 9.99790904e-01 -1.94734962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.55, Z:-0.19 [[ 9.86630497e-01 1.61760834e-01 -1.98417646e-02 2.21264790e+01] [-1.61723119e-01 9.86829961e-01 3.50147558e-03 -2.54614588e+00] [ 2.01468494e-02 -2.45790532e-04 9.99797001e-01 -1.94533793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:-2.55, Z:-0.19 [[ 9.86640021e-01 1.61297139e-01 -2.29063712e-02 2.21540417e+01] [-1.61347183e-01 9.86897649e-01 -3.41444597e-04 -2.54884353e+00] [ 2.25511698e-02 4.03276137e-03 9.99737556e-01 -1.94474268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.56, Z:-0.19 [[ 9.86839144e-01 1.60504759e-01 -1.96653686e-02 2.21889069e+01] [-1.60396593e-01 9.87028042e-01 6.96970135e-03 -2.56025205e+00] [ 2.05289405e-02 -3.72371600e-03 9.99782325e-01 -1.93755190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.56, Z:-0.19 [[ 9.86760239e-01 1.60484944e-01 -2.34267508e-02 2.22191377e+01] [-1.60543322e-01 9.87028600e-01 -6.20533494e-04 -2.56192074e+00] [ 2.30232868e-02 4.37332618e-03 9.99725363e-01 -1.93529403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.25, Y:-2.57, Z:-0.19 [[ 9.86616488e-01 1.61637167e-01 -2.14786260e-02 2.22469607e+01] [-1.61513923e-01 9.86842948e-01 7.36540708e-03 -2.57468983e+00] [ 2.23865541e-02 -3.79773492e-03 9.99742176e-01 -1.89888841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:-2.58, Z:-0.19 [[ 9.86735933e-01 1.60691340e-01 -2.30324291e-02 2.22803838e+01] [-1.60672840e-01 9.87004125e-01 2.66366130e-03 -2.57882417e+00] [ 2.31611298e-02 1.07235547e-03 9.99731170e-01 -1.90252503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:-2.59, Z:-0.19 [[ 9.86781500e-01 1.60799007e-01 -2.01481945e-02 2.23114713e+01] [-1.60623140e-01 9.86964407e-01 1.00730445e-02 -2.58967238e+00] [ 2.15052864e-02 -6.70362772e-03 9.99746260e-01 -1.88541121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:-2.59, Z:-0.19 [[ 9.86662867e-01 1.61233840e-01 -2.23614643e-02 2.23445695e+01] [-1.61176729e-01 9.86915996e-01 4.34503985e-03 -2.59365686e+00] [ 2.27694543e-02 -6.82941795e-04 9.99740509e-01 -1.89883363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.60, Z:-0.19 [[ 9.86533799e-01 1.62047950e-01 -2.21703491e-02 2.23765304e+01] [-1.61991860e-01 9.86782661e-01 4.31486053e-03 -2.60083183e+00] [ 2.25765303e-02 -6.65339662e-04 9.99744896e-01 -1.89863439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:-2.61, Z:-0.19 [[ 9.86367165e-01 1.63053379e-01 -2.22128537e-02 2.24074257e+01] [-1.62997173e-01 9.86617034e-01 4.33001253e-03 -2.60841087e+00] [ 2.26216030e-02 -6.50349828e-04 9.99743887e-01 -1.88702255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.62, Z:-0.19 [[ 9.86033133e-01 1.65080346e-01 -2.20712414e-02 2.24398898e+01] [-1.65025224e-01 9.86279936e-01 4.30851388e-03 -2.61602920e+00] [ 2.24796735e-02 -6.06025874e-04 9.99747117e-01 -1.88337960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.47, Y:-2.62, Z:-0.19 [[ 9.86022865e-01 1.65176291e-01 -2.18105932e-02 2.24706751e+01] [-1.65122373e-01 9.86263875e-01 4.26276915e-03 -2.62251239e+00] [ 2.22151086e-02 -6.01770954e-04 9.99753033e-01 -1.87719768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.50, Y:-2.62, Z:-0.19 [[ 9.85613173e-01 1.66892930e-01 -2.67099726e-02 2.25030044e+01] [-1.67109399e-01 9.85919657e-01 -6.07279267e-03 -2.62361643e+00] [ 2.53203809e-02 1.04489119e-02 9.99624779e-01 -1.89229331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:-2.64, Z:-0.18 [[ 9.85095407e-01 1.70373540e-01 -2.36621205e-02 2.25329803e+01] [-1.70216867e-01 9.85369970e-01 8.49947617e-03 -2.63910824e+00] [ 2.47640288e-02 -4.34510291e-03 9.99683882e-01 -1.83805192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:-2.65, Z:-0.18 [[ 9.84750767e-01 1.72802565e-01 -2.01296071e-02 2.25640726e+01] [-1.72597165e-01 9.84924862e-01 1.15427636e-02 -2.64790087e+00] [ 2.18207697e-02 -7.89243215e-03 9.99730746e-01 -1.82819295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:-2.65, Z:-0.18 [[ 9.83958985e-01 1.77180193e-01 -2.07820666e-02 2.25968206e+01] [-1.77133470e-01 9.84178371e-01 4.08258284e-03 -2.65115991e+00] [ 2.11766132e-02 -3.35894497e-04 9.99775694e-01 -1.83916171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:-2.66, Z:-0.18 [[ 9.83543369e-01 1.79471334e-01 -2.07962021e-02 2.26283366e+01] [-1.79424917e-01 9.83763160e-01 4.09207138e-03 -2.65802087e+00] [ 2.11929470e-02 -2.93372833e-04 9.99775361e-01 -1.83309524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:-2.66, Z:-0.18 [[ 9.83170971e-01 1.81485414e-01 -2.09257258e-02 2.26609968e+01] [-1.81438732e-01 9.83393603e-01 4.12416133e-03 -2.66491064e+00] [ 2.13267000e-02 -2.58018546e-04 9.99772527e-01 -1.82746669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-2.68, Z:-0.18 [[ 9.82369600e-01 1.85792741e-01 -2.07611688e-02 2.26956312e+01] [-1.85602693e-01 9.82566059e-01 1.07507833e-02 -2.67986390e+00] [ 2.23966373e-02 -6.70791383e-03 9.99726660e-01 -1.79189597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:-2.68, Z:-0.18 [[ 9.82521009e-01 1.84779257e-01 -2.25630699e-02 2.27243151e+01] [-1.84870600e-01 9.82760808e-01 -2.01375868e-03 -2.67609425e+00] [ 2.18020000e-02 6.14980850e-03 9.99743393e-01 -1.83442187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:-2.69, Z:-0.18 [[ 9.82437406e-01 1.85351028e-01 -2.14881103e-02 2.27554344e+01] [-1.85302431e-01 9.82672356e-01 4.24846383e-03 -2.68692263e+00] [ 2.19032291e-02 -1.92050716e-04 9.99760077e-01 -1.81489748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:-2.69, Z:-0.18 [[ 9.82868318e-01 1.82459522e-01 -2.60459509e-02 2.27917089e+01] [-1.82627891e-01 9.83173055e-01 -4.21878855e-03 -2.68857155e+00] [ 2.48379190e-02 8.90323067e-03 9.99651845e-01 -1.82846690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:-2.71, Z:-0.18 [[ 9.82799598e-01 1.83492997e-01 -2.08631078e-02 2.28178698e+01] [-1.83242183e-01 9.82976827e-01 1.33738667e-02 -2.70707588e+00] [ 2.29619623e-02 -9.32082938e-03 9.99692888e-01 -1.78282952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:-2.71, Z:-0.18 [[ 9.82881143e-01 1.82835812e-01 -2.27095698e-02 2.28504834e+01] [-1.82780811e-01 9.83143426e-01 4.49211237e-03 -2.71076697e+00] [ 2.31480832e-02 -2.64338973e-04 9.99732012e-01 -1.80293624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424319999999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.88, Y:-2.72, Z:-0.18 [[ 9.83097022e-01 1.81663035e-01 -2.27769112e-02 2.28826295e+01] [-1.81607223e-01 9.83360794e-01 4.51275382e-03 -2.71891916e+00] [ 2.32177221e-02 -3.00023248e-04 9.99730387e-01 -1.79568130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.73, Z:-0.18 [[ 9.83578521e-01 1.79005298e-01 -2.30303515e-02 2.29142232e+01] [-1.78947335e-01 9.83848039e-01 4.57035410e-03 -2.72760755e+00] [ 2.34764838e-02 -3.74082104e-04 9.99724319e-01 -1.78536249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:-2.74, Z:-0.18 [[ 9.83826247e-01 1.77675336e-01 -2.27462141e-02 2.29462095e+01] [-1.77618271e-01 9.84089076e-01 4.52119307e-03 -2.73523980e+00] [ 2.31876053e-02 -4.07925203e-04 9.99731048e-01 -1.78333975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:-2.74, Z:-0.18 [[ 9.84127451e-01 1.76023571e-01 -2.25579738e-02 2.29773604e+01] [-1.75966848e-01 9.84385849e-01 4.49094179e-03 -2.74281440e+00] [ 2.29962618e-02 -4.50203555e-04 9.99735450e-01 -1.77980405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-2.75, Z:-0.18 [[ 9.84630828e-01 1.73138751e-01 -2.29151925e-02 2.30089073e+01] [-1.73079267e-01 9.84897299e-01 4.56932348e-03 -2.75217994e+00] [ 2.33602382e-02 -5.32952044e-04 9.99726970e-01 -1.77505179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:-2.75, Z:-0.18 [[ 9.84866627e-01 1.71784766e-01 -2.29721829e-02 2.30431047e+01] [-1.71995519e-01 9.85069013e-01 -7.52198818e-03 -2.75402909e+00] [ 2.13370225e-02 1.13592676e-02 9.99707807e-01 -1.84494962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.07, Y:-2.79, Z:-0.16 [[ 9.84602351e-01 1.73528839e-01 -2.11175878e-02 2.30697223e+01] [-1.72810959e-01 9.84432581e-01 3.20759297e-02 -2.78698857e+00] [ 2.63549403e-02 -2.79326852e-02 9.99262319e-01 -1.64253604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:-2.77, Z:-0.18 [[ 9.84958142e-01 1.70373398e-01 -2.88160246e-02 2.31044492e+01] [-1.70745139e-01 9.85254322e-01 -1.09552895e-02 -2.76776193e+00] [ 2.65246229e-02 1.57106977e-02 9.99524696e-01 -1.80246661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:-2.78, Z:-0.18 [[ 9.84864455e-01 1.71401094e-01 -2.57618086e-02 2.31367804e+01] [-1.71403305e-01 9.85198626e-01 2.13883131e-03 -2.78455491e+00] [ 2.57470965e-02 2.30920021e-03 9.99665821e-01 -1.76639120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-2.79, Z:-0.17 [[ 9.84825108e-01 1.71643286e-01 -2.56532534e-02 2.31644716e+01] [-1.71481531e-01 9.85151574e-01 8.39407032e-03 -2.79451224e+00] [ 2.67131288e-02 -3.86763203e-03 9.99635659e-01 -1.73768373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:-2.80, Z:-0.17 [[ 9.84445438e-01 1.73729388e-01 -2.61778390e-02 2.31986938e+01] [-1.73597256e-01 9.84790002e-01 7.25565357e-03 -2.80403309e+00] [ 2.70401943e-02 -2.59839404e-03 9.99630970e-01 -1.73451229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:-2.81, Z:-0.18 [[ 9.84155587e-01 1.75332451e-01 -2.63877350e-02 2.32295027e+01] [-1.75334945e-01 9.84506298e-01 2.23725870e-03 -2.80891797e+00] [ 2.63711553e-02 2.42488142e-03 9.99649280e-01 -1.75280899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784319999999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.26, Y:-2.81, Z:-0.18 [[ 9.84039094e-01 1.76063247e-01 -2.58610582e-02 2.32612857e+01] [-1.76199448e-01 9.84349705e-01 -3.06790913e-03 -2.81277433e+00] [ 2.49161789e-02 7.57564669e-03 9.99660839e-01 -1.77731232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814319999999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.29, Y:-2.82, Z:-0.17 [[ 9.84044803e-01 1.76234879e-01 -2.44354901e-02 2.32932788e+01] [-1.76161135e-01 9.84347843e-01 5.15537711e-03 -2.82397483e+00] [ 2.49615792e-02 -7.68538385e-04 9.99688116e-01 -1.74404075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844319999999996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.32, Y:-2.84, Z:-0.17 [[ 9.83627719e-01 1.78667576e-01 -2.35458555e-02 2.33214758e+01] [-1.78354993e-01 9.83855139e-01 1.47838205e-02 -2.83523194e+00] [ 2.58071003e-02 -1.03422547e-02 9.99613441e-01 -1.68058881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:-2.84, Z:-0.17 [[ 9.83356393e-01 1.79968993e-01 -2.49272224e-02 2.33546882e+01] [-1.79899473e-01 9.83672179e-01 5.02239617e-03 -2.83707867e+00] [ 2.54240908e-02 -4.54411207e-04 9.99676652e-01 -1.70552307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.85, Z:-0.17 [[ 9.83119981e-01 1.81389680e-01 -2.39350687e-02 2.33855729e+01] [-1.81325816e-01 9.83411214e-01 4.83028016e-03 -2.84564915e+00] [ 2.44141780e-02 -4.08699066e-04 9.99701846e-01 -1.70244812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:-2.85, Z:-0.17 [[ 9.83065750e-01 1.81721647e-01 -2.36426529e-02 2.34172913e+01] [-1.81659257e-01 9.83349928e-01 4.77844632e-03 -2.85322492e+00] [ 2.41173482e-02 -4.02620158e-04 9.99709053e-01 -1.69507480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:-2.86, Z:-0.17 [[ 9.82878662e-01 1.82163087e-01 -2.76793418e-02 2.34480916e+01] [-1.82337972e-01 9.83228140e-01 -3.91011008e-03 -2.85581310e+00] [ 2.65028300e-02 8.89015883e-03 9.99609206e-01 -1.71076981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.48, Y:-2.87, Z:-0.17 [[ 9.83034138e-01 1.81546778e-01 -2.61658330e-02 2.34792423e+01] [-1.81493153e-01 9.83382231e-01 4.42984471e-03 -2.86901750e+00] [ 2.65352393e-02 3.94230970e-04 9.99647801e-01 -1.68265334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024319999999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.51, Y:-2.88, Z:-0.17 [[ 9.83317237e-01 1.80626820e-01 -2.14747313e-02 2.35102768e+01] [-1.80347259e-01 9.83498655e-01 1.43269378e-02 -2.88172779e+00] [ 2.37081985e-02 -1.02150160e-02 9.99666732e-01 -1.65986368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.54, Y:-2.88, Z:-0.17 [[ 9.83381030e-01 1.80011626e-01 -2.36128181e-02 2.35437666e+01] [-1.79948199e-01 9.83664369e-01 4.80152086e-03 -2.88396922e+00] [ 2.40914174e-02 -4.72640446e-04 9.99709648e-01 -1.68757045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.57, Y:-2.89, Z:-0.17 [[ 9.83663788e-01 1.78465789e-01 -2.35693373e-02 2.35749622e+01] [-1.78401985e-01 9.83945982e-01 4.79961268e-03 -2.89305764e+00] [ 2.40475214e-02 -5.16388624e-04 9.99710683e-01 -1.68737397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114319999999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:23.61, Y:-2.90, Z:-0.17 [[ 9.83787100e-01 1.77819333e-01 -2.33072019e-02 2.36072459e+01] [-1.77756628e-01 9.84063007e-01 4.75177459e-03 -2.90079008e+00] [ 2.37807126e-02 -5.31724931e-04 9.99717057e-01 -1.67947731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:-2.90, Z:-0.17 [[ 9.83790529e-01 1.77397160e-01 -2.62000544e-02 2.36393594e+01] [-1.77530613e-01 9.84111181e-01 -2.83998576e-03 -2.90361157e+00] [ 2.52799610e-02 7.44526281e-03 9.99652686e-01 -1.69574022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:-2.92, Z:-0.16 [[ 9.84027464e-01 1.76795622e-01 -2.08148504e-02 2.36688880e+01] [-1.76564872e-01 9.84210133e-01 1.24603217e-02 -2.91942320e+00] [ 2.26891170e-02 -8.58612739e-03 9.99705698e-01 -1.64889870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.70, Y:-2.92, Z:-0.17 [[ 9.84215186e-01 1.75381002e-01 -2.37059581e-02 2.37005277e+01] [-1.75314993e-01 9.84500443e-01 4.85092022e-03 -2.92308915e+00] [ 2.41892855e-02 -6.18339462e-04 9.99707205e-01 -1.67661556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.93, Z:-0.17 [[ 9.84237575e-01 1.75261971e-01 -2.36566595e-02 2.37326891e+01] [-1.75196057e-01 9.84521635e-01 4.84684057e-03 -2.93119047e+00] [ 2.41399600e-02 -6.25889145e-04 9.99708393e-01 -1.67579881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.94, Z:-0.17 [[ 9.84464446e-01 1.73900533e-01 -2.42561046e-02 2.37650131e+01] [-1.73830691e-01 9.84762987e-01 4.97497411e-03 -2.93883123e+00] [ 2.47516647e-02 -6.81229705e-04 9.99693399e-01 -1.66994568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:-2.95, Z:-0.17 [[ 9.84740008e-01 1.72346271e-01 -2.41635868e-02 2.37967285e+01] [-1.72276287e-01 9.85036160e-01 4.96436177e-03 -2.94676320e+00] [ 2.46575960e-02 -7.25792655e-04 9.99695692e-01 -1.66591892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.83, Y:-2.95, Z:-0.17 [[ 9.84785340e-01 1.72115586e-01 -2.39595460e-02 2.38292086e+01] [-1.72046523e-01 9.85076488e-01 4.93015779e-03 -2.95371018e+00] [ 2.44505424e-02 -7.32990546e-04 9.99700772e-01 -1.65968092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.86, Y:-2.96, Z:-0.17 [[ 9.84869556e-01 1.71738961e-01 -2.31880673e-02 2.38609809e+01] [-1.71673996e-01 9.85142225e-01 4.77874871e-03 -2.96092213e+00] [ 2.36642416e-02 -7.25655956e-04 9.99719699e-01 -1.65299080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384319999999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.89, Y:-2.97, Z:-0.16 [[ 9.84845964e-01 1.71976571e-01 -2.24162114e-02 2.38923668e+01] [-1.71915762e-01 9.85100789e-01 4.62662934e-03 -2.96842540e+00] [ 2.28778994e-02 -7.02817161e-04 9.99738020e-01 -1.64673741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.92, Y:-2.98, Z:-0.16 [[ 9.84884861e-01 1.71823027e-01 -2.18782697e-02 2.39245986e+01] [-1.71764917e-01 9.85127587e-01 4.52219935e-03 -2.97587885e+00] [ 2.23299050e-02 -6.95926507e-04 9.99750414e-01 -1.63919117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444319999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.96, Y:-2.98, Z:-0.16 [[ 9.84860067e-01 1.72031516e-01 -2.13496132e-02 2.39571039e+01] [-1.71976080e-01 9.85091211e-01 4.41976279e-03 -2.98319408e+00] [ 2.17916548e-02 -6.81225101e-04 9.99762302e-01 -1.63171106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.99, Y:-2.99, Z:-0.16 [[ 9.84736313e-01 1.72810153e-01 -2.07615966e-02 2.39886096e+01] [-1.72757765e-01 9.84954936e-01 4.30453775e-03 -2.98956611e+00] [ 2.11931049e-02 -6.52107614e-04 9.99775188e-01 -1.62824837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504319999999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:24.02, Y:-3.00, Z:-0.16 [[ 9.84475317e-01 1.74325968e-01 -2.04647554e-02 2.40206464e+01] [-1.74275265e-01 9.84687807e-01 4.24920186e-03 -2.99635515e+00] [ 2.08921413e-02 -6.16733682e-04 9.99781545e-01 -1.62566571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534319999999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.05, Y:-3.00, Z:-0.16 [[ 9.83962385e-01 1.77204418e-01 -2.04112429e-02 2.40522028e+01] [-1.77154461e-01 9.84173907e-01 4.24467445e-03 -3.00324080e+00] [ 2.08403877e-02 -5.60657271e-04 9.99782658e-01 -1.62311840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564319999999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.09, Y:-3.00, Z:-0.18 [[ 9.83965590e-01 1.77014433e-01 -2.18542507e-02 2.40899150e+01] [-1.77483287e-01 9.83882763e-01 -2.17805312e-02 -2.99595617e+00] [ 1.76465521e-02 2.53100575e-02 9.99523887e-01 -1.78185497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594319999999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.12, Y:-3.03, Z:-0.16 [[ 9.83858121e-01 1.78024644e-01 -1.81775527e-02 2.41164757e+01] [-1.77627595e-01 9.83862225e-01 2.15304373e-02 -3.02543922e+00] [ 2.17171559e-02 -1.79540607e-02 9.99602930e-01 -1.55956571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-3.03, Z:-0.16 [[ 9.83582217e-01 1.79730476e-01 -1.62166208e-02 2.41473330e+01] [-1.79542402e-01 9.83672048e-01 1.24027589e-02 -3.02729365e+00] [ 1.81809903e-02 -9.28756203e-03 9.99791575e-01 -1.59547232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.18, Y:-3.03, Z:-0.16 [[ 9.83267962e-01 1.81247583e-01 -1.82600436e-02 2.41782018e+01] [-1.81218860e-01 9.83437489e-01 3.22943364e-03 -3.02893996e+00] [ 1.85429384e-02 1.33665636e-04 9.99828056e-01 -1.62175609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.21, Y:-3.04, Z:-0.16 [[ 9.83252918e-01 1.81347622e-01 -1.80759577e-02 2.42100028e+01] [-1.81308904e-01 9.83418962e-01 3.77190854e-03 -3.03681667e+00] [ 1.84602662e-02 -4.31407987e-04 9.99829502e-01 -1.61893238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-3.04, Z:-0.16 [[ 9.83298990e-01 1.81129917e-01 -1.77496206e-02 2.42421752e+01] [-1.81092447e-01 9.83459082e-01 3.70946262e-03 -3.04392936e+00] [ 1.81279202e-02 -4.33188624e-04 9.99835582e-01 -1.61318619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:-3.05, Z:-0.16 [[ 9.83291909e-01 1.81215386e-01 -1.72628377e-02 2.42731624e+01] [-1.81179858e-01 9.83443340e-01 3.61328557e-03 -3.05079217e+00] [ 1.76318057e-02 -4.25235984e-04 9.99844457e-01 -1.60618646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:-3.06, Z:-0.16 [[ 9.83372282e-01 1.80814309e-01 -1.68861373e-02 2.43052406e+01] [-1.80780168e-01 9.83517159e-01 3.53952862e-03 -3.05712830e+00] [ 1.72478032e-02 -4.27995604e-04 9.99851154e-01 -1.60365961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:-3.06, Z:-0.16 [[ 9.83775246e-01 1.78609880e-01 -1.68753010e-02 2.43385004e+01] [-1.78658545e-01 9.83910127e-01 -1.40940187e-03 -3.06035975e+00] [ 1.63520465e-02 4.40145140e-03 9.99856609e-01 -1.64694270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.37, Y:-3.07, Z:-0.16 [[ 9.83661455e-01 1.79297079e-01 -1.62080024e-02 2.43698057e+01] [-1.79197569e-01 9.83785215e-01 7.40827412e-03 -3.07382109e+00] [ 1.72734750e-02 -4.38279907e-03 9.99841196e-01 -1.59725901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:-3.08, Z:-0.16 [[ 9.83819260e-01 1.78428428e-01 -1.62160193e-02 2.43995863e+01] [-1.78378402e-01 9.83951708e-01 4.49240753e-03 -3.07864613e+00] [ 1.67573531e-02 -1.52712944e-03 9.99858419e-01 -1.59128112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894319999999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.43, Y:-3.08, Z:-0.16 [[ 9.84198804e-01 1.76292203e-01 -1.65461058e-02 2.44335340e+01] [-1.76352965e-01 9.84324362e-01 -2.27650173e-03 -3.08347500e+00] [ 1.58854055e-02 5.15848509e-03 9.99860512e-01 -1.62869623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924319999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.46, Y:-3.09, Z:-0.16 [[ 9.84391966e-01 1.74931592e-01 -1.92716190e-02 2.44643313e+01] [-1.75011062e-01 9.84563282e-01 -2.50422271e-03 -3.08871804e+00] [ 1.85360608e-02 5.83788322e-03 9.99811149e-01 -1.59844274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:-3.10, Z:-0.16 [[ 9.84321623e-01 1.75501995e-01 -1.76065984e-02 2.44953479e+01] [-1.75364080e-01 9.84461546e-01 9.10510956e-03 -3.10314627e+00] [ 1.89309840e-02 -5.87479129e-03 9.99803533e-01 -1.55131708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:-3.10, Z:-0.16 [[ 9.84528434e-01 1.74102621e-01 -1.98000141e-02 2.45284026e+01] [-1.74220563e-01 9.84696899e-01 -4.38321217e-03 -3.10141659e+00] [ 1.87338837e-02 7.76496663e-03 9.99794352e-01 -1.59956385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014319999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.56, Y:-3.11, Z:-0.16 [[ 9.84241821e-01 1.75658034e-01 -2.03049791e-02 2.45556953e+01] [-1.75688072e-01 9.84445837e-01 3.08913845e-04 -3.11106489e+00] [ 2.00434154e-02 3.26329671e-03 9.99793785e-01 -1.57324306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.58, Y:-3.13, Z:-0.15 [[ 9.84336205e-01 1.75980849e-01 -1.06290761e-02 2.45847077e+01] [-1.75713047e-01 9.84187824e-01 2.23439594e-02 -3.13030758e+00] [ 1.43931162e-02 -2.01263008e-02 9.99693838e-01 -1.51697508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:-3.12, Z:-0.16 [[ 9.84427469e-01 1.74868328e-01 -1.79896199e-02 2.46198002e+01] [-1.74950856e-01 9.84572260e-01 -3.10865428e-03 -3.12276078e+00] [ 1.71684756e-02 6.20754406e-03 9.99833341e-01 -1.59932121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104319999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.65, Y:-3.14, Z:-0.16 [[ 9.84258858e-01 1.76261172e-01 -1.29034575e-02 2.46482236e+01] [-1.76139905e-01 9.84314275e-01 1.00071157e-02 -3.13734465e+00] [ 1.44649233e-02 -7.57677851e-03 9.99866670e-01 -1.55192584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134319999999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.68, Y:-3.14, Z:-0.16 [[ 9.84189219e-01 1.76577618e-01 -1.38537318e-02 2.46809067e+01] [-1.76553593e-01 9.84286613e-01 2.94813528e-03 -3.14069572e+00] [ 1.41566174e-02 -4.55596832e-04 9.99899686e-01 -1.57436229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.71, Y:-3.15, Z:-0.16 [[ 9.83971154e-01 1.77797508e-01 -1.37409572e-02 2.47122843e+01] [-1.77773929e-01 9.84066996e-01 2.92862075e-03 -3.14812021e+00] [ 1.40427240e-02 -4.38894387e-04 9.99901300e-01 -1.56223579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:-3.17, Z:-0.14 [[ 9.83270982e-01 1.81639291e-01 -1.36140775e-02 2.47467228e+01] [-1.81314986e-01 9.83175595e-01 2.21500661e-02 -3.17121887e+00] [ 1.74083510e-02 -1.93110810e-02 9.99661959e-01 -1.43738419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224319999999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.78, Y:-3.15, Z:-0.16 [[ 9.83578260e-01 1.79665291e-01 -1.71519684e-02 2.47761194e+01] [-1.79931693e-01 9.83556988e-01 -1.54995831e-02 -3.15079713e+00] [ 1.40852013e-02 1.83312357e-02 9.99732751e-01 -1.61332290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254319999999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:24.81, Y:-3.17, Z:-0.15 [[ 9.82829835e-01 1.84069080e-01 -1.28097608e-02 2.48064423e+01] [-1.84049044e-01 9.82913253e-01 2.73600540e-03 -3.16709948e+00] [ 1.30944976e-02 -3.31403519e-04 9.99914208e-01 -1.54932088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284319999999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.84, Y:-3.17, Z:-0.15 [[ 9.82342873e-01 1.86668575e-01 -1.25428358e-02 2.48374635e+01] [-1.86649524e-01 9.82422901e-01 2.68309480e-03 -3.17342860e+00] [ 1.28232186e-02 -2.94604738e-04 9.99917736e-01 -1.54517602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:-3.17, Z:-0.16 [[ 9.81865301e-01 1.88477360e-01 -2.04160458e-02 2.48739543e+01] [-1.88756757e-01 9.81941288e-01 -1.27354916e-02 -3.17177567e+00] [ 1.76470064e-02 1.63582039e-02 9.99710454e-01 -1.58107088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.90, Y:-3.20, Z:-0.15 [[ 9.81328471e-01 1.92142427e-01 -8.70175147e-03 2.48974469e+01] [-1.91950121e-01 9.81216546e-01 1.92156220e-02 -3.19628575e+00] [ 1.22304388e-02 -1.71865347e-02 9.99777495e-01 -1.46825102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374319999999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.93, Y:-3.19, Z:-0.15 [[ 9.80955310e-01 1.93613417e-01 -1.55088454e-02 2.49321224e+01] [-1.93695693e-01 9.81053598e-01 -3.97704837e-03 -3.18976262e+00] [ 1.44449987e-02 6.90530327e-03 9.99871821e-01 -1.54462418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404319999999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.96, Y:-3.20, Z:-0.15 [[ 9.80617511e-01 1.95589949e-01 -1.15701895e-02 2.49635309e+01] [-1.95492059e-01 9.80663332e-01 9.07107969e-03 -3.20246983e+00] [ 1.31206726e-02 -6.63337942e-03 9.99891917e-01 -1.50072165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:-3.22, Z:-0.14 [[ 9.80034415e-01 1.98366696e-01 -1.35351065e-02 2.49979248e+01] [-1.98073629e-01 9.79975681e-01 2.03593175e-02 -3.21949657e+00] [ 1.73026858e-02 -1.72718841e-02 9.99701105e-01 -1.40912813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:-3.20, Z:-0.16 [[ 9.80439080e-01 1.96122264e-01 -1.65912033e-02 2.50282495e+01] [-1.96355996e-01 9.80434647e-01 -1.38645768e-02 -3.20286787e+00] [ 1.35474384e-02 1.68511551e-02 9.99766225e-01 -1.57159868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.06, Y:-3.22, Z:-0.15 [[ 9.80535784e-01 1.95851731e-01 -1.38447106e-02 2.50576575e+01] [-1.95829152e-01 9.80633496e-01 2.98142785e-03 -3.21995883e+00] [ 1.41605047e-02 -2.12198764e-04 9.99899713e-01 -1.51202861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524319999999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.09, Y:-3.23, Z:-0.15 [[ 9.80612767e-01 1.95465729e-01 -1.38473816e-02 2.50894044e+01] [-1.95443039e-01 9.80710507e-01 2.98650586e-03 -3.22746554e+00] [ 1.41640322e-02 -2.22231438e-04 9.99899660e-01 -1.50655576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:-3.23, Z:-0.15 [[ 9.80739485e-01 1.94804620e-01 -1.41853087e-02 2.51213146e+01] [-1.94780671e-01 9.80842037e-01 3.06409385e-03 -3.23488623e+00] [ 1.45104467e-02 -2.42053889e-04 9.99894689e-01 -1.49466135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:-3.24, Z:-0.15 [[ 9.81229454e-01 1.92348686e-01 -1.38109053e-02 2.51535541e+01] [-1.92325681e-01 9.81326606e-01 2.98749408e-03 -3.24137027e+00] [ 1.41276494e-02 -2.75225408e-04 9.99900162e-01 -1.49553665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.18, Y:-3.25, Z:-0.15 [[ 9.81424716e-01 1.91347072e-01 -1.38501085e-02 2.51847376e+01] [-1.91323770e-01 9.81522395e-01 3.00063444e-03 -3.24848746e+00] [ 1.41683542e-02 -2.95041831e-04 9.99899580e-01 -1.49434477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:-3.26, Z:-0.15 [[ 9.81680542e-01 1.90013030e-01 -1.40841229e-02 2.52164389e+01] [-1.89988735e-01 9.81781515e-01 3.05569279e-03 -3.25611555e+00] [ 1.44081530e-02 -3.23889464e-04 9.99896145e-01 -1.48661595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:-3.26, Z:-0.15 [[ 9.82181231e-01 1.87432761e-01 -1.37473446e-02 2.52477068e+01] [-1.87409301e-01 9.82277370e-01 2.98689732e-03 -3.26496606e+00] [ 1.40635479e-02 -3.57294257e-04 9.99901040e-01 -1.47591939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:-3.27, Z:-0.15 [[ 9.82462881e-01 1.85940426e-01 -1.38868631e-02 2.52791150e+01] [-1.85916267e-01 9.82560944e-01 3.02219373e-03 -3.27232311e+00] [ 1.42066373e-02 -3.87399404e-04 9.99899006e-01 -1.46738444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:-3.28, Z:-0.15 [[ 9.82437993e-01 1.86071931e-01 -1.38862367e-02 2.53117766e+01] [-1.86047744e-01 9.82536048e-01 3.02506897e-03 -3.27957534e+00] [ 1.42066086e-02 -3.88439666e-04 9.99899006e-01 -1.46150443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.29, Z:-0.15 [[ 9.82704001e-01 1.84528069e-01 -1.55639991e-02 2.53450842e+01] [-1.84552180e-01 9.82822710e-01 -1.14952732e-04 -3.28511837e+00] [ 1.52754398e-02 2.98533447e-03 9.99878867e-01 -1.46567540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:-3.29, Z:-0.14 [[ 9.83079635e-01 1.82542420e-01 -1.52544009e-02 2.53773087e+01] [-1.82493834e-01 9.83196561e-01 4.53035029e-03 -3.29399601e+00] [ 1.58250556e-02 -1.66986101e-03 9.99873382e-01 -1.44465086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824319999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.41, Y:-3.30, Z:-0.14 [[ 9.83002745e-01 1.82967814e-01 -1.51123026e-02 2.54070852e+01] [-1.82901138e-01 9.83114822e-01 5.69394001e-03 -3.30111633e+00] [ 1.58989365e-02 -2.83310131e-03 9.99869590e-01 -1.43395472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854319999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.44, Y:-3.31, Z:-0.15 [[ 9.82955283e-01 1.83178235e-01 -1.56411713e-02 2.54405075e+01] [-1.83178174e-01 9.83078663e-01 1.44874571e-03 -3.30695807e+00] [ 1.56418805e-02 1.44106896e-03 9.99876620e-01 -1.45276012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.31, Z:-0.14 [[ 9.82916596e-01 1.83378972e-01 -1.57200069e-02 2.54696618e+01] [-1.83313649e-01 9.83039022e-01 5.51254708e-03 -3.31426730e+00] [ 1.64642654e-02 -2.53668220e-03 9.99861237e-01 -1.41180302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:-3.32, Z:-0.14 [[ 9.82541839e-01 1.85280899e-01 -1.68084314e-02 2.55048764e+01] [-1.85262304e-01 9.82685478e-01 2.67032448e-03 -3.31928366e+00] [ 1.70121616e-02 4.90263201e-04 9.99855163e-01 -1.43693932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944319999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.54, Y:-3.32, Z:-0.15 [[ 9.82329513e-01 1.86395859e-01 -1.68911758e-02 2.55385002e+01] [-1.86563808e-01 9.82401910e-01 -8.96841418e-03 -3.31897587e+00] [ 1.49222481e-02 1.19612200e-02 9.99817111e-01 -1.50222976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.57, Y:-3.33, Z:-0.14 [[ 9.82026769e-01 1.88011197e-01 -1.65896181e-02 2.55708040e+01] [-1.88001292e-01 9.82166387e-01 2.16860229e-03 -3.33136146e+00] [ 1.67014868e-02 9.89244143e-04 9.99860031e-01 -1.44019340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.35, Z:-0.13 [[ 9.81715841e-01 1.89675427e-01 -1.60387282e-02 2.55984057e+01] [-1.89366912e-01 9.81723131e-01 1.89701594e-02 -3.34533258e+00] [ 1.93437636e-02 -1.55861016e-02 9.99691399e-01 -1.32275229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.34, Z:-0.14 [[ 9.81158888e-01 1.92297537e-01 -1.86787128e-02 2.56341003e+01] [-1.92329800e-01 9.81330343e-01 7.04089199e-05 -3.34026438e+00] [ 1.83435271e-02 3.52339076e-03 9.99825535e-01 -1.39612508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.35, Z:-0.13 [[ 9.80748485e-01 1.94451419e-01 -1.79180103e-02 2.56634862e+01] [-1.94332985e-01 9.80901794e-01 8.14626469e-03 -3.35062291e+00] [ 1.91598612e-02 -4.50737632e-03 9.99806273e-01 -1.33563820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:-3.35, Z:-0.14 [[ 9.80439319e-01 1.95290007e-01 -2.45062092e-02 2.56991737e+01] [-1.95498064e-01 9.80683339e-01 -6.37933489e-03 -3.34817185e+00] [ 2.27870107e-02 1.10454672e-02 9.99679323e-01 -1.36191326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:-3.36, Z:-0.13 [[ 9.79600262e-01 2.00234416e-01 -1.70148251e-02 2.57247177e+01] [-1.99977256e-01 9.79674986e-01 1.56849685e-02 -3.36451543e+00] [ 1.98096691e-02 -1.19624213e-02 9.99732203e-01 -1.28809385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:-3.36, Z:-0.13 [[ 9.79209862e-01 2.01914414e-01 -1.94580577e-02 2.57589923e+01] [-2.01869269e-01 9.79403135e-01 4.27746634e-03 -3.36423970e+00] [ 1.99209649e-02 -2.60553336e-04 9.99801524e-01 -1.31825621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-3.36, Z:-0.14 [[ 9.78927504e-01 2.03186030e-01 -2.04053732e-02 2.57932760e+01] [-2.03372301e-01 9.79072837e-01 -7.48905295e-03 -3.36166320e+00] [ 1.84566757e-02 1.14811276e-02 9.99763740e-01 -1.38685348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:-3.38, Z:-0.13 [[ 9.78465801e-01 2.05632434e-01 -1.78879509e-02 2.58214515e+01] [-2.05357756e-01 9.78555299e-01 1.60536373e-02 -3.38155503e+00] [ 2.08054976e-02 -1.20345056e-02 9.99711109e-01 -1.26116220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:-3.37, Z:-0.14 [[ 9.78588760e-01 2.04712980e-01 -2.13690135e-02 2.58570873e+01] [-2.04915568e-01 9.78749033e-01 -7.74208164e-03 -3.37341891e+00] [ 1.93299967e-02 1.19551576e-02 9.99741679e-01 -1.37624844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:-3.38, Z:-0.13 [[ 9.78717052e-01 2.04303969e-01 -1.93085799e-02 2.58873484e+01] [-2.04299580e-01 9.78905895e-01 2.22061840e-03 -3.38434749e+00] [ 1.93549638e-02 1.77137766e-03 9.99811106e-01 -1.34614472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:-3.39, Z:-0.13 [[ 9.79036014e-01 2.02715130e-01 -1.98760957e-02 2.59197919e+01] [-2.02676323e-01 9.79237742e-01 3.96893392e-03 -3.39221929e+00] [ 2.02679860e-02 1.42684740e-04 9.99794573e-01 -1.32730477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.95, Y:-3.40, Z:-0.12 [[ 9.79133634e-01 2.02063209e-01 -2.16283521e-02 2.59478962e+01] [-2.01805259e-01 9.79332175e-01 1.35324953e-02 -3.40397497e+00] [ 2.39157606e-02 -8.88540607e-03 9.99674490e-01 -1.23562596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:-3.41, Z:-0.12 [[ 9.80049985e-01 1.97668072e-01 -2.07209956e-02 2.59804591e+01] [-1.97482468e-01 9.80248340e-01 1.06708001e-02 -3.40928828e+00] [ 2.24209980e-02 -6.36588409e-03 9.99728350e-01 -1.23855450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:-3.41, Z:-0.12 [[ 9.80468953e-01 1.95402275e-01 -2.23289815e-02 2.60125565e+01] [-1.95339926e-01 9.80723049e-01 4.96135592e-03 -3.41305184e+00] [ 2.28680070e-02 -5.02713864e-04 9.99738367e-01 -1.24582648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.04, Y:-3.42, Z:-0.12 [[ 9.80892619e-01 1.93260952e-01 -2.23578741e-02 2.60445105e+01] [-1.93197727e-01 9.81147232e-01 4.97467923e-03 -3.42010247e+00] [ 2.28977775e-02 -5.60135689e-04 9.99737655e-01 -1.23840715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-3.43, Z:-0.12 [[ 9.81754117e-01 1.88816778e-01 -2.25184157e-02 2.60763229e+01] [-1.88751303e-01 9.82012102e-01 5.01776755e-03 -3.42659977e+00] [ 2.30607954e-02 -6.75833647e-04 9.99733836e-01 -1.22522927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:-3.43, Z:-0.13 [[ 9.81910324e-01 1.87937370e-01 -2.30577772e-02 2.61108439e+01] [-1.87984919e-01 9.82171909e-01 1.07258403e-04 -3.43237423e+00] [ 2.26668590e-02 4.22919625e-03 9.99734128e-01 -1.26528525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-3.44, Z:-0.12 [[ 9.82619478e-01 1.84172356e-01 -2.32272222e-02 2.61385207e+01] [-1.83972271e-01 9.82875415e-01 1.04938771e-02 -3.44001893e+00] [ 2.47621478e-02 -6.03832317e-03 9.99675135e-01 -1.20296218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:-3.44, Z:-0.12 [[ 9.82791651e-01 1.83028511e-01 -2.49225861e-02 2.61715423e+01] [-1.82946005e-01 9.83107179e-01 5.57073095e-03 -3.44435791e+00] [ 2.55211759e-02 -9.15380316e-04 9.99673863e-01 -1.21383821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:-3.45, Z:-0.12 [[ 9.82900281e-01 1.82342374e-01 -2.56572781e-02 2.62024278e+01] [-1.82254470e-01 9.83234621e-01 5.74361147e-03 -3.45139564e+00] [ 2.62744279e-02 -9.69243708e-04 9.99654298e-01 -1.20487965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:-3.45, Z:-0.13 [[ 9.82992074e-01 1.81842849e-01 -2.56858102e-02 2.62387766e+01] [-1.82092356e-01 9.83251170e-01 -7.71433250e-03 -3.45255045e+00] [ 2.38528068e-02 1.22603174e-02 9.99640299e-01 -1.29267597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-3.47, Z:-0.11 [[ 9.83300259e-01 1.80558661e-01 -2.27853301e-02 2.62639606e+01] [-1.80149374e-01 9.83457503e-01 1.89088192e-02 -3.46958954e+00] [ 2.58225549e-02 -1.44882838e-02 9.99561547e-01 -1.14174706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.30, Y:-3.47, Z:-0.12 [[ 9.83312769e-01 1.80134714e-01 -2.54457114e-02 2.62968166e+01] [-1.80047088e-01 9.83641404e-01 5.71262348e-03 -3.46830165e+00] [ 2.60584971e-02 -1.03586936e-03 9.99659883e-01 -1.17397124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.33, Y:-3.47, Z:-0.13 [[ 9.83227464e-01 1.80602760e-01 -2.54243603e-02 2.63329715e+01] [-1.80871310e-01 9.83468528e-01 -8.67313434e-03 -3.46861956e+00] [ 2.34376662e-02 1.31262012e-02 9.99639124e-01 -1.26518719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:-3.49, Z:-0.11 [[ 9.83125192e-01 1.81594032e-01 -2.21012115e-02 2.63579791e+01] [-1.81174244e-01 9.83253181e-01 1.97250066e-02 -3.48658735e+00] [ 2.53130300e-02 -1.53879806e-02 9.99561134e-01 -1.10405358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.39, Y:-3.48, Z:-0.11 [[ 9.82884590e-01 1.82534282e-01 -2.48821040e-02 2.63919705e+01] [-1.82450801e-01 9.83199012e-01 5.60423513e-03 -3.48467440e+00] [ 2.54870251e-02 -9.68556542e-04 9.99674684e-01 -1.14092877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:-3.49, Z:-0.11 [[ 9.82576007e-01 1.84246606e-01 -2.44454039e-02 2.64237917e+01] [-1.84166363e-01 9.82879621e-01 5.51370236e-03 -3.49089389e+00] [ 2.50427702e-02 -9.15610522e-04 9.99685961e-01 -1.13138160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:-3.50, Z:-0.11 [[ 9.81948276e-01 1.87637923e-01 -2.38661411e-02 2.64564969e+01] [-1.87562262e-01 9.82237926e-01 5.39024546e-03 -3.49608511e+00] [ 2.44536434e-02 -8.16554830e-04 9.99700631e-01 -1.11950241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:-3.50, Z:-0.11 [[ 9.81484652e-01 1.90060569e-01 -2.37667428e-02 2.64878189e+01] [-1.89986060e-01 9.81772072e-01 5.37543908e-03 -3.50123382e+00] [ 2.43551833e-02 -7.60561139e-04 9.99703079e-01 -1.10988265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:-3.51, Z:-0.11 [[ 9.81010551e-01 1.92535112e-01 -2.34206957e-02 2.65205077e+01] [-1.92463292e-01 9.81289838e-01 5.30421958e-03 -3.50604507e+00] [ 2.40037392e-02 -6.95871170e-04 9.99711627e-01 -1.10583310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:-3.51, Z:-0.11 [[ 9.80144869e-01 1.96856198e-01 -2.37417991e-02 2.65530843e+01] [-1.96783472e-01 9.80432186e-01 5.38467220e-03 -3.50904482e+00] [ 2.43372301e-02 -6.05765179e-04 9.99703622e-01 -1.10419303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.58, Y:-3.52, Z:-0.11 [[ 9.79740861e-01 1.98873025e-01 -2.36085654e-02 2.65843007e+01] [-1.98801513e-01 9.80025105e-01 5.36211236e-03 -3.51531569e+00] [ 2.42033663e-02 -5.60062059e-04 9.99706899e-01 -1.10086242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:-3.52, Z:-0.11 [[ 9.79188438e-01 2.00826955e-01 -2.93007840e-02 2.66174216e+01] [-2.01042273e-01 9.79571919e-01 -4.56721217e-03 -3.51629789e+00] [ 2.77850059e-02 1.03628576e-02 9.99560206e-01 -1.10445080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.65, Y:-3.53, Z:-0.10 [[ 9.78747923e-01 2.03962479e-01 -2.12558140e-02 2.66471838e+01] [-2.03665548e-01 9.78920516e-01 1.53286506e-02 -3.53281565e+00] [ 2.39342220e-02 -1.06738079e-02 9.99656552e-01 -1.03602129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:-3.52, Z:-0.12 [[ 9.78691553e-01 2.04016561e-01 -2.32397708e-02 2.66869373e+01] [-2.04566542e-01 9.78547957e-01 -2.44218468e-02 -3.51806127e+00] [ 1.77587690e-02 2.86555347e-02 9.99431582e-01 -1.24833543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:-3.55, Z:-0.10 [[ 9.78314232e-01 2.06413508e-01 -1.71676020e-02 2.67077579e+01] [-2.05754555e-01 9.78014602e-01 3.39485151e-02 -3.55196043e+00] [ 2.37975975e-02 -2.96800032e-02 9.99276124e-01 -9.80561175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:-3.53, Z:-0.12 [[ 9.78187509e-01 2.06402542e-01 -2.33920243e-02 2.67495892e+01] [-2.06827728e-01 9.78221156e-01 -1.74831426e-02 -3.53265357e+00] [ 1.92740080e-02 2.19399110e-02 9.99573486e-01 -1.20390396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:-3.56, Z:-0.10 [[ 9.78323079e-01 2.06273814e-01 -1.83048284e-02 2.67713297e+01] [-2.05739390e-01 9.78222371e-01 2.74280353e-02 -3.56068480e+00] [ 2.35638780e-02 -2.30674557e-02 9.99456170e-01 -9.91601182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-3.56, Z:-0.10 [[ 9.78405385e-01 2.05435797e-01 -2.27823583e-02 2.68069121e+01] [-2.05370045e-01 9.78670503e-01 5.21442981e-03 -3.55530006e+00] [ 2.33676526e-02 -4.23012260e-04 9.99726850e-01 -1.04778470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:-3.56, Z:-0.10 [[ 9.78885026e-01 2.03204718e-01 -2.21798886e-02 2.68391764e+01] [-2.03141667e-01 9.79136161e-01 5.08350180e-03 -3.56144467e+00] [ 2.27501226e-02 -4.70504240e-04 9.99741072e-01 -1.04603568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:-3.57, Z:-0.10 [[ 9.79178681e-01 2.01793534e-01 -2.21016053e-02 2.68705359e+01] [-2.01730408e-01 9.79427951e-01 5.07262024e-03 -3.56823722e+00] [ 2.26705520e-02 -5.08435743e-04 9.99742861e-01 -1.04065344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:-3.57, Z:-0.10 [[ 9.79494963e-01 2.00241648e-01 -2.22013363e-02 2.69019042e+01] [-2.00177400e-01 9.79746384e-01 5.10215905e-03 -3.57458856e+00] [ 2.27733437e-02 -5.53333301e-04 9.99740501e-01 -1.03820017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.94, Y:-3.58, Z:-0.11 [[ 9.79805649e-01 1.98223629e-01 -2.62351393e-02 2.69379548e+01] [-1.98497860e-01 9.80066418e-01 -8.27145119e-03 -3.57544093e+00] [ 2.40725819e-02 1.33120336e-02 9.99621579e-01 -1.10307299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:-3.59, Z:-0.10 [[ 9.80220771e-01 1.96361841e-01 -2.46833542e-02 2.69639920e+01] [-1.96256659e-01 9.80530094e-01 6.63770564e-03 -3.58821323e+00] [ 2.55061637e-02 -1.66214431e-03 9.99673283e-01 -1.02917565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:-3.60, Z:-0.10 [[ 9.80579481e-01 1.94916021e-01 -2.17169737e-02 2.69945941e+01] [-1.94685349e-01 9.80788708e-01 1.22933379e-02 -3.59830185e+00] [ 2.36959311e-02 -7.82661832e-03 9.99688575e-01 -1.01043833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-3.60, Z:-0.10 [[ 9.81050186e-01 1.92635079e-01 -2.07908328e-02 2.70261559e+01] [-1.92455338e-01 9.81251214e-01 1.03439504e-02 -3.60357979e+00] [ 2.23936377e-02 -6.14662772e-03 9.99730336e-01 -1.01406973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384319999999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:27.06, Y:-3.60, Z:-0.10 [[ 9.81109549e-01 1.91535672e-01 -2.71687319e-02 2.70602521e+01] [-1.91728232e-01 9.81437064e-01 -4.64473313e-03 -3.60165600e+00] [ 2.57747684e-02 9.76600495e-03 9.99620071e-01 -1.03988827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-3.61, Z:-0.10 [[ 9.81356084e-01 1.90271812e-01 -2.71454132e-02 2.70926588e+01] [-1.90245523e-01 9.81730047e-01 3.57164129e-03 -3.61169036e+00] [ 2.73290504e-02 1.65924140e-03 9.99625115e-01 -1.00579217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-3.63, Z:-0.10 [[ 9.81534749e-01 1.90228634e-01 -2.00649634e-02 2.71204994e+01] [-1.89860984e-01 9.81629400e-01 1.88819489e-02 -3.62677882e+00] [ 2.32882453e-02 -1.47237353e-02 9.99620363e-01 -9.73517879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-3.63, Z:-0.10 [[ 9.81540911e-01 1.89779018e-01 -2.36931083e-02 2.71544652e+01] [-1.89701305e-01 9.81826408e-01 5.50622916e-03 -3.62619006e+00] [ 2.43074862e-02 -9.09975615e-04 9.99704115e-01 -1.00033771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-3.63, Z:-0.11 [[ 9.81664115e-01 1.89053305e-01 -2.43806052e-02 2.71903505e+01] [-1.89311520e-01 9.81878210e-01 -8.73666942e-03 -3.62509946e+00] [ 2.22870887e-02 1.31920043e-02 9.99664572e-01 -1.06207147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:-3.64, Z:-0.10 [[ 9.81467418e-01 1.90424816e-01 -2.14498542e-02 2.72197128e+01] [-1.90390687e-01 9.81701650e-01 3.64103370e-03 -3.63875784e+00] [ 2.17507004e-02 5.10296525e-04 9.99763295e-01 -1.01907865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:-3.64, Z:-0.10 [[ 9.81263465e-01 1.91601338e-01 -2.02716539e-02 2.72501533e+01] [-1.91554021e-01 9.81472788e-01 4.26885853e-03 -3.64484138e+00] [ 2.07139957e-02 -3.05758086e-04 9.99785395e-01 -1.01121669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:-3.66, Z:-0.09 [[ 9.80800585e-01 1.94051769e-01 -1.93422712e-02 2.72774116e+01] [-1.93617148e-01 9.80824237e-01 2.22758879e-02 -3.66086549e+00] [ 2.32940438e-02 -1.81032085e-02 9.99564736e-01 -9.04826778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:-3.66, Z:-0.09 [[ 9.80742942e-01 1.93910719e-01 -2.32790539e-02 2.73122181e+01] [-1.93836189e-01 9.81018837e-01 5.43810720e-03 -3.65935664e+00] [ 2.38916976e-02 -8.21062185e-04 9.99714215e-01 -9.42329619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:-3.65, Z:-0.10 [[ 9.80175504e-01 1.95795913e-01 -3.03305347e-02 2.73493457e+01] [-1.96287931e-01 9.80443947e-01 -1.41673788e-02 -3.65336927e+00] [ 2.69634743e-02 1.98400356e-02 9.99439515e-01 -1.00457125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:-3.67, Z:-0.09 [[ 9.79851996e-01 1.98403491e-01 -2.29373079e-02 2.73787458e+01] [-1.98207056e-01 9.80103235e-01 1.05646138e-02 -3.67423585e+00] [ 2.45769859e-02 -5.80542162e-03 9.99681084e-01 -9.34141731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.41, Y:-3.69, Z:-0.08 [[ 9.78828691e-01 2.03389615e-01 -2.29577267e-02 2.74072872e+01] [-2.02929848e-01 9.78970989e-01 2.08633654e-02 -3.68544232e+00] [ 2.67183403e-02 -1.57628526e-02 9.99518716e-01 -8.44972383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:-3.68, Z:-0.10 [[ 9.78467082e-01 2.04479668e-01 -2.81111307e-02 2.74445620e+01] [-2.04810269e-01 9.78756538e-01 -9.40179864e-03 -3.67588025e+00] [ 2.55914763e-02 1.49567987e-02 9.99560589e-01 -9.66184308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.47, Y:-3.70, Z:-0.08 [[ 9.77840423e-01 2.08079299e-01 -2.30458939e-02 2.74704448e+01] [-2.07599515e-01 9.77975841e-01 2.15799867e-02 -3.69966455e+00] [ 2.70286760e-02 -1.63174669e-02 9.99501471e-01 -8.25671641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:-3.70, Z:-0.09 [[ 9.76814519e-01 2.12438586e-01 -2.65187379e-02 2.75052612e+01] [-2.12347850e-01 9.77174317e-01 6.22455710e-03 -3.69703352e+00] [ 2.72357657e-02 -4.49040769e-04 9.99628937e-01 -8.60647571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:-3.70, Z:-0.09 [[ 9.76405838e-01 2.14273354e-01 -2.68061409e-02 2.75366702e+01] [-2.14181092e-01 9.76773649e-01 6.30069811e-03 -3.70365834e+00] [ 2.75336038e-02 -4.10669882e-04 9.99620794e-01 -8.53470114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:-3.71, Z:-0.08 [[ 9.75996130e-01 2.16203549e-01 -2.62217320e-02 2.75689344e+01] [-2.16115757e-01 9.76348247e-01 6.17097177e-03 -3.71087713e+00] [ 2.69357281e-02 -3.55915117e-04 9.99637104e-01 -8.47831764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:-3.72, Z:-0.08 [[ 9.75467115e-01 2.18526424e-01 -2.66478855e-02 2.75999627e+01] [-2.18436381e-01 9.75830984e-01 6.27999941e-03 -3.71730060e+00] [ 2.73761781e-02 -3.05065252e-04 9.99625156e-01 -8.40185367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924319999999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.63, Y:-3.72, Z:-0.08 [[ 9.75349804e-01 2.19058187e-01 -2.65757456e-02 2.76318504e+01] [-2.18968611e-01 9.75711752e-01 6.27095888e-03 -3.72462792e+00] [ 2.73039722e-02 -2.97124411e-04 9.99627133e-01 -8.32735702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.66, Y:-3.73, Z:-0.08 [[ 9.75508949e-01 2.18350957e-01 -2.65546629e-02 2.76627933e+01] [-2.18261032e-01 9.75870255e-01 6.27439775e-03 -3.73126144e+00] [ 2.72839264e-02 -3.24883023e-04 9.99627672e-01 -8.29205993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:-3.74, Z:-0.08 [[ 9.75686484e-01 2.17580539e-01 -2.63551646e-02 2.76950273e+01] [-2.17491468e-01 9.76042307e-01 6.23502862e-03 -3.73876641e+00] [ 2.70803766e-02 -3.51409694e-04 9.99633198e-01 -8.23467121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:-3.73, Z:-0.10 [[ 9.76435154e-01 2.13786770e-01 -2.94890997e-02 2.77315457e+01] [-2.14623577e-01 9.76268748e-01 -2.89145479e-02 -3.72553266e+00] [ 2.26077387e-02 3.45622371e-02 9.99146807e-01 -9.93058261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:-3.77, Z:-0.07 [[ 9.76603106e-01 2.14399176e-01 -1.67142976e-02 2.77522626e+01] [-2.13617058e-01 9.76119030e-01 3.94891429e-02 -3.77206760e+00] [ 2.47815836e-02 -3.49947605e-02 9.99080197e-01 -7.35139966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:-3.76, Z:-0.08 [[ 9.76928635e-01 2.11771554e-01 -2.76270004e-02 2.77878207e+01] [-2.11723401e-01 9.77318373e-01 4.69023447e-03 -3.75889226e+00] [ 2.79936334e-02 1.26725814e-03 9.99607298e-01 -8.12648337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:-3.74, Z:-0.10 [[ 0.97746828 0.20811633 -0.03526115 27.82597636] [-0.20920568 0.9773911 -0.03065336 -3.7444018 ] [ 0.02808447 0.03733952 0.99890792 -0.09557703] [ 0. 0. 0. 1. ]] SLAMing on 26.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-3.79, Z:-0.07 [[ 9.77445546e-01 2.10382949e-01 -1.84179202e-02 2.78445562e+01] [-2.09357906e-01 9.76740276e-01 4.63432852e-02 -3.79477766e+00] [ 2.77393614e-02 -4.14421005e-02 9.98755766e-01 -6.82216251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.88, Y:-3.77, Z:-0.08 [[ 9.77620190e-01 2.07731458e-01 -3.32626704e-02 2.78829588e+01] [-2.07887488e-01 9.78151927e-01 -1.26508480e-03 -3.77464601e+00] [ 3.22731473e-02 8.15166546e-03 9.99445844e-01 -7.92311111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.79, Z:-0.08 [[ 9.78027445e-01 2.05971302e-01 -3.22201600e-02 2.79153774e+01] [-2.05891086e-01 9.78557583e-01 5.82389428e-03 -3.78525400e+00] [ 3.27288370e-02 9.37915284e-04 9.99463828e-01 -7.63624024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:-3.80, Z:-0.07 [[ 9.78078909e-01 2.06339846e-01 -2.80270412e-02 2.79447279e+01] [-2.05984951e-01 9.78439569e-01 1.50402420e-02 -3.79788977e+00] [ 3.05261674e-02 -8.93739476e-03 9.99494010e-01 -7.41434200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.79, Z:-0.08 [[ 9.78728272e-01 2.02007183e-01 -3.58338771e-02 2.79844836e+01] [-2.02267996e-01 9.79322948e-01 -3.77118464e-03 -3.79335516e+00] [ 3.43311317e-02 1.09390115e-02 9.99350645e-01 -7.63451034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:-3.81, Z:-0.08 [[ 9.78495714e-01 2.04162082e-01 -2.93935779e-02 2.80126225e+01] [-2.04150441e-01 9.78933523e-01 3.42846815e-03 -3.80504349e+00] [ 2.94743220e-02 2.64597049e-03 9.99562036e-01 -7.88675514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:-3.82, Z:-0.07 [[ 9.78442650e-01 2.04372185e-01 -2.96983370e-02 2.80417502e+01] [-2.03837360e-01 9.78798973e-01 2.00724101e-02 -3.81807891e+00] [ 3.31709441e-02 -1.35860715e-02 9.99357347e-01 -6.82859573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:-3.82, Z:-0.07 [[ 9.78474105e-01 2.03796334e-01 -3.24881660e-02 2.80749713e+01] [-2.03664430e-01 9.79013135e-01 7.35398000e-03 -3.81719816e+00] [ 3.33050554e-02 -5.78995196e-04 9.99445065e-01 -7.06469863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.11, Y:-3.82, Z:-0.07 [[ 9.78302338e-01 2.04047992e-01 -3.59019831e-02 2.81075421e+01] [-2.04095852e-01 9.78948051e-01 2.36573400e-03 -3.82114619e+00] [ 3.56288997e-02 5.01304273e-03 9.99352516e-01 -6.96507801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:-3.83, Z:-0.07 [[ 9.78013910e-01 2.05825773e-01 -3.35342043e-02 2.81375545e+01] [-2.05588697e-01 9.78583139e-01 1.04080664e-02 -3.83292038e+00] [ 3.49582552e-02 -3.28498034e-03 9.99383375e-01 -6.63882069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:-3.84, Z:-0.07 [[ 9.77851499e-01 2.06857263e-01 -3.18828846e-02 2.81691632e+01] [-2.06594560e-01 9.78360681e-01 1.13607069e-02 -3.84099016e+00] [ 3.35430054e-02 -4.52225377e-03 9.99427044e-01 -6.50834062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:-3.84, Z:-0.07 [[ 9.77720314e-01 2.07873867e-01 -2.91794925e-02 2.81996644e+01] [-2.08002460e-01 9.78127287e-01 -1.40948992e-03 -3.84002809e+00] [ 2.82482617e-02 7.44749315e-03 9.99573194e-01 -7.31322735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:-3.85, Z:-0.06 [[ 9.76795389e-01 2.11183939e-01 -3.56666715e-02 2.82329975e+01] [-2.11088154e-01 9.77445594e-01 6.47314997e-03 -3.85050942e+00] [ 3.62292562e-02 1.20586878e-03 9.99342777e-01 -6.25509608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:-3.86, Z:-0.07 [[ 9.76733008e-01 2.12387502e-01 -2.97351567e-02 2.82644170e+01] [-2.12363125e-01 9.77182587e-01 4.01190666e-03 -3.85583644e+00] [ 2.99087562e-02 2.39608914e-03 9.99549761e-01 -6.79610792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:-3.87, Z:-0.06 [[ 9.76056323e-01 2.14609411e-01 -3.54521460e-02 2.82946154e+01] [-2.14346355e-01 9.76694577e-01 1.11060416e-02 -3.86710984e+00] [ 3.70093798e-02 -3.24108385e-03 9.99309662e-01 -5.81461358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:-3.88, Z:-0.06 [[ 9.75304426e-01 2.19294349e-01 -2.62919333e-02 2.83211400e+01] [-2.18634065e-01 9.75464939e-01 2.58321353e-02 -3.88317723e+00] [ 3.13117004e-02 -1.94458837e-02 9.99320487e-01 -5.54390993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:-3.87, Z:-0.06 [[ 9.74844970e-01 2.19394425e-01 -3.92857560e-02 2.83570729e+01] [-2.19834187e-01 9.75510723e-01 -7.19437987e-03 -3.87135588e+00] [ 3.67452695e-02 1.56497573e-02 9.99202117e-01 -6.06310905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-3.88, Z:-0.07 [[ 9.74509532e-01 2.22052944e-01 -3.19947284e-02 2.83895011e+01] [-2.22395451e-01 9.74927452e-01 -7.53174497e-03 -3.87817468e+00] [ 2.95200929e-02 1.44552393e-02 9.99459659e-01 -6.82333662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:-3.91, Z:-0.05 [[ 9.73684615e-01 2.26350571e-01 -2.65271588e-02 2.84132502e+01] [-2.25249293e-01 9.73519678e-01 3.90152827e-02 -3.91314867e+00] [ 3.46558427e-02 -3.20133568e-02 9.98886439e-01 -4.71597106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-3.89, Z:-0.06 [[ 9.73369092e-01 2.24482062e-01 -4.64802689e-02 2.84547811e+01] [-2.25315861e-01 9.74192450e-01 -1.34845420e-02 -3.89093567e+00] [ 4.22536892e-02 2.35981782e-02 9.98828189e-01 -5.64544640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-3.93, Z:-0.05 [[ 9.73253857e-01 2.27779733e-01 -2.98885011e-02 2.84775299e+01] [-2.26855143e-01 9.73422456e-01 3.13921368e-02 -3.92524233e+00] [ 3.62446307e-02 -2.37721581e-02 9.99060164e-01 -4.67913974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764319999999994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:28.52, Y:-3.90, Z:-0.06 [[ 9.73434225e-01 2.24665608e-01 -4.41721028e-02 2.85184769e+01] [-2.25856085e-01 9.73863756e-01 -2.40502397e-02 -3.90330643e+00] [ 3.76143482e-02 3.33878646e-02 9.98734405e-01 -6.32403868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:-3.94, Z:-0.05 [[ 9.73273804e-01 2.27568987e-01 -3.08295164e-02 2.85421596e+01] [-2.26994522e-01 9.73668534e-01 2.10493029e-02 -3.93872778e+00] [ 3.48078986e-02 -1.34886037e-02 9.99302991e-01 -5.13081352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:-3.95, Z:-0.04 [[ 9.73251579e-01 2.27516521e-01 -3.18997866e-02 2.85697225e+01] [-2.26632910e-01 9.73546555e-01 2.90624933e-02 -3.95321571e+00] [ 3.76681248e-02 -2.10555760e-02 9.99068454e-01 -4.25367641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:-3.95, Z:-0.05 [[ 9.73214638e-01 2.26974901e-01 -3.65467294e-02 2.86036241e+01] [-2.26803059e-01 9.73900559e-01 8.83596710e-03 -3.95092311e+00] [ 3.75984230e-02 -3.10382477e-04 9.99292881e-01 -4.61860687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:-3.96, Z:-0.04 [[ 9.73122598e-01 2.27294825e-01 -3.70063738e-02 2.86357484e+01] [-2.27118411e-01 9.73825941e-01 8.95897796e-03 -3.95976384e+00] [ 3.80740961e-02 -3.13355105e-04 9.99274870e-01 -4.47339664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:-3.97, Z:-0.04 [[ 9.73045252e-01 2.27634471e-01 -3.69524647e-02 2.86677137e+01] [-2.27458605e-01 9.73746607e-01 8.95143930e-03 -3.96848705e+00] [ 3.80199933e-02 -3.04999441e-04 9.99276932e-01 -4.38920116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.70, Y:-3.98, Z:-0.04 [[ 9.72838530e-01 2.28359327e-01 -3.79105835e-02 2.86991726e+01] [-2.28174261e-01 9.73576874e-01 9.19657695e-03 -3.97886398e+00] [ 3.90089915e-02 -2.96565029e-04 9.99238816e-01 -4.31266389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.73, Y:-3.99, Z:-0.04 [[ 9.72762815e-01 2.28577781e-01 -3.85318518e-02 2.87307640e+01] [-2.28386251e-01 9.73525606e-01 9.36031663e-03 -3.98848845e+00] [ 3.96513048e-02 -3.05222768e-04 9.99213531e-01 -4.21628073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:-4.00, Z:-0.04 [[ 9.72649495e-01 2.28947282e-01 -3.91931416e-02 2.87611317e+01] [-2.28748907e-01 9.73438774e-01 9.53361855e-03 -3.99800471e+00] [ 4.03348198e-02 -3.07480946e-04 9.99186173e-01 -4.08424730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:-4.01, Z:-0.04 [[ 9.72574506e-01 2.29155801e-01 -3.98302440e-02 2.87928719e+01] [-2.28950601e-01 9.73389706e-01 9.70066453e-03 -4.00841704e+00] [ 4.09933131e-02 -3.15460691e-04 9.99159371e-01 -3.97450522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:-4.02, Z:-0.04 [[ 9.72536156e-01 2.29346656e-01 -3.96678278e-02 2.88241210e+01] [-2.29142778e-01 9.73344754e-01 9.67354847e-03 -4.01735237e+00] [ 4.08290681e-02 -3.18279388e-04 9.99166095e-01 -3.87155604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:-4.03, Z:-0.04 [[ 9.72464956e-01 2.29579678e-01 -4.00634549e-02 2.88559937e+01] [-2.29371379e-01 9.73289816e-01 9.78284202e-03 -4.02663863e+00] [ 4.12392944e-02 -3.24061151e-04 9.99149246e-01 -3.70985321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.04, Z:-0.04 [[ 9.72540308e-01 2.29027113e-01 -4.13754943e-02 2.88865781e+01] [-2.28803865e-01 9.73419973e-01 1.01167492e-02 -4.03792217e+00] [ 4.25927424e-02 -3.72073349e-04 9.99092448e-01 -3.57432886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.05, Z:-0.03 [[ 9.72619473e-01 2.28645434e-01 -4.16248159e-02 2.89183824e+01] [-2.28418739e-01 9.73509684e-01 1.01869714e-02 -4.04791594e+00] [ 4.28513659e-02 -4.00158806e-04 9.99081378e-01 -3.46978816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.05, Z:-0.04 [[ 9.72974192e-01 2.26974005e-01 -4.24737850e-02 2.89507566e+01] [-2.27359930e-01 9.73800746e-01 -4.42363714e-03 -4.05209031e+00] [ 4.03569529e-02 1.39609215e-02 9.99087788e-01 -4.11897455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.08, Z:-0.03 [[ 9.73076366e-01 2.27446883e-01 -3.72867457e-02 2.89761581e+01] [-2.26649217e-01 9.73669845e-01 2.44369490e-02 -4.07673618e+00] [ 4.18630878e-02 -1.53280058e-02 9.99005773e-01 -2.70191243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.01, Y:-4.07, Z:-0.04 [[ 9.73333802e-01 2.25582471e-01 -4.16396151e-02 2.90129422e+01] [-2.26024458e-01 9.74102091e-01 -6.16931697e-03 -4.06931242e+00] [ 3.91695463e-02 1.54163762e-02 9.99113648e-01 -3.88000953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:-4.09, Z:-0.03 [[ 9.73825965e-01 2.24121740e-01 -3.78475219e-02 2.90405185e+01] [-2.23951508e-01 9.74561155e-01 8.73368908e-03 -4.08680642e+00] [ 3.88421343e-02 -2.90835963e-05 9.99245359e-01 -3.45702838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-4.10, Z:-0.03 [[ 9.74021448e-01 2.23451498e-01 -3.67647417e-02 2.90692984e+01] [-2.23164845e-01 9.74709577e-01 1.17767546e-02 -4.09683382e+00] [ 3.84664793e-02 -3.26621374e-03 9.99254553e-01 -3.28669490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:-4.11, Z:-0.02 [[ 9.73924539e-01 2.23984388e-01 -3.60830328e-02 2.90966717e+01] [-2.23151797e-01 9.74444803e-01 2.57021747e-02 -4.11396108e+00] [ 4.09178097e-02 -1.69799851e-02 9.99018225e-01 -2.19494081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.12, Z:-0.02 [[ 9.74205755e-01 2.22026379e-01 -4.03414692e-02 2.91300853e+01] [-2.21805349e-01 9.75040388e-01 9.93120712e-03 -4.11718602e+00] [ 4.15395517e-02 -7.27085465e-04 9.99136596e-01 -2.46292608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:-4.13, Z:-0.02 [[ 9.74238025e-01 2.21870593e-01 -4.04191853e-02 2.91612259e+01] [-2.21648056e-01 9.75075834e-01 9.96283447e-03 -4.12673983e+00] [ 4.16222308e-02 -7.47338334e-04 9.99133140e-01 -2.31401414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:-4.14, Z:-0.02 [[ 9.74209251e-01 2.21955490e-01 -4.06459885e-02 2.91931573e+01] [-2.21729958e-01 9.75056502e-01 1.00321704e-02 -4.13612979e+00] [ 4.18588306e-02 -7.60999879e-04 9.99123245e-01 -2.17653597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.14, Z:-0.03 [[ 9.74079140e-01 2.22307108e-01 -4.18255853e-02 2.92264023e+01] [-2.22359577e-01 9.74958614e-01 3.45254209e-03 -4.14304144e+00] [ 4.15457393e-02 5.93727023e-03 9.99118962e-01 -2.57100123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:-4.16, Z:-0.02 [[ 9.74024105e-01 2.22907898e-01 -3.98636738e-02 2.92530802e+01] [-2.22390986e-01 9.74809006e-01 1.70191283e-02 -4.15789506e+00] [ 4.26531664e-02 -7.71171943e-03 9.99060177e-01 -1.81392038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.16, Z:-0.02 [[ 9.73879552e-01 2.23133448e-01 -4.20723535e-02 2.92879337e+01] [-2.23311449e-01 9.74747027e-01 4.80384332e-04 -4.15878663e+00] [ 4.11170913e-02 8.92740174e-03 9.99114451e-01 -2.47888099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.17, Z:-0.02 [[ 9.73855749e-01 2.23639700e-01 -3.98781152e-02 2.93190397e+01] [-2.23411788e-01 9.74671407e-01 1.01400732e-02 -4.17235431e+00] [ 4.11357816e-02 -9.65727614e-04 9.99153099e-01 -2.06923857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.19, Z:-0.01 [[ 9.73432153e-01 2.25703174e-01 -3.85735746e-02 2.93458536e+01] [-2.25084927e-01 9.74139185e-01 1.97389083e-02 -4.18703594e+00] [ 4.20311647e-02 -1.05321577e-02 9.99060786e-01 -1.24909731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604319999999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.38, Y:-4.19, Z:-0.01 [[ 9.73154862e-01 2.26578932e-01 -4.03930847e-02 2.93786913e+01] [-2.26357922e-01 9.73992615e-01 1.00238613e-02 -4.19093326e+00] [ 4.16137620e-02 -6.11474701e-04 9.99133585e-01 -1.39744079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.41, Y:-4.20, Z:-0.01 [[ 9.72848052e-01 2.27876385e-01 -4.04848254e-02 2.94098484e+01] [-2.27654938e-01 9.73689903e-01 1.00598953e-02 -4.19984755e+00] [ 4.17120783e-02 -5.70179148e-04 9.99129510e-01 -1.23705109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.21, Z:-0.01 [[ 9.72171595e-01 2.30802561e-01 -4.01567955e-02 2.94410059e+01] [-2.30586672e-01 9.73000500e-01 9.99069864e-03 -4.20902582e+00] [ 4.13784609e-02 -4.53051607e-04 9.99143442e-01 -1.08750104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:-4.22, Z:-0.01 [[ 9.71806660e-01 2.32384046e-01 -3.98681629e-02 2.94714941e+01] [-2.32172054e-01 9.72624027e-01 9.93169729e-03 -4.21712578e+00] [ 4.10847012e-02 -3.95416288e-04 9.99155589e-01 -9.90243564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:-4.23, Z:-0.01 [[ 9.71402494e-01 2.34011844e-01 -4.01951768e-02 2.95027492e+01] [-2.33797243e-01 9.72233686e-01 1.00253878e-02 -4.22550448e+00] [ 4.14251644e-02 -3.41165172e-04 9.99141551e-01 -8.44605898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-4.23, Z:-0.01 [[ 9.70780999e-01 2.36759471e-01 -3.91050543e-02 2.95334205e+01] [-2.36558135e-01 9.71568269e-01 9.76464229e-03 -4.23485828e+00] [ 4.03051015e-02 -2.28710464e-04 9.99187393e-01 -6.85965755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.24, Z:-0.01 [[ 9.70505347e-01 2.37985523e-01 -3.85001669e-02 2.95653818e+01] [-2.37790895e-01 9.71268684e-01 9.62466201e-03 -4.24352860e+00] [ 3.96845366e-02 -1.85796800e-04 9.99212241e-01 -5.35581378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.25, Z:-0.00 [[ 9.70027088e-01 2.40007341e-01 -3.79990082e-02 2.95967710e+01] [-2.39818842e-01 9.70771066e-01 9.51101688e-03 -4.25202239e+00] [ 3.91710516e-02 -1.13065846e-04 9.99232513e-01 -3.56578480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.26, Z:-0.00 [[ 9.69927388e-01 2.40360106e-01 -3.83129479e-02 2.96276858e+01] [-2.40206778e-01 9.70683428e-01 8.62474793e-03 -4.25934292e+00] [ 3.92627890e-02 8.37650539e-04 9.99228568e-01 -2.91251568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.27, Z:-0.00 [[ 9.69899325e-01 2.40661481e-01 -3.71126873e-02 2.96594288e+01] [-2.40444835e-01 9.70608569e-01 1.02609771e-02 -4.26864926e+00] [ 3.84913142e-02 -1.02856080e-03 9.99258405e-01 -1.47160692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.28, Z:-0.00 [[ 9.69919624e-01 2.40493759e-01 -3.76652962e-02 2.96904914e+01] [-2.40307733e-01 9.70650677e-01 9.45814177e-03 -4.27639365e+00] [ 3.88344693e-02 -1.22375362e-04 9.99245650e-01 -5.77830002e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:-4.29, Z:0.00 [[ 9.70112033e-01 2.39625836e-01 -3.82374365e-02 2.97219844e+01] [-2.39432960e-01 9.70865299e-01 9.61395271e-03 -4.28552469e+00] [ 3.94271517e-02 -1.71308584e-04 9.99222433e-01 1.40030952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.75, Y:-4.29, Z:0.00 [[ 9.70124935e-01 2.39230936e-01 -4.03257825e-02 2.97536978e+01] [-2.39160305e-01 9.70957408e-01 6.63779422e-03 -4.29258456e+00] [ 4.07425830e-02 3.20483675e-03 9.99164536e-01 5.20067095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:-4.31, Z:0.00 [[ 9.70512876e-01 2.38163962e-01 -3.71844652e-02 2.97832713e+01] [-2.37843669e-01 9.71218093e-01 1.28764906e-02 -4.30528370e+00] [ 3.91809414e-02 -3.65271031e-03 9.99225456e-01 3.75195990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.30, Z:-0.01 [[ 9.70714745e-01 2.36960116e-01 -3.95320909e-02 2.98214383e+01] [-2.37742529e-01 9.71190407e-01 -1.63610564e-02 -4.29897647e+00] [ 3.45162696e-02 2.52803779e-02 9.99084346e-01 -1.12275213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.84, Y:-4.33, Z:0.01 [[ 9.70822231e-01 2.37764447e-01 -3.11811312e-02 2.98416933e+01] [-2.36694707e-01 9.70972934e-01 3.44554249e-02 -4.33327836e+00] [ 3.84683095e-02 -2.60696838e-02 9.98919697e-01 1.29780745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:-4.33, Z:0.01 [[ 9.71142553e-01 2.35590693e-01 -3.71371343e-02 2.98775578e+01] [-2.35404249e-01 9.71852300e-01 9.37802333e-03 -4.32867289e+00] [ 3.83011844e-02 -3.65158299e-04 9.99266174e-01 6.51851092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:-4.34, Z:0.01 [[ 9.71232966e-01 2.35224954e-01 -3.70910599e-02 2.99082037e+01] [-2.35038244e-01 9.71940877e-01 9.37846198e-03 -4.33722766e+00] [ 3.82563655e-02 -3.90853875e-04 9.99267881e-01 7.77141897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:-4.35, Z:0.01 [[ 9.71388427e-01 2.34603276e-01 -3.69570945e-02 2.99399311e+01] [-2.34417036e-01 9.72091108e-01 9.35579823e-03 -4.34586506e+00] [ 3.81205639e-02 -4.24741582e-04 9.99273057e-01 8.89397747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.97, Y:-4.35, Z:0.01 [[ 9.71392381e-01 2.34764397e-01 -3.58122890e-02 2.99709056e+01] [-2.34589216e-01 9.72052213e-01 9.07716776e-03 -4.35402991e+00] [ 3.69424106e-02 -4.16314790e-04 9.99317309e-01 9.12534113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.00, Y:-4.36, Z:0.01 [[ 9.71520005e-01 2.34125064e-01 -3.65285446e-02 3.00029116e+01] [-2.33940986e-01 9.72206367e-01 9.29491846e-03 -4.36192888e+00] [ 3.76894570e-02 -4.84675493e-04 9.99289382e-01 1.05440430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.03, Y:-4.37, Z:0.01 [[ 9.71209499e-01 2.35385767e-01 -3.66830964e-02 3.00323040e+01] [-2.35220864e-01 9.71902020e-01 8.80961855e-03 -4.36936405e+00] [ 3.77260343e-02 7.26444176e-05 9.99288117e-01 1.11042637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:-4.38, Z:0.01 [[ 9.71332545e-01 2.35143653e-01 -3.49363578e-02 3.00651497e+01] [-2.34961313e-01 9.71960283e-01 9.29466360e-03 -4.37787187e+00] [ 3.61423334e-02 -8.19516765e-04 9.99346316e-01 1.28199040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:-4.38, Z:0.01 [[ 9.71131607e-01 2.35683109e-01 -3.68357677e-02 3.00968795e+01] [-2.35674481e-01 9.71820984e-01 4.63826362e-03 -4.38315296e+00] [ 3.68909324e-02 4.17688603e-03 9.99310569e-01 1.26276907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:-4.40, Z:0.02 [[ 9.70988512e-01 2.36715458e-01 -3.38688757e-02 3.01260178e+01] [-2.36390748e-01 9.71566388e-01 1.33479873e-02 -4.39590157e+00] [ 3.60655362e-02 -4.95445344e-03 9.99337146e-01 1.65113852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:-4.39, Z:0.01 [[ 9.71095705e-01 2.35984677e-01 -3.58380254e-02 3.01606401e+01] [-2.36271050e-01 9.71679293e-01 -3.91700790e-03 -4.39482646e+00] [ 3.38987133e-02 1.22712774e-02 9.99349935e-01 7.98853182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:-4.42, Z:0.02 [[ 9.70733444e-01 2.38042509e-01 -3.18173579e-02 3.01860061e+01] [-2.37444203e-01 9.71163800e-01 2.14737888e-02 -4.41652326e+00] [ 3.60115408e-02 -1.32904778e-02 9.99262994e-01 2.16944384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:-4.42, Z:0.02 [[ 9.70507372e-01 2.38531342e-01 -3.49033024e-02 3.02195379e+01] [-2.38364992e-01 9.71134743e-01 8.91295384e-03 -4.41722512e+00] [ 3.60218285e-02 -3.30361995e-04 9.99350949e-01 1.81004442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.25, Y:-4.43, Z:0.02 [[ 9.70395077e-01 2.38973737e-01 -3.49992385e-02 3.02509627e+01] [-2.38806335e-01 9.71025976e-01 8.94918665e-03 -4.42530136e+00] [ 3.61237903e-02 -3.26206785e-04 9.99347270e-01 1.90351713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.28, Y:-4.43, Z:0.02 [[ 9.70423352e-01 2.38949690e-01 -3.43738731e-02 3.02826591e+01] [-2.38787798e-01 9.71031892e-01 8.80069578e-03 -4.43361379e+00] [ 3.54810506e-02 -3.32339234e-04 9.99370294e-01 2.01367273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:-4.44, Z:0.02 [[ 9.70894136e-01 2.36791391e-01 -3.59779731e-02 3.03136563e+01] [-2.36931892e-01 9.71526193e-01 3.68393396e-04 -4.43624642e+00] [ 3.50407756e-02 8.16665826e-03 9.99352515e-01 1.52186015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:-4.46, Z:0.03 [[ 9.70623717e-01 2.38248648e-01 -3.35735216e-02 3.03432257e+01] [-2.37772241e-01 9.71161644e-01 1.75904124e-02 -4.45663666e+00] [ 3.67962084e-02 -9.09081999e-03 9.99281440e-01 2.52003663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:-4.46, Z:0.02 [[ 9.70899430e-01 2.36679099e-01 -3.65691135e-02 3.03754415e+01] [-2.36492883e-01 9.71587761e-01 9.39893264e-03 -4.46172765e+00] [ 3.77546340e-02 -4.77083287e-04 9.99286926e-01 2.38071375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:-4.47, Z:0.02 [[ 9.71260580e-01 2.35275272e-01 -3.60337608e-02 3.04080963e+01] [-2.35068969e-01 9.71928080e-01 9.91903467e-03 -4.47079496e+00] [ 3.73559275e-02 -1.16354836e-03 9.99301346e-01 2.48652788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:-4.48, Z:0.03 [[ 9.71262527e-01 2.35230944e-01 -3.62699199e-02 3.04394401e+01] [-2.35066227e-01 9.71939506e-01 8.80150025e-03 -4.47863053e+00] [ 3.73225533e-02 -2.27341442e-05 9.99303271e-01 2.57910639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:-4.49, Z:0.03 [[ 9.71724021e-01 2.33528362e-01 -3.48845506e-02 3.04707438e+01] [-2.33356095e-01 9.72349810e-01 8.98778740e-03 -4.48801113e+00] [ 3.60188894e-02 -5.93126400e-04 9.99350933e-01 2.70715725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.50, Y:-4.50, Z:0.03 [[ 9.71861864e-01 2.32978369e-01 -3.47217152e-02 3.05019197e+01] [-2.32806958e-01 9.72481719e-01 8.95695731e-03 -4.49691244e+00] [ 3.58530106e-02 -6.21468337e-04 9.99356881e-01 2.83420631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.53, Y:-4.51, Z:0.03 [[ 9.72020512e-01 2.32268208e-01 -3.50371751e-02 3.05333141e+01] [-2.32092792e-01 9.72651550e-01 9.04975625e-03 -4.50553583e+00] [ 3.61809333e-02 -6.64672918e-04 9.99345035e-01 2.97955314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.56, Y:-4.51, Z:0.03 [[ 9.72300716e-01 2.31172216e-01 -3.45068847e-02 3.05635661e+01] [-2.31000992e-01 9.72912591e-01 8.92370923e-03 -4.51416716e+00] [ 3.56350963e-02 -7.05404257e-04 9.99364619e-01 3.05262254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:-4.52, Z:0.03 [[ 9.72376243e-01 2.30971026e-01 -3.37168744e-02 3.05957127e+01] [-2.30807081e-01 9.72960372e-01 8.72955621e-03 -4.52283617e+00] [ 3.48214572e-02 -7.06319726e-04 9.99393300e-01 3.06491802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:-4.53, Z:0.03 [[ 9.72449336e-01 2.30544149e-01 -3.45207874e-02 3.06265106e+01] [-2.30371852e-01 9.73061582e-01 8.94243373e-03 -4.53073179e+00] [ 3.56524777e-02 -7.43446025e-04 9.99363972e-01 3.20085125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.54, Z:0.03 [[ 9.72532983e-01 2.30111648e-01 -3.50460509e-02 3.06579447e+01] [-2.29933399e-01 9.73163922e-01 9.08914664e-03 -4.53988731e+00] [ 3.61970708e-02 -7.81237290e-04 9.99344366e-01 3.28483031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:-4.55, Z:0.03 [[ 9.72577442e-01 2.29934011e-01 -3.49781351e-02 3.06898856e+01] [-2.29755949e-01 9.73205896e-01 9.08229175e-03 -4.54861725e+00] [ 3.61292550e-02 -7.96797450e-04 9.99346808e-01 3.42790505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.56, Z:0.04 [[ 9.72661912e-01 2.29618166e-01 -3.47030696e-02 3.07220441e+01] [-2.29442281e-01 9.73280451e-01 9.02239082e-03 -4.55711166e+00] [ 3.58475241e-02 -8.13384458e-04 9.99356940e-01 3.55499297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:-4.56, Z:0.04 [[ 9.72842587e-01 2.28772884e-01 -3.52174541e-02 3.07529086e+01] [-2.28664032e-01 9.73479197e-01 7.14232192e-03 -4.56461088e+00] [ 3.59174286e-02 1.10461014e-03 9.99354151e-01 3.63469900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:-4.57, Z:0.04 [[ 9.72741083e-01 2.29453356e-01 -3.35550788e-02 3.07818033e+01] [-2.29213911e-01 9.73315395e-01 1.08685748e-02 -4.57499038e+00] [ 3.51535057e-02 -2.88101835e-03 9.99377772e-01 3.85740980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:-4.58, Z:0.04 [[ 9.72662176e-01 2.29718738e-01 -3.40234285e-02 3.08137715e+01] [-2.29548659e-01 9.73256710e-01 8.87637899e-03 -4.58204128e+00] [ 3.51526007e-02 -8.23685696e-04 9.99381617e-01 3.89745039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014319999999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.85, Y:-4.58, Z:0.02 [[ 9.72712389e-01 2.29312636e-01 -3.53033145e-02 3.08492490e+01] [-2.29959407e-01 9.73077604e-01 -1.54482324e-02 -4.57620743e+00] [ 3.08103898e-02 2.31450164e-02 9.99257238e-01 2.41740668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:-4.61, Z:0.05 [[ 9.72199174e-01 2.32407900e-01 -2.85540505e-02 3.08707844e+01] [-2.31483059e-01 9.72301785e-01 3.23238684e-02 -4.61105678e+00] [ 3.52754767e-02 -2.48154592e-02 9.99069484e-01 4.81162043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:-4.61, Z:0.04 [[ 9.71796468e-01 2.33258954e-01 -3.46682186e-02 3.09048769e+01] [-2.33083769e-01 9.72414379e-01 9.06817801e-03 -4.60760456e+00] [ 3.58271079e-02 -7.31824320e-04 9.99357735e-01 4.21566547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:-4.62, Z:0.04 [[ 9.71545510e-01 2.34315709e-01 -3.45755772e-02 3.09360629e+01] [-2.34141747e-01 9.72160304e-01 9.05460280e-03 -4.61647452e+00] [ 3.57346393e-02 -7.01372658e-04 9.99361068e-01 4.35594234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.63, Z:0.04 [[ 9.71230174e-01 2.35653840e-01 -3.43397296e-02 3.09680250e+01] [-2.35482688e-01 9.71836835e-01 9.00386405e-03 -4.62502852e+00] [ 3.54944092e-02 -6.58412619e-04 9.99369658e-01 4.45879735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:-4.63, Z:0.04 [[ 9.70605267e-01 2.38268329e-01 -3.39649680e-02 3.09987495e+01] [-2.38102097e-01 9.71199197e-01 8.91684412e-03 -4.63299766e+00] [ 3.51113512e-02 -5.67605746e-04 9.99383245e-01 4.48932297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:-4.63, Z:0.04 [[ 9.70432153e-01 2.38820368e-01 -3.50180986e-02 3.10329929e+01] [-2.39113268e-01 9.70981856e-01 -4.36800614e-03 -4.63410209e+00] [ 3.29587695e-02 1.26121456e-02 9.99377133e-01 3.70428196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:-4.65, Z:0.04 [[ 9.70070741e-01 2.41399100e-01 -2.62532117e-02 3.10562306e+01] [-2.41069519e-01 9.70390139e-01 1.51150914e-02 -4.65290194e+00] [ 2.91246272e-02 -8.33385881e-03 9.99541046e-01 4.09605103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:-4.66, Z:0.04 [[ 9.69872740e-01 2.41426666e-01 -3.25581412e-02 3.10928936e+01] [-2.41403901e-01 9.70413409e-01 4.68734012e-03 -4.65665782e+00] [ 3.27265057e-02 3.31353890e-03 9.99458852e-01 4.33310955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284319999999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.12, Y:-4.67, Z:0.05 [[ 9.68983399e-01 2.44318871e-01 -3.71411088e-02 3.11205062e+01] [-2.44240389e-01 9.69691531e-01 6.70570685e-03 -4.66645722e+00] [ 3.76537494e-02 2.57364026e-03 9.99287532e-01 4.93059778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:-4.68, Z:0.05 [[ 9.69496593e-01 2.43376512e-01 -2.90556299e-02 3.11511098e+01] [-2.42820344e-01 9.69835317e-01 2.13948255e-02 -4.68352207e+00] [ 3.33861740e-02 -1.36869123e-02 9.99348804e-01 5.43286679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:-4.69, Z:0.05 [[ 9.69213189e-01 2.44063753e-01 -3.25373449e-02 3.11852430e+01] [-2.43914230e-01 9.69759126e-01 8.54905664e-03 -4.68528297e+00] [ 3.36399020e-02 -3.49537038e-04 9.99433957e-01 5.14042831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.69, Z:0.05 [[ 9.69052864e-01 2.44705994e-01 -3.24888291e-02 3.12163892e+01] [-2.44556901e-01 9.69597268e-01 8.54748264e-03 -4.69369476e+00] [ 3.35927001e-02 -3.37595168e-04 9.99435549e-01 5.26228607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:-4.70, Z:0.05 [[ 9.69019281e-01 2.44813719e-01 -3.26783679e-02 3.12481584e+01] [-2.44662719e-01 9.69570073e-01 8.60395497e-03 -4.70219231e+00] [ 3.37903337e-02 -3.42219935e-04 9.99428885e-01 5.38559047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.71, Z:0.06 [[ 9.68967163e-01 2.45020281e-01 -3.26756646e-02 3.12804396e+01] [-2.44869053e-01 9.69517892e-01 8.61420884e-03 -4.71086421e+00] [ 3.37902973e-02 -3.45626482e-04 9.99428885e-01 5.50609725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-4.72, Z:0.05 [[ 9.69022407e-01 2.44627176e-01 -3.39576143e-02 3.13152979e+01] [-2.44800617e-01 9.69572943e-01 -9.83364846e-04 -4.71509366e+00] [ 3.26838263e-02 9.26574751e-03 9.99422790e-01 4.97213549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:-4.73, Z:0.05 [[ 9.68960971e-01 2.45184420e-01 -3.16107206e-02 3.13444001e+01] [-2.44985726e-01 9.69474361e-01 1.00726062e-02 -4.73059928e+00] [ 3.31154293e-02 -2.01578689e-03 9.99449501e-01 5.48590040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:-4.74, Z:0.06 [[ 9.69081118e-01 2.44771023e-01 -3.11276972e-02 3.13719240e+01] [-2.44337800e-01 9.69539532e-01 1.70919925e-02 -4.74149862e+00] [ 3.43631575e-02 -8.95785417e-03 9.99369266e-01 6.14920413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:-4.75, Z:0.06 [[ 9.69423250e-01 2.43111672e-01 -3.33957647e-02 3.14040916e+01] [-2.42951516e-01 9.69998202e-01 8.83455033e-03 -4.74583863e+00] [ 3.45416140e-02 -4.50866855e-04 9.99403159e-01 5.98957255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-4.75, Z:0.06 [[ 9.69553886e-01 2.42062917e-01 -3.70244033e-02 3.14367570e+01] [-2.42119593e-01 9.70241735e-01 3.01293254e-03 -4.75113762e+00] [ 3.66519405e-02 6.04313301e-03 9.99309820e-01 5.99138566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.47, Y:-4.77, Z:0.06 [[ 9.70161884e-01 2.40388865e-01 -3.16087355e-02 3.14657645e+01] [-2.40014835e-01 9.70650300e-01 1.51945189e-02 -4.76708210e+00] [ 3.43336218e-02 -7.15457763e-03 9.99384818e-01 6.43212216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:-4.77, Z:0.06 [[ 9.69994400e-01 2.40136684e-01 -3.80162681e-02 3.14978815e+01] [-2.40339050e-01 9.70688692e-01 -7.77797766e-04 -4.76704642e+00] [ 3.67151838e-02 9.89125323e-03 9.99276818e-01 5.90622557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:-4.78, Z:0.07 [[ 9.70541496e-01 2.38337272e-01 -3.52781745e-02 3.15277777e+01] [-2.38067214e-01 9.71177860e-01 1.17288422e-02 -4.78210166e+00] [ 3.70568023e-02 -2.98475132e-03 9.99308703e-01 6.61578331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:-4.79, Z:0.07 [[ 9.70666665e-01 2.37425787e-01 -3.78843247e-02 3.15566285e+01] [-2.37417151e-01 9.71395972e-01 4.79193180e-03 -4.78824254e+00] [ 3.79384086e-02 4.34301995e-03 9.99270642e-01 6.50134983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:-4.81, Z:0.07 [[ 9.71328500e-01 2.35906187e-01 -2.94824722e-02 3.15855337e+01] [-2.35347238e-01 9.71679580e-01 2.12243012e-02 -4.80648163e+00] [ 3.36544601e-02 -1.36771502e-02 9.99339939e-01 7.01055102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:-4.81, Z:0.06 [[ 9.71389896e-01 2.34999240e-01 -3.43078319e-02 3.16218937e+01] [-2.35005901e-01 9.71986138e-01 3.89551111e-03 -4.80733194e+00] [ 3.42621791e-02 4.27848279e-03 9.99403721e-01 6.37296861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.65, Y:-4.82, Z:0.07 [[ 9.71577727e-01 2.34516042e-01 -3.22326945e-02 3.16487370e+01] [-2.34172221e-01 9.72092722e-01 1.41106406e-02 -4.81990218e+00] [ 3.46423393e-02 -6.16158249e-03 9.99380780e-01 6.96772398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.68, Y:-4.82, Z:0.07 [[ 9.71206113e-01 2.35665267e-01 -3.49366176e-02 3.16799848e+01] [-2.35546623e-01 9.71833858e-01 7.53265864e-03 -4.82479629e+00] [ 3.57277739e-02 9.13438157e-04 9.99361142e-01 6.87283106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.71, Y:-4.84, Z:0.07 [[ 9.71298838e-01 2.35530148e-01 -3.32282441e-02 3.17108553e+01] [-2.35309162e-01 9.71864207e-01 1.04671461e-02 -4.83526509e+00] [ 3.47586695e-02 -2.34781655e-03 9.99392977e-01 7.05116100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.74, Y:-4.84, Z:0.07 [[ 9.70854809e-01 2.37316111e-01 -3.34963277e-02 3.17425160e+01] [-2.37148727e-01 9.71432200e-01 8.94216856e-03 -4.84425293e+00] [ 3.46615319e-02 -7.37935879e-04 9.99398836e-01 7.15297671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-4.85, Z:0.07 [[ 9.70430817e-01 2.39106827e-01 -3.30447411e-02 3.17740766e+01] [-2.38944583e-01 9.70993032e-01 8.83273601e-03 -4.85310845e+00] [ 3.41981809e-02 -6.75697331e-04 9.99414843e-01 7.25359621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:-4.86, Z:0.07 [[ 9.69622309e-01 2.42367465e-01 -3.30240702e-02 3.18045202e+01] [-2.42206928e-01 9.70184356e-01 8.83847079e-03 -4.86170934e+00] [ 3.41815940e-02 -5.71319872e-04 9.99415475e-01 7.36594731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:-4.87, Z:0.07 [[ 9.69058338e-01 2.44619033e-01 -3.29767573e-02 3.18358022e+01] [-2.44459902e-01 9.69619140e-01 8.83622870e-03 -4.87079714e+00] [ 3.41364047e-02 -5.01326255e-04 9.99417057e-01 7.46030449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.87, Y:-4.87, Z:0.07 [[ 9.68322809e-01 2.46732372e-01 -3.83936816e-02 3.18665220e+01] [-2.46919754e-01 9.69035920e-01 -1.43202543e-04 -4.87405156e+00] [ 3.71695239e-02 9.61882471e-03 9.99262681e-01 7.29737021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.90, Y:-4.89, Z:0.08 [[ 9.68182715e-01 2.48407616e-01 -3.02636167e-02 3.18955418e+01] [-2.47937638e-01 9.68600080e-01 1.84611434e-02 -4.89418740e+00] [ 3.38992302e-02 -1.03702703e-02 9.99371452e-01 7.99026868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:-4.90, Z:0.08 [[ 9.67541156e-01 2.50601903e-01 -3.26005812e-02 3.19277942e+01] [-2.50448727e-01 9.68090174e-01 8.76639041e-03 -4.89846719e+00] [ 3.37571764e-02 -3.17069473e-04 9.99430014e-01 7.84422511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.96, Y:-4.91, Z:0.08 [[ 9.67292244e-01 2.51553783e-01 -3.26559164e-02 3.19592654e+01] [-2.51400417e-01 9.67843278e-01 8.78750971e-03 -4.90748908e+00] [ 3.38163405e-02 -2.90378970e-04 9.99428022e-01 7.97689464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:-4.92, Z:0.08 [[ 9.66945906e-01 2.52908831e-01 -3.24459215e-02 3.19910275e+01] [-2.52757860e-01 9.67490083e-01 8.74092494e-03 -4.91675577e+00] [ 3.36017644e-02 -2.51039900e-04 9.99435270e-01 8.02809520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:-4.93, Z:0.08 [[ 9.66828287e-01 2.53306418e-01 -3.28469620e-02 3.20216258e+01] [-2.53151530e-01 9.67386063e-01 8.86043168e-03 -4.92578949e+00] [ 3.40200975e-02 -2.51257284e-04 9.99421117e-01 8.19117659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:-4.94, Z:0.08 [[ 9.66809630e-01 2.53372086e-01 -3.28895887e-02 3.20528166e+01] [-2.53216603e-01 9.67368865e-01 8.87870675e-03 -4.93599895e+00] [ 3.40659805e-02 -2.55829261e-04 9.99419553e-01 8.29728299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-4.95, Z:0.08 [[ 9.66796554e-01 2.53375963e-01 -3.32422056e-02 3.20839928e+01] [-2.53216735e-01 9.67367846e-01 8.98534651e-03 -4.94537492e+00] [ 3.44341116e-02 -2.69519280e-04 9.99406934e-01 8.39877411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.12, Y:-4.95, Z:0.08 [[ 9.67261889e-01 2.51431817e-01 -3.44453205e-02 3.21168780e+01] [-2.51612496e-01 9.67827598e-01 -9.44279894e-04 -4.94816474e+00] [ 3.30997098e-02 9.58023901e-03 9.99406138e-01 7.80624612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:-4.97, Z:0.09 [[ 9.67015736e-01 2.52709030e-01 -3.19172842e-02 3.21438498e+01] [-2.52203141e-01 9.67486666e-01 1.90558767e-02 -4.97019152e+00] [ 3.56951390e-02 -1.03776933e-02 9.99308841e-01 8.92223061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:-4.97, Z:0.09 [[ 9.67179605e-01 2.51663678e-01 -3.50571749e-02 3.21769535e+01] [-2.51484474e-01 9.67814679e-01 9.50297539e-03 -4.97448217e+00] [ 3.63204022e-02 -3.74748773e-04 9.99340126e-01 8.73290393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-4.98, Z:0.09 [[ 9.67423233e-01 2.50782999e-01 -3.46435391e-02 3.22079374e+01] [-2.50607030e-01 9.68043241e-01 9.40215543e-03 -4.98422901e+00] [ 3.58943446e-02 -4.13949168e-04 9.99355505e-01 8.82569704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.24, Y:-4.99, Z:0.09 [[ 9.67703750e-01 2.49653470e-01 -3.49656595e-02 3.22378935e+01] [-2.49473051e-01 9.68335129e-01 9.50125787e-03 -4.99405983e+00] [ 3.62304984e-02 -4.71413109e-04 9.99343349e-01 8.95670468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:-5.01, Z:0.09 [[ 9.68330246e-01 2.47181082e-01 -3.51859038e-02 3.22689883e+01] [-2.46996352e-01 9.68969132e-01 9.57202483e-03 -5.00514006e+00] [ 3.64600781e-02 -5.78091293e-04 9.99334943e-01 9.09487712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:-5.02, Z:0.09 [[ 9.68496067e-01 2.46506907e-01 -3.53512907e-02 3.23007961e+01] [-2.46319563e-01 9.69140838e-01 9.62857921e-03 -5.01500926e+00] [ 3.66338907e-02 -6.17526619e-04 9.99328563e-01 9.23858671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454319999999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.33, Y:-5.02, Z:0.09 [[ 9.68760438e-01 2.45363029e-01 -3.60582619e-02 3.23313336e+01] [-2.45166879e-01 9.69431026e-01 9.83298968e-03 -5.02488132e+00] [ 3.73686500e-02 -6.85519847e-04 9.99301313e-01 9.34526860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484319999999997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.36, Y:-5.03, Z:0.09 [[ 9.68826273e-01 2.45096851e-01 -3.60996829e-02 3.23627469e+01] [-2.44899656e-01 9.69498341e-01 9.85517700e-03 -5.03400856e+00] [ 3.74140556e-02 -7.07154452e-04 9.99299599e-01 9.40899517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.39, Y:-5.04, Z:0.09 [[ 9.68895845e-01 2.44763360e-01 -3.64930134e-02 3.23947459e+01] [-2.44596711e-01 9.69582832e-01 9.03225189e-03 -5.04299285e+00] [ 3.75937636e-02 1.74759748e-04 9.99293089e-01 9.37549757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.42, Y:-5.05, Z:0.10 [[ 9.68773095e-01 2.45223885e-01 -3.66597437e-02 3.24236880e+01] [-2.44980949e-01 9.69464946e-01 1.10477719e-02 -5.05288902e+00] [ 3.82495140e-02 -1.72184540e-03 9.99266736e-01 9.66566581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574319999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.46, Y:-5.06, Z:0.09 [[ 9.68824060e-01 2.45067487e-01 -3.63575080e-02 3.24561864e+01] [-2.44994644e-01 9.69502546e-01 6.51439535e-03 -5.06114219e+00] [ 3.68451631e-02 2.59609177e-03 9.99317614e-01 9.46406010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:-5.07, Z:0.10 [[ 9.68686575e-01 2.45700217e-01 -3.57452607e-02 3.24847370e+01] [-2.45374242e-01 9.69337117e-01 1.33054240e-02 -5.07387619e+00] [ 3.79183535e-02 -4.11781940e-03 9.99272356e-01 1.00265450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:-5.08, Z:0.10 [[ 9.68373498e-01 2.46882007e-01 -3.60838282e-02 3.25169268e+01] [-2.46684698e-01 9.69045311e-01 9.89162499e-03 -5.08247462e+00] [ 3.74089287e-02 -6.77459237e-04 9.99299811e-01 1.01040601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:-5.09, Z:0.10 [[ 9.68014677e-01 2.48310377e-01 -3.59101831e-02 3.25481521e+01] [-2.48115497e-01 9.68680318e-01 9.85602023e-03 -5.09124780e+00] [ 3.72328397e-02 -6.30899295e-04 9.99306418e-01 1.02449861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:-5.10, Z:0.10 [[ 9.67620741e-01 2.49850449e-01 -3.58448840e-02 3.25799701e+01] [-2.49656889e-01 9.68284263e-01 9.85004588e-03 -5.09995007e+00] [ 3.71690755e-02 -5.82186456e-04 9.99308822e-01 1.03437465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:-5.11, Z:0.10 [[ 9.67057455e-01 2.51975202e-01 -3.61714806e-02 3.26106775e+01] [-2.51779129e-01 9.67733553e-01 9.95186290e-03 -5.10896974e+00] [ 3.75119781e-02 -5.16799326e-04 9.99296044e-01 1.04805645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:-5.12, Z:0.10 [[ 9.66793350e-01 2.53004574e-01 -3.60458695e-02 3.26437596e+01] [-2.52909576e-01 9.67462781e-01 7.24666335e-03 -5.11787707e+00] [ 3.67064761e-02 2.11031962e-03 9.99323862e-01 1.03556464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.68, Y:-5.12, Z:0.10 [[ 9.66795286e-01 2.52991856e-01 -3.60831701e-02 3.26769629e+01] [-2.53192881e-01 9.67415260e-01 -1.03931585e-03 -5.12133322e+00] [ 3.46444709e-02 1.01408074e-02 9.99348250e-01 9.86625414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814319999999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.70, Y:-5.14, Z:0.11 [[ 9.66432934e-01 2.54798376e-01 -3.29419441e-02 3.27026444e+01] [-2.54126712e-01 9.66891411e-01 2.32511073e-02 -5.14353298e+00] [ 3.77756272e-02 -1.40992079e-02 9.99186776e-01 1.12699064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.74, Y:-5.15, Z:0.11 [[ 9.66417522e-01 2.54295800e-01 -3.70245721e-02 3.27368524e+01] [-2.54091053e-01 9.67126379e-01 1.02129642e-02 -5.14564272e+00] [ 3.84045543e-02 -4.62375053e-04 9.99262166e-01 1.09361909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.77, Y:-5.14, Z:0.10 [[ 9.66587197e-01 2.53487171e-01 -3.81240801e-02 3.27725545e+01] [-2.53871561e-01 9.67222166e-01 -5.52379284e-03 -5.14478464e+00] [ 3.54742447e-02 1.50178472e-02 9.99257746e-01 1.00765814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.80, Y:-5.17, Z:0.12 [[ 9.66270571e-01 2.55391040e-01 -3.31149438e-02 3.27972522e+01] [-2.54631708e-01 9.66702215e-01 2.54857155e-02 -5.16995973e+00] [ 3.85211129e-02 -1.61939822e-02 9.99126558e-01 1.17593924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934319999999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.83, Y:-5.17, Z:0.11 [[ 9.66319270e-01 2.54682324e-01 -3.69321247e-02 3.28319745e+01] [-2.54477883e-01 9.67024659e-01 1.02134779e-02 -5.16996474e+00] [ 3.83154675e-02 -4.71071572e-04 9.99265582e-01 1.13177213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964319999999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:32.87, Y:-5.17, Z:0.10 [[ 9.66804438e-01 2.52578316e-01 -3.86441852e-02 3.28686397e+01] [-2.53214997e-01 9.67329294e-01 -1.24981013e-02 -5.16614374e+00] [ 3.42249030e-02 2.18685070e-02 9.99174872e-01 9.95181371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994319999999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.89, Y:-5.20, Z:0.12 [[ 9.66535049e-01 2.54645691e-01 -3.10736515e-02 3.28904997e+01] [-2.53678137e-01 9.66760982e-01 3.19469333e-02 -5.19920426e+00] [ 3.81759427e-02 -2.29951248e-02 9.99006417e-01 1.23309409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:-5.19, Z:0.12 [[ 9.66499853e-01 2.53905530e-01 -3.75501803e-02 3.29247767e+01] [-2.53692516e-01 9.67228873e-01 1.04122091e-02 -5.19488395e+00] [ 3.89633360e-02 -5.37198906e-04 9.99240497e-01 1.17338196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:-5.20, Z:0.12 [[ 9.66558953e-01 2.53670403e-01 -3.76180291e-02 3.29573826e+01] [-2.53455991e-01 9.67290553e-01 1.04425271e-02 -5.20147201e+00] [ 3.90365242e-02 -5.58803178e-04 9.99237628e-01 1.18494048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:-5.21, Z:0.12 [[ 9.66596440e-01 2.53412944e-01 -3.83823202e-02 3.29890390e+01] [-2.53189015e-01 9.67358014e-01 1.06674463e-02 -5.20945283e+00] [ 3.98327140e-02 -5.93133749e-04 9.99206186e-01 1.19369226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:-5.22, Z:0.12 [[ 9.66732516e-01 2.52843088e-01 -3.87119491e-02 3.30203271e+01] [-2.52614318e-01 9.67507091e-01 1.07720069e-02 -5.21721203e+00] [ 4.01777128e-02 -6.34456730e-04 9.99192348e-01 1.20403788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:-5.23, Z:0.12 [[ 9.67091573e-01 2.51361574e-01 -3.93858958e-02 3.30518331e+01] [-2.51123024e-01 9.67892990e-01 1.09720873e-02 -5.22517943e+00] [ 4.08792936e-02 -7.20307893e-04 9.99163833e-01 1.21558219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:-5.23, Z:0.12 [[ 9.67295243e-01 2.50594422e-01 -3.92727549e-02 3.30832237e+01] [-2.50356072e-01 9.68091862e-01 1.09537265e-02 -5.23366632e+00] [ 4.07645772e-02 -7.63314891e-04 9.99168488e-01 1.23056736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204319999999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.12, Y:-5.24, Z:0.12 [[ 9.68141810e-01 2.47264421e-01 -3.95188878e-02 3.31162974e+01] [-2.47301344e-01 9.68930243e-01 4.02858022e-03 -5.23531453e+00] [ 3.92871701e-02 5.87283711e-03 9.99210703e-01 1.18994919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-5.25, Z:0.13 [[ 9.68008757e-01 2.48091111e-01 -3.75479275e-02 3.31450398e+01] [-2.47590867e-01 9.68706496e-01 1.75067641e-02 -5.25179693e+00] [ 4.07161938e-02 -7.65017703e-03 9.99141465e-01 1.27643706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:-5.25, Z:0.13 [[ 9.68104068e-01 2.47072831e-01 -4.15876054e-02 3.31771967e+01] [-2.46916627e-01 9.68995556e-01 8.93259070e-03 -5.25433377e+00] [ 4.25052053e-02 1.62099383e-03 9.99094930e-01 1.26054273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:-5.26, Z:0.13 [[ 9.68361999e-01 2.45611830e-01 -4.41572982e-02 3.32093427e+01] [-2.45642895e-01 9.69348479e-01 4.80574859e-03 -5.25905734e+00] [ 4.39841586e-02 6.19322225e-03 9.99013032e-01 1.26751592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324319999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.24, Y:-5.28, Z:0.13 [[ 9.68447781e-01 2.46490156e-01 -3.67627278e-02 3.32374707e+01] [-2.45879319e-01 9.69086327e-01 2.03727991e-02 -5.27616234e+00] [ 4.06479513e-02 -1.06907976e-02 9.99116335e-01 1.32772847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.27, Y:-5.28, Z:0.13 [[ 9.68393897e-01 2.46297380e-01 -3.93809743e-02 3.32712153e+01] [-2.46052155e-01 9.69193795e-01 1.10329321e-02 -5.28009568e+00] [ 4.08851782e-02 -9.94450493e-04 9.99163357e-01 1.30864929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:-5.29, Z:0.13 [[ 9.68283202e-01 2.46729417e-01 -3.93984132e-02 3.33033292e+01] [-2.46484061e-01 9.69083912e-01 1.10444278e-02 -5.28825087e+00] [ 4.09053536e-02 -9.83053004e-04 9.99162542e-01 1.32246646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.33, Y:-5.30, Z:0.13 [[ 9.67847944e-01 2.48411493e-01 -3.95232422e-02 3.33348443e+01] [-2.48165446e-01 9.68654154e-01 1.10924035e-02 -5.29520620e+00] [ 4.10398332e-02 -9.27456909e-04 9.99157081e-01 1.33348991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:-5.30, Z:0.13 [[ 9.67494424e-01 2.49784713e-01 -3.95238748e-02 3.33656259e+01] [-2.49539304e-01 9.68300997e-01 1.11047130e-02 -5.30275860e+00] [ 4.10447949e-02 -8.80987749e-04 9.99156919e-01 1.34772350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:-5.31, Z:0.14 [[ 9.66621509e-01 2.53119978e-01 -3.96627742e-02 3.33978744e+01] [-2.52875140e-01 9.67434602e-01 1.11559471e-02 -5.30998179e+00] [ 4.11949332e-02 -7.53848813e-04 9.99150844e-01 1.36172252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:-5.32, Z:0.14 [[ 9.65948079e-01 2.55487716e-01 -4.08697400e-02 3.34295233e+01] [-2.55229264e-01 9.66812058e-01 1.15094189e-02 -5.31915419e+00] [ 4.24538726e-02 -6.86347449e-04 9.99098192e-01 1.38193058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:-5.33, Z:0.14 [[ 9.65509480e-01 2.57264509e-01 -4.00801309e-02 3.34607312e+01] [-2.57016904e-01 9.66340830e-01 1.13009252e-02 -5.32672523e+00] [ 4.16383939e-02 -6.09879270e-04 9.99132560e-01 1.39165705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:-5.34, Z:0.14 [[ 9.64868742e-01 2.59685185e-01 -3.98988057e-02 3.34917969e+01] [-2.59441345e-01 9.65693191e-01 1.12627602e-02 -5.33512478e+00] [ 4.14547769e-02 -5.15685429e-04 9.99140248e-01 1.40191630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:-5.34, Z:0.14 [[ 9.63707901e-01 2.63894781e-01 -4.03314591e-02 3.35238507e+01] [-2.63648770e-01 9.64551410e-01 1.13975453e-02 -5.34253825e+00] [ 4.19095184e-02 -3.50564851e-04 9.99121349e-01 1.41609129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-5.35, Z:0.14 [[ 9.63214716e-01 2.65715801e-01 -4.01562481e-02 3.35550217e+01] [-2.65472934e-01 9.64051364e-01 1.13617262e-02 -5.35103428e+00] [ 4.17316759e-02 -2.83384892e-04 9.99128814e-01 1.42884436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-5.36, Z:0.14 [[ 9.62437160e-01 2.68595942e-01 -3.96350039e-02 3.35869732e+01] [-2.68361260e-01 9.63252922e-01 1.12268611e-02 -5.35897072e+00] [ 4.11940227e-02 -1.68648730e-04 9.99151152e-01 1.44515416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-5.37, Z:0.15 [[ 9.62101145e-01 2.69805375e-01 -3.95783539e-02 3.36186055e+01] [-2.69571854e-01 9.62914868e-01 1.12237325e-02 -5.36755764e+00] [ 4.11388087e-02 -1.29155601e-04 9.99153433e-01 1.45532426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:-5.38, Z:0.15 [[ 9.61849553e-01 2.70603992e-01 -4.02357654e-02 3.36505123e+01] [-2.70362765e-01 9.62690743e-01 1.14240068e-02 -5.37646499e+00] [ 4.18259807e-02 -1.09923020e-04 9.99124905e-01 1.46651983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:-5.40, Z:0.15 [[ 9.61467482e-01 2.72035643e-01 -3.97100782e-02 3.36823311e+01] [-2.71349781e-01 9.62232779e-01 2.18489177e-02 -5.39523225e+00] [ 4.41540233e-02 -1.02317028e-02 9.98972339e-01 1.53781533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:-5.39, Z:0.15 [[ 9.62017260e-01 2.69591152e-01 -4.29348493e-02 3.37135334e+01] [-2.69759246e-01 9.62925849e-01 1.93870943e-03 -5.39039502e+00] [ 4.18657351e-02 9.71700063e-03 9.99075993e-01 1.46591880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:-5.40, Z:0.15 [[ 9.62057291e-01 2.69851250e-01 -4.03245820e-02 3.37427430e+01] [-2.69607182e-01 9.62902007e-01 1.14757654e-02 -5.40483981e+00] [ 4.19253706e-02 -1.68546853e-04 9.99120731e-01 1.51054255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834319999999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.77, Y:-5.41, Z:0.15 [[ 9.62358385e-01 2.68675888e-01 -4.09830098e-02 3.37740236e+01] [-2.68422165e-01 9.63230612e-01 1.16760248e-02 -5.41441538e+00] [ 4.26131560e-02 -2.35772160e-04 9.99091619e-01 1.51853177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:-5.42, Z:0.15 [[ 9.62478631e-01 2.68148277e-01 -4.16099328e-02 3.38056202e+01] [-2.67885640e-01 9.63377613e-01 1.18683972e-02 -5.42400431e+00] [ 4.32685680e-02 -2.76375213e-04 9.99063439e-01 1.53283438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:-5.43, Z:0.15 [[ 9.62908244e-01 2.66507731e-01 -4.22059604e-02 3.38357521e+01] [-2.66235357e-01 9.63832711e-01 1.20515718e-02 -5.43386197e+00] [ 4.38913223e-02 -3.67838833e-04 9.99036244e-01 1.54426936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:-5.44, Z:0.16 [[ 9.63165008e-01 2.65558977e-01 -4.23272498e-02 3.38675264e+01] [-2.65283694e-01 9.64094524e-01 1.20958650e-02 -5.44407778e+00] [ 4.40196353e-02 -4.21584785e-04 9.99030577e-01 1.55678193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954319999999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.90, Y:-5.45, Z:0.16 [[ 9.63501611e-01 2.63749413e-01 -4.58354879e-02 3.39003294e+01] [-2.63701152e-01 9.64577515e-01 7.20551649e-03 -5.45149383e+00] [ 4.61123318e-02 5.14434423e-03 9.98923014e-01 1.55624198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:-5.47, Z:0.16 [[ 9.64187636e-01 2.62022334e-01 -4.10670028e-02 3.39274860e+01] [-2.61495294e-01 9.65040337e-01 1.78146027e-02 -5.46782251e+00] [ 4.42991380e-02 -6.43779173e-03 9.98997568e-01 1.60387391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01432 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.96, Y:-5.47, Z:0.15 [[ 9.64654631e-01 2.59898107e-01 -4.35248955e-02 3.39627083e+01] [-2.60118458e-01 9.65576513e-01 6.21080904e-04 -5.46885115e+00] [ 4.21880346e-02 1.07225001e-02 9.99052150e-01 1.52397946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04431999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.99, Y:-5.49, Z:0.17 [[ 9.64750901e-01 2.60165570e-01 -3.96178566e-02 3.39867588e+01] [-2.59398767e-01 9.65484576e-01 2.34906934e-02 -5.49028808e+00] [ 4.43618992e-02 -1.23858445e-02 9.98938743e-01 1.65293785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.02, Y:-5.49, Z:0.16 [[ 9.65067361e-01 2.58497882e-01 -4.27063659e-02 3.40208596e+01] [-2.58328652e-01 9.66010082e-01 9.53042229e-03 -5.49468034e+00] [ 4.37183740e-02 1.83477845e-03 9.99042210e-01 1.60863241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.05, Y:-5.51, Z:0.17 [[ 9.65193121e-01 2.58143121e-01 -4.20043767e-02 3.40487020e+01] [-2.57728543e-01 9.66099428e-01 1.50961638e-02 -5.50518476e+00] [ 4.44773751e-02 -3.74498666e-03 9.99003372e-01 1.65259857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.08, Y:-5.51, Z:0.17 [[ 9.65160005e-01 2.58197442e-01 -4.24292962e-02 3.40802822e+01] [-2.57910745e-01 9.66091818e-01 1.21920439e-02 -5.51480074e+00] [ 4.41385504e-02 -8.24301786e-04 9.99025079e-01 1.66496413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.11, Y:-5.52, Z:0.17 [[ 9.65005683e-01 2.58857157e-01 -4.19166223e-02 3.41110915e+01] [-2.58577404e-01 9.65915285e-01 1.20577515e-02 -5.52491428e+00] [ 4.36091415e-02 -7.97107365e-04 9.99048351e-01 1.68238589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:-5.53, Z:0.17 [[ 9.64883976e-01 2.58542642e-01 -4.64178362e-02 3.41432105e+01] [-2.58663204e-01 9.65961250e-01 3.49418554e-03 -5.52874705e+00] [ 4.57412270e-02 8.63510260e-03 9.98916000e-01 1.67310718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:-5.55, Z:0.17 [[ 9.64221293e-01 2.62055921e-01 -4.00498642e-02 3.41695676e+01] [-2.61368289e-01 9.64996783e-01 2.16293066e-02 -5.54806044e+00] [ 4.43160780e-02 -1.03876735e-02 9.98963554e-01 1.73465375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:-5.56, Z:0.18 [[ 9.63585733e-01 2.64093547e-01 -4.19181701e-02 3.42026679e+01] [-2.63450320e-01 9.64459536e-01 2.02912018e-02 -5.55885425e+00] [ 4.57871543e-02 -8.50895723e-03 9.98914978e-01 1.75464378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-5.56, Z:0.17 [[ 9.63245976e-01 2.64920576e-01 -4.44328408e-02 3.42346968e+01] [-2.64758359e-01 9.64266962e-01 9.60403879e-03 -5.56219338e+00] [ 4.53894278e-02 2.51291429e-03 9.98966208e-01 1.72072967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:-5.57, Z:0.17 [[ 9.62809718e-01 2.66596297e-01 -4.38618522e-02 3.42629152e+01] [-2.66503547e-01 9.63800265e-01 8.05659973e-03 -5.56817262e+00] [ 4.44219244e-02 3.93236667e-03 9.99005120e-01 1.71892299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:-5.58, Z:0.17 [[ 9.62473692e-01 2.67982537e-01 -4.27755994e-02 3.42932044e+01] [-2.67697674e-01 9.63423666e-01 1.23610000e-02 -5.58004146e+00] [ 4.45235570e-02 -4.46208845e-04 9.99008235e-01 1.74663002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:-5.59, Z:0.18 [[ 9.62075706e-01 2.69371514e-01 -4.30037507e-02 3.43239844e+01] [-2.69084341e-01 9.63036255e-01 1.24413959e-02 -5.59070797e+00] [ 4.47655287e-02 -3.97928866e-04 9.98997442e-01 1.76128016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:-5.59, Z:0.18 [[ 9.61782756e-01 2.69412016e-01 -4.88988315e-02 3.43566324e+01] [-2.69600408e-01 9.62968139e-01 2.82550031e-03 -5.59483487e+00] [ 4.78492405e-02 1.04656275e-02 9.98799740e-01 1.75534199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:-5.62, Z:0.18 [[ 9.61884276e-01 2.70498569e-01 -4.01143936e-02 3.43836421e+01] [-2.69758357e-01 9.62654662e-01 2.29440514e-02 -5.61581253e+00] [ 4.48226411e-02 -1.12483293e-02 9.98931632e-01 1.83224417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:-5.62, Z:0.18 [[ 9.61842958e-01 2.70254909e-01 -4.26662341e-02 3.44156038e+01] [-2.69971685e-01 9.62788729e-01 1.23755052e-02 -5.61905276e+00] [ 4.44231103e-02 -3.84617439e-04 9.99012732e-01 1.80853698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494319999999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:34.45, Y:-5.63, Z:0.18 [[ 9.61853272e-01 2.70172253e-01 -4.29562155e-02 3.44467707e+01] [-2.69884474e-01 9.62811918e-01 1.24731985e-02 -5.62847018e+00] [ 4.47286683e-02 -4.04171158e-04 9.98999091e-01 1.81949822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524319999999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:34.48, Y:-5.64, Z:0.18 [[ 9.61931816e-01 2.69911620e-01 -4.28357222e-02 3.44782858e+01] [-2.69624560e-01 9.62885005e-01 1.24524414e-02 -5.63844345e+00] [ 4.46069332e-02 -4.28836813e-04 9.99004523e-01 1.82851395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55432 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.51, Y:-5.65, Z:0.19 [[ 9.62201843e-01 2.68726845e-01 -4.41983620e-02 3.45084395e+01] [-2.68419290e-01 9.63216289e-01 1.28633436e-02 -5.65006170e+00] [ 4.60293079e-02 -5.13440017e-04 9.98939958e-01 1.85313865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58432 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:34.54, Y:-5.66, Z:0.19 [[ 9.62427411e-01 2.67834012e-01 -4.47036944e-02 3.45400188e+01] [-2.67517763e-01 9.63464898e-01 1.30244622e-02 -5.66062871e+00] [ 4.65588343e-02 -5.76067163e-04 9.98915383e-01 1.86978937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:-5.67, Z:0.19 [[ 9.63062515e-01 2.65495891e-01 -4.49724890e-02 3.45716123e+01] [-2.65172590e-01 9.64111732e-01 1.31174027e-02 -5.67137583e+00] [ 4.68411208e-02 -7.07407409e-04 9.98902102e-01 1.88766890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:-5.68, Z:0.19 [[ 9.63371629e-01 2.64221533e-01 -4.58485151e-02 3.46021020e+01] [-2.63883357e-01 9.64461686e-01 1.33876871e-02 -5.68099711e+00] [ 4.77564514e-02 -7.98657843e-04 9.98858690e-01 1.90221520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674319999999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:34.63, Y:-5.69, Z:0.19 [[ 9.63716891e-01 2.62931010e-01 -4.60112763e-02 3.46320487e+01] [-2.62588294e-01 9.64814237e-01 1.34490241e-02 -5.69074437e+00] [ 4.79284999e-02 -8.79029107e-04 9.98850382e-01 1.91464600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704319999999996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:34.66, Y:-5.70, Z:0.19 [[ 9.63985725e-01 2.61888162e-01 -4.63261536e-02 3.46632857e+01] [-2.61538840e-01 9.65097760e-01 1.35554195e-02 -5.70111439e+00] [ 4.82592709e-02 -9.51142421e-04 9.98834390e-01 1.93158259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:-5.72, Z:0.20 [[ 9.64159087e-01 2.61486755e-01 -4.49658939e-02 3.46933955e+01] [-2.60665043e-01 9.65146602e-01 2.33617804e-02 -5.71827268e+00] [ 4.95074759e-02 -1.08034362e-02 9.98715323e-01 2.02964468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:-5.72, Z:0.19 [[ 9.64616718e-01 2.59096269e-01 -4.88232597e-02 3.47257488e+01] [-2.59204101e-01 9.65813350e-01 4.21984361e-03 -5.71531959e+00] [ 4.82475018e-02 8.58465743e-03 9.98798519e-01 1.94341702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:-5.73, Z:0.20 [[ 9.64706093e-01 2.59180154e-01 -4.65596473e-02 3.47550884e+01] [-2.58822563e-01 9.65828341e-01 1.36563439e-02 -5.73005155e+00] [ 4.85080802e-02 -1.12367088e-03 9.98822158e-01 1.99610818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:-5.74, Z:0.20 [[ 9.64505383e-01 2.59867540e-01 -4.68852576e-02 3.47864982e+01] [-2.59505005e-01 9.65643634e-01 1.37668129e-02 -5.73969768e+00] [ 4.88519983e-02 -1.11120610e-03 9.98805410e-01 2.01283697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854319999999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.82, Y:-5.75, Z:0.20 [[ 9.64401523e-01 2.60169039e-01 -4.73473716e-02 3.48183536e+01] [-2.59798924e-01 9.65562434e-01 1.39178162e-02 -5.74941060e+00] [ 4.93378282e-02 -1.12156697e-03 9.98781518e-01 2.02880437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884319999999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:34.85, Y:-5.76, Z:0.20 [[ 9.63866892e-01 2.61905266e-01 -4.86440698e-02 3.48515100e+01] [-2.61687631e-01 9.65091033e-01 1.09032725e-02 -5.76016363e+00] [ 4.98015801e-02 2.22024798e-03 9.98756664e-01 2.03212165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91432 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.88, Y:-5.77, Z:0.21 [[ 9.63563947e-01 2.63209594e-01 -4.75944384e-02 3.48818873e+01] [-2.62678660e-01 9.64730092e-01 1.71979922e-02 -5.77348065e+00] [ 5.04424635e-02 -4.06932191e-03 9.98718678e-01 2.07823118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94432 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.92, Y:-5.78, Z:0.21 [[ 9.62989537e-01 2.65000396e-01 -4.92538571e-02 3.49150210e+01] [-2.64812224e-01 9.64243629e-01 1.04264524e-02 -5.77897242e+00] [ 5.02557319e-02 3.00245882e-03 9.98731869e-01 2.06201103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.95, Y:-5.79, Z:0.21 [[ 9.62777315e-01 2.65925856e-01 -4.84074530e-02 3.49462055e+01] [-2.65544197e-01 9.63993080e-01 1.42696169e-02 -5.78991705e+00] [ 5.04591098e-02 -8.84145218e-04 9.98725736e-01 2.09541152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:-5.80, Z:0.22 [[ 9.62355865e-01 2.67595109e-01 -4.75819929e-02 3.49727350e+01] [-2.66902891e-01 9.63506036e-01 2.04686564e-02 -5.79826463e+00] [ 5.13228497e-02 -6.99836004e-03 9.98657593e-01 2.16285331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034319999999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.01, Y:-5.80, Z:0.21 [[ 9.61859392e-01 2.68824889e-01 -5.05933682e-02 3.50105719e+01] [-2.69045508e-01 9.63124153e-01 2.52592756e-03 -5.80061862e+00] [ 4.94067271e-02 1.11823313e-02 9.98716141e-01 2.08601430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064319999999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.03, Y:-5.82, Z:0.22 [[ 9.61648716e-01 2.70490339e-01 -4.54612279e-02 3.50339272e+01] [-2.69521206e-01 9.62633605e-01 2.63602233e-02 -5.81925257e+00] [ 5.08926914e-02 -1.30965099e-02 9.98618253e-01 2.21445544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:-5.82, Z:0.22 [[ 9.61240298e-01 2.71402097e-01 -4.85591527e-02 3.50676853e+01] [-2.71024164e-01 9.62465856e-01 1.43310333e-02 -5.82227985e+00] [ 5.06259990e-02 -6.14862978e-04 9.98717493e-01 2.18797321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12432 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.10, Y:-5.83, Z:0.22 [[ 9.60951553e-01 2.72460782e-01 -4.83449511e-02 3.50993521e+01] [-2.72086708e-01 9.62166719e-01 1.42838522e-02 -5.83188803e+00] [ 5.04076925e-02 -5.72071391e-04 9.98728560e-01 2.20307811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15431999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.13, Y:-5.84, Z:0.22 [[ 9.60686192e-01 2.73380896e-01 -4.84244399e-02 3.51304864e+01] [-2.73005938e-01 9.61905709e-01 1.43235376e-02 -5.84047399e+00] [ 5.04955268e-02 -5.40265106e-04 9.98724141e-01 2.21970037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:-5.85, Z:0.22 [[ 9.60623158e-01 2.73641958e-01 -4.81998656e-02 3.51622474e+01] [-2.73270014e-01 9.61831476e-01 1.42727417e-02 -5.84959221e+00] [ 5.02657688e-02 -5.39148279e-04 9.98735732e-01 2.23099293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:-5.86, Z:0.23 [[ 9.60718487e-01 2.73303747e-01 -4.82187807e-02 3.51933362e+01] [-2.72930260e-01 9.61927614e-01 1.42947352e-02 -5.85825383e+00] [ 5.02897814e-02 -5.72852015e-04 9.98734504e-01 2.25044417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:-5.87, Z:0.23 [[ 9.60683770e-01 2.73426382e-01 -4.82152221e-02 3.52253566e+01] [-2.73052447e-01 9.61892758e-01 1.43067292e-02 -5.86790455e+00] [ 5.02897102e-02 -5.78958137e-04 9.98734504e-01 2.26258623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.26, Y:-5.88, Z:0.23 [[ 9.60691941e-01 2.73417398e-01 -4.81032372e-02 3.52566329e+01] [-2.73044720e-01 9.61895307e-01 1.42828242e-02 -5.87692696e+00] [ 5.01754507e-02 -5.87059172e-04 9.98740246e-01 2.27719295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30432 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:35.29, Y:-5.89, Z:0.23 [[ 9.60896009e-01 2.72759687e-01 -4.77599452e-02 3.52882216e+01] [-2.72390696e-01 9.62081989e-01 1.41970181e-02 -5.88560029e+00] [ 4.98213572e-02 -6.32493306e-04 9.98757945e-01 2.29005536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33432 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.32, Y:-5.89, Z:0.23 [[ 9.60986160e-01 2.72560118e-01 -4.70806005e-02 3.53195257e+01] [-2.72200530e-01 9.62138535e-01 1.40110966e-02 -5.89491358e+00] [ 4.91169262e-02 -6.49105520e-04 9.98792824e-01 2.29844937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36431999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:35.35, Y:-5.90, Z:0.23 [[ 9.61073741e-01 2.72284419e-01 -4.68877336e-02 3.53501960e+01] [-2.71926672e-01 9.62216576e-01 1.39694717e-02 -5.90393147e+00] [ 4.89198240e-02 -6.75667032e-04 9.98802480e-01 2.31239068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.38, Y:-5.91, Z:0.23 [[ 9.61325208e-01 2.71464453e-01 -4.64854200e-02 3.53818687e+01] [-2.71111139e-01 9.62448193e-01 1.38645750e-02 -5.91227219e+00] [ 4.85035478e-02 -7.25650346e-04 9.98822747e-01 2.31697299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.41, Y:-5.92, Z:0.23 [[ 9.61571787e-01 2.70573804e-01 -4.65780504e-02 3.54127098e+01] [-2.70217344e-01 9.62698914e-01 1.39063974e-02 -5.92091338e+00] [ 4.86033454e-02 -7.85802286e-04 9.98817850e-01 2.32433874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.44, Y:-5.93, Z:0.23 [[ 9.61674281e-01 2.70199362e-01 -4.66356318e-02 3.54440353e+01] [-2.69841031e-01 9.62804050e-01 1.39348513e-02 -5.93025033e+00] [ 4.86661631e-02 -8.16581181e-04 9.98814766e-01 2.33300967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:-5.94, Z:0.23 [[ 9.62147880e-01 2.68537108e-01 -4.64680453e-02 3.54751306e+01] [-2.68178733e-01 9.63268909e-01 1.38987623e-02 -5.93918042e+00] [ 4.84935568e-02 -9.10923134e-04 9.98823080e-01 2.34482456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:-5.95, Z:0.24 [[ 9.62398891e-01 2.67659993e-01 -4.63303602e-02 3.55064231e+01] [-2.67302191e-01 9.63512948e-01 1.38685826e-02 -5.94813795e+00] [ 4.83519666e-02 -9.62901729e-04 9.98829896e-01 2.35524156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.54, Y:-5.94, Z:0.22 [[ 9.63137763e-01 2.64844352e-01 -4.71499494e-02 3.55434211e+01] [-2.65691692e-01 9.63975681e-01 -1.26020667e-02 -5.94293560e+00] [ 4.21138183e-02 2.46648761e-02 9.98808325e-01 2.18467220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.57, Y:-5.97, Z:0.23 [[ 9.63096921e-01 2.66681416e-01 -3.64052677e-02 3.55661360e+01] [-2.65998546e-01 9.63709568e-01 2.25530888e-02 -5.97081073e+00] [ 4.10985945e-02 -1.20370621e-02 9.99082587e-01 2.32604950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:-5.98, Z:0.23 [[ 9.62620237e-01 2.69151757e-01 -3.03250973e-02 3.55907875e+01] [-2.68322231e-01 9.62898550e-01 2.88021174e-02 -5.98266852e+00] [ 3.69521327e-02 -1.95886033e-02 9.99125030e-01 2.34756577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:-5.98, Z:0.24 [[ 9.62900135e-01 2.66387473e-01 -4.31398315e-02 3.56285663e+01] [-2.66162674e-01 9.63865595e-01 1.09793058e-02 -5.98043542e+00] [ 4.45057489e-02 9.10237865e-04 9.99008714e-01 2.37718906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.66, Y:-5.99, Z:0.24 [[ 9.62816987e-01 2.66785282e-01 -4.25330899e-02 3.56590087e+01] [-2.66480575e-01 9.63755500e-01 1.27843741e-02 -5.99020538e+00] [ 4.44021822e-02 -9.74770322e-04 9.99013261e-01 2.39184364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.69, Y:-6.00, Z:0.24 [[ 9.62623301e-01 2.67615022e-01 -4.16962956e-02 3.56901124e+01] [-2.67322479e-01 9.63525473e-01 1.25441308e-02 -5.99798599e+00] [ 4.35324408e-02 -9.28915518e-04 9.99051582e-01 2.39394956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.72, Y:-6.01, Z:0.24 [[ 9.62427171e-01 2.68352218e-01 -4.14852750e-02 3.57218478e+01] [-2.68062925e-01 9.63320444e-01 1.24896209e-02 -6.00692688e+00] [ 4.33152310e-02 -8.99686354e-04 9.99061050e-01 2.40630078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:-6.02, Z:0.24 [[ 9.62307604e-01 2.68944402e-01 -4.04101897e-02 3.57536517e+01] [-2.68669919e-01 9.63155317e-01 1.21782180e-02 -6.01592266e+00] [ 4.21965526e-02 -8.62189393e-04 9.99108957e-01 2.41308263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784319999999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.79, Y:-6.02, Z:0.24 [[ 9.62223804e-01 2.69333487e-01 -3.98098386e-02 3.57853135e+01] [-2.69066924e-01 9.63046603e-01 1.20096035e-02 -6.02378126e+00] [ 4.15733182e-02 -8.44415502e-04 9.99135099e-01 2.42089601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.82, Y:-6.03, Z:0.24 [[ 9.62133276e-01 2.69631295e-01 -3.99815488e-02 3.58168923e+01] [-2.69362135e-01 9.62963263e-01 1.20745108e-02 -6.03232837e+00] [ 4.17564286e-02 -8.47773246e-04 9.99127460e-01 2.42995602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:-6.03, Z:0.23 [[ 9.62225419e-01 2.69248526e-01 -4.03419756e-02 3.58518398e+01] [-2.69505164e-01 9.62998464e-01 -9.61835757e-04 -6.03463752e+00] [ 3.85902876e-02 1.17978736e-02 9.99185468e-01 2.34472398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:-6.06, Z:0.25 [[ 9.62370673e-01 2.69405333e-01 -3.55450948e-02 3.58775109e+01] [-2.68666620e-01 9.62928474e-01 2.42281013e-02 -6.05521159e+00] [ 4.07545635e-02 -1.37666337e-02 9.99074344e-01 2.49114970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:-6.06, Z:0.25 [[ 9.62444642e-01 2.68663722e-01 -3.89886653e-02 3.59106291e+01] [-2.68405682e-01 9.63233615e-01 1.18064385e-02 -6.05684111e+00] [ 4.07271548e-02 -8.98264207e-04 9.99169901e-01 2.45400016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.94, Y:-6.06, Z:0.24 [[ 9.62227091e-01 2.68313713e-01 -4.61169863e-02 3.59421395e+01] [-2.68576227e-01 9.63258292e-01 5.22297814e-04 -6.05717866e+00] [ 4.45627091e-02 1.18833571e-02 9.98935909e-01 2.42968856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.97, Y:-6.08, Z:0.25 [[ 9.63261971e-01 2.66425690e-01 -3.38190287e-02 3.59701361e+01] [-2.65719099e-01 9.63752046e-01 2.39865398e-02 -6.07863838e+00] [ 3.89837885e-02 -1.41189597e-02 9.99140090e-01 2.50471618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:-6.08, Z:0.25 [[ 9.63505469e-01 2.65146058e-01 -3.68073269e-02 3.60036878e+01] [-2.64912997e-01 9.64207739e-01 1.11597447e-02 -6.08052394e+00] [ 3.84488718e-02 -1.00173582e-03 9.99260067e-01 2.47461696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:-6.09, Z:0.25 [[ 9.63786763e-01 2.64255667e-01 -3.58332008e-02 3.60351520e+01] [-2.64033741e-01 9.64452124e-01 1.08758241e-02 -6.08955615e+00] [ 3.74334048e-02 -1.02080128e-03 9.99298603e-01 2.48315440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:-6.10, Z:0.25 [[ 9.64480386e-01 2.61815976e-01 -3.50710706e-02 3.60673113e+01] [-2.61601353e-01 9.65117184e-01 1.06561886e-02 -6.09796009e+00] [ 3.66376533e-02 -1.10304536e-03 9.99328007e-01 2.49053570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:-6.11, Z:0.25 [[ 9.64678111e-01 2.61072286e-01 -3.51767486e-02 3.60982845e+01] [-2.60855436e-01 9.65318573e-01 1.07001767e-02 -6.10660244e+00] [ 3.67502884e-02 -1.14618017e-03 9.99323823e-01 2.50073803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:-6.12, Z:0.25 [[ 9.64932378e-01 2.60131533e-01 -3.51722997e-02 3.61304771e+01] [-2.59913706e-01 9.65572454e-01 1.07099178e-02 -6.11508123e+00] [ 3.67473910e-02 -1.19258368e-03 9.99323875e-01 2.50867721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:-6.12, Z:0.25 [[ 9.65241255e-01 2.59074845e-01 -3.44897692e-02 3.61624904e+01] [-2.58864310e-01 9.65856478e-01 1.05134328e-02 -6.12261743e+00] [ 3.60359330e-02 -1.21982876e-03 9.99349750e-01 2.51299843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:-6.13, Z:0.25 [[ 9.65244835e-01 2.59113120e-01 -3.40998589e-02 3.61942491e+01] [-2.58906932e-01 9.65846216e-01 1.04061370e-02 -6.13103575e+00] [ 3.56315864e-02 -1.21578014e-03 9.99364254e-01 2.52126761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.23, Y:-6.14, Z:0.25 [[ 9.65050304e-01 2.59885366e-01 -3.37269600e-02 3.62259508e+01] [-2.59683733e-01 9.65638748e-01 1.03037367e-02 -6.13778107e+00] [ 3.52458498e-02 -1.18528130e-03 9.99377969e-01 2.52906929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:-6.15, Z:0.25 [[ 9.64833578e-01 2.60761584e-01 -3.31596461e-02 3.62575844e+01] [-2.60566837e-01 9.65402552e-01 1.01407842e-02 -6.14633916e+00] [ 3.46567339e-02 -1.14386498e-03 9.99398620e-01 2.54106656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26432 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.29, Y:-6.15, Z:0.26 [[ 9.64599517e-01 2.61679710e-01 -3.27337836e-02 3.62881330e+01] [-2.61490082e-01 9.65154134e-01 1.00216657e-02 -6.15440739e+00] [ 3.42156131e-02 -1.10733409e-03 9.99413861e-01 2.55080245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:-6.16, Z:0.26 [[ 9.63922139e-01 2.64166750e-01 -3.27114448e-02 3.63205270e+01] [-2.63978573e-01 9.64476478e-01 1.00217472e-02 -6.16068195e+00] [ 3.41968315e-02 -1.02506350e-03 9.99414592e-01 2.55615292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:-6.17, Z:0.26 [[ 9.63464575e-01 2.65792181e-01 -3.30231738e-02 3.63513053e+01] [-2.65600962e-01 9.64029845e-01 1.01285441e-02 -6.16821489e+00] [ 3.45274129e-02 -9.87506718e-04 9.99403263e-01 2.56267223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:-6.18, Z:0.26 [[ 9.62679092e-01 2.68706661e-01 -3.23372355e-02 3.63840686e+01] [-2.68524610e-01 9.63221660e-01 9.92812902e-03 -6.17527575e+00] [ 3.38156801e-02 -8.74258684e-04 9.99427704e-01 2.56654178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:-6.18, Z:0.26 [[ 9.62290750e-01 2.70092364e-01 -3.23516180e-02 3.64162313e+01] [-2.69910564e-01 9.62834054e-01 9.94344493e-03 -6.18365239e+00] [ 3.38348881e-02 -8.36441615e-04 9.99427086e-01 2.57441328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:-6.19, Z:0.26 [[ 9.61876639e-01 2.71624122e-01 -3.18381395e-02 3.64476177e+01] [-2.71448535e-01 9.62403100e-01 9.79617571e-03 -6.19198500e+00] [ 3.33020018e-02 -7.80296227e-04 9.99445030e-01 2.58144850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:-6.20, Z:0.26 [[ 9.61440466e-01 2.73161727e-01 -3.18575126e-02 3.64803978e+01] [-2.72986412e-01 9.61967841e-01 9.81286903e-03 -6.19907453e+00] [ 3.33264028e-02 -7.37821314e-04 9.99444249e-01 2.58520430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:-6.21, Z:0.26 [[ 9.61314875e-01 2.73649504e-01 -3.14588542e-02 3.65118810e+01] [-2.73478469e-01 9.61829209e-01 9.70045384e-03 -6.20740096e+00] [ 3.29125692e-02 -7.21871284e-04 9.99457974e-01 2.59503538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.54, Y:-6.21, Z:0.26 [[ 9.61533656e-01 2.72971542e-01 -3.06523335e-02 3.65431425e+01] [-2.72808503e-01 9.62021827e-01 9.46172948e-03 -6.21433165e+00] [ 3.20709968e-02 -7.35554107e-04 9.99485323e-01 2.59901624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:-6.22, Z:0.26 [[ 9.61711840e-01 2.72431286e-01 -2.98585123e-02 3.65737498e+01] [-2.72276033e-01 9.62174954e-01 9.22600261e-03 -6.22325978e+00] [ 3.12425644e-02 -7.42998667e-04 9.99511556e-01 2.60672691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:-6.23, Z:0.26 [[ 9.61902234e-01 2.71815897e-01 -2.93293279e-02 3.66050220e+01] [-2.71665650e-01 9.62348974e-01 9.06784375e-03 -6.23279407e+00] [ 3.06898327e-02 -7.54608243e-04 9.99528671e-01 2.62009971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-6.24, Z:0.26 [[ 9.62151734e-01 2.71036659e-01 -2.83402570e-02 3.66359733e+01] [-2.70895759e-01 9.62568724e-01 8.77153456e-03 -6.24173684e+00] [ 2.96568524e-02 -7.62291783e-04 9.99559848e-01 2.63361537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:-6.25, Z:0.26 [[ 9.62664477e-01 2.69230959e-01 -2.81388684e-02 3.66677742e+01] [-2.69091023e-01 9.63075292e-01 8.71805464e-03 -6.24894308e+00] [ 2.94470191e-02 -8.20644646e-04 9.99566006e-01 2.63918116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:-6.26, Z:0.26 [[ 9.62966679e-01 2.68207252e-01 -2.75689184e-02 3.66996871e+01] [-2.68072246e-01 9.63360866e-01 8.55059920e-03 -6.25761625e+00] [ 2.88521498e-02 -8.43480259e-04 9.99583334e-01 2.64771422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:-6.26, Z:0.26 [[ 9.63361311e-01 2.66558338e-01 -2.96923548e-02 3.67367795e+01] [-2.66867853e-01 9.63708232e-01 -6.92770319e-03 -6.26087055e+00] [ 2.67681297e-02 1.45978162e-02 9.99535077e-01 2.57058577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:-6.28, Z:0.26 [[ 9.63582826e-01 2.66159280e-01 -2.58336070e-02 3.67662544e+01] [-2.66050563e-01 9.63928948e-01 7.62110745e-03 -6.27816474e+00] [ 2.69301901e-02 -4.70522552e-04 9.99637206e-01 2.62738538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.80, Y:-6.28, Z:0.26 [[ 9.64083259e-01 2.64142762e-01 -2.77861560e-02 3.68004075e+01] [-2.64274327e-01 9.64446915e-01 -1.10784081e-03 -6.28118022e+00] [ 2.65056444e-02 8.41121847e-03 9.99613276e-01 2.59286450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:-6.29, Z:0.26 [[ 9.64055824e-01 2.64462952e-01 -2.56069307e-02 3.68289315e+01] [-2.64412226e-01 9.64394589e-01 5.40843177e-03 -6.29262044e+00] [ 2.61255152e-02 1.55675540e-03 9.99657458e-01 2.61201630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:-6.31, Z:0.28 [[ 9.63855237e-01 2.65578176e-01 -2.12441646e-02 3.68495604e+01] [-2.64686764e-01 9.63609852e-01 3.73760719e-02 -6.31485801e+00] [ 3.03973554e-02 -3.04020735e-02 9.99075430e-01 2.80162564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:-6.31, Z:0.27 [[ 9.63199864e-01 2.67028219e-01 -3.06912282e-02 3.68866777e+01] [-2.66860141e-01 9.63688209e-01 9.52370321e-03 -6.30689299e+00] [ 3.21198722e-02 -9.82964146e-04 9.99483540e-01 2.73714628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:-6.30, Z:0.26 [[ 9.62937130e-01 2.67560898e-01 -3.41064574e-02 3.69253411e+01] [-2.68217620e-01 9.63220073e-01 -1.63217623e-02 -6.30391176e+00] [ 2.84849590e-02 2.48647838e-02 9.99284919e-01 2.60007869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:-6.33, Z:0.27 [[ 9.62332763e-01 2.70571611e-01 -2.65830131e-02 3.69514516e+01] [-2.70324857e-01 9.62687460e-01 1.25429594e-02 -6.32956677e+00] [ 2.89849021e-02 -4.88445157e-03 9.99567915e-01 2.70342809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.98, Y:-6.33, Z:0.27 [[ 9.61942803e-01 2.71713434e-01 -2.89457078e-02 3.69841150e+01] [-2.71668584e-01 9.62374884e-01 5.54645487e-03 -6.33443987e+00] [ 2.93636685e-02 2.52826712e-03 9.99565597e-01 2.69089775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:-6.36, Z:0.29 [[ 9.60332434e-01 2.77659215e-01 -2.58259060e-02 3.70091706e+01] [-2.76732169e-01 9.60329654e-01 3.44421758e-02 -6.35893636e+00] [ 3.43645708e-02 -2.59290795e-02 9.99072950e-01 2.86119753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:-6.36, Z:0.28 [[ 9.59039378e-01 2.81199259e-01 -3.42118126e-02 3.70441174e+01] [-2.80901781e-01 9.59644216e-01 1.33104205e-02 -6.35501576e+00] [ 3.65740485e-02 -3.15505831e-03 9.99325965e-01 2.83289916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:-6.36, Z:0.28 [[ 9.58937138e-01 2.81412171e-01 -3.53094278e-02 3.70718923e+01] [-2.81262895e-01 9.59586380e-01 9.22843455e-03 -6.35696403e+00] [ 3.64794398e-02 1.08174326e-03 9.99333818e-01 2.83571480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:-6.37, Z:0.29 [[ 9.58466636e-01 2.83001382e-01 -3.53825633e-02 3.71017340e+01] [-2.82786970e-01 9.59119335e-01 1.10286573e-02 -6.36676068e+00] [ 3.70572259e-02 -5.64872223e-04 9.99312985e-01 2.85463752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:-6.38, Z:0.29 [[ 9.58013819e-01 2.84426964e-01 -3.62053098e-02 3.71318101e+01] [-2.84203035e-01 9.58697563e-01 1.12967615e-02 -6.37589789e+00] [ 3.79230459e-02 -5.32794669e-04 9.99280521e-01 2.87135801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:-6.39, Z:0.29 [[ 9.57416256e-01 2.86283617e-01 -3.73604428e-02 3.71635434e+01] [-2.86046106e-01 9.58144799e-01 1.16692031e-02 -6.38612300e+00] [ 3.91374156e-02 -4.85475529e-04 9.99233720e-01 2.88848194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:-6.40, Z:0.29 [[ 9.57267626e-01 2.86706987e-01 -3.79182778e-02 3.71935101e+01] [-2.86462134e-01 9.58018197e-01 1.18566562e-02 -6.39603230e+00] [ 3.97257863e-02 -4.87842318e-04 9.99210500e-01 2.90541979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:-6.41, Z:0.29 [[ 9.57228585e-01 2.86837746e-01 -3.79149447e-02 3.72253919e+01] [-2.86592573e-01 9.57979052e-01 1.18673056e-02 -6.40615334e+00] [ 3.97257139e-02 -4.93582643e-04 9.99210500e-01 2.91777792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:-6.42, Z:0.29 [[ 9.57298865e-01 2.86551866e-01 -3.83002722e-02 3.72568266e+01] [-2.86301197e-01 9.58064591e-01 1.19943014e-02 -6.41673809e+00] [ 4.01311241e-02 -5.16717312e-04 9.99194288e-01 2.93279783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:-6.43, Z:0.29 [[ 9.57586915e-01 2.85637917e-01 -3.79246696e-02 3.72879809e+01] [-2.85384800e-01 9.58337351e-01 1.20431946e-02 -6.42701806e+00] [ 3.97846205e-02 -7.09281345e-04 9.99208027e-01 2.94394624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:-6.43, Z:0.29 [[ 9.57977983e-01 2.84253130e-01 -3.84492113e-02 3.73185638e+01] [-2.84242607e-01 9.58734508e-01 5.85514630e-03 -6.43423940e+00] [ 3.85269293e-02 5.31980281e-03 9.99243401e-01 2.92663940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:-6.45, Z:0.30 [[ 9.57950920e-01 2.84655088e-01 -3.60765252e-02 3.73452928e+01] [-2.84181239e-01 9.58606210e-01 1.77527062e-02 -6.45033449e+00] [ 3.96365792e-02 -6.75394956e-03 9.99191336e-01 2.99259217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-6.46, Z:0.30 [[ 9.58004924e-01 2.84230128e-01 -3.79447039e-02 3.73765505e+01] [-2.83980734e-01 9.58755870e-01 1.19216208e-02 -6.45770414e+00] [ 3.97681914e-02 -6.45406609e-04 9.99208724e-01 2.99237572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:-6.46, Z:0.30 [[ 9.58224777e-01 2.83399717e-01 -3.85989372e-02 3.74096635e+01] [-2.83492754e-01 9.58969185e-01 3.15590335e-03 -6.46393675e+00] [ 3.79095735e-02 7.91845423e-03 9.99249800e-01 2.95147324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-6.48, Z:0.30 [[ 9.58535919e-01 2.82742313e-01 -3.55763363e-02 3.74377871e+01] [-2.82519402e-01 9.59195626e-01 1.12489115e-02 -6.47741625e+00] [ 3.73052095e-02 -7.31480447e-04 9.99303651e-01 2.98274511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:-6.49, Z:0.30 [[ 9.58378943e-01 2.83426169e-01 -3.43425119e-02 3.74640826e+01] [-2.82830740e-01 9.58935339e-01 2.12082257e-02 -6.49272703e+00] [ 3.89432144e-02 -1.06123989e-02 9.99185069e-01 3.03515933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:-6.50, Z:0.30 [[ 9.58718244e-01 2.81779249e-01 -3.82071012e-02 3.74986213e+01] [-2.81605239e-01 9.59478515e-01 9.97341125e-03 -6.49675860e+00] [ 3.94691930e-02 1.19762854e-03 9.99220070e-01 3.01040941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:-6.51, Z:0.30 [[ 9.59141035e-01 2.80432151e-01 -3.75004469e-02 3.75286864e+01] [-2.80184485e-01 9.59873498e-01 1.18119329e-02 -6.50883738e+00] [ 3.93081309e-02 -8.22266140e-04 9.99226798e-01 3.02327657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:-6.52, Z:0.30 [[ 9.59210132e-01 2.80162911e-01 -3.77447437e-02 3.75600188e+01] [-2.79911281e-01 9.59952092e-01 1.19019378e-02 -6.51954515e+00] [ 3.95676272e-02 -8.51279752e-04 9.99216532e-01 3.04027158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:-6.53, Z:0.30 [[ 9.59325970e-01 2.79829619e-01 -3.72702105e-02 3.75916243e+01] [-2.79583535e-01 9.60049287e-01 1.17648978e-02 -6.52971726e+00] [ 3.90734059e-02 -8.66234787e-04 9.99235967e-01 3.04624495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:-6.54, Z:0.31 [[ 9.59170888e-01 2.80359975e-01 -3.72758922e-02 3.76230613e+01] [-2.80113746e-01 9.59894552e-01 1.17787164e-02 -6.54017089e+00] [ 3.90832065e-02 -8.56312052e-04 9.99235593e-01 3.05531850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:-6.55, Z:0.31 [[ 9.58981461e-01 2.80973357e-01 -3.75303776e-02 3.76537439e+01] [-2.80723714e-01 9.59715193e-01 1.18720457e-02 -6.55045355e+00] [ 3.93542021e-02 -8.49404719e-04 9.99224962e-01 3.06415582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:-6.56, Z:0.31 [[ 9.58684703e-01 2.81929093e-01 -3.79424010e-02 3.76851939e+01] [-2.81674197e-01 9.59434884e-01 1.20146051e-02 -6.56106447e+00] [ 3.97905298e-02 -8.30822826e-04 9.99207698e-01 3.07828129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:-6.57, Z:0.31 [[ 9.58045568e-01 2.84124030e-01 -3.77124128e-02 3.77167540e+01] [-2.83873450e-01 9.58787244e-01 1.19534962e-02 -6.57062022e+00] [ 3.95544559e-02 -7.46441302e-04 9.99217137e-01 3.08088641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:-6.58, Z:0.31 [[ 9.57658703e-01 2.85463950e-01 -3.74184821e-02 3.77483222e+01] [-2.85217827e-01 9.58389194e-01 1.18719491e-02 -6.58066677e+00] [ 3.92504824e-02 -6.96857174e-04 9.99229160e-01 3.09343482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:-6.59, Z:0.31 [[ 9.56627836e-01 2.89037154e-01 -3.63415414e-02 3.77787412e+01] [-2.88807112e-01 9.57317725e-01 1.15423842e-02 -6.59025449e+00] [ 3.81265796e-02 -5.46070445e-04 9.99272768e-01 3.10448639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:-6.60, Z:0.31 [[ 9.56014903e-01 2.91080369e-01 -3.61624784e-02 3.78088275e+01] [-2.90853618e-01 9.56698487e-01 1.14968582e-02 -6.59946811e+00] [ 3.79430981e-02 -4.73180055e-04 9.99279789e-01 3.11302142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:-6.61, Z:0.31 [[ 9.55180013e-01 2.93815937e-01 -3.61017648e-02 3.78403887e+01] [-2.93591603e-01 9.55861945e-01 1.14853498e-02 -6.60985673e+00] [ 3.78828819e-02 -3.71401537e-04 9.99282117e-01 3.12272557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:-6.62, Z:0.31 [[ 9.53768389e-01 2.98392491e-01 -3.58856699e-02 3.78717152e+01] [-2.98173620e-01 9.54443231e-01 1.14285171e-02 -6.62004219e+00] [ 3.76610184e-02 -1.99998190e-04 9.99290552e-01 3.13449206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:-6.63, Z:0.31 [[ 9.53188857e-01 3.00324179e-01 -3.51623292e-02 3.79017535e+01] [-3.00114923e-01 9.53837182e-01 1.12099461e-02 -6.62956471e+00] [ 3.69057549e-02 -1.32455944e-04 9.99318742e-01 3.14440783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:-6.64, Z:0.32 [[ 9.52128112e-01 3.03683927e-01 -3.50446949e-02 3.79324701e+01] [-3.03478066e-01 9.52772834e-01 1.11799367e-02 -6.63936818e+00] [ 3.67848003e-02 -9.43576337e-06 9.99323210e-01 3.15942928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:-6.65, Z:0.32 [[ 9.51687741e-01 3.05088194e-01 -3.48085888e-02 3.79633321e+01] [-3.04885637e-01 9.52324101e-01 1.11155440e-02 -6.64962501e+00] [ 3.65402793e-02 3.41118274e-05 9.99332180e-01 3.16711349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:-6.66, Z:0.32 [[ 9.51481955e-01 3.05748090e-01 -3.46438332e-02 3.79943000e+01] [-3.05547464e-01 9.52112442e-01 1.10744773e-02 -6.66001546e+00] [ 3.63708249e-02 4.81701239e-05 9.99338362e-01 3.17802066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:-6.67, Z:0.32 [[ 9.51596713e-01 3.05540044e-01 -3.33013160e-02 3.80240406e+01] [-3.05354169e-01 9.52179227e-01 1.06560206e-02 -6.67155587e+00] [ 3.49646623e-02 2.84615312e-05 9.99388549e-01 3.18390731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.05, Y:-6.68, Z:0.32 [[ 9.52170076e-01 3.03799374e-01 -3.28342201e-02 3.80540250e+01] [-3.03617296e-01 9.52736028e-01 1.05166125e-02 -6.68331067e+00] [ 3.44772848e-02 -4.45665606e-05 9.99405481e-01 3.19363125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:-6.69, Z:0.32 [[ 9.52454107e-01 3.02866912e-01 -3.32085490e-02 3.80849469e+01] [-3.02679732e-01 9.53032857e-01 1.06467744e-02 -6.69438109e+00] [ 3.48733940e-02 -8.90093061e-05 9.99391734e-01 3.20635515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:-6.71, Z:0.32 [[ 9.52832215e-01 3.01653509e-01 -3.34055352e-02 3.81158650e+01] [-3.01462976e-01 9.53417610e-01 1.07207696e-02 -6.70527485e+00] [ 3.50833833e-02 -1.44562601e-04 9.99384378e-01 3.21578599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:-6.72, Z:0.32 [[ 9.53185077e-01 3.00544286e-01 -3.33367670e-02 3.81468902e+01] [-3.00353484e-01 9.53767841e-01 1.07093723e-02 -6.71648040e+00] [ 3.50141770e-02 -1.95199743e-04 9.99386797e-01 3.22419362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:-6.73, Z:0.32 [[ 9.54164628e-01 2.97457452e-01 -3.29989000e-02 3.81764244e+01] [-2.97268287e-01 9.54735023e-01 1.06113419e-02 -6.72819363e+00] [ 3.46616282e-02 -3.15440594e-04 9.99399055e-01 3.23404631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:-6.74, Z:0.32 [[ 9.54658965e-01 2.95923638e-01 -3.24878698e-02 3.82078856e+01] [-2.95739079e-01 9.55211526e-01 1.04564359e-02 -6.73939792e+00] [ 3.41270943e-02 -3.74397547e-04 9.99417431e-01 3.24610568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:-6.74, Z:0.32 [[ 9.55336873e-01 2.92138124e-01 -4.45732667e-02 3.82410421e+01] [-2.92758813e-01 9.56153248e-01 -7.95257700e-03 -6.73969751e+00] [ 4.02956228e-02 2.06466067e-02 9.98974464e-01 3.22537486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:-6.77, Z:0.33 [[ 9.56155684e-01 2.91676581e-01 -2.62883995e-02 3.82645642e+01] [-2.90870815e-01 9.56272700e-01 3.06054407e-02 -6.77249188e+00] [ 3.40657690e-02 -2.16170379e-02 9.99185782e-01 3.32357865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:-6.77, Z:0.33 [[ 9.56658927e-01 2.88713184e-01 -3.80577822e-02 3.83016303e+01] [-2.88806882e-01 9.57382252e-01 3.13197418e-03 -6.76763413e+00] [ 3.73400875e-02 7.99511837e-03 9.99270632e-01 3.25779514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:-6.79, Z:0.33 [[ 9.57222231e-01 2.87718668e-01 -3.07175695e-02 3.83269834e+01] [-2.87235710e-01 9.57667137e-01 1.92172093e-02 -6.78809393e+00] [ 3.49463567e-02 -9.57195708e-03 9.99343349e-01 3.30148248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:-6.79, Z:0.33 [[ 9.57473746e-01 2.86570285e-01 -3.34887747e-02 3.83594375e+01] [-2.86366975e-01 9.58058912e-01 1.08201900e-02 -6.79358346e+00] [ 3.51849640e-02 -7.69968739e-04 9.99380521e-01 3.28269361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:-6.80, Z:0.33 [[ 9.57631041e-01 2.85985605e-01 -3.39856450e-02 3.83892887e+01] [-2.85775435e-01 9.58233568e-01 1.09922701e-02 -6.80388301e+00] [ 3.57098169e-02 -8.14276608e-04 9.99361869e-01 3.28426753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:-6.81, Z:0.33 [[ 9.57502474e-01 2.86359402e-01 -3.44572990e-02 3.84205095e+01] [-2.86143205e-01 9.58121922e-01 1.11556652e-02 -6.81492491e+00] [ 3.62088231e-02 -8.21855097e-04 9.99343908e-01 3.29456448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:-6.83, Z:0.33 [[ 9.57464562e-01 2.86493110e-01 -3.43992666e-02 3.84520591e+01] [-2.86277322e-01 9.58081946e-01 1.11480823e-02 -6.82582896e+00] [ 3.61511650e-02 -8.26163837e-04 9.99345991e-01 3.30729490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:-6.84, Z:0.33 [[ 9.56825138e-01 2.88454723e-01 -3.57704813e-02 3.84799712e+01] [-2.88299631e-01 9.57492795e-01 9.53257777e-03 -6.83510048e+00] [ 3.69996952e-02 1.19160651e-03 9.99314566e-01 3.31451632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:-6.85, Z:0.33 [[ 9.57053578e-01 2.87965981e-01 -3.35267405e-02 3.85127027e+01] [-2.87698033e-01 9.57637443e-01 1.26637503e-02 -6.84858374e+00] [ 3.57531913e-02 -2.47431022e-03 9.99357587e-01 3.33721234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:-6.85, Z:0.33 [[ 9.56424415e-01 2.89547435e-01 -3.76114437e-02 3.85435925e+01] [-2.89558095e-01 9.57145862e-01 5.28291509e-03 -6.85481773e+00] [ 3.75292922e-02 5.83798900e-03 9.99278475e-01 3.33241207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.57, Y:-6.87, Z:0.34 [[ 9.56521878e-01 2.89993302e-01 -3.11413146e-02 3.85720158e+01] [-2.89590226e-01 9.57002312e-01 1.68545576e-02 -6.87241636e+00] [ 3.46900189e-02 -7.10353280e-03 9.99372875e-01 3.37056552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:-6.88, Z:0.34 [[ 9.56581841e-01 2.89656777e-01 -3.24057522e-02 3.86035017e+01] [-2.89465778e-01 9.57130324e-01 1.05406592e-02 -6.87939787e+00] [ 3.40697014e-02 -7.02646921e-04 9.99419212e-01 3.35958007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:-6.89, Z:0.34 [[ 9.56502969e-01 2.89905900e-01 -3.25059863e-02 3.86348713e+01] [-2.89713509e-01 9.57054895e-01 1.05835327e-02 -6.89064170e+00] [ 3.41782418e-02 -7.05757098e-04 9.99415504e-01 3.37379994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.67, Y:-6.90, Z:0.34 [[ 9.56897392e-01 2.88792275e-01 -3.07636797e-02 3.86656311e+01] [-2.88619084e-01 9.57391514e-01 1.00256052e-02 -6.90122634e+00] [ 3.23482033e-02 -7.14490379e-04 9.99476405e-01 3.38074169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:-6.91, Z:0.34 [[ 9.57005235e-01 2.88434201e-01 -3.07683730e-02 3.86961678e+01] [-2.88260412e-01 9.57499435e-01 1.00382764e-02 -6.91133729e+00] [ 3.23560820e-02 -7.37379212e-04 9.99476133e-01 3.39172548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:-6.93, Z:0.34 [[ 9.56513171e-01 2.90185221e-01 -2.95819263e-02 3.87279075e+01] [-2.89687789e-01 9.56912238e-01 1.99988248e-02 -6.93077212e+00] [ 3.41106707e-02 -1.05596165e-02 9.99362275e-01 3.44933383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:-6.94, Z:0.34 [[ 9.56829467e-01 2.88898942e-01 -3.18555058e-02 3.87591788e+01] [-2.88757706e-01 9.57359446e-01 9.04865249e-03 -6.93515341e+00] [ 3.31113155e-02 5.40505447e-04 9.99451524e-01 3.42650266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:-6.94, Z:0.34 [[ 9.57060136e-01 2.88195936e-01 -3.12889411e-02 3.87894787e+01] [-2.88099884e-01 9.57569937e-01 7.63368620e-03 -6.94406692e+00] [ 3.21613466e-02 1.70844354e-03 9.99481230e-01 3.43247963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:-6.96, Z:0.35 [[ 9.57050232e-01 2.88344290e-01 -3.02063635e-02 3.88183412e+01] [-2.88106975e-01 9.57522677e-01 1.20288861e-02 -6.95569378e+00] [ 3.23917386e-02 -2.80958422e-03 9.99471301e-01 3.46272736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.85, Y:-6.96, Z:0.34 [[ 9.57242611e-01 2.87544663e-01 -3.16962269e-02 3.88476176e+01] [-2.87601441e-01 9.57745938e-01 2.85139970e-03 -6.95613023e+00] [ 3.11768374e-02 6.38639923e-03 9.99493481e-01 3.41985542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.88, Y:-6.98, Z:0.35 [[ 9.56660516e-01 2.89678244e-01 -2.97854335e-02 3.88774894e+01] [-2.89192292e-01 9.57070457e-01 1.95948804e-02 -6.97769212e+00] [ 3.41829690e-02 -1.01319306e-02 9.99364232e-01 3.50391141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.91, Y:-6.97, Z:0.34 [[ 9.56725985e-01 2.89069036e-01 -3.33838696e-02 3.89101336e+01] [-2.89188020e-01 9.57271417e-01 1.31299076e-03 -6.97458555e+00] [ 3.23369692e-02 8.39804278e-03 9.99441741e-01 3.42783432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:-6.99, Z:0.35 [[ 9.56327828e-01 2.90643355e-01 -3.10407134e-02 3.89387202e+01] [-2.90466404e-01 9.56831199e-01 1.01648580e-02 -6.98952680e+00] [ 3.26550714e-02 -7.04652180e-04 9.99466433e-01 3.46246429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:-7.00, Z:0.35 [[ 9.56289668e-01 2.90769215e-01 -3.10376183e-02 3.89704609e+01] [-2.90592024e-01 9.56792955e-01 1.01742995e-02 -7.00007858e+00] [ 3.26549476e-02 -7.10293181e-04 9.99466433e-01 3.47463202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:-7.03, Z:0.37 [[ 9.55015433e-01 2.95324227e-01 -2.70022870e-02 3.89975056e+01] [-2.94016970e-01 9.54794992e-01 4.38240176e-02 -7.03218600e+00] [ 3.87239425e-02 -3.39134825e-02 9.98674287e-01 3.68487509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:-7.03, Z:0.36 [[ 9.54453859e-01 2.95691901e-01 -3.98011403e-02 3.90348864e+01] [-2.95443875e-01 9.55283340e-01 1.21102149e-02 -7.02558659e+00] [ 4.16022587e-02 2.00361799e-04 9.99134231e-01 3.61944389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:-7.01, Z:0.34 [[ 9.55553519e-01 2.91704320e-01 -4.27324407e-02 3.90683483e+01] [-2.92785956e-01 9.55934286e-01 -2.15875844e-02 -7.01177053e+00] [ 3.45522136e-02 3.31395508e-02 9.98853300e-01 3.42498899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:-7.06, Z:0.37 [[ 9.54618822e-01 2.96482975e-01 -2.82975151e-02 3.90893742e+01] [-2.95007554e-01 9.54343662e-01 4.68904906e-02 -7.06330907e+00] [ 4.09077863e-02 -3.64145642e-02 9.98499140e-01 3.74051230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:-7.05, Z:0.37 [[ 9.54205504e-01 2.95527181e-01 -4.64278131e-02 3.91270821e+01] [-2.95364043e-01 9.55327163e-01 1.04925864e-02 -7.05355706e+00] [ 4.74545954e-02 3.70102284e-03 9.98866540e-01 3.66018613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:-7.07, Z:0.37 [[ 9.54323842e-01 2.95492204e-01 -4.41628922e-02 3.91569302e+01] [-2.95093972e-01 9.55343652e-01 1.54289759e-02 -7.06630686e+00] [ 4.67498808e-02 -1.69203630e-03 9.98905194e-01 3.68247827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:-7.05, Z:0.35 [[ 9.55438549e-01 2.91776519e-01 -4.47620629e-02 3.91879545e+01] [-2.92823740e-01 9.55981306e-01 -1.88148639e-02 -7.05254280e+00] [ 3.73019599e-02 3.10838409e-02 9.98820484e-01 3.47230214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11431999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.20, Y:-7.11, Z:0.39 [[ 9.54533609e-01 2.96757445e-01 -2.82950083e-02 3.92045153e+01] [-2.94301045e-01 9.53215573e-01 6.90432268e-02 -7.11492152e+00] [ 4.74603341e-02 -5.75768300e-02 9.97212327e-01 3.90811392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:-7.06, Z:0.34 [[ 9.55727252e-01 2.89332944e-01 -5.35898000e-02 3.92526733e+01] [-2.91630165e-01 9.55630955e-01 -4.14888387e-02 -7.06007045e+00] [ 3.92079839e-02 5.52804161e-02 9.97700762e-01 3.44122871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:-7.09, Z:0.36 [[ 9.55883802e-01 2.90191176e-01 -4.55547816e-02 3.92764230e+01] [-2.90571584e-01 9.56851530e-01 -1.81757498e-03 -7.09204581e+00] [ 4.30617183e-02 1.49743155e-02 9.98960189e-01 3.57363921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-7.11, Z:0.36 [[ 9.56043424e-01 2.90452773e-01 -4.02263311e-02 3.93020540e+01] [-2.90149549e-01 9.56888748e-01 1.33102422e-02 -7.11038027e+00] [ 4.23581204e-02 -1.05351770e-03 9.99101937e-01 3.62703237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:-7.12, Z:0.36 [[ 9.56177719e-01 2.89784476e-01 -4.18225604e-02 3.93320920e+01] [-2.89571271e-01 9.57090904e-01 1.12018085e-02 -7.11919788e+00] [ 4.32741023e-02 1.39969224e-03 9.99062257e-01 3.64288495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:-7.14, Z:0.37 [[ 9.56147001e-01 2.90332296e-01 -3.86014266e-02 3.93614731e+01] [-2.89727087e-01 9.56888309e-01 2.05664505e-02 -7.13562526e+00] [ 4.29083587e-02 -8.48067108e-03 9.99043018e-01 3.69220186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:-7.15, Z:0.37 [[ 9.56052566e-01 2.91116517e-01 -3.48520313e-02 3.93903071e+01] [-2.90402199e-01 9.56599536e-01 2.41638247e-02 -7.14918815e+00] [ 4.03739255e-02 -1.29807801e-02 9.99100318e-01 3.71408861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.42, Y:-7.15, Z:0.37 [[ 9.55837483e-01 2.91314689e-01 -3.88646125e-02 3.94226035e+01] [-2.91031731e-01 9.56626761e-01 1.28752111e-02 -7.15352240e+00] [ 4.09296665e-02 -9.95773880e-04 9.99161534e-01 3.69365911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.45, Y:-7.16, Z:0.37 [[ 9.55303028e-01 2.93036718e-01 -3.90590060e-02 3.94535597e+01] [-2.92751841e-01 9.56100727e-01 1.29521750e-02 -7.16407564e+00] [ 4.11398069e-02 -9.38656058e-04 9.99152959e-01 3.71313548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.48, Y:-7.19, Z:0.40 [[ 9.53779594e-01 2.97652393e-01 -4.13223685e-02 3.94797098e+01] [-2.95916911e-01 9.54231282e-01 4.33109916e-02 -7.19265761e+00] [ 5.23227170e-02 -2.90811524e-02 9.98206702e-01 3.96118467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:-7.20, Z:0.39 [[ 9.53556197e-01 2.98411405e-01 -4.10025961e-02 3.95121616e+01] [-2.97278063e-01 9.54269575e-01 3.15488661e-02 -7.19695997e+00] [ 4.85420714e-02 -1.78944445e-02 9.98660831e-01 3.93480003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.55, Y:-7.19, Z:0.38 [[ 9.53126007e-01 2.98881229e-01 -4.71256378e-02 3.95465818e+01] [-2.98959488e-01 9.54249700e-01 5.54389268e-03 -7.19333093e+00] [ 4.66265912e-02 8.80462828e-03 9.98873585e-01 3.84418575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:-7.21, Z:0.38 [[ 9.52988596e-01 2.99722660e-01 -4.44866715e-02 3.95760440e+01] [-2.99637476e-01 9.54013210e-01 8.72799709e-03 -7.20589307e+00] [ 4.50568508e-02 5.01219224e-03 9.98971851e-01 3.84861390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:-7.22, Z:0.38 [[ 9.52933983e-01 3.00127451e-01 -4.28991614e-02 3.96064006e+01] [-3.00035171e-01 9.53888230e-01 8.72587048e-03 -7.21626457e+00] [ 4.35398784e-02 4.55607871e-03 9.99041301e-01 3.84219104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:-7.23, Z:0.39 [[ 9.52693737e-01 3.01154249e-01 -4.09971040e-02 3.96363342e+01] [-3.00883113e-01 9.53575425e-01 1.27773247e-02 -7.22927945e+00] [ 4.29417765e-02 1.62459124e-04 9.99077563e-01 3.86300270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:-7.24, Z:0.38 [[ 9.52551526e-01 3.01574404e-01 -4.12124827e-02 3.96677176e+01] [-3.01539021e-01 9.53426496e-01 7.22045539e-03 -7.23605612e+00] [ 4.14705775e-02 5.54931589e-03 9.99124315e-01 3.83654100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:-7.25, Z:0.38 [[ 9.52405485e-01 3.02204443e-01 -3.99533078e-02 3.96977762e+01] [-3.02095565e-01 9.53236289e-01 8.87957424e-03 -7.24710426e+00] [ 4.07683897e-02 3.61276188e-03 9.99162092e-01 3.84122867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:-7.26, Z:0.39 [[ 9.52308587e-01 3.02659951e-01 -3.87983197e-02 3.97273229e+01] [-3.02438316e-01 9.53098360e-01 1.16009550e-02 -7.25978868e+00] [ 4.04897594e-02 6.86409357e-04 9.99179718e-01 3.85893176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:-7.26, Z:0.38 [[ 9.52602087e-01 3.01681174e-01 -3.92139295e-02 3.97570291e+01] [-3.01769749e-01 9.53373336e-01 3.78169038e-03 -7.26420193e+00] [ 3.85263795e-02 8.23113151e-03 9.99223682e-01 3.81891955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:-7.28, Z:0.39 [[ 9.52428237e-01 3.02552796e-01 -3.66368502e-02 3.97851637e+01] [-3.02308610e-01 9.53132491e-01 1.21638138e-02 -7.27935124e+00] [ 3.85999682e-02 -5.09524527e-04 9.99254614e-01 3.85956055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.82, Y:-7.29, Z:0.39 [[ 9.52078244e-01 3.03586888e-01 -3.71755121e-02 3.98165163e+01] [-3.03335786e-01 9.52803634e-01 1.23545657e-02 -7.29071417e+00] [ 3.91716472e-02 -4.85850050e-04 9.99232378e-01 3.87669183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:-7.30, Z:0.39 [[ 9.51554531e-01 3.05051458e-01 -3.85691794e-02 3.98476567e+01] [-3.04781810e-01 9.52335761e-01 1.28314991e-02 -7.30244126e+00] [ 4.06450763e-02 -4.54686854e-04 9.99173544e-01 3.89315189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:-7.30, Z:0.38 [[ 9.51873647e-01 3.03647386e-01 -4.16512309e-02 3.98815943e+01] [-3.04204717e-01 9.52576246e-01 -7.61481017e-03 -7.30065052e+00] [ 3.73637560e-02 1.99188380e-02 9.99103193e-01 3.78342940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:-7.32, Z:0.39 [[ 9.51578007e-01 3.05412630e-01 -3.49631478e-02 3.99068666e+01] [-3.05022562e-01 9.52208606e-01 1.61247715e-02 -7.32477411e+00] [ 3.82169191e-02 -4.67942904e-03 9.99258510e-01 3.87325790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:-7.34, Z:0.40 [[ 9.50903977e-01 3.07486774e-01 -3.51213779e-02 3.99327823e+01] [-3.06616483e-01 9.51419077e-01 2.80726312e-02 -7.34311134e+00] [ 4.20471118e-02 -1.59255833e-02 9.98988697e-01 3.97260826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:-7.35, Z:0.39 [[ 9.50850552e-01 3.07087288e-01 -3.97570905e-02 3.99658265e+01] [-3.06801393e-01 9.51681267e-01 1.32541344e-02 -7.34657291e+00] [ 4.19062545e-02 -4.05170260e-04 9.99121465e-01 3.93825650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:-7.36, Z:0.39 [[ 9.50784318e-01 3.07322239e-01 -3.95249689e-02 3.99958354e+01] [-3.07039366e-01 9.51605422e-01 1.31889746e-02 -7.35809103e+00] [ 4.16654398e-02 -4.04148777e-04 9.99131537e-01 3.94883377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-7.37, Z:0.40 [[ 9.51200287e-01 3.06005193e-01 -3.97345743e-02 4.00260023e+01] [-3.05717685e-01 9.52029724e-01 1.32703111e-02 -7.37004252e+00] [ 4.18892800e-02 -4.75161686e-04 9.99122146e-01 3.96366050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-7.38, Z:0.40 [[ 9.51412696e-01 3.05354476e-01 -3.96550903e-02 4.00571947e+01] [-3.05067170e-01 9.52238616e-01 1.32529037e-02 -7.38163451e+00] [ 4.18079418e-02 -5.11514688e-04 9.99125535e-01 3.97661184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-7.39, Z:0.40 [[ 9.51669635e-01 3.04585604e-01 -3.94019770e-02 4.00873507e+01] [-3.04300774e-01 9.52484805e-01 1.31808806e-02 -7.39273144e+00] [ 4.15444908e-02 -5.53791719e-04 9.99136501e-01 3.98684652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:-7.40, Z:0.40 [[ 9.51847535e-01 3.04076553e-01 -3.90348555e-02 4.01185836e+01] [-3.03796087e-01 9.52647422e-01 1.30700617e-02 -7.40456124e+00] [ 4.11607538e-02 -5.82069620e-04 9.99152368e-01 4.00059821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:-7.42, Z:0.40 [[ 9.52291986e-01 3.02631596e-01 -3.94219533e-02 4.01491718e+01] [-3.02343741e-01 9.53107379e-01 1.32131029e-02 -7.41699342e+00] [ 4.15720570e-02 -6.63751176e-04 9.99135288e-01 4.01908316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:-7.43, Z:0.40 [[ 9.52519843e-01 3.01990149e-01 -3.88316615e-02 4.01796799e+01] [-3.01709772e-01 9.53310793e-01 1.30286224e-02 -7.42940648e+00] [ 4.09531576e-02 -6.94129659e-04 9.99160826e-01 4.02450085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-7.44, Z:0.40 [[ 9.52429188e-01 3.02217501e-01 -3.92838894e-02 4.02107948e+01] [-3.01930176e-01 9.53238734e-01 1.31941123e-02 -7.44108161e+00] [ 4.14344167e-02 -7.05466019e-04 9.99140977e-01 4.03703515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-7.45, Z:0.40 [[ 9.52338629e-01 3.02516490e-01 -3.91779222e-02 4.02418692e+01] [-3.02230406e-01 9.53143892e-01 1.31720722e-02 -7.45204480e+00] [ 4.13269663e-02 -7.03513798e-04 9.99145428e-01 4.04365417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:-7.46, Z:0.40 [[ 9.51979710e-01 3.03623261e-01 -3.93388908e-02 4.02725067e+01] [-3.03335194e-01 9.52791932e-01 1.32398956e-02 -7.46338101e+00] [ 4.15017180e-02 -6.71241906e-04 9.99138207e-01 4.04391944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:-7.47, Z:0.40 [[ 9.51714760e-01 3.04472546e-01 -3.91852568e-02 4.03037916e+01] [-3.04186882e-01 9.52520894e-01 1.32017901e-02 -7.47453738e+00] [ 4.13443584e-02 -6.44697376e-04 9.99144748e-01 4.04894104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.33, Y:-7.49, Z:0.41 [[ 9.51357168e-01 3.05578420e-01 -3.92602652e-02 4.03347624e+01] [-3.05292033e-01 9.52166717e-01 1.32407758e-02 -7.48553222e+00] [ 4.14284131e-02 -6.10860789e-04 9.99141288e-01 4.05249161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:-7.50, Z:0.41 [[ 9.50637278e-01 3.07825939e-01 -3.91402299e-02 4.03642722e+01] [-3.07542682e-01 9.51442545e-01 1.32129323e-02 -7.49694547e+00] [ 4.13069632e-02 -5.23414679e-04 9.99146366e-01 4.05042904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:-7.51, Z:0.41 [[ 9.50313597e-01 3.08910743e-01 -3.84476429e-02 4.03944204e+01] [-3.08637944e-01 9.51090914e-01 1.29881915e-02 -7.50820216e+00] [ 4.05793957e-02 -4.76453515e-04 9.99176203e-01 4.05551633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:-7.52, Z:0.41 [[ 9.50061107e-01 3.09751597e-01 -3.79188633e-02 4.04251305e+01] [-3.09486432e-01 9.50817411e-01 1.28218390e-02 -7.51970260e+00] [ 4.00255005e-02 -4.46156871e-04 9.99198559e-01 4.06866780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.46, Y:-7.53, Z:0.41 [[ 9.49862089e-01 3.10418010e-01 -3.74522384e-02 4.04553707e+01] [-3.10159340e-01 9.50600062e-01 1.26769737e-02 -7.53181602e+00] [ 3.95372611e-02 -4.25215170e-04 9.99218006e-01 4.07089552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:-7.54, Z:0.41 [[ 9.49901244e-01 3.10340569e-01 -3.70993019e-02 4.04852726e+01] [-3.10086196e-01 9.50625342e-01 1.25702153e-02 -7.54248783e+00] [ 3.91685844e-02 -4.36481765e-04 9.99232521e-01 4.07633463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:-7.55, Z:0.41 [[ 9.50000063e-01 3.10074427e-01 -3.67930690e-02 4.05151134e+01] [-3.09823578e-01 9.50712177e-01 1.24782993e-02 -7.55422946e+00] [ 3.88488202e-02 -4.55024844e-04 9.99244996e-01 4.08284663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:-7.57, Z:0.41 [[ 9.49954053e-01 3.10294321e-01 -3.61210565e-02 4.05456364e+01] [-3.10052274e-01 9.50640433e-01 1.22619148e-02 -7.56568811e+00] [ 3.81429393e-02 -4.48839974e-04 9.99272193e-01 4.09432062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:-7.58, Z:0.41 [[ 9.50014280e-01 3.10175244e-01 -3.55553966e-02 4.05766997e+01] [-3.09940181e-01 9.50679288e-01 1.20820561e-02 -7.57728007e+00] [ 3.75493338e-02 -4.58079771e-04 9.99294670e-01 4.10581641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:-7.54, Z:0.37 [[ 9.51236663e-01 3.04719971e-01 -4.79014702e-02 4.06217052e+01] [-3.07324854e-01 9.49554760e-01 -6.24274976e-02 -7.54469358e+00] [ 2.64621638e-02 7.41046367e-02 9.96899321e-01 3.71720146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:-7.64, Z:0.44 [[ 9.50200039e-01 3.11465068e-01 -1.04593385e-02 4.06221741e+01] [-3.09621006e-01 9.47325070e-01 8.19148669e-02 -7.63852781e+00] [ 3.54220132e-02 -7.45970788e-02 9.96584445e-01 4.37624459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:-7.61, Z:0.41 [[ 9.50002155e-01 3.10368863e-01 -3.41624556e-02 4.06660297e+01] [-3.10151367e-01 9.50616099e-01 1.16259517e-02 -7.61154995e+00] [ 3.60837137e-02 -4.49146924e-04 9.99348670e-01 4.13063559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:-7.62, Z:0.41 [[ 9.49797121e-01 3.10574363e-01 -3.78020290e-02 4.06974270e+01] [-3.10562180e-01 9.50531904e-01 6.34294341e-03 -7.61911307e+00] [ 3.79019902e-02 5.71537114e-03 9.99265117e-01 4.11866528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.72, Y:-7.64, Z:0.42 [[ 9.49545404e-01 3.11902891e-01 -3.28650637e-02 4.07247103e+01] [-3.11467355e-01 9.50090869e-01 1.77602943e-02 -7.63791195e+00] [ 3.67642841e-02 -6.62781140e-03 9.99301986e-01 4.15526426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64431999999999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.76, Y:-7.65, Z:0.41 [[ 9.49330517e-01 3.12294762e-01 -3.52640170e-02 4.07563095e+01] [-3.12063398e-01 9.49985164e-01 1.20259641e-02 -7.64663032e+00] [ 3.72559386e-02 -4.12005698e-04 9.99305672e-01 4.14557723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:-7.66, Z:0.41 [[ 9.49229679e-01 3.12624191e-01 -3.50589896e-02 4.07865701e+01] [-3.12395298e-01 9.49876807e-01 1.19678341e-02 -7.65972968e+00] [ 3.70431555e-02 -4.07959874e-04 9.99313584e-01 4.14674474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:-7.67, Z:0.42 [[ 9.49198101e-01 3.12749114e-01 -3.47988021e-02 4.08168555e+01] [-3.12523252e-01 9.49835682e-01 1.18909190e-02 -7.67151398e+00] [ 3.67720182e-02 -4.11402900e-04 9.99323596e-01 4.15380454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:-7.68, Z:0.42 [[ 9.49194326e-01 3.12763287e-01 -3.47743886e-02 4.08468194e+01] [-3.12537310e-01 9.49831010e-01 1.18946076e-02 -7.68311042e+00] [ 3.67499892e-02 -4.22000140e-04 9.99324402e-01 4.16147339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76431999999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:40.88, Y:-7.70, Z:0.42 [[ 9.49250245e-01 3.12659299e-01 -3.41780021e-02 4.08770380e+01] [-3.12440544e-01 9.49865242e-01 1.17016189e-02 -7.69513955e+00] [ 3.61231162e-02 -4.29171021e-04 9.99347255e-01 4.15637161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:-7.71, Z:0.42 [[ 9.49419500e-01 3.12169567e-01 -3.39525281e-02 4.09066870e+01] [-3.11952952e-01 9.50026291e-01 1.16362467e-02 -7.70611799e+00] [ 3.58882765e-02 -4.56088149e-04 9.99355704e-01 4.16609340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.94, Y:-7.72, Z:0.42 [[ 9.49557066e-01 3.11832811e-01 -3.31915102e-02 4.09374189e+01] [-3.11625221e-01 9.50136873e-01 1.13861035e-02 -7.71784301e+00] [ 3.50870384e-02 -4.68443344e-04 9.99384151e-01 4.17104159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:-7.73, Z:0.42 [[ 9.50124830e-01 3.10246656e-01 -3.17776494e-02 4.09677537e+01] [-3.10055150e-01 9.50655957e-01 1.09112970e-02 -7.73084774e+00] [ 3.35948051e-02 -5.14270383e-04 9.99435403e-01 4.17940247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884319999999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:41.00, Y:-7.74, Z:0.42 [[ 9.50193287e-01 3.10127823e-01 -3.08780047e-02 4.09981739e+01] [-3.09946597e-01 9.50694730e-01 1.06130889e-02 -7.74184184e+00] [ 3.26469705e-02 -5.13953348e-04 9.99466813e-01 4.19060737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91432 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:41.03, Y:-7.75, Z:0.42 [[ 9.50072205e-01 3.10699884e-01 -2.87817149e-02 4.10302433e+01] [-3.10542430e-01 9.50507950e-01 9.90136059e-03 -7.75132814e+00] [ 3.04336004e-02 -4.69063790e-04 9.99536681e-01 4.19480001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94431999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.06, Y:-7.76, Z:0.42 [[ 9.50044643e-01 3.10795002e-01 -2.86643139e-02 4.10600019e+01] [-3.10638561e-01 9.50476850e-01 9.87130663e-03 -7.76154101e+00] [ 3.03127195e-02 -4.73940786e-04 9.99540352e-01 4.20109958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97431999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.09, Y:-7.77, Z:0.42 [[ 9.50004530e-01 3.10917776e-01 -2.86623349e-02 4.10915781e+01] [-3.10761217e-01 9.50436694e-01 9.87704938e-03 -7.77257009e+00] [ 3.03126850e-02 -4.76099586e-04 9.99540352e-01 4.21209622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:-7.78, Z:0.42 [[ 9.49888688e-01 3.11266162e-01 -2.87203218e-02 4.11222814e+01] [-3.11109015e-01 9.50322659e-01 9.90073157e-03 -7.78328030e+00] [ 3.03753353e-02 -4.69441881e-04 9.99538453e-01 4.22043471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:-7.79, Z:0.42 [[ 9.49870366e-01 3.11349335e-01 -2.84232271e-02 4.11522739e+01] [-3.11195167e-01 9.50295412e-01 9.80806314e-03 -7.79308816e+00] [ 3.00641962e-02 -4.71217613e-04 9.99547859e-01 4.22775624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:-7.80, Z:0.42 [[ 9.49969332e-01 3.11049850e-01 -2.83946943e-02 4.11835044e+01] [-3.10895586e-01 9.50393472e-01 9.80726842e-03 -7.80428393e+00] [ 3.00366815e-02 -4.88819104e-04 9.99548678e-01 4.23564484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:-7.81, Z:0.42 [[ 9.49981803e-01 3.11030244e-01 -2.81914929e-02 4.12145557e+01] [-3.10877889e-01 9.50399885e-01 9.74659087e-03 -7.81488336e+00] [ 2.98246761e-02 -4.94972186e-04 9.99555023e-01 4.24588025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:-7.83, Z:0.43 [[ 9.49832947e-01 3.11491370e-01 -2.81158005e-02 4.12451792e+01] [-3.11339751e-01 9.50248856e-01 9.72995452e-03 -7.82513629e+00] [ 2.97478041e-02 -4.88265077e-04 9.99557317e-01 4.25541218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:-7.83, Z:0.43 [[ 9.50026609e-01 3.10924517e-01 -2.78457774e-02 4.12772098e+01] [-3.10775300e-01 9.50434472e-01 9.64506640e-03 -7.83439528e+00] [ 2.94644743e-02 -5.09289913e-04 9.99565698e-01 4.26098253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:-7.84, Z:0.43 [[ 9.50081413e-01 3.10797185e-01 -2.73937498e-02 4.13079266e+01] [-3.10652454e-01 9.50476115e-01 9.49775940e-03 -7.84410373e+00] [ 2.89889818e-02 -5.13709075e-04 9.99579599e-01 4.26925122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:-7.85, Z:0.43 [[ 9.50159815e-01 3.10568059e-01 -2.72728121e-02 4.13397571e+01] [-3.10424260e-01 9.50551000e-01 9.46440038e-03 -7.85416072e+00] [ 2.88635393e-02 -5.26550403e-04 9.99583223e-01 4.27712805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:-7.86, Z:0.43 [[ 9.50393493e-01 3.09872331e-01 -2.70434394e-02 4.13703537e+01] [-3.09730407e-01 9.50778015e-01 9.39363861e-03 -7.86335318e+00] [ 2.86231363e-02 -5.51477517e-04 9.99590122e-01 4.28300399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:-7.87, Z:0.43 [[ 9.50626954e-01 3.09211099e-01 -2.63986910e-02 4.14017002e+01] [-3.09075392e-01 9.50993258e-01 9.17740507e-03 -7.87402884e+00] [ 2.79427327e-02 -5.65102836e-04 9.99609366e-01 4.29570708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:-7.88, Z:0.43 [[ 9.51214664e-01 3.07413013e-01 -2.62278820e-02 4.14330710e+01] [-3.07278146e-01 9.51575984e-01 9.12623943e-03 -7.88400670e+00] [ 2.77633474e-02 -6.21757838e-04 9.99614331e-01 4.30821531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:-7.89, Z:0.43 [[ 9.51415597e-01 3.06809689e-01 -2.60033970e-02 4.14631448e+01] [-3.06676646e-01 9.51770667e-01 9.05720946e-03 -7.89380236e+00] [ 2.75281102e-02 -6.42535750e-04 9.99620823e-01 4.31555762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:-7.90, Z:0.43 [[ 9.51565517e-01 3.06309982e-01 -2.64057114e-02 4.14949227e+01] [-3.06172357e-01 9.51931583e-01 9.20593339e-03 -7.90400611e+00] [ 2.79562999e-02 -6.75349870e-04 9.99608918e-01 4.32471994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:-7.91, Z:0.43 [[ 9.51707490e-01 3.05923757e-01 -2.57586413e-02 4.15253183e+01] [-3.05792414e-01 9.52055773e-01 8.98912875e-03 -7.91384100e+00] [ 2.72736512e-02 -6.78224051e-04 9.99627775e-01 4.32842340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:-7.92, Z:0.43 [[ 9.51803612e-01 3.05628802e-01 -2.57083627e-02 4.15571030e+01] [-3.05497642e-01 9.52150490e-01 8.97971123e-03 -7.92300707e+00] [ 2.72226885e-02 -6.93077395e-04 9.99629154e-01 4.34015633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:-7.93, Z:0.43 [[ 9.51804396e-01 3.05642859e-01 -2.55114640e-02 4.15885195e+01] [-3.05513469e-01 9.52145975e-01 8.91973045e-03 -7.93331023e+00] [ 2.70168897e-02 -6.95742781e-04 9.99634735e-01 4.34837419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:-7.94, Z:0.44 [[ 9.51668867e-01 3.05975300e-01 -2.65609338e-02 4.16191367e+01] [-3.05834905e-01 9.52039176e-01 9.29615895e-03 -7.94411395e+00] [ 2.81314446e-02 -7.23604370e-04 9.99603971e-01 4.37178649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:-7.95, Z:0.44 [[ 9.51558372e-01 3.06461251e-01 -2.48629356e-02 4.16497942e+01] [-3.06338158e-01 9.51882897e-01 8.71112188e-03 -7.95368611e+00] [ 2.63362245e-02 -6.72675058e-04 9.99652915e-01 4.37075385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:-7.96, Z:0.44 [[ 9.51482441e-01 3.06730931e-01 -2.44397410e-02 4.16816235e+01] [-3.06611961e-01 9.51796040e-01 8.56753827e-03 -7.96385859e+00] [ 2.58895777e-02 -6.58345309e-04 9.99664592e-01 4.38136323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:-7.97, Z:0.44 [[ 9.51083702e-01 3.07995615e-01 -2.40518711e-02 4.17127874e+01] [-3.07880596e-01 9.51387574e-01 8.43941354e-03 -7.97301958e+00] [ 2.54819537e-02 -6.21484263e-04 9.99675089e-01 4.38914812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:-7.99, Z:0.44 [[ 9.50303022e-01 3.10471928e-01 -2.30509972e-02 4.17443689e+01] [-3.10216976e-01 9.50562590e-01 1.40067642e-02 -7.98969544e+00] [ 2.62601227e-02 -6.15985969e-03 9.99636165e-01 4.42645694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:-7.99, Z:0.44 [[ 9.50260942e-01 3.10399130e-01 -2.56226914e-02 4.17768819e+01] [-3.10399710e-01 9.50597482e-01 4.05541792e-03 -7.99388176e+00] [ 2.56156641e-02 4.09957071e-03 9.99663459e-01 4.38963638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:-8.00, Z:0.44 [[ 9.50291657e-01 3.10483635e-01 -2.33597699e-02 4.18041708e+01] [-3.10383108e-01 9.50578689e-01 7.90455930e-03 -8.00173761e+00] [ 2.46595357e-02 -2.61158769e-04 9.99695873e-01 4.41026766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.84, Y:-8.01, Z:0.44 [[ 9.49751955e-01 3.11779444e-01 -2.76550628e-02 4.18362137e+01] [-3.11840001e-01 9.50132069e-01 2.20567251e-03 -8.00849663e+00] [ 2.69636454e-02 6.52911304e-03 9.99615092e-01 4.40710470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:-8.02, Z:0.44 [[ 9.49403600e-01 3.13112596e-01 -2.43578758e-02 4.18704187e+01] [-3.13067697e-01 9.49713505e-01 5.73377639e-03 -8.02351332e+00] [ 2.49283212e-02 2.18199614e-03 9.99686860e-01 4.40282516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:-8.03, Z:0.44 [[ 9.48800056e-01 3.15170155e-01 -2.11240826e-02 4.18981893e+01] [-3.15078018e-01 9.49034993e-01 7.64360854e-03 -8.03227496e+00] [ 2.24565309e-02 -5.96522121e-04 9.99747642e-01 4.38835403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:-8.05, Z:0.45 [[ 9.48910585e-01 3.14808907e-01 -2.15419309e-02 4.19257535e+01] [-3.14427039e-01 9.49084231e-01 1.93586998e-02 -8.04596323e+00] [ 2.65393980e-02 -1.15963096e-02 9.99580505e-01 4.49416950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:-8.05, Z:0.45 [[ 9.48625441e-01 3.15265926e-01 -2.67800075e-02 4.19576595e+01] [-3.15191748e-01 9.49001764e-01 7.05787438e-03 -8.04898209e+00] [ 2.76393817e-02 1.74555816e-03 9.99616435e-01 4.46417763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844319999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.99, Y:-8.06, Z:0.45 [[ 9.48927231e-01 3.14488060e-01 -2.51867297e-02 4.19891787e+01] [-3.14303763e-01 9.49257894e-01 1.10722694e-02 -8.06173125e+00] [ 2.73907986e-02 -2.59049402e-03 9.99621445e-01 4.48440204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:-8.08, Z:0.45 [[ 9.47993633e-01 3.17356118e-01 -2.43550177e-02 4.20178494e+01] [-3.17240352e-01 9.48306347e-01 8.58087177e-03 -8.07524132e+00] [ 2.58192100e-02 -4.08217415e-04 9.99666545e-01 4.47297262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:-8.09, Z:0.45 [[ 9.48824392e-01 3.14581909e-01 -2.77578093e-02 4.20543385e+01] [-3.14452913e-01 9.49230315e-01 9.00972015e-03 -8.08658339e+00] [ 2.91828490e-02 1.79881749e-04 9.99574074e-01 4.48858254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:-8.10, Z:0.45 [[ 9.49019478e-01 3.13994127e-01 -2.77438135e-02 4.20849411e+01] [-3.13831168e-01 9.49424467e-01 1.01577692e-02 -8.09828379e+00] [ 2.95301352e-02 -9.33047434e-04 9.99563455e-01 4.50083737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:-8.11, Z:0.45 [[ 9.48875633e-01 3.14425357e-01 -2.77800093e-02 4.21127619e+01] [-3.14179936e-01 9.49275664e-01 1.29105134e-02 -8.10988514e+00] [ 3.04302796e-02 -3.52255001e-03 9.99530685e-01 4.52790551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:-8.11, Z:0.45 [[ 9.50457708e-01 3.09527163e-01 -2.86893678e-02 4.21396665e+01] [-3.09401174e-01 9.50890484e-01 8.84312568e-03 -8.11092875e+00] [ 3.00176345e-02 4.71507104e-04 9.99549258e-01 4.52730428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.17, Y:-8.12, Z:0.45 [[ 9.50561768e-01 3.09189850e-01 -2.88783983e-02 4.21691151e+01] [-3.09022336e-01 9.51000017e-01 1.02060476e-02 -8.12228742e+00] [ 3.06189635e-02 -7.77408510e-04 9.99530827e-01 4.54505416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:-8.13, Z:0.45 [[ 9.50832842e-01 3.07912002e-01 -3.32731845e-02 4.22019546e+01] [-3.07945510e-01 9.51394545e-01 4.24050276e-03 -8.13029390e+00] [ 3.29616279e-02 6.21431848e-03 9.99437298e-01 4.54123811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:-8.15, Z:0.46 [[ 9.50809271e-01 3.08595732e-01 -2.70259933e-02 4.22295189e+01] [-3.08222099e-01 9.51159861e-01 1.71480946e-02 -8.14891439e+00] [ 3.09978688e-02 -7.97455890e-03 9.99487638e-01 4.59180136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:-8.16, Z:0.46 [[ 9.50776415e-01 3.08431935e-01 -2.98989970e-02 4.22609387e+01] [-3.08251230e-01 9.51246032e-01 1.05908200e-02 -8.15601560e+00] [ 3.17078494e-02 -8.53099248e-04 9.99496816e-01 4.58541669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:-8.17, Z:0.46 [[ 9.50691813e-01 3.08672666e-01 -3.01041886e-02 4.22921757e+01] [-3.08489387e-01 9.51167940e-01 1.06699455e-02 -8.16753964e+00] [ 3.19276596e-02 -8.57007187e-04 9.99489815e-01 4.59763473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:-8.18, Z:0.46 [[ 9.50267939e-01 3.09938378e-01 -3.04802433e-02 4.23251453e+01] [-3.09694890e-01 9.50753451e-01 1.25280090e-02 -8.18296499e+00] [ 3.28621072e-02 -2.46538965e-03 9.99456854e-01 4.61701550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:-8.19, Z:0.46 [[ 9.50025061e-01 3.10474517e-01 -3.25262712e-02 4.23558108e+01] [-3.10419477e-01 9.50574951e-01 6.85647990e-03 -8.18973927e+00] [ 3.30474209e-02 3.58296036e-03 9.99447362e-01 4.59721478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:-8.20, Z:0.46 [[ 9.49735931e-01 3.11614045e-01 -2.99724558e-02 4.23818359e+01] [-3.11310675e-01 9.50198717e-01 1.44243138e-02 -8.20245163e+00] [ 3.29746078e-02 -4.36854361e-03 9.99446642e-01 4.64669025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:-8.21, Z:0.46 [[ 9.49245406e-01 3.12981727e-01 -3.12345644e-02 4.24138377e+01] [-3.12785629e-01 9.49758835e-01 1.11043392e-02 -8.21185185e+00] [ 3.31407587e-02 -7.71020131e-04 9.99450397e-01 4.64566298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:-8.22, Z:0.47 [[ 9.48729421e-01 3.14516088e-01 -3.14978844e-02 4.24435837e+01] [-3.14317144e-01 9.49251859e-01 1.12089758e-02 -8.22250201e+00] [ 3.34248286e-02 -7.33960004e-04 9.99440965e-01 4.65712523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32431999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.48, Y:-8.23, Z:0.46 [[ 9.48149923e-01 3.16251363e-01 -3.15721318e-02 4.24766668e+01] [-3.16139301e-01 9.48673694e-01 8.61188008e-03 -8.23236280e+00] [ 3.26751698e-02 1.81583826e-03 9.99464375e-01 4.63940194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:-8.24, Z:0.46 [[ 9.47474446e-01 3.18026155e-01 -3.39343366e-02 4.25070179e+01] [-3.18022680e-01 9.48066307e-01 5.64382051e-03 -8.24094694e+00] [ 3.39668837e-02 5.44451295e-03 9.99408129e-01 4.64063609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:-8.26, Z:0.47 [[ 9.46061855e-01 3.22595842e-01 -2.99814756e-02 4.25359271e+01] [-3.22165737e-01 9.46505509e-01 1.83455699e-02 -8.25964435e+00] [ 3.42958363e-02 -7.69703970e-03 9.99382085e-01 4.71092132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:-8.27, Z:0.47 [[ 9.44852061e-01 3.25964260e-01 -3.16525420e-02 4.25655026e+01] [-3.25732039e-01 9.45381075e-01 1.23798762e-02 -8.26732300e+00] [ 3.39591114e-02 -1.38690454e-03 9.99422261e-01 4.70255083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44431999999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.60, Y:-8.28, Z:0.47 [[ 9.44159860e-01 3.27958723e-01 -3.17054473e-02 4.25955716e+01] [-3.27763512e-01 9.44692008e-01 1.13177113e-02 -8.27808042e+00] [ 3.36636248e-02 -2.93840008e-04 9.99433176e-01 4.71343620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:-8.28, Z:0.46 [[ 9.44003467e-01 3.28082299e-01 -3.49207639e-02 4.26308917e+01] [-3.28353951e-01 9.44552220e-01 -2.18791772e-03 -8.28108240e+00] [ 3.22666680e-02 1.35317727e-02 9.99387689e-01 4.64996858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:-8.30, Z:0.48 [[ 9.43074007e-01 3.31328699e-01 -2.88567179e-02 4.26555422e+01] [-3.30852835e-01 9.43468641e-01 2.00829797e-02 -8.30496414e+00] [ 3.38794760e-02 -9.39240926e-03 9.99381791e-01 4.75780104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:-8.31, Z:0.48 [[ 9.41720234e-01 3.34911778e-01 -3.15769080e-02 4.26842733e+01] [-3.34541890e-01 9.42236333e-01 1.65050473e-02 -8.31381966e+00] [ 3.52806447e-02 -4.97933854e-03 9.99365040e-01 4.76815224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:-8.32, Z:0.47 [[ 9.41578678e-01 3.35059649e-01 -3.41266018e-02 4.27176390e+01] [-3.35077782e-01 9.42175241e-01 5.35683111e-03 -8.31927580e+00] [ 3.39480973e-02 6.39118810e-03 9.99403162e-01 4.71700092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:-8.33, Z:0.47 [[ 9.41564461e-01 3.35299970e-01 -3.20982224e-02 4.27447328e+01] [-3.35064227e-01 9.42110744e-01 1.26217634e-02 -8.33403736e+00] [ 3.44721571e-02 -1.12923774e-03 9.99405021e-01 4.74979691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62431999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:42.77, Y:-8.35, Z:0.48 [[ 9.41567410e-01 3.35269071e-01 -3.23336263e-02 4.27720388e+01] [-3.34845937e-01 9.42103269e-01 1.78781600e-02 -8.34951818e+00] [ 3.64556091e-02 -6.00670938e-03 9.99317221e-01 4.79454041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65431999999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:42.80, Y:-8.36, Z:0.48 [[ 9.41792490e-01 3.34474382e-01 -3.39675384e-02 4.28027806e+01] [-3.34253085e-01 9.42404837e-01 1.21654502e-02 -8.35858743e+00] [ 3.60802040e-02 -1.03575179e-04 9.99348892e-01 4.78927846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:-8.37, Z:0.48 [[ 9.42507248e-01 3.32503844e-01 -3.34855524e-02 4.28326854e+01] [-3.32287170e-01 9.43101882e-01 1.20032180e-02 -8.37142785e+00] [ 3.55714037e-02 -1.86300520e-04 9.99367120e-01 4.80532608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:-8.37, Z:0.47 [[ 9.43128497e-01 3.30265115e-01 -3.78628049e-02 4.28678821e+01] [-3.30872708e-01 9.43612272e-01 -1.09147678e-02 -8.37035329e+00] [ 3.21230403e-02 2.28217973e-02 9.99223336e-01 4.68998719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:-8.41, Z:0.49 [[ 9.43088195e-01 3.31532012e-01 -2.59071780e-02 4.28870560e+01] [-3.30626732e-01 9.43155557e-01 3.38165671e-02 -8.40686510e+00] [ 3.56457734e-02 -2.33263996e-02 9.99092217e-01 4.90622834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:-8.41, Z:0.48 [[ 9.43346575e-01 3.30111789e-01 -3.35178321e-02 4.29215756e+01] [-3.29892284e-01 9.43941797e-01 1.20401311e-02 -8.40634183e+00] [ 3.56134719e-02 -3.00742300e-04 9.99365594e-01 4.84174564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:-8.42, Z:0.49 [[ 9.43634269e-01 3.29255463e-01 -3.38408965e-02 4.29520797e+01] [-3.29030751e-01 9.44240817e-01 1.21673609e-02 -8.41882073e+00] [ 3.59601258e-02 -3.46843104e-04 9.99353165e-01 4.85180525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:-8.43, Z:0.49 [[ 9.43726480e-01 3.28953433e-01 -3.42048255e-02 4.29823735e+01] [-3.28723228e-01 9.44346070e-01 1.23101552e-02 -8.43098515e+00] [ 3.63506604e-02 -3.73498787e-04 9.99339027e-01 4.86565457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:-8.44, Z:0.49 [[ 9.43682186e-01 3.29080855e-01 -3.42012031e-02 4.30137938e+01] [-3.28850369e-01 9.44301672e-01 1.23202114e-02 -8.44244896e+00] [ 3.63505990e-02 -3.79285772e-04 9.99339027e-01 4.87693868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.04, Y:-8.46, Z:0.49 [[ 9.43889542e-01 3.28484572e-01 -3.42113871e-02 4.30443282e+01] [-3.28253349e-01 9.44509248e-01 1.23296177e-02 -8.45569709e+00] [ 3.63630607e-02 -4.07794838e-04 9.99338562e-01 4.89036277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:-8.47, Z:0.49 [[ 9.43946963e-01 3.28289964e-01 -3.44939294e-02 4.30743875e+01] [-3.28054321e-01 9.44576897e-01 1.24437779e-02 -8.46717139e+00] [ 3.66673362e-02 -4.30383806e-04 9.99327434e-01 4.90144122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:-8.48, Z:0.49 [[ 9.44017552e-01 3.28108722e-01 -3.42859658e-02 4.31052823e+01] [-3.27875380e-01 9.44639862e-01 1.23801211e-02 -8.47884892e+00] [ 3.64499157e-02 -4.45527570e-04 9.99335382e-01 4.90977370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:-8.49, Z:0.49 [[ 9.44230160e-01 3.27495399e-01 -3.42953215e-02 4.31359712e+01] [-3.27261085e-01 9.44852651e-01 1.23955539e-02 -8.49151190e+00] [ 3.64635123e-02 -4.80731755e-04 9.99334869e-01 4.91328933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:-8.50, Z:0.49 [[ 9.44327745e-01 3.27176582e-01 -3.46495923e-02 4.31652448e+01] [-3.26936736e-01 9.44963081e-01 1.25357776e-02 -8.50314146e+00] [ 3.68439984e-02 -5.09658016e-04 9.99320899e-01 4.92492279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:-8.52, Z:0.49 [[ 9.44447343e-01 3.26742505e-01 -3.54760590e-02 4.31946768e+01] [-3.26490329e-01 9.45113238e-01 1.28465064e-02 -8.51595483e+00] [ 3.77263926e-02 -5.50258673e-04 9.99287955e-01 4.93453005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:-8.53, Z:0.49 [[ 9.44434701e-01 3.26767489e-01 -3.55823408e-02 4.32255735e+01] [-3.26513395e-01 9.45104594e-01 1.28961132e-02 -8.52846602e+00] [ 3.78430643e-02 -5.61425929e-04 9.99283537e-01 4.94723580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:-8.54, Z:0.50 [[ 9.44450765e-01 3.26738793e-01 -3.54191172e-02 4.32549666e+01] [-3.26486538e-01 9.45114508e-01 1.28493649e-02 -8.53998021e+00] [ 3.76735075e-02 -5.71727566e-04 9.99289938e-01 4.95173901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134319999999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.29, Y:-8.55, Z:0.50 [[ 9.44424050e-01 3.26802348e-01 -3.55448787e-02 4.32861247e+01] [-3.26547898e-01 9.45092528e-01 1.29067661e-02 -8.55207332e+00] [ 3.78111607e-02 -5.82354937e-04 9.99284733e-01 4.95841969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:-8.56, Z:0.50 [[ 9.44335874e-01 3.27068761e-01 -3.54370191e-02 4.33167361e+01] [-3.26815587e-01 9.45000364e-01 1.28796235e-02 -8.56369656e+00] [ 3.77005185e-02 -5.81320328e-04 9.99288914e-01 4.96982149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:-8.57, Z:0.49 [[ 9.44651096e-01 3.26108004e-01 -3.58869878e-02 4.33494366e+01] [-3.26242834e-01 9.45283442e-01 2.19704491e-03 -8.56972063e+00] [ 3.46398493e-02 9.63243172e-03 9.99353440e-01 4.90609024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:-8.59, Z:0.50 [[ 9.44288505e-01 3.27710478e-01 -3.04148264e-02 4.33737694e+01] [-3.27146674e-01 9.44715095e-01 2.21007655e-02 -8.59226289e+00] [ 3.59759980e-02 -1.09193895e-02 9.99292997e-01 5.02685358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:-8.59, Z:0.50 [[ 9.43869996e-01 3.27733643e-01 -4.12321402e-02 4.34076019e+01] [-3.27924540e-01 9.44701270e-01 2.23743304e-03 -8.59216077e+00] [ 3.96853373e-02 1.14091847e-02 9.99147089e-01 4.97849877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:-8.62, Z:0.51 [[ 9.44015560e-01 3.28634548e-01 -2.88782914e-02 4.34330732e+01] [-3.28062311e-01 9.44379692e-01 2.28499053e-02 -8.61690013e+00] [ 3.47813402e-02 -1.20967871e-02 9.99321733e-01 5.05590312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.47, Y:-8.62, Z:0.50 [[ 9.43786988e-01 3.28982155e-01 -3.22003686e-02 4.34664529e+01] [-3.28773017e-01 9.44336010e-01 1.17390038e-02 -8.62272082e+00] [ 3.42698904e-02 -4.92506729e-04 9.99412493e-01 5.02911337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:-8.63, Z:0.50 [[ 9.43644611e-01 3.29423836e-01 -3.18556714e-02 4.34958791e+01] [-3.29219036e-01 9.44182029e-01 1.16241956e-02 -8.63409753e+00] [ 3.39068396e-02 -4.81616101e-04 9.99424882e-01 5.04127805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:-8.65, Z:0.51 [[ 9.43101421e-01 3.31005062e-01 -3.15493057e-02 4.35265707e+01] [-3.30804845e-01 9.43628882e-01 1.15190055e-02 -8.64589410e+00] [ 3.35836852e-02 -4.26927284e-04 9.99435818e-01 5.05128562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.56, Y:-8.66, Z:0.51 [[ 9.42811145e-01 3.31858233e-01 -3.12611252e-02 4.35562605e+01] [-3.31661781e-01 9.43329185e-01 1.14241958e-02 -8.65690671e+00] [ 3.32807452e-02 -4.02738651e-04 9.99445961e-01 5.05540560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:-8.67, Z:0.51 [[ 9.42454747e-01 3.32848793e-01 -3.14758755e-02 4.35873531e+01] [-3.32649852e-01 9.42980136e-01 1.15125616e-02 -8.66861570e+00] [ 3.35130675e-02 -3.79623003e-04 9.99438207e-01 5.06422681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:-8.68, Z:0.51 [[ 9.41421996e-01 3.35785471e-01 -3.11888153e-02 4.36173044e+01] [-3.35591405e-01 9.41938447e-01 1.14180125e-02 -8.67890338e+00] [ 3.32119469e-02 -2.82469751e-04 9.99448291e-01 5.06855029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:-8.69, Z:0.51 [[ 9.40717351e-01 3.37780862e-01 -3.09023549e-02 4.36487740e+01] [-3.37591217e-01 9.41224757e-01 1.13193570e-02 -8.68956357e+00] [ 3.29095236e-02 -2.15951999e-04 9.99458312e-01 5.08005206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:-8.70, Z:0.51 [[ 9.39289470e-01 3.41688807e-01 -3.13695687e-02 4.36800145e+01] [-3.41495200e-01 9.39813147e-01 1.15011843e-02 -8.70037564e+00] [ 3.34113591e-02 -9.03841523e-05 9.99441681e-01 5.08628055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:-8.71, Z:0.51 [[ 9.38542461e-01 3.43643918e-01 -3.23559409e-02 4.37098919e+01] [-3.43438717e-01 9.39100025e-01 1.18739571e-02 -8.71141540e+00] [ 3.44658780e-02 -3.19300479e-05 9.99405875e-01 5.09461303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58431999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.74, Y:-8.72, Z:0.51 [[ 9.37873682e-01 3.45423656e-01 -3.27941188e-02 4.37411563e+01] [-3.45213582e-01 9.38446854e-01 1.20451354e-02 -8.72313553e+00] [ 3.49362123e-02 2.41596696e-05 9.99389544e-01 5.10133447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61431999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:43.77, Y:-8.73, Z:0.51 [[ 9.37037793e-01 3.47654399e-01 -3.31148554e-02 4.37707328e+01] [-3.47441167e-01 9.37622744e-01 1.21748140e-02 -8.73470568e+00] [ 3.52818693e-02 9.72031472e-05 9.99377396e-01 5.10457237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:-8.74, Z:0.50 [[ 9.37287478e-01 3.46754171e-01 -3.54080361e-02 4.38047226e+01] [-3.47124041e-01 9.37807455e-01 -4.69868443e-03 -8.73517154e+00] [ 3.15766318e-02 1.66949987e-02 9.99361893e-01 4.99912161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:-8.77, Z:0.52 [[ 9.36313586e-01 3.50077678e-01 -2.76131711e-02 4.38279728e+01] [-3.49348072e-01 9.36573521e-01 2.80350615e-02 -8.76557494e+00] [ 3.56762141e-02 -1.66030009e-02 9.99225474e-01 5.17518877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:-8.77, Z:0.51 [[ 9.35835858e-01 3.50879613e-01 -3.30869247e-02 4.38605984e+01] [-3.50663640e-01 9.36420573e-01 1.23094107e-02 -8.76815231e+00] [ 3.53023983e-02 8.27935210e-05 9.99376673e-01 5.12835026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:-8.78, Z:0.51 [[ 9.36107329e-01 3.50149607e-01 -3.31409407e-02 4.38927874e+01] [-3.49946942e-01 9.36693685e-01 1.19196404e-02 -8.77950417e+00] [ 3.52165673e-02 4.39508091e-04 9.99379608e-01 5.13871065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:-8.79, Z:0.52 [[ 9.36193971e-01 3.49964141e-01 -3.26488590e-02 4.39226902e+01] [-3.49756839e-01 9.36763086e-01 1.20446758e-02 -8.79088823e+00] [ 3.47994505e-02 1.43008840e-04 9.99394305e-01 5.15213524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:-8.80, Z:0.52 [[ 9.36607304e-01 3.48905577e-01 -3.21194212e-02 4.39532051e+01] [-3.48703975e-01 9.37157879e-01 1.18594906e-02 -8.80349965e+00] [ 3.42388110e-02 9.24843375e-05 9.99413676e-01 5.16388432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-8.82, Z:0.52 [[ 9.37066297e-01 3.47657971e-01 -3.22597360e-02 4.39828535e+01] [-3.47453480e-01 9.37621424e-01 1.19224742e-02 -8.81634774e+00] [ 3.43923628e-02 3.66087718e-05 9.99408407e-01 5.17623292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:-8.83, Z:0.52 [[ 9.37241407e-01 3.47144572e-01 -3.26984812e-02 4.40123616e+01] [-3.46933796e-01 9.37811626e-01 1.20952482e-02 -8.82803278e+00] [ 3.48638156e-02 8.04077357e-06 9.99392072e-01 5.18774915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:-8.84, Z:0.52 [[ 9.37119690e-01 3.47524433e-01 -3.21474155e-02 4.40441091e+01] [-3.47320588e-01 9.37670928e-01 1.19012872e-02 -8.83838204e+00] [ 3.42796850e-02 1.25286550e-05 9.99412279e-01 5.19733130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:-8.85, Z:0.52 [[ 9.36957535e-01 3.47976922e-01 -3.19787416e-02 4.40748665e+01] [-3.47775110e-01 9.37503099e-01 1.18495491e-02 -8.84879238e+00] [ 3.41035389e-02 1.88860804e-05 9.99418305e-01 5.20267200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.11, Y:-8.85, Z:0.51 [[ 9.37622841e-01 3.45852134e-01 -3.53512317e-02 4.41085607e+01] [-3.46188626e-01 9.38157663e-01 -3.69245669e-03 -8.85162883e+00] [ 3.18879849e-02 1.57003261e-02 9.99368128e-01 5.10831144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:-8.88, Z:0.53 [[ 9.37425704e-01 3.47089518e-01 -2.76028218e-02 4.41311230e+01] [-3.46386229e-01 9.37695379e-01 2.72755581e-02 -8.88156697e+00] [ 3.53500988e-02 -1.60075719e-02 9.99246780e-01 5.28115711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:-8.89, Z:0.52 [[ 9.38258147e-01 3.44360911e-01 -3.29728992e-02 4.41652773e+01] [-3.44143067e-01 9.38837335e-01 1.22477437e-02 -8.88568322e+00] [ 3.51738330e-02 -1.44150637e-04 9.99381199e-01 5.24330576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.19, Y:-8.90, Z:0.53 [[ 9.38554663e-01 3.43617347e-01 -3.22840976e-02 4.41946493e+01] [-3.43407682e-01 9.39109731e-01 1.20032140e-02 -8.89716825e+00] [ 3.44428227e-02 -1.79065325e-04 9.99406654e-01 5.25300088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.23, Y:-8.90, Z:0.52 [[ 9.38831342e-01 3.42817382e-01 -3.27407207e-02 4.42271012e+01] [-3.42845080e-01 9.39378970e-01 4.93980164e-03 -8.90442394e+00] [ 3.24493943e-02 6.58735439e-03 9.99451671e-01 5.21295348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:-8.92, Z:0.53 [[ 9.38667151e-01 3.43599956e-01 -2.90353340e-02 4.42532454e+01] [-3.43190511e-01 9.39088928e-01 1.82279835e-02 -8.92165955e+00] [ 3.35298950e-02 -7.14535818e-03 9.99412172e-01 5.29639288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.29, Y:-8.93, Z:0.53 [[ 9.38407456e-01 3.44141859e-01 -3.09487792e-02 4.42862801e+01] [-3.43948707e-01 9.38917648e-01 1.15298156e-02 -8.92891424e+00] [ 3.30262472e-02 -1.74872309e-04 9.99454469e-01 5.27948141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:-8.94, Z:0.53 [[ 9.38132643e-01 3.44917891e-01 -3.06397268e-02 4.43166681e+01] [-3.44728649e-01 9.38632848e-01 1.14251688e-02 -8.94073939e+00] [ 3.27001992e-02 -1.55932175e-04 9.99465193e-01 5.29379976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.35, Y:-8.96, Z:0.54 [[ 9.36467150e-01 3.49586870e-01 -2.86058961e-02 4.43471633e+01] [-3.49043170e-01 9.36839962e-01 2.23550888e-02 -8.96286929e+00] [ 3.46141922e-02 -1.09501136e-02 9.99340759e-01 5.36358148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.38, Y:-8.96, Z:0.53 [[ 9.36573462e-01 3.48767176e-01 -3.45196672e-02 4.43789868e+01] [-3.48925961e-01 9.37149081e-01 1.50765281e-03 -8.95783481e+00] [ 3.28758943e-02 1.06327805e-02 9.99402882e-01 5.27850180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:-8.99, Z:0.54 [[ 9.34817251e-01 3.54036880e-01 -2.78315593e-02 4.44069927e+01] [-3.53245606e-01 9.35060112e-01 2.96669742e-02 -8.99002191e+00] [ 3.65273840e-02 -1.79018232e-02 9.99172295e-01 5.41851991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274319999999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.44, Y:-8.98, Z:0.53 [[ 9.34688385e-01 3.53446106e-01 -3.78612494e-02 4.44406727e+01] [-3.53861485e-01 9.35286160e-01 -4.67415379e-03 -8.97523802e+00] [ 3.37590412e-02 1.77665152e-02 9.99272074e-01 5.26372601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30431999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.47, Y:-8.99, Z:0.53 [[ 9.33328184e-01 3.57220516e-01 -3.59444467e-02 4.44669263e+01] [-3.57246364e-01 9.33991427e-01 5.92022093e-03 -8.99149966e+00] [ 3.56866294e-02 7.31551384e-03 9.99336254e-01 5.31028739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:-9.01, Z:0.54 [[ 9.32944402e-01 3.58910281e-01 -2.82516146e-02 4.44968334e+01] [-3.58526173e-01 9.33349397e-01 1.78293486e-02 -9.01106935e+00] [ 3.27677640e-02 -6.50484765e-03 9.99441825e-01 5.36796533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:-9.02, Z:0.54 [[ 9.32649320e-01 3.59550002e-01 -2.98168002e-02 4.45280498e+01] [-3.59376432e-01 9.33125774e-01 1.11745394e-02 -9.01948129e+00] [ 3.18406304e-02 2.93528710e-04 9.99492915e-01 5.35728940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39431999999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:44.56, Y:-9.03, Z:0.54 [[ 9.32248816e-01 3.60599898e-01 -2.96624057e-02 4.45579686e+01] [-3.60428349e-01 9.32720543e-01 1.11262435e-02 -9.03199667e+00] [ 3.16788574e-02 3.18744535e-04 9.99498048e-01 5.37160803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:-9.04, Z:0.54 [[ 9.32022875e-01 3.61160009e-01 -2.99467561e-02 4.45871889e+01] [-3.60985092e-01 9.32503801e-01 1.12438731e-02 -9.04375320e+00] [ 3.19863012e-02 3.30785597e-04 9.99488253e-01 5.39291916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454319999999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.62, Y:-9.06, Z:0.54 [[ 9.31918926e-01 3.61469772e-01 -2.94400890e-02 4.46181742e+01] [-3.61300692e-01 9.32383770e-01 1.10596099e-02 -9.05545313e+00] [ 3.14471759e-02 3.30064749e-04 9.99505361e-01 5.40081331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:-9.06, Z:0.54 [[ 9.31519434e-01 3.62005830e-01 -3.49760296e-02 4.46491741e+01] [-3.62098747e-01 9.32131738e-01 3.86274411e-03 -9.06221806e+00] [ 3.40006031e-02 9.06655527e-03 9.99380687e-01 5.39644933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:-9.08, Z:0.55 [[ 9.31823729e-01 3.61943418e-01 -2.64858630e-02 4.46775201e+01] [-3.61545684e-01 9.32167130e-01 1.86858142e-02 -9.08279353e+00] [ 3.14524584e-02 -7.83603561e-03 9.99474532e-01 5.46024613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:-9.09, Z:0.55 [[ 9.32225844e-01 3.60729052e-01 -2.88015010e-02 4.47087178e+01] [-3.60565861e-01 9.32670617e-01 1.08526668e-02 -9.09029222e+00] [ 3.07771859e-02 2.67701525e-04 9.99526234e-01 5.45021164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:-9.11, Z:0.55 [[ 9.32461869e-01 3.60145190e-01 -2.84658633e-02 4.47382566e+01] [-3.59638492e-01 9.32845191e-01 2.14477451e-02 -9.10817730e+00] [ 3.42785460e-02 -9.76178432e-03 9.99364643e-01 5.53169285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:-9.11, Z:0.55 [[ 9.32824836e-01 3.58917986e-01 -3.18701234e-02 4.47703800e+01] [-3.59061052e-01 9.33313152e-01 1.31189367e-03 -9.10812420e+00] [ 3.02156675e-02 1.02195530e-02 9.99491158e-01 5.45014074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:-9.12, Z:0.55 [[ 9.33079166e-01 3.58502363e-01 -2.89711177e-02 4.47986832e+01] [-3.58335638e-01 9.33528802e-01 1.09337451e-02 -9.12490208e+00] [ 3.09651463e-02 1.79334192e-04 9.99520449e-01 5.49590285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:-9.14, Z:0.55 [[ 9.33330112e-01 3.57813783e-01 -2.93972685e-02 4.48282704e+01] [-3.57641452e-01 9.33792951e-01 1.11048409e-02 -9.13610523e+00] [ 3.14244272e-02 1.49199433e-04 9.99506120e-01 5.50278513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:-9.15, Z:0.55 [[ 9.34041271e-01 3.55852655e-01 -3.05907261e-02 4.48582681e+01] [-3.55664660e-01 9.34542071e-01 1.15658032e-02 -9.14660740e+00] [ 3.27040423e-02 7.71026544e-05 9.99465077e-01 5.51243333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:-9.16, Z:0.55 [[ 9.34260786e-01 3.55251339e-01 -3.08750814e-02 4.48888700e+01] [-3.55059183e-01 9.34770819e-01 1.16830054e-02 -9.15796611e+00] [ 3.30115284e-02 4.75073789e-05 9.99454970e-01 5.51951989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:-9.15, Z:0.54 [[ 9.36203749e-01 3.49763246e-01 -3.44704624e-02 4.49193958e+01] [-3.50049688e-01 9.36727900e-01 -2.46121048e-03 -9.15272058e+00] [ 3.14286029e-02 1.43705691e-02 9.99402686e-01 5.42148559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:-9.17, Z:0.55 [[ 9.35947953e-01 3.50868479e-01 -2.98787614e-02 4.49466295e+01] [-3.50713086e-01 9.36424498e-01 1.04637498e-02 -9.17201266e+00] [ 3.16506042e-02 6.85347433e-04 9.99498759e-01 5.47801851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:-9.20, Z:0.56 [[ 9.34861954e-01 3.53979344e-01 -2.70508870e-02 4.49757299e+01] [-3.53342414e-01 9.35141723e-01 2.56728740e-02 -9.19889535e+00] [ 3.43840802e-02 -1.44423675e-02 9.99304335e-01 5.60643092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:-9.18, Z:0.55 [[ 9.36735765e-01 3.48249214e-01 -3.53354231e-02 4.50086970e+01] [-3.48542560e-01 9.37290101e-01 -2.31327761e-03 -9.18477744e+00] [ 3.23139451e-02 1.44828287e-02 9.99372832e-01 5.45363237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:-9.22, Z:0.56 [[ 9.35275605e-01 3.52875747e-01 -2.71707553e-02 4.50364155e+01] [-3.52239181e-01 9.35559765e-01 2.56024379e-02 -9.22041178e+00] [ 3.44543448e-02 -1.43747310e-02 9.99302890e-01 5.62506685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:-9.22, Z:0.56 [[ 9.35252214e-01 3.52514369e-01 -3.22011656e-02 4.50705175e+01] [-3.52300736e-01 9.35806391e-01 1.22714819e-02 -9.22197652e+00] [ 3.44599303e-02 -1.32436270e-04 9.99406071e-01 5.59112503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:-9.23, Z:0.56 [[ 9.35036257e-01 3.53081686e-01 -3.22571071e-02 4.51015741e+01] [-3.52867411e-01 9.35592491e-01 1.22996614e-02 -9.23317811e+00] [ 3.45222923e-02 -1.18147513e-04 9.99403921e-01 5.60220854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:-9.24, Z:0.56 [[ 9.34747733e-01 3.53840135e-01 -3.23084374e-02 4.51324115e+01] [-3.53625250e-01 9.35305912e-01 1.23301971e-02 -9.24401110e+00] [ 3.45811911e-02 -1.00544475e-04 9.99401887e-01 5.61629317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-9.26, Z:0.56 [[ 9.34724414e-01 3.53831004e-01 -3.30740125e-02 4.51621711e+01] [-3.53605392e-01 9.35309365e-01 1.26340486e-02 -9.25510134e+00] [ 3.54047517e-02 -1.14204573e-04 9.99373049e-01 5.62363727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-9.27, Z:0.56 [[ 9.34881242e-01 3.53349716e-01 -3.37793127e-02 4.51931689e+01] [-3.53113661e-01 9.35491292e-01 1.29145378e-02 -9.26710641e+00] [ 3.61636011e-02 -1.45622386e-04 9.99345872e-01 5.63454268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:-9.28, Z:0.56 [[ 9.35471308e-01 3.51810897e-01 -3.35041076e-02 4.52247580e+01] [-3.51577286e-01 9.36071069e-01 1.28204830e-02 -9.27781736e+00] [ 3.58726114e-02 -2.13910747e-04 9.99356348e-01 5.63180575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:-9.29, Z:0.56 [[ 9.35834147e-01 3.50865519e-01 -3.32841753e-02 4.52556059e+01] [-3.50633972e-01 9.36425822e-01 1.27474309e-02 -9.29005498e+00] [ 3.56407952e-02 -2.58918493e-04 9.99364631e-01 5.63914124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:-9.30, Z:0.56 [[ 9.36296898e-01 3.49621388e-01 -3.33617054e-02 4.52851595e+01] [-3.49387573e-01 9.36891021e-01 1.27882578e-02 -9.30188024e+00] [ 3.57273307e-02 -3.17440828e-04 9.99361525e-01 5.64806318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:-9.31, Z:0.57 [[ 9.37275785e-01 3.47050717e-01 -3.27093628e-02 4.53152681e+01] [-3.46824044e-01 9.37846270e-01 1.25481390e-02 -9.31330181e+00] [ 3.50311945e-02 -4.16673307e-04 9.99386132e-01 5.65233047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:-9.33, Z:0.57 [[ 9.37754678e-01 3.45819270e-01 -3.20186808e-02 4.53460336e+01] [-3.45601026e-01 9.38301028e-01 1.22927408e-02 -9.32560692e+00] [ 3.42942278e-02 -4.61886226e-04 9.99411673e-01 5.65867395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:-9.34, Z:0.57 [[ 9.38544448e-01 3.43759960e-01 -3.10388360e-02 4.53767112e+01] [-3.43553425e-01 9.39057405e-01 1.19262361e-02 -9.33881384e+00] [ 3.32470112e-02 -5.29804243e-04 9.99447025e-01 5.67335917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:-9.35, Z:0.57 [[ 9.38956806e-01 3.42661468e-01 -3.07121270e-02 4.54073348e+01] [-3.42458347e-01 9.39458776e-01 1.18105577e-02 -9.35078587e+00] [ 3.28998002e-02 -5.71979344e-04 9.99458491e-01 5.68269886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:-9.36, Z:0.57 [[ 9.39291614e-01 3.41794257e-01 -3.01322118e-02 4.54385132e+01] [-3.41597962e-01 9.39774614e-01 1.15977211e-02 -9.36242174e+00] [ 3.22815221e-02 -6.00539986e-04 9.99478635e-01 5.68986465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:-9.37, Z:0.57 [[ 9.39889500e-01 3.40193092e-01 -2.96038412e-02 4.54681657e+01] [-3.40002493e-01 9.40355375e-01 1.14049272e-02 -9.37410354e+00] [ 3.17180087e-02 -6.53991494e-04 9.99496643e-01 5.69424202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:-9.37, Z:0.56 [[ 9.38967738e-01 3.41600703e-01 -4.06022877e-02 4.54941853e+01] [-3.42093416e-01 9.39648879e-01 -5.66379330e-03 -9.36998264e+00] [ 3.62171384e-02 1.92078945e-02 9.99159334e-01 5.62908854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:-9.41, Z:0.58 [[ 9.40243777e-01 3.39761768e-01 -2.24406015e-02 4.55229222e+01] [-3.39093950e-01 9.40307223e-01 2.89416565e-02 -9.40771605e+00] [ 3.09343281e-02 -1.96027402e-02 9.99329175e-01 5.77536497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:-9.41, Z:0.57 [[ 9.40389261e-01 3.38867830e-01 -2.89245920e-02 4.55571403e+01] [-3.38684137e-01 9.40833716e-01 1.11792218e-02 -9.40936488e+00] [ 3.10015100e-02 -7.16519613e-04 9.99519081e-01 5.72417699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:-9.42, Z:0.57 [[ 9.40355475e-01 3.38987721e-01 -2.86165279e-02 4.55876870e+01] [-3.38807699e-01 9.40790527e-01 1.10692168e-02 -9.42027958e+00] [ 3.06744870e-02 -7.13498650e-04 9.99529173e-01 5.73308213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:-9.43, Z:0.57 [[ 9.40392740e-01 3.38851670e-01 -2.90007112e-02 4.56175477e+01] [-3.38666391e-01 9.40839520e-01 1.12282571e-02 -9.43204795e+00] [ 3.10897289e-02 -7.37405296e-04 9.99516326e-01 5.74062576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:-9.44, Z:0.57 [[ 9.40462592e-01 3.38617574e-01 -2.94660963e-02 4.56483566e+01] [-3.38425879e-01 9.40923776e-01 1.14181125e-02 -9.44324585e+00] [ 3.15917241e-02 -7.66218107e-04 9.99500563e-01 5.74508552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:-9.45, Z:0.57 [[ 9.41078145e-01 3.36874737e-01 -2.97881938e-02 4.56776545e+01] [-3.36807065e-01 9.41544509e-01 7.41203681e-03 -9.44938279e+00] [ 3.05438383e-02 3.05756828e-03 9.99528752e-01 5.71280068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:-9.47, Z:0.58 [[ 9.40179308e-01 3.39468482e-01 -2.87057339e-02 4.57071761e+01] [-3.39156305e-01 9.40606074e-01 1.52713598e-02 -9.46839154e+00] [ 3.21849330e-02 -4.62208588e-03 9.99471243e-01 5.77536224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:-9.48, Z:0.58 [[ 9.40007325e-01 3.39804800e-01 -3.03138074e-02 4.57388677e+01] [-3.39601788e-01 9.40495671e-01 1.17693654e-02 -9.47801156e+00] [ 3.25092915e-02 -7.68666526e-04 9.99471138e-01 5.76766011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:-9.49, Z:0.58 [[ 9.39655372e-01 3.40698546e-01 -3.11814573e-02 4.57693511e+01] [-3.40483876e-01 9.40172277e-01 1.21169577e-02 -9.49106377e+00] [ 3.34441715e-02 -7.68980935e-04 9.99440291e-01 5.77084513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:-9.50, Z:0.58 [[ 9.39305794e-01 3.41679517e-01 -3.09795581e-02 4.57992872e+01] [-3.41467791e-01 9.39816238e-01 1.20493468e-02 -9.50221354e+00] [ 3.32321068e-02 -7.39499998e-04 9.99447387e-01 5.78158517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:-9.51, Z:0.58 [[ 9.38947397e-01 3.42634073e-01 -3.12998108e-02 4.58290387e+01] [-3.42418128e-01 9.39468663e-01 1.21842436e-02 -9.51393065e+00] [ 3.35799284e-02 -7.22741171e-04 9.99435774e-01 5.78999325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:-9.53, Z:0.58 [[ 9.38586270e-01 3.43581659e-01 -3.17404846e-02 4.58589035e+01] [-3.43359778e-01 9.39122538e-01 1.23661077e-02 -9.52655534e+00] [ 3.40569723e-02 -7.08253124e-04 9.99419642e-01 5.79988804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:-9.54, Z:0.58 [[ 9.38444890e-01 3.43939653e-01 -3.20422308e-02 4.58898267e+01] [-3.43713341e-01 9.38991484e-01 1.24952884e-02 -9.53841672e+00] [ 3.43850070e-02 -7.12797314e-04 9.99408407e-01 5.80636575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:-9.54, Z:0.57 [[ 9.38811364e-01 3.42756319e-01 -3.39312307e-02 4.59214749e+01] [-3.42910633e-01 9.39367070e-01 1.34387006e-03 -9.54212793e+00] [ 3.23345007e-02 1.03737393e-02 9.99423266e-01 5.73149412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:-9.57, Z:0.59 [[ 9.38736954e-01 3.43524055e-01 -2.76433324e-02 4.59472981e+01] [-3.42981554e-01 9.39070889e-01 2.25725408e-02 -9.56902326e+00] [ 3.37132595e-02 -1.17085251e-02 9.99362960e-01 5.86460917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:-9.58, Z:0.58 [[ 9.38835457e-01 3.42965204e-01 -3.10298843e-02 4.59799137e+01] [-3.42751554e-01 9.39347809e-01 1.21270393e-02 -9.57568478e+00] [ 3.33070063e-02 -7.49753455e-04 9.99444887e-01 5.84433979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:-9.59, Z:0.59 [[ 9.38779553e-01 3.43160361e-01 -3.05600797e-02 4.60109323e+01] [-3.42952882e-01 9.39276539e-01 1.19542546e-02 -9.58724932e+00] [ 3.28065922e-02 -7.41742424e-04 9.99461444e-01 5.85767342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:-9.60, Z:0.59 [[ 9.39663077e-01 3.40760052e-01 -3.02636500e-02 4.60407113e+01] [-3.40554985e-01 9.40149936e-01 1.18490711e-02 -9.59948281e+00] [ 3.24900587e-02 -8.27697756e-04 9.99471716e-01 5.87152192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:-9.61, Z:0.59 [[ 9.39720908e-01 3.40710809e-01 -2.89958630e-02 4.60714743e+01] [-3.40522263e-01 9.40167804e-01 1.13617470e-02 -9.60988471e+00] [ 3.11320468e-02 -8.03134363e-04 9.99514958e-01 5.87799312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:-9.62, Z:0.59 [[ 9.40216156e-01 3.39347735e-01 -2.89256783e-02 4.61009819e+01] [-3.39159135e-01 9.40660610e-01 1.13445540e-02 -9.62127645e+00] [ 3.10589948e-02 -8.55924917e-04 9.99517187e-01 5.88740395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:-9.63, Z:0.59 [[ 9.41371004e-01 3.36070009e-01 -2.96240117e-02 4.61313734e+01] [-3.35870250e-01 9.41836480e-01 1.16284013e-02 -9.63412763e+00] [ 3.18089318e-02 -9.96815602e-04 9.99493471e-01 5.89862122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:-9.65, Z:0.59 [[ 9.41991062e-01 3.34296234e-01 -2.99811096e-02 4.61624157e+01] [-3.34090403e-01 9.42467434e-01 1.17787535e-02 -9.64607329e+00] [ 3.21938124e-02 -1.07907958e-03 9.99481062e-01 5.90895241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:-9.66, Z:0.59 [[ 9.43408227e-01 3.30306627e-01 -2.96386534e-02 4.61923352e+01] [-3.30103179e-01 9.43872907e-01 1.16544236e-02 -9.65706944e+00] [ 3.18246553e-02 -1.21106534e-03 9.99492734e-01 5.91600095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:-9.67, Z:0.59 [[ 9.44119213e-01 3.28315067e-01 -2.91226431e-02 4.62232834e+01] [-3.28117416e-01 9.44567424e-01 1.14605342e-02 -9.66883461e+00] [ 3.12709660e-02 -1.26446415e-03 9.99510144e-01 5.92539857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:-9.68, Z:0.59 [[ 9.44835160e-01 3.26251566e-01 -2.90935827e-02 4.62529420e+01] [-3.26053004e-01 9.45282030e-01 1.14595786e-02 -9.68039449e+00] [ 3.12403464e-02 -1.34136277e-03 9.99511001e-01 5.93672473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:-9.69, Z:0.60 [[ 9.45361556e-01 3.24757832e-01 -2.87032728e-02 4.62839078e+01] [-3.24563589e-01 9.45796196e-01 1.13151864e-02 -9.69149327e+00] [ 3.08221416e-02 -1.38090496e-03 9.99523931e-01 5.95017273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:-9.70, Z:0.60 [[ 9.46527820e-01 3.21304653e-01 -2.91274111e-02 4.63134001e+01] [-3.21102677e-01 9.46974654e-01 1.14924596e-02 -9.70445156e+00] [ 3.12755008e-02 -1.52504301e-03 9.99509638e-01 5.96172864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:-9.72, Z:0.60 [[ 9.46573422e-01 3.21173321e-01 -2.90938802e-02 4.63439165e+01] [-3.20971467e-01 9.47019186e-01 1.14882198e-02 -9.71666736e+00] [ 3.12421724e-02 -1.53613812e-03 9.99510664e-01 5.97674165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:-9.73, Z:0.60 [[ 9.46566475e-01 3.21168416e-01 -2.93727250e-02 4.63744557e+01] [-3.20962364e-01 9.47020810e-01 1.16080596e-02 -9.72848284e+00] [ 3.15447239e-02 -1.56026079e-03 9.99501124e-01 5.98900863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:-9.74, Z:0.60 [[ 9.45869797e-01 3.22927155e-01 -3.23786820e-02 4.64053019e+01] [-3.22677341e-01 9.46422354e-01 1.28086464e-02 -9.73917768e+00] [ 3.47801682e-02 -1.66744471e-03 9.99393596e-01 6.01833583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.44, Y:-9.75, Z:0.60 [[ 9.45565832e-01 3.23976645e-01 -3.07309335e-02 4.64366954e+01] [-3.23751820e-01 9.46063799e-01 1.21674432e-02 -9.74978695e+00] [ 3.30153911e-02 -1.55592296e-03 9.99453632e-01 6.00209444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:-9.76, Z:0.60 [[ 9.44777422e-01 3.26117440e-01 -3.22961086e-02 4.64664414e+01] [-3.25869933e-01 9.45327962e-01 1.27996791e-02 -9.76133692e+00] [ 3.47046131e-02 -1.56851708e-03 9.99396383e-01 6.01096778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:-9.77, Z:0.59 [[ 9.44803647e-01 3.25800064e-01 -3.46465842e-02 4.64992779e+01] [-3.25957641e-01 9.45383667e-01 1.15715180e-03 -9.76539178e+00] [ 3.31313150e-02 1.02000376e-02 9.99398957e-01 5.94413861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:-9.79, Z:0.61 [[ 9.44025995e-01 3.28640096e-01 -2.84711959e-02 4.65225023e+01] [-3.28036474e-01 9.44362661e-01 2.39005397e-02 -9.79118491e+00] [ 3.47418100e-02 -1.32231400e-02 9.99308839e-01 6.07176235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:-9.80, Z:0.60 [[ 9.43603894e-01 3.29531640e-01 -3.19466721e-02 4.65557466e+01] [-3.29290742e-01 9.44143425e-01 1.26806732e-02 -9.79749888e+00] [ 3.43409235e-02 -1.44578927e-03 9.99409131e-01 6.04960650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:-9.81, Z:0.61 [[ 9.43404422e-01 3.30161104e-01 -3.13327635e-02 4.65861578e+01] [-3.29929371e-01 9.43923551e-01 1.24474743e-02 -9.80964566e+00] [ 3.36854053e-02 -1.40540333e-03 9.99431498e-01 6.06394790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:-9.82, Z:0.61 [[ 9.43190396e-01 3.30827201e-01 -3.07447685e-02 4.66156822e+01] [-3.30604070e-01 9.43690360e-01 1.22250678e-02 -9.82143171e+00] [ 3.30579266e-02 -1.36622091e-03 9.99452504e-01 6.07548330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:-9.83, Z:0.61 [[ 9.42953868e-01 3.31555149e-01 -3.01527077e-02 4.66462811e+01] [-3.31340705e-01 9.43434915e-01 1.19957481e-02 -9.83396803e+00] [ 3.24243693e-02 -1.32061761e-03 9.99473319e-01 6.08805275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:-9.85, Z:0.61 [[ 9.42427739e-01 3.33112862e-01 -2.94241230e-02 4.66759426e+01] [-3.32909078e-01 9.42886137e-01 1.17165619e-02 -9.84695011e+00] [ 3.16465351e-02 -1.24645527e-03 9.99498346e-01 6.10244107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:-9.88, Z:0.62 [[ 9.41395365e-01 3.36401660e-01 -2.46716178e-02 4.67033990e+01] [-3.35556203e-01 9.41444463e-01 3.29295998e-02 -9.87556734e+00] [ 3.43045301e-02 -2.27210583e-02 9.99153118e-01 6.24094676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55431999999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.74, Y:-9.86, Z:0.61 [[ 9.42263705e-01 3.32868970e-01 -3.65699193e-02 4.67411624e+01] [-3.33370713e-01 9.42758160e-01 -8.42728515e-03 -9.86032080e+00] [ 3.16714081e-02 2.01320650e-02 9.99295563e-01 6.05007863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:-9.88, Z:0.61 [[ 9.42156160e-01 3.33966269e-01 -2.84306335e-02 4.67659881e+01] [-3.33776068e-01 9.42584279e-01 1.13319831e-02 -9.88457203e+00] [ 3.05827683e-02 -1.18703263e-03 9.99531533e-01 6.12376672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:-9.90, Z:0.61 [[ 9.42513952e-01 3.33009653e-01 -2.77852621e-02 4.67950925e+01] [-3.32827318e-01 9.42922655e-01 1.10834131e-02 -9.89772286e+00] [ 2.98902367e-02 -1.19857720e-03 9.99552468e-01 6.12915767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.83, Y:-9.91, Z:0.61 [[ 9.42770469e-01 3.32241081e-01 -2.82791035e-02 4.68256222e+01] [-3.32051589e-01 9.43193667e-01 1.12893025e-02 -9.91087085e+00] [ 3.04234414e-02 -1.25309981e-03 9.99536314e-01 6.14170575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.86, Y:-9.92, Z:0.62 [[ 9.42724976e-01 3.32370475e-01 -2.82752131e-02 4.68566274e+01] [-3.32180750e-01 9.43148070e-01 1.12990375e-02 -9.92340538e+00] [ 3.04231791e-02 -1.25940339e-03 9.99536315e-01 6.15380368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:-9.94, Z:0.62 [[ 9.43586989e-01 3.29891997e-01 -2.85458150e-02 4.68858548e+01] [-3.29697376e-01 9.44017708e-01 1.14108835e-02 -9.93708257e+00] [ 3.07121140e-02 -1.35568094e-03 9.99527352e-01 6.15928854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:-9.95, Z:0.62 [[ 9.43906623e-01 3.28968743e-01 -2.86330698e-02 4.69161987e+01] [-3.28772206e-01 9.44339774e-01 1.14554713e-02 -9.95066143e+00] [ 3.08078387e-02 -1.39913771e-03 9.99524347e-01 6.16999346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:-9.96, Z:0.62 [[ 9.44106850e-01 3.28387820e-01 -2.87000913e-02 4.69457825e+01] [-3.28189806e-01 9.44541896e-01 1.14916251e-02 -9.96399726e+00] [ 3.08821484e-02 -1.43024460e-03 9.99522009e-01 6.18275713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:-9.98, Z:0.62 [[ 9.44070990e-01 3.28524970e-01 -2.83074275e-02 4.69765756e+01] [-3.28332103e-01 9.44494225e-01 1.13441428e-02 -9.97638345e+00] [ 3.04630360e-02 -1.41543898e-03 9.99534892e-01 6.19458609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:-9.99, Z:0.62 [[ 9.44089492e-01 3.28472080e-01 -2.83041436e-02 4.70058264e+01] [-3.28278917e-01 9.44512603e-01 1.13532150e-02 -9.98924796e+00] [ 3.04628345e-02 -1.42679734e-03 9.99534882e-01 6.20544039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:-10.00, Z:0.62 [[ 9.44117447e-01 3.28374371e-01 -2.85047178e-02 4.70352980e+01] [-3.28178116e-01 9.44546543e-01 1.14434380e-02 -1.00018026e+01] [ 3.06817644e-02 -1.44932484e-03 9.99528153e-01 6.21884934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884319999999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.07, Y:-10.01, Z:0.62 [[ 9.43771748e-01 3.29378849e-01 -2.83630427e-02 4.70661051e+01] [-3.29184723e-01 9.44196782e-01 1.13954035e-02 -1.00137595e+01] [ 3.05336985e-02 -1.41797948e-03 9.99532732e-01 6.22500880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:-10.03, Z:0.62 [[ 9.43344588e-01 3.30549086e-01 -2.89532426e-02 4.70953751e+01] [-3.30347011e-01 9.43787735e-01 1.16431925e-02 -1.00254970e+01] [ 3.11743619e-02 -1.41892549e-03 9.99512954e-01 6.23715350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:-10.04, Z:0.62 [[ 9.42562140e-01 3.32764525e-01 -2.90582594e-02 4.71266501e+01] [-3.32561731e-01 9.43008973e-01 1.16949703e-02 -1.00367306e+01] [ 3.12938706e-02 -1.35957118e-03 9.99509302e-01 6.24940097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:-10.05, Z:0.63 [[ 9.41167524e-01 3.36501587e-01 -3.11508198e-02 4.71565440e+01] [-3.36270161e-01 9.41681952e-01 1.25491493e-02 -1.00492590e+01] [ 3.35569734e-02 -1.33576066e-03 9.99435914e-01 6.25876856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:-10.06, Z:0.63 [[ 9.40612316e-01 3.37951528e-01 -3.22061343e-02 4.71862385e+01] [-3.37704580e-01 9.41162564e-01 1.29863309e-02 -1.00615666e+01] [ 3.46999584e-02 -1.33894373e-03 9.99396878e-01 6.26931546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:-10.07, Z:0.63 [[ 9.39960923e-01 3.38557598e-01 -4.30373906e-02 4.72212095e+01] [-3.38854792e-01 9.40838593e-01 4.13381922e-04 -1.00652196e+01] [ 4.06311916e-02 1.41948632e-02 9.99073377e-01 6.25084818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.24, Y:-10.09, Z:0.63 [[ 9.39529207e-01 3.41360640e-01 -2.75278353e-02 4.72435946e+01] [-3.40627084e-01 9.39777875e-01 2.81199972e-02 -1.00943477e+01] [ 3.54691108e-02 -1.70428324e-02 9.99225442e-01 6.34716722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:-10.10, Z:0.63 [[ 9.39390245e-01 3.40953207e-01 -3.60121876e-02 4.72786529e+01] [-3.40820560e-01 9.40075712e-01 9.94994402e-03 -1.00958366e+01] [ 3.72466482e-02 2.92681358e-03 9.99301817e-01 6.29995374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:-10.11, Z:0.63 [[ 9.39382610e-01 3.41235965e-01 -3.34413997e-02 4.73066711e+01] [-3.40943040e-01 9.39975516e-01 1.42784055e-02 -1.01085377e+01] [ 3.63064024e-02 -2.01127340e-03 9.99338681e-01 6.32427669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:-10.12, Z:0.63 [[ 9.39350115e-01 3.41574062e-01 -3.07980758e-02 4.73352222e+01] [-3.41219642e-01 9.39842719e-01 1.62732670e-02 -1.01217652e+01] [ 3.45038733e-02 -4.77738685e-03 9.99393146e-01 6.33766682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:-10.13, Z:0.63 [[ 9.39514019e-01 3.41038450e-01 -3.17203990e-02 4.73667300e+01] [-3.40799083e-01 9.40048517e-01 1.28363234e-02 -1.01327587e+01] [ 3.41963939e-02 -1.24962293e-03 9.99414351e-01 6.34010475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:-10.15, Z:0.64 [[ 9.39680865e-01 3.40598763e-01 -3.15016514e-02 4.73954403e+01] [-3.40362076e-01 9.40207890e-01 1.27585256e-02 -1.01456644e+01] [ 3.39636393e-02 -1.26697492e-03 9.99422266e-01 6.35430067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.43, Y:-10.16, Z:0.64 [[ 9.40336814e-01 3.38736266e-01 -3.20065370e-02 4.74255347e+01] [-3.38490495e-01 9.40880374e-01 1.29733273e-02 -1.01598889e+01] [ 3.45088589e-02 -1.36538878e-03 9.99403459e-01 6.37326901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:-10.17, Z:0.64 [[ 9.40573220e-01 3.38029385e-01 -3.25292640e-02 4.74559078e+01] [-3.37774709e-01 9.41134478e-01 1.31962158e-02 -1.01728111e+01] [ 3.50751206e-02 -1.42444449e-03 9.99383664e-01 6.38769972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.49, Y:-10.18, Z:0.64 [[ 9.41116918e-01 3.36463311e-01 -3.30361401e-02 4.74860669e+01] [-3.36199268e-01 9.41695354e-01 1.34131263e-02 -1.01841889e+01] [ 3.56230045e-02 -1.51659397e-03 9.99364149e-01 6.38747579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:-10.20, Z:0.64 [[ 9.41356841e-01 3.35810655e-01 -3.28405703e-02 4.75163054e+01] [-3.35548972e-01 9.41928250e-01 1.33439209e-02 -1.01961601e+01] [ 3.54144917e-02 -1.54177158e-03 9.99371521e-01 6.39373483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:-10.21, Z:0.64 [[ 9.41563659e-01 3.35294942e-01 -3.21741768e-02 4.75459121e+01] [-3.35043114e-01 9.42111953e-01 1.30835347e-02 -1.02079572e+01] [ 3.46985196e-02 -1.53924447e-03 9.99396640e-01 6.40383075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:-10.21, Z:0.64 [[ 9.42127493e-01 3.32747327e-01 -4.09268030e-02 4.75815672e+01] [-3.33044993e-01 9.42910812e-01 -4.83599952e-04 -1.02125975e+01] [ 3.84294084e-02 1.40860796e-02 9.99162030e-01 6.38492506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:-10.24, Z:0.65 [[ 9.42086015e-01 3.34384878e-01 -2.57039517e-02 4.76034774e+01] [-3.33751464e-01 9.42301838e-01 2.60231964e-02 -1.02412990e+01] [ 3.29226443e-02 -1.59373579e-02 9.99330826e-01 6.49309246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:-10.25, Z:0.65 [[ 9.41797357e-01 3.34720994e-01 -3.12984736e-02 4.76370196e+01] [-3.34482068e-01 9.42316044e-01 1.27365746e-02 -1.02451130e+01] [ 3.37562527e-02 -1.52649419e-03 9.99428930e-01 6.46328160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:-10.26, Z:0.65 [[ 9.41561402e-01 3.35347994e-01 -3.16835709e-02 4.76681195e+01] [-3.35103133e-01 9.42093081e-01 1.29041347e-02 -1.02570907e+01] [ 3.41762486e-02 -1.53277128e-03 9.99414646e-01 6.47223126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:-10.27, Z:0.65 [[ 9.41254645e-01 3.36155424e-01 -3.22370077e-02 4.76977267e+01] [-3.35901985e-01 9.41805265e-01 1.31415542e-02 -1.02693953e+01] [ 3.47785883e-02 -1.54107403e-03 9.99393854e-01 6.47683408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:-10.28, Z:0.65 [[ 9.40574986e-01 3.38023281e-01 -3.25416137e-02 4.77291153e+01] [-3.37765753e-01 9.41136559e-01 1.32767906e-02 -1.02804774e+01] [ 3.51139667e-02 -1.49637451e-03 9.99382194e-01 6.48131730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:-10.29, Z:0.65 [[ 9.40233192e-01 3.38918430e-01 -3.31034995e-02 4.77596946e+01] [-3.38652044e-01 9.40814566e-01 1.35183321e-02 -1.02925136e+01] [ 3.57258664e-02 -1.49981677e-03 9.99360502e-01 6.49208463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:-10.31, Z:0.65 [[ 9.39936943e-01 3.39685281e-01 -3.36519450e-02 4.77893446e+01] [-3.39410019e-01 9.40537952e-01 1.37549934e-02 -1.03050739e+01] [ 3.63233002e-02 -1.50701912e-03 9.99338955e-01 6.50320828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:-10.32, Z:0.65 [[ 9.39378502e-01 3.41177358e-01 -3.41473399e-02 4.78196156e+01] [-3.40894626e-01 9.39997780e-01 1.39652442e-02 -1.03174030e+01] [ 3.68630488e-02 -1.47800546e-03 9.99319234e-01 6.51372647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:-10.33, Z:0.65 [[ 9.39075683e-01 3.41942395e-01 -3.48175174e-02 4.78493570e+01] [-3.41648493e-01 9.39719736e-01 1.42521864e-02 -1.03295203e+01] [ 3.75921350e-02 -1.48852932e-03 9.99292057e-01 6.52347413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.88, Y:-10.34, Z:0.65 [[ 9.38537714e-01 3.43372261e-01 -3.52484135e-02 4.78797072e+01] [-3.43071734e-01 9.39198259e-01 1.44366305e-02 -1.03416922e+01] [ 3.80623870e-02 -1.45658785e-03 9.99274303e-01 6.53500648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:-10.35, Z:0.65 [[ 9.37264967e-01 3.45919631e-01 -4.32896084e-02 4.79134336e+01] [-3.46057015e-01 9.38202606e-01 4.51798574e-03 -1.03466241e+01] [ 4.21772834e-02 1.07461229e-02 9.99052350e-01 6.52355384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:-10.37, Z:0.66 [[ 9.36933748e-01 3.48103243e-01 -3.12935089e-02 4.79356541e+01] [-3.47386589e-01 9.37356922e-01 2.61640696e-02 -1.03719110e+01] [ 3.84409847e-02 -1.36430545e-02 9.99167733e-01 6.59405539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:-10.38, Z:0.66 [[ 9.36487674e-01 3.48800914e-01 -3.64521377e-02 4.79683578e+01] [-3.48482396e-01 9.37195931e-01 1.49601554e-02 -1.03781115e+01] [ 3.93809110e-02 -1.30707283e-03 9.99223416e-01 6.56671584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:-10.39, Z:0.66 [[ 9.36226256e-01 3.49463634e-01 -3.68180125e-02 4.79974919e+01] [-3.49138663e-01 9.36949020e-01 1.51237421e-02 -1.03905192e+01] [ 3.97817986e-02 -1.30465281e-03 9.99207539e-01 6.58317461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844319999999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.03, Y:-10.40, Z:0.66 [[ 9.35988115e-01 3.49148160e-01 -4.49645578e-02 4.80304893e+01] [-3.49359026e-01 9.36983000e-01 3.33584862e-03 -1.03957473e+01] [ 4.32957317e-02 1.25864595e-02 9.98983013e-01 6.56153081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:-10.42, Z:0.67 [[ 9.36425899e-01 3.49465977e-01 -3.13060016e-02 4.80539347e+01] [-3.48692391e-01 9.36829445e-01 2.76442939e-02 -1.04222247e+01] [ 3.89891243e-02 -1.49706683e-02 9.99127483e-01 6.65595192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:-10.43, Z:0.66 [[ 9.37110596e-01 3.47198910e-01 -3.57301969e-02 4.80861594e+01] [-3.46890159e-01 9.37790487e-01 1.47043882e-02 -1.04270311e+01] [ 3.86127863e-02 -1.38518427e-03 9.99253288e-01 6.62021931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.12, Y:-10.44, Z:0.66 [[ 9.37490034e-01 3.46193063e-01 -3.55358748e-02 4.81165772e+01] [-3.45886482e-01 9.38162202e-01 1.46363823e-02 -1.04406145e+01] [ 3.84054286e-02 -1.43008379e-03 9.99261216e-01 6.63210520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:-10.45, Z:0.66 [[ 9.37600568e-01 3.45542526e-01 -3.88012639e-02 4.81475913e+01] [-3.45531337e-01 9.38379533e-01 7.20742519e-03 -1.04484350e+01] [ 3.89007838e-02 6.64936665e-03 9.99220954e-01 6.63549023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:-10.48, Z:0.68 [[ 9.37125041e-01 3.47936583e-01 -2.71439169e-02 4.81714873e+01] [-3.46804146e-01 9.37123302e-01 3.90743164e-02 -1.04835997e+01] [ 3.90325811e-02 -2.72038974e-02 9.98867562e-01 6.79730547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:-10.47, Z:0.66 [[ 9.38065959e-01 3.43906855e-01 -4.19563042e-02 4.82094690e+01] [-3.44334152e-01 9.38841725e-01 -3.19479276e-03 -1.04688995e+01] [ 3.82916179e-02 1.74439148e-02 9.99114339e-01 6.62837658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:-10.49, Z:0.67 [[ 9.37282485e-01 3.46862898e-01 -3.44626354e-02 4.82362412e+01] [-3.46574097e-01 9.37914824e-01 1.42189650e-02 -1.04882472e+01] [ 3.72550480e-02 -1.38333006e-03 9.99304832e-01 6.69343588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:-10.50, Z:0.67 [[ 9.37033076e-01 3.47449509e-01 -3.53249699e-02 4.82665791e+01] [-3.47146180e-01 9.37697645e-01 1.45827165e-02 -1.05008194e+01] [ 3.81908988e-02 -1.40155937e-03 9.99269479e-01 6.69971867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:-10.51, Z:0.67 [[ 9.36522759e-01 3.48745084e-01 -3.60830758e-02 4.82969337e+01] [-3.48429042e-01 9.37216589e-01 1.49086623e-02 -1.05136995e+01] [ 3.90169799e-02 -1.38991001e-03 9.99237581e-01 6.70610152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:-10.53, Z:0.67 [[ 9.36294018e-01 3.49375281e-01 -3.59224890e-02 4.83266567e+01] [-3.49062014e-01 9.36981877e-01 1.48550799e-02 -1.05250027e+01] [ 3.88487189e-02 -1.36954605e-03 9.99244165e-01 6.71359477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174319999999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.36, Y:-10.53, Z:0.67 [[ 9.35911634e-01 3.49441147e-01 -4.42752491e-02 4.83588591e+01] [-3.49599152e-01 9.36889157e-01 4.37509519e-03 -1.05308804e+01] [ 4.30098391e-02 1.13838870e-02 9.99009790e-01 6.69872202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:-10.56, Z:0.68 [[ 9.36273095e-01 3.49716061e-01 -3.30358631e-02 4.83824985e+01] [-3.48935227e-01 9.36752038e-01 2.71997651e-02 -1.05588817e+01] [ 4.04586068e-02 -1.39390319e-02 9.99083983e-01 6.78527013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:-10.56, Z:0.68 [[ 9.35785656e-01 3.50593599e-01 -3.72737779e-02 4.84167671e+01] [-3.50256055e-01 9.36526656e-01 1.54440853e-02 -1.05636347e+01] [ 4.03224840e-02 -1.39698709e-03 9.99185741e-01 6.76161674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:-10.57, Z:0.68 [[ 9.35290033e-01 3.51453266e-01 -4.13902937e-02 4.84480110e+01] [-3.51317642e-01 9.36194658e-01 1.07460157e-02 -1.05732197e+01] [ 4.25260942e-02 4.49049900e-03 9.99085265e-01 6.76014146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.47, Y:-10.61, Z:0.69 [[ 9.34923166e-01 3.53625000e-01 -2.94623995e-02 4.84714771e+01] [-3.52271623e-01 9.34915919e-01 4.28594030e-02 -1.06086476e+01] [ 4.27010227e-02 -2.96914814e-02 9.98646603e-01 6.92527649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:-10.59, Z:0.67 [[ 9.36255951e-01 3.48405784e-01 -4.51464807e-02 4.85098546e+01] [-3.49090482e-01 9.37054562e-01 -8.03632480e-03 -1.05869571e+01] [ 3.95048137e-02 2.32842636e-02 9.98948053e-01 6.69961643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:-10.61, Z:0.68 [[ 9.36268671e-01 3.49461490e-01 -3.57441217e-02 4.85337113e+01] [-3.49151408e-01 9.36949743e-01 1.47808467e-02 -1.06126057e+01] [ 3.86557824e-02 -1.35873324e-03 9.99251662e-01 6.78679247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:-10.63, Z:0.68 [[ 9.35971756e-01 3.50426156e-01 -3.40350104e-02 4.85632275e+01] [-3.49873110e-01 9.36556517e-01 2.12296478e-02 -1.06310135e+01] [ 3.93151346e-02 -7.96241578e-03 9.99195136e-01 6.84032275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:-10.63, Z:0.68 [[ 9.36598668e-01 3.48396307e-01 -3.74559381e-02 4.85940933e+01] [-3.48325645e-01 9.37334071e-01 8.60726954e-03 -1.06334493e+01] [ 3.81074679e-02 4.98530662e-03 9.99261211e-01 6.79161441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:-10.65, Z:0.68 [[ 9.36800065e-01 3.48090108e-01 -3.51982291e-02 4.86225086e+01] [-3.47787509e-01 9.37460009e-01 1.45801304e-02 -1.06495928e+01] [ 3.80721313e-02 -1.41716264e-03 9.99273989e-01 6.82534897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:-10.66, Z:0.68 [[ 9.36879445e-01 3.47901120e-01 -3.49530681e-02 4.86531146e+01] [-3.47602116e-01 9.37530146e-01 1.44911415e-02 -1.06608814e+01] [ 3.78110394e-02 -1.42669217e-03 9.99283889e-01 6.83310857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:-10.67, Z:0.68 [[ 9.36977560e-01 3.47601442e-01 -3.53028326e-02 4.86815635e+01] [-3.47295722e-01 9.37641238e-01 1.46489223e-02 -1.06749282e+01] [ 3.81933781e-02 -1.46518875e-03 9.99269293e-01 6.84961664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:-10.69, Z:0.69 [[ 9.36941900e-01 3.47702702e-01 -3.52520494e-02 4.87109685e+01] [-3.47397482e-01 9.37603685e-01 1.46396523e-02 -1.06889616e+01] [ 3.81426981e-02 -1.47003045e-03 9.99271221e-01 6.87058721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:-10.70, Z:0.69 [[ 9.37016655e-01 3.47522172e-01 -3.50446635e-02 4.87407713e+01] [-3.47219931e-01 9.37670597e-01 1.45661087e-02 -1.07017674e+01] [ 3.79223962e-02 -1.48048077e-03 9.99279591e-01 6.89026707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:-10.71, Z:0.69 [[ 9.36969937e-01 3.47648554e-01 -3.50402739e-02 4.87715967e+01] [-3.47346007e-01 9.37623737e-01 1.45766608e-02 -1.07147376e+01] [ 3.79221476e-02 -1.48679369e-03 9.99279591e-01 6.90259159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:-10.73, Z:0.69 [[ 9.36817874e-01 3.48059718e-01 -3.50243375e-02 4.88023059e+01] [-3.47757515e-01 9.37471203e-01 1.45757867e-02 -1.07273780e+01] [ 3.79075520e-02 -1.47488096e-03 9.99280162e-01 6.91112733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:-10.74, Z:0.69 [[ 9.36364277e-01 3.49234513e-01 -3.54569586e-02 4.88320651e+01] [-3.48925144e-01 9.37034221e-01 1.47686135e-02 -1.07380809e+01] [ 3.83820932e-02 -1.45697776e-03 9.99262074e-01 6.92418787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:-10.75, Z:0.69 [[ 9.36004023e-01 3.50166223e-01 -3.57782802e-02 4.88629472e+01] [-3.49851573e-01 9.36686471e-01 1.49108274e-02 -1.07506170e+01] [ 3.87342991e-02 -1.43950685e-03 9.99248509e-01 6.93048331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:-10.76, Z:0.69 [[ 9.35561398e-01 3.51270170e-01 -3.65258618e-02 4.88924822e+01] [-3.50942532e-01 9.36273041e-01 1.52358945e-02 -1.07629834e+01] [ 3.95500949e-02 -1.43563634e-03 9.99216558e-01 6.94070586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.92, Y:-10.78, Z:0.70 [[ 9.34938261e-01 3.52948599e-01 -3.63006283e-02 4.89220385e+01] [-3.52625772e-01 9.35641714e-01 1.51541736e-02 -1.07762284e+01] [ 3.93130264e-02 -1.36767967e-03 9.99226008e-01 6.95473550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:-10.79, Z:0.70 [[ 9.34311626e-01 3.54667129e-01 -3.56792949e-02 4.89517590e+01] [-3.54356058e-01 9.34991753e-01 1.49065762e-02 -1.07892292e+01] [ 3.86467191e-02 -1.28421316e-03 9.99252111e-01 6.97136756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:-10.80, Z:0.70 [[ 9.33802224e-01 3.56055006e-01 -3.51886191e-02 4.89821590e+01] [-3.55752964e-01 9.34464200e-01 1.47134980e-02 -1.08027195e+01] [ 3.81213195e-02 -1.22104161e-03 9.99272372e-01 6.98302998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:-10.82, Z:0.70 [[ 9.33298858e-01 3.57301234e-01 -3.59036119e-02 4.90114404e+01] [-3.56987207e-01 9.33988423e-01 1.50253395e-02 -1.08158368e+01] [ 3.89021302e-02 -1.20600208e-03 9.99242298e-01 6.99513371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:-10.83, Z:0.70 [[ 9.32809282e-01 3.58506627e-01 -3.66038573e-02 4.90403637e+01] [-3.58180665e-01 9.33526423e-01 1.53306310e-02 -1.08284130e+01] [ 3.96668008e-02 -1.18976098e-03 9.99212254e-01 7.01092210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:-10.84, Z:0.70 [[ 9.31591555e-01 3.61742390e-01 -3.57717447e-02 4.90710187e+01] [-3.61433029e-01 9.32277515e-01 1.49933733e-02 -1.08401400e+01] [ 3.87729319e-02 -1.03860993e-03 9.99247507e-01 7.02236541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:-10.85, Z:0.70 [[ 9.31113125e-01 3.62946238e-01 -3.60330088e-02 4.91002453e+01] [-3.62632752e-01 9.31809537e-01 1.51153389e-02 -1.08539742e+01] [ 3.90619566e-02 -1.00734132e-03 9.99236283e-01 7.03887507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:-10.87, Z:0.71 [[ 9.30662621e-01 3.64081430e-01 -3.62187542e-02 4.91303098e+01] [-3.63765097e-01 9.31366609e-01 1.52050463e-02 -1.08673819e+01] [ 3.92688132e-02 -9.75649558e-04 9.99228206e-01 7.05598588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:-10.88, Z:0.71 [[ 9.29824226e-01 3.66107116e-01 -3.73160481e-02 4.91603348e+01] [-3.65903010e-01 9.30570303e-01 1.24055720e-02 -1.08769968e+01] [ 3.92669744e-02 2.11905293e-03 9.99226508e-01 7.05750607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.19, Y:-10.89, Z:0.71 [[ 9.29967083e-01 3.66000855e-01 -3.47073375e-02 4.91891013e+01] [-3.65589603e-01 9.30606629e-01 1.77635627e-02 -1.08940777e+01] [ 3.88003575e-02 -3.83088688e-03 9.99239639e-01 7.08918772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:-10.90, Z:0.71 [[ 9.29955832e-01 3.66032238e-01 -3.46778217e-02 4.92199482e+01] [-3.65742181e-01 9.30601745e-01 1.45962314e-02 -1.09041463e+01] [ 3.76139326e-02 -8.90708359e-04 9.99291949e-01 7.09576423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.25, Y:-10.92, Z:0.71 [[ 9.30223807e-01 3.65372242e-01 -3.44498705e-02 4.92505796e+01] [-3.65085098e-01 9.30861039e-01 1.45119533e-02 -1.09171443e+01] [ 3.73703072e-02 -9.22230069e-04 9.99301061e-01 7.10386773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.28, Y:-10.93, Z:0.71 [[ 9.30134261e-01 3.65629262e-01 -3.41394081e-02 4.92809878e+01] [-3.65346982e-01 9.30760122e-01 1.43936754e-02 -1.09295392e+01] [ 3.70383486e-02 -9.15320881e-04 9.99313426e-01 7.11932581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:-10.94, Z:0.71 [[ 9.30245230e-01 3.65408195e-01 -3.34763157e-02 4.93110546e+01] [-3.65136198e-01 9.30846931e-01 1.41261294e-02 -1.09427498e+01] [ 3.63231292e-02 -9.17349897e-04 9.99339676e-01 7.12924369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:-10.96, Z:0.71 [[ 9.30604382e-01 3.64443416e-01 -3.40070747e-02 4.93409012e+01] [-3.64161608e-01 9.31225017e-01 1.43628354e-02 -1.09566837e+01] [ 3.69026795e-02 -9.82046555e-04 9.99318382e-01 7.14648359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:-10.97, Z:0.72 [[ 9.31584290e-01 3.61979614e-01 -3.34883493e-02 4.93707009e+01] [-3.61704302e-01 9.32185391e-01 1.41560482e-02 -1.09684929e+01] [ 3.63415509e-02 -1.07467207e-03 9.99338850e-01 7.15606050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:-10.98, Z:0.72 [[ 9.32197980e-01 3.60385065e-01 -3.36084968e-02 4.93998339e+01] [-3.60106455e-01 9.32802919e-01 1.42145858e-02 -1.09812698e+01] [ 3.64728284e-02 -1.14817151e-03 9.99333985e-01 7.16553101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:-10.99, Z:0.72 [[ 9.32389507e-01 3.59958646e-01 -3.28569613e-02 4.94304780e+01] [-3.59691710e-01 9.32967552e-01 1.39075662e-02 -1.09930953e+01] [ 3.56606275e-02 -1.14889217e-03 9.99363297e-01 7.17761900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:-11.00, Z:0.72 [[ 9.32735320e-01 3.59099057e-01 -3.24451824e-02 4.94611013e+01] [-3.58837844e-01 9.33298709e-01 1.37448821e-02 -1.10049377e+01] [ 3.52168211e-02 -1.17777770e-03 9.99379001e-01 7.18575029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:-11.02, Z:0.72 [[ 9.33538479e-01 3.56942694e-01 -3.31333836e-02 4.94896267e+01] [-3.56683750e-01 9.34125850e-01 1.36234718e-02 -1.10167132e+01] [ 3.58135488e-02 -8.99895615e-04 9.99358084e-01 7.19204139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:-11.03, Z:0.72 [[ 9.34644774e-01 3.54086482e-01 -3.25869432e-02 4.95195074e+01] [-3.53806962e-01 9.35211110e-01 1.41708381e-02 -1.10295524e+01] [ 3.54933735e-02 -1.71521240e-03 9.99368440e-01 7.20684116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:-11.04, Z:0.72 [[ 9.34684040e-01 3.53950488e-01 -3.29362784e-02 4.95503366e+01] [-3.53676705e-01 9.35263069e-01 1.39921235e-02 -1.10422624e+01] [ 3.57566038e-02 -1.42942010e-03 9.99359506e-01 7.21911560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.58, Y:-11.05, Z:0.72 [[ 9.34628270e-01 3.54057948e-01 -3.33611612e-02 4.95797735e+01] [-3.53776662e-01 9.35222354e-01 1.41852944e-02 -1.10541336e+01] [ 3.62225199e-02 -1.45557689e-03 9.99342689e-01 7.23181334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:-11.07, Z:0.72 [[ 9.34432898e-01 3.54515425e-01 -3.39701901e-02 4.96107011e+01] [-3.54223776e-01 9.35049008e-01 1.44522751e-02 -1.10655511e+01] [ 3.68873470e-02 -1.47163229e-03 9.99318347e-01 7.23468341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.64, Y:-11.08, Z:0.72 [[ 9.34490267e-01 3.54387140e-01 -3.37297434e-02 4.96409116e+01] [-3.54099069e-01 9.35097626e-01 1.43623906e-02 -1.10788503e+01] [ 3.66304496e-02 -1.47784351e-03 9.99327787e-01 7.24132377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.67, Y:-11.09, Z:0.73 [[ 9.34357774e-01 3.55055650e-01 -3.01833745e-02 4.96685165e+01] [-3.54653159e-01 9.34825415e-01 1.79605326e-02 -1.10921180e+01] [ 3.45931742e-02 -6.07693415e-03 9.99383001e-01 7.25111044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.70, Y:-11.10, Z:0.72 [[ 9.35064218e-01 3.52688766e-01 -3.55744678e-02 4.97012322e+01] [-3.52566265e-01 9.35734816e-01 9.86826397e-03 -1.11005562e+01] [ 3.67686939e-02 3.31489674e-03 9.99318305e-01 7.23684412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.73, Y:-11.12, Z:0.73 [[ 9.35238398e-01 3.52466708e-01 -3.31113028e-02 4.97308045e+01] [-3.52186993e-01 9.35823072e-01 1.41244202e-02 -1.11160913e+01] [ 3.59647090e-02 -1.54832994e-03 9.99351861e-01 7.26156422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:-11.13, Z:0.73 [[ 9.35564049e-01 3.52153918e-01 -2.65994009e-02 4.97564503e+01] [-3.51666922e-01 9.35881975e-01 2.13378697e-02 -1.11314416e+01] [ 3.24081143e-02 -1.06088143e-02 9.99418414e-01 7.27205586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:-11.13, Z:0.72 [[ 9.36235204e-01 3.49549161e-01 -3.57634828e-02 4.97911814e+01] [-3.49601732e-01 9.36885191e-01 4.97666201e-03 -1.11343212e+01] [ 3.52458655e-02 7.84364937e-03 9.99347890e-01 7.22706374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:-11.15, Z:0.72 [[ 9.37003097e-01 3.47586638e-01 -3.47667263e-02 4.98210546e+01] [-3.47554906e-01 9.37632397e-01 7.14674926e-03 -1.11486354e+01] [ 3.50825235e-02 5.38682011e-03 9.99369901e-01 7.24163618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:-11.17, Z:0.73 [[ 9.36687293e-01 3.49270403e-01 -2.50419911e-02 4.98469723e+01] [-3.48887079e-01 9.36982917e-01 1.84612785e-02 -1.11669839e+01] [ 2.99118960e-02 -8.55561782e-03 9.99515923e-01 7.28073025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:-11.18, Z:0.73 [[ 9.36489158e-01 3.49699643e-01 -2.64237723e-02 4.98789348e+01] [-3.49519606e-01 9.36860899e-01 1.13004709e-02 -1.11754099e+01] [ 2.87071697e-02 -1.34714199e-03 9.99586957e-01 7.26215667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:-11.19, Z:0.73 [[ 9.35931040e-01 3.51276604e-01 -2.52554171e-02 4.99092930e+01] [-3.51112478e-01 9.36270894e-01 1.08093109e-02 -1.11862401e+01] [ 2.74429699e-02 -1.24927752e-03 9.99622590e-01 7.25962996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.94, Y:-11.20, Z:0.73 [[ 9.35916306e-01 3.51328625e-01 -2.50772077e-02 4.99382090e+01] [-3.51166605e-01 9.36251378e-01 1.07411552e-02 -1.11989252e+01] [ 2.72522456e-02 -1.24654438e-03 9.99627811e-01 7.25778582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:-11.21, Z:0.73 [[ 9.36122543e-01 3.50769196e-01 -2.52102318e-02 4.99677533e+01] [-3.50605032e-01 9.36461073e-01 1.08060641e-02 -1.12124514e+01] [ 2.73988351e-02 -1.27696605e-03 9.99623766e-01 7.25800261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82431999999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.00, Y:-11.23, Z:0.73 [[ 9.36490603e-01 3.49810071e-01 -2.48649133e-02 4.99976237e+01] [-3.49649819e-01 9.36819747e-01 1.06661103e-02 -1.12260062e+01] [ 2.70250546e-02 -1.29469965e-03 9.99633918e-01 7.26005312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:-11.24, Z:0.72 [[ 9.37163194e-01 3.48106108e-01 -2.33941184e-02 5.00269531e+01] [-3.47963516e-01 9.37454276e-01 1.00435326e-02 -1.12381739e+01] [ 2.54271314e-02 -1.27212939e-03 9.99675869e-01 7.24955740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:-11.25, Z:0.73 [[ 9.37540715e-01 3.47086313e-01 -2.34200622e-02 5.00572188e+01] [-3.46942878e-01 9.37832276e-01 1.00628601e-02 -1.12513007e+01] [ 2.54567713e-02 -1.30891728e-03 9.99675067e-01 7.25123516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:-11.26, Z:0.72 [[ 9.37920719e-01 3.46100999e-01 -2.27776987e-02 5.00871837e+01] [-3.45964848e-01 9.38196351e-01 9.79446730e-03 -1.12638239e+01] [ 2.47598287e-02 -1.30615073e-03 9.99692575e-01 7.24792220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:-11.28, Z:0.72 [[ 9.38409877e-01 3.44836205e-01 -2.17920699e-02 5.01177683e+01] [-3.44711069e-01 9.38661990e-01 9.37803149e-03 -1.12771651e+01] [ 2.36892725e-02 -1.28846969e-03 9.99718539e-01 7.23900312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:-11.29, Z:0.72 [[ 9.38343404e-01 3.45054446e-01 -2.11916232e-02 5.01479508e+01] [-3.44935996e-01 9.38581832e-01 9.12706522e-03 -1.12914795e+01] [ 2.30394070e-02 -1.25456779e-03 9.99733770e-01 7.24428423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:-11.31, Z:0.73 [[ 9.38205866e-01 3.45465393e-01 -2.05770822e-02 5.01766670e+01] [-3.45353643e-01 9.38430703e-01 8.86995749e-03 -1.13051362e+01] [ 2.23744291e-02 -1.21547584e-03 9.99748922e-01 7.25208933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.21, Y:-11.32, Z:0.73 [[ 9.37903742e-01 3.46311980e-01 -2.01142739e-02 5.02064941e+01] [-3.46205258e-01 9.38118667e-01 8.67674357e-03 -1.13184954e+01] [ 2.18744360e-02 -1.17428289e-03 9.99760036e-01 7.25732625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:-11.33, Z:0.72 [[ 9.37076926e-01 3.48600923e-01 -1.90848733e-02 5.02364459e+01] [-3.48505188e-01 9.37270640e-01 8.23896212e-03 -1.13311873e+01] [ 2.07598012e-02 -1.06936392e-03 9.99783920e-01 7.24875615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:-11.34, Z:0.73 [[ 9.36467513e-01 3.50212795e-01 -1.94832262e-02 5.02671316e+01] [-3.50113209e-01 9.36669563e-01 8.41850579e-03 -1.13443928e+01] [ 2.11976134e-02 -1.06232235e-03 9.99774741e-01 7.25446471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12431999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:50.30, Y:-11.36, Z:0.72 [[ 9.35287683e-01 3.53441323e-01 -1.77814567e-02 5.02959377e+01] [-3.53358842e-01 9.35456256e-01 7.68911864e-03 -1.13576058e+01] [ 1.93514272e-02 -9.08303003e-04 9.99812331e-01 7.24025543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15431999999999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:50.34, Y:-11.35, Z:0.70 [[ 9.34993930e-01 3.53841400e-01 -2.41374027e-02 5.03367554e+01] [-3.54402663e-01 9.34750207e-01 -2.53140955e-02 -1.13537463e+01] [ 1.36052672e-02 3.22228854e-02 9.99388104e-01 7.03946402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18431999999999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:50.35, Y:-11.40, Z:0.73 [[ 9.33434933e-01 3.58739361e-01 -2.30156682e-03 5.03473184e+01] [-3.58415378e-01 9.32829233e-01 3.69870160e-02 -1.14001616e+01] [ 1.54156673e-02 -3.37000559e-02 9.99313096e-01 7.34338835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214319999999994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:50.39, Y:-11.39, Z:0.72 [[ 9.32857661e-01 3.59964798e-01 -1.42101437e-02 5.03859299e+01] [-3.59912749e-01 9.32965676e-01 6.15301645e-03 -1.13945482e+01] [ 1.54724456e-02 -6.25476654e-04 9.99880099e-01 7.23980541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244319999999995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:50.42, Y:-11.41, Z:0.72 [[ 9.32913866e-01 3.59835974e-01 -1.37764451e-02 5.04159766e+01] [-3.59786973e-01 9.33015379e-01 5.96968602e-03 -1.14079805e+01] [ 1.50017429e-02 -6.12617376e-04 9.99887280e-01 7.24693720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:-11.36, Z:0.68 [[ 9.36580808e-01 3.48606871e-01 -3.59115468e-02 5.04674845e+01] [-3.50420954e-01 9.32926022e-01 -8.27900484e-02 -1.13573050e+01] [ 4.64163684e-03 9.01237289e-02 9.95919760e-01 6.76139262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30431999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.48, Y:-11.41, Z:0.69 [[ 9.37392536e-01 3.48130242e-01 -1.00283942e-02 5.04808462e+01] [-3.48274632e-01 9.36993764e-01 -2.73398475e-02 -1.14050455e+01] [-1.21284890e-04 2.91208043e-02 9.99575892e-01 6.88246624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33431999999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.50, Y:-11.44, Z:0.70 [[ 9.37665702e-01 3.47507720e-01 4.62781136e-03 5.05002573e+01] [-3.47514197e-01 9.37674494e-01 6.52150918e-04 -1.14362929e+01] [-4.11275320e-03 -2.21972970e-03 9.99989079e-01 6.96753867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.54, Y:-11.43, Z:0.69 [[ 9.38364946e-01 3.45490867e-01 -1.03580792e-02 5.05391010e+01] [-3.45640070e-01 9.38104196e-01 -2.22139353e-02 -1.14337800e+01] [ 2.04224579e-03 2.44249454e-02 9.99699581e-01 6.90286816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39431999999999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:50.55, Y:-11.47, Z:0.70 [[ 9.39821496e-01 3.41195246e-01 1.79265151e-02 5.05495750e+01] [-3.41554201e-01 9.39561536e-01 2.37665087e-02 -1.14741765e+01] [-8.73404425e-03 -2.84591523e-02 9.99556798e-01 7.03302793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424319999999994 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:50.56, Y:-11.55, Z:0.76 [[ 9.37201682e-01 3.47170179e-01 3.35540621e-02 5.05631491e+01] [-3.48731436e-01 9.30972586e-01 1.08057531e-01 -1.15469799e+01] [ 6.27644042e-03 -1.12973056e-01 9.93578228e-01 7.61820534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454319999999996 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:50.62, Y:-11.50, Z:0.73 [[ 9.37988285e-01 3.46188585e-01 -1.82055420e-02 5.06236002e+01] [-3.46271049e-01 9.38133326e-01 -1.49071690e-03 -1.14954969e+01] [ 1.65631565e-02 7.70232714e-03 9.99833154e-01 7.29626182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48431999999999 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:50.65, Y:-11.51, Z:0.73 [[ 9.37868239e-01 3.46671688e-01 -1.48965150e-02 5.06520163e+01] [-3.46611151e-01 9.37986021e-01 6.55235485e-03 -1.15139873e+01] [ 1.62442387e-02 -9.81947297e-04 9.99867571e-01 7.33743725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51431999999999 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:50.68, Y:-11.53, Z:0.74 [[ 9.37975264e-01 3.46468262e-01 -1.27336879e-02 5.06786146e+01] [-3.46280548e-01 9.38013281e-01 1.48615943e-02 -1.15315997e+01] [ 1.70934391e-02 -9.53037939e-03 9.99808475e-01 7.40656896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54431999999999 meters Centerline goodness : 0.986661 Centerline is valid? [True, True] Translation: X:50.71, Y:-11.54, Z:0.73 [[ 9.39691884e-01 3.41946828e-01 -7.17843557e-03 5.07110433e+01] [-3.41932877e-01 9.39719178e-01 3.12644613e-03 -1.15376885e+01] [ 7.81479191e-03 -4.83352925e-04 9.99969347e-01 7.25963021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57431999999999 meters Centerline goodness : 0.983823 Centerline is valid? [True, True] Translation: X:50.74, Y:-11.55, Z:0.73 [[ 9.39650747e-01 3.42062479e-01 -7.05218852e-03 5.07407304e+01] [-3.42048993e-01 9.39677090e-01 3.07464635e-03 -1.15510434e+01] [ 7.67850114e-03 -4.76899764e-04 9.99970406e-01 7.26158502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604319999999994 meters Centerline goodness : 0.977687 Centerline is valid? [True, True] Translation: X:50.77, Y:-11.57, Z:0.73 [[ 9.39600395e-01 3.42215906e-01 -6.27458347e-03 5.07709130e+01] [-3.42205229e-01 9.39621250e-01 2.73628196e-03 -1.15655420e+01] [ 6.83213117e-03 -4.23816335e-04 9.99976571e-01 7.25105216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 914.04 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/1621 [00:00