+ python -m lidar_slam --no-model /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e Lidar SLAM 0.0.14 ===================================================== The recording path: /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.022260615 Adjusted end_distance from 9.223372036854776e+18 to 23.002260615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022260615 meters Centerline goodness : 0.992086 Centerline is valid? [0, True] SLAMing on 0.052260614999999996 meters Centerline goodness : 0.988137 Centerline is valid? [True, True] Translation: X:0.02, Y:0.03, Z:-0.00 [[ 0.99942217 -0.02660342 0.02115615 0.02027375] [ 0.02812696 0.99676292 -0.07531632 0.03190602] [-0.019084 0.07586786 0.99693524 -0.00280237] [ 0. 0. 0. 1. ]] SLAMing on 0.082260615 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.01 [[ 0.99940834 -0.02770546 0.02038057 0.05782175] [ 0.0283704 0.99904948 -0.03309467 0.01106291] [-0.0194443 0.03365329 0.9992444 -0.00865821] [ 0. 0. 0. 1. ]] SLAMing on 0.11226061499999998 meters Centerline goodness : 0.981030 Centerline is valid? [True, True] Translation: X:0.11, Y:0.03, Z:-0.00 [[ 9.99274829e-01 -2.80856877e-02 2.57101337e-02 1.05722823e-01] [ 3.04606225e-02 9.94799033e-01 -9.71958516e-02 3.08267546e-02] [-2.28466038e-02 9.79085146e-02 9.94933141e-01 -9.07499281e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14226061499999998 meters Centerline goodness : 0.972295 Centerline is valid? [True, True] Translation: X:0.17, Y:0.03, Z:0.00 [[ 0.99923033 -0.03009019 0.02516597 0.16588382] [ 0.03272084 0.99320854 -0.1116519 0.03353782] [-0.02163543 0.11238942 0.99342867 0.00243242] [ 0. 0. 0. 1. ]] SLAMing on 0.17226061499999998 meters Centerline goodness : 0.264216 Centerline is valid? [True, False] Translation: X:0.18, Y:0.03, Z:-0.00 [[ 9.99232979e-01 -3.29576706e-02 2.11481958e-02 1.81983582e-01] [ 3.46960822e-02 9.95523118e-01 -8.79198660e-02 2.56346314e-02] [-1.81558839e-02 8.85861892e-02 9.95903033e-01 -9.31716470e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20226061499999998 meters Centerline goodness : 0.230977 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.00 [[ 9.99266408e-01 -3.39088195e-02 1.77999432e-02 1.95921344e-01] [ 3.50589378e-02 9.97009764e-01 -6.88650894e-02 1.99179921e-02] [-1.54115833e-02 6.94386177e-02 9.97467173e-01 -7.55615551e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23226061499999998 meters Centerline goodness : 0.236057 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:0.00 [[ 9.99082930e-01 -3.81889301e-02 1.93624550e-02 2.06576206e-01] [ 3.92425945e-02 9.97584055e-01 -5.73242658e-02 1.85123609e-02] [-1.71265240e-02 5.80315284e-02 9.98167834e-01 1.97869818e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.262260615 meters Centerline goodness : 0.249132 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:-0.00 [[ 0.99909307 -0.03894115 0.01722306 0.20628067] [ 0.03963746 0.99832568 -0.04212728 0.01341909] [-0.01555374 0.04277176 0.99896379 -0.00159901] [ 0. 0. 0. 1. ]] SLAMing on 0.29226061499999995 meters Centerline goodness : 0.276938 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:0.00 [[ 9.99125495e-01 -3.89799444e-02 1.51264382e-02 2.09617608e-01] [ 3.95387198e-02 9.98472562e-01 -3.85905774e-02 1.50795767e-02] [-1.35990750e-02 3.91549097e-02 9.99140610e-01 3.55461297e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3222606149999999 meters Centerline goodness : 0.259182 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:0.00 [[ 0.99915398 -0.03892994 0.01325808 0.21308923] [ 0.03937832 0.99859609 -0.03542869 0.01735571] [-0.01186023 0.0359208 0.99928426 0.00144422] [ 0. 0. 0. 1. ]] SLAMing on 0.35226061499999994 meters Centerline goodness : 0.255037 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.00 [[ 0.99923494 -0.03726505 0.01186817 0.21614353] [ 0.0376201 0.99880342 -0.03124826 0.01742133] [-0.0106895 0.03167084 0.99944119 0.00148719] [ 0. 0. 0. 1. ]] SLAMing on 0.3822606149999999 meters Centerline goodness : 0.223974 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.00 [[ 0.99930941 -0.03562935 0.01054745 0.21908376] [ 0.0359051 0.99898434 -0.0272234 0.01811126] [-0.00956678 0.02758331 0.99957373 0.00162823] [ 0. 0. 0. 1. ]] SLAMing on 0.41226061499999994 meters Centerline goodness : 0.224924 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.00 [[ 0.99927882 -0.03707016 0.00822456 0.22228471] [ 0.03727618 0.99895363 -0.02649767 0.02678288] [-0.00723368 0.02678514 0.99961504 0.00419337] [ 0. 0. 0. 1. ]] SLAMing on 0.4422606149999999 meters Centerline goodness : 0.232559 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.01 [[ 0.9993292 -0.03602198 0.00660096 0.22503536] [ 0.03617086 0.99905678 -0.02402524 0.03145467] [-0.0057293 0.02424789 0.99968956 0.00507805] [ 0. 0. 0. 1. ]] SLAMing on 0.47226061499999994 meters Centerline goodness : 0.232999 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:0.01 [[ 0.99935271 -0.03580971 0.00343777 0.23073381] [ 0.03587739 0.99910941 -0.02220822 0.04536894] [-0.00263944 0.02231718 0.99974746 0.00595823] [ 0. 0. 0. 1. ]] SLAMing on 0.502260615 meters Centerline goodness : 0.229715 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:0.01 [[ 9.99417681e-01 -3.40810230e-02 1.66805535e-03 2.34918413e-01] [ 3.41071733e-02 9.99226463e-01 -1.95748741e-02 5.26983434e-02] [-9.99633312e-04 1.96203679e-02 9.99807002e-01 5.18167222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5322606149999999 meters Centerline goodness : 0.231439 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.00 [[ 0.99941648 -0.03410287 -0.00192049 0.24409897] [ 0.03406711 0.99928658 -0.01630221 0.07096301] [ 0.00247507 0.01622727 0.99986527 0.00472506] [ 0. 0. 0. 1. ]] SLAMing on 0.5622606149999999 meters Centerline goodness : 0.241188 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:0.01 [[ 0.99936141 -0.03514778 -0.006435 0.25571666] [ 0.03507171 0.99931776 -0.0115758 0.09237925] [ 0.00683747 0.01134272 0.99991229 0.00516589] [ 0. 0. 0. 1. ]] SLAMing on 0.5922606149999999 meters Centerline goodness : 0.116172 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:0.00 [[ 0.99942398 -0.03303907 -0.00775425 0.25927055] [ 0.03296684 0.9994135 -0.00926533 0.10203197] [ 0.00805582 0.00900436 0.99992701 0.00417914] [ 0. 0. 0. 1. ]] SLAMing on 0.6222606149999999 meters Centerline goodness : 0.116749 Centerline is valid? [False, False] Translation: X:0.27, Y:0.13, Z:0.00 [[ 0.99925067 -0.03694183 -0.01155026 0.27139988] [ 0.03687587 0.9993026 -0.00587237 0.12602851] [ 0.01175914 0.00544204 0.99991605 0.00405947] [ 0. 0. 0. 1. ]] SLAMing on 0.6522606149999999 meters Centerline goodness : 0.243406 Centerline is valid? [False, False] Translation: X:0.27, Y:0.14, Z:0.00 [[ 0.99924837 -0.03645109 -0.01319176 0.27497812] [ 0.03639246 0.99932672 -0.00465741 0.13665654] [ 0.01335265 0.00417382 0.99990214 0.00389244] [ 0. 0. 0. 1. ]] SLAMing on 0.6822606149999999 meters Centerline goodness : 0.107310 Centerline is valid? [False, False] Translation: X:0.29, Y:0.16, Z:0.01 [[ 0.99891472 -0.04368657 -0.01615123 0.28589332] [ 0.04363115 0.9990406 -0.00376768 0.16269658] [ 0.01630033 0.00305889 0.99986246 0.00534354] [ 0. 0. 0. 1. ]] SLAMing on 0.7122606149999999 meters Centerline goodness : 0.326642 Centerline is valid? [False, False] Translation: X:0.30, Y:0.19, Z:0.00 [[ 0.99854734 -0.05119685 -0.0167958 0.30149053] [ 0.05122785 0.99868598 0.00142072 0.18725556] [ 0.01670099 -0.00227907 0.99985793 0.00318886] [ 0. 0. 0. 1. ]] SLAMing on 0.7422606149999998 meters Centerline goodness : 0.093978 Centerline is valid? [False, False] Translation: X:0.31, Y:0.20, Z:0.00 [[ 0.99832773 -0.05414414 -0.02025221 0.3078234 ] [ 0.05418232 0.99853016 0.00134049 0.19970444] [ 0.02014986 -0.00243556 0.999794 0.00392692] [ 0. 0. 0. 1. ]] SLAMing on 0.7722606149999999 meters Centerline goodness : 0.090391 Centerline is valid? [False, False] Translation: X:0.31, Y:0.21, Z:0.00 [[ 9.98143404e-01 -5.64931597e-02 -2.27655190e-02 3.12928565e-01] [ 5.65241546e-02 9.98400972e-01 7.19794993e-04 2.12174395e-01] [ 2.26884528e-02 -2.00526034e-03 9.99740573e-01 3.84127089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8022606149999999 meters Centerline goodness : 0.336698 Centerline is valid? [False, False] Translation: X:0.33, Y:0.23, Z:0.00 [[ 0.99797261 -0.05768658 -0.02688728 0.3253614 ] [ 0.05793356 0.99828427 0.0084984 0.23397477] [ 0.0263509 -0.01003885 0.99960235 0.00178521] [ 0. 0. 0. 1. ]] SLAMing on 0.8322606149999998 meters Centerline goodness : 0.083068 Centerline is valid? [False, False] Translation: X:0.33, Y:0.26, Z:0.00 [[ 0.99808322 -0.05344372 -0.03120343 0.33285732] [ 0.05399362 0.99839564 0.01705391 0.25563572] [ 0.03024194 -0.01870601 0.99936756 0.0017109 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8622606149999998 meters Centerline goodness : 0.081720 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:0.00 [[ 0.99825264 -0.04835366 -0.03396462 0.33695891] [ 0.0491817 0.99850189 0.02398199 0.26539095] [ 0.03275412 -0.02561053 0.99913526 0.00230881] [ 0. 0. 0. 1. ]] SLAMing on 0.8922606149999999 meters Centerline goodness : 0.080335 Centerline is valid? [False, False] Translation: X:0.34, Y:0.28, Z:0.00 [[ 0.99838493 -0.0438212 -0.03615575 0.33982126] [ 0.04487547 0.99857501 0.02888165 0.27628334] [ 0.0348386 -0.03045751 0.99892873 0.00271365] [ 0. 0. 0. 1. ]] SLAMing on 0.9222606149999999 meters Centerline goodness : 0.078588 Centerline is valid? [False, False] Translation: X:0.34, Y:0.30, Z:0.00 [[ 0.99858572 -0.03622877 -0.03891067 0.34420728] [ 0.0376124 0.9986639 0.0354361 0.29911654] [ 0.03757488 -0.03684951 0.99861416 0.00107444] [ 0. 0. 0. 1. ]] SLAMing on 0.9522606149999998 meters Centerline goodness : 0.077072 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:-0.00 [[ 0.9988602 -0.03356021 -0.03394138 0.35426337] [ 0.03470105 0.99883272 0.03360104 0.32694935] [ 0.0327741 -0.03474054 0.99885883 -0.00131946] [ 0. 0. 0. 1. ]] SLAMing on 0.9822606149999998 meters Centerline goodness : 0.075057 Centerline is valid? [False, False] Translation: X:0.36, Y:0.33, Z:-0.00 [[ 0.99881949 -0.03473528 -0.03395708 0.35521195] [ 0.03575954 0.99890894 0.03003645 0.33181038] [ 0.0328767 -0.03121528 0.99897184 -0.0033333 ] [ 0. 0. 0. 1. ]] SLAMing on 1.012260615 meters Centerline goodness : 0.074049 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:-0.00 [[ 0.9987716 -0.03647135 -0.03354298 0.35350612] [ 0.03743095 0.99889445 0.02843952 0.32946572] [ 0.03246867 -0.02966013 0.99903256 -0.00175357] [ 0. 0. 0. 1. ]] SLAMing on 1.0422606149999998 meters Centerline goodness : 0.082452 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:-0.00 [[ 9.98755788e-01 -3.66068753e-02 -3.38646301e-02 3.52740132e-01] [ 3.75651148e-02 9.98898842e-01 2.81063327e-02 3.31699570e-01] [ 3.27984548e-02 -2.93434911e-02 9.99031141e-01 -1.62281404e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0722606149999998 meters Centerline goodness : 0.080592 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.00 [[ 0.99874073 -0.03671094 -0.03419437 0.35214656] [ 0.03766977 0.9989026 0.0278314 0.33264865] [ 0.03313513 -0.02908444 0.99902761 0.00125525] [ 0. 0. 0. 1. ]] SLAMing on 1.1022606149999998 meters Centerline goodness : 0.080592 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.00 [[ 0.99874073 -0.03671094 -0.03419437 0.35214656] [ 0.03766977 0.9989026 0.0278314 0.33264865] [ 0.03313513 -0.02908444 0.99902761 0.00125525] [ 0. 0. 0. 1. ]] SLAMing on 1.1322606149999999 meters Centerline goodness : 0.217362 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.00 [[ 0.99881094 -0.03497767 -0.03395987 0.35122426] [ 0.0359165 0.998978 0.02744023 0.33465738] [ 0.03296537 -0.02862732 0.99904643 0.00126185] [ 0. 0. 0. 1. ]] SLAMing on 1.1622606149999999 meters Centerline goodness : 0.895118 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.00 [[ 0.99892604 -0.03267649 -0.0328484 0.34840293] [ 0.0335955 0.99904808 0.02782588 0.33374294] [ 0.03190788 -0.02889955 0.99907292 0.00200611] [ 0. 0. 0. 1. ]] SLAMing on 1.192260615 meters Centerline goodness : 0.894545 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.00 [[ 9.98979291e-01 -3.17984856e-02 -3.20816641e-02 3.47667033e-01] [ 3.26527673e-02 9.99116300e-01 2.64653677e-02 3.33910283e-01] [ 3.12117549e-02 -2.74859094e-02 9.99134801e-01 5.51896684e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2222606149999997 meters Centerline goodness : 0.242695 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:-0.00 [[ 0.99907981 -0.03022841 -0.03042654 0.34626303] [ 0.03092416 0.9992648 0.02266171 0.33446883] [ 0.02971915 -0.02358177 0.99928008 -0.00275326] [ 0. 0. 0. 1. ]] SLAMing on 1.2522606149999997 meters Centerline goodness : 0.126204 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:-0.00 [[ 0.99908637 -0.02989701 -0.03053848 0.34533121] [ 0.03062165 0.99925374 0.02354307 0.33407059] [ 0.02981183 -0.0244567 0.99925629 -0.00111605] [ 0. 0. 0. 1. ]] SLAMing on 1.2822606149999998 meters Centerline goodness : 0.192673 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.00 [[ 0.99909239 -0.02882819 -0.03135824 0.34555349] [ 0.02974402 0.99913265 0.02914189 0.33216535] [ 0.03049093 -0.03004817 0.99908329 0.00154899] [ 0. 0. 0. 1. ]] SLAMing on 1.3122606149999998 meters Centerline goodness : 0.908790 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.01 [[ 0.99891509 -0.03249343 -0.03335899 0.34631323] [ 0.03348949 0.99899628 0.02974714 0.3331707 ] [ 0.03235892 -0.03083204 0.99900064 0.00626804] [ 0. 0. 0. 1. ]] SLAMing on 1.3422606149999998 meters Centerline goodness : 0.908896 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.01 [[ 0.99877751 -0.0364547 -0.03338485 0.3464862 ] [ 0.03731943 0.998974 0.02565557 0.33421701] [ 0.03241533 -0.02687011 0.99911323 0.0062834 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3722606149999999 meters Centerline goodness : 0.912740 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.01 [[ 0.9985615 -0.04186915 -0.03349497 0.34749115] [ 0.04254606 0.99889911 0.01975837 0.33592515] [ 0.03263083 -0.02115503 0.99924356 0.00542689] [ 0. 0. 0. 1. ]] SLAMing on 1.4022606149999999 meters Centerline goodness : 0.831355 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:0.00 [[ 0.99845091 -0.04450228 -0.03339661 0.3480196 ] [ 0.04509887 0.99883223 0.017328 0.3349038 ] [ 0.03258647 -0.0188073 0.99929195 0.00490118] [ 0. 0. 0. 1. ]] SLAMing on 1.4322606149999997 meters Centerline goodness : 0.119813 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.00 [[ 0.99830961 -0.04781856 -0.03303489 0.34873198] [ 0.04827041 0.99874947 0.0130182 0.33544939] [ 0.03237106 -0.01459081 0.99936941 0.00325095] [ 0. 0. 0. 1. ]] SLAMing on 1.4622606149999997 meters Centerline goodness : 0.097010 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.00 [[ 0.99830677 -0.04768238 -0.03331648 0.34909309] [ 0.04814342 0.99875353 0.01317537 0.33622395] [ 0.03264672 -0.01475703 0.999358 0.0034359 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4922606149999997 meters Centerline goodness : 0.923597 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.01 [[ 0.99822677 -0.04810348 -0.03506244 0.3507765 ] [ 0.04867894 0.99869033 0.01574739 0.33811786] [ 0.03425901 -0.01742627 0.99926105 0.00572863] [ 0. 0. 0. 1. ]] SLAMing on 1.5222606149999998 meters Centerline goodness : 0.909403 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.01 [[ 0.99821408 -0.04767428 -0.03599741 0.35271029] [ 0.04828283 0.99870185 0.01622921 0.34092133] [ 0.03517696 -0.01793829 0.9992201 0.00525393] [ 0. 0. 0. 1. ]] SLAMing on 1.5522606149999998 meters Centerline goodness : 0.111553 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.01 [[ 0.99804892 -0.0512443 -0.03567048 0.35122571] [ 0.05167542 0.99860033 0.01127041 0.34262492] [ 0.03504301 -0.01309171 0.99930005 0.00655745] [ 0. 0. 0. 1. ]] SLAMing on 1.5822606149999998 meters Centerline goodness : 0.110251 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.01 [[ 0.99804242 -0.0511762 -0.0359489 0.35225421] [ 0.05166496 0.99858243 0.01280052 0.34086973] [ 0.03524286 -0.01463276 0.99927165 0.00621562] [ 0. 0. 0. 1. ]] SLAMing on 1.6122606149999998 meters Centerline goodness : 0.115675 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.01 [[ 0.99807849 -0.05081342 -0.0354588 0.35121266] [ 0.05130374 0.99859773 0.01305729 0.34028758] [ 0.03474559 -0.01485137 0.99928584 0.0064639 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6422606149999996 meters Centerline goodness : 0.116539 Centerline is valid? [False, False] Translation: X:0.35, Y:0.34, Z:0.01 [[ 0.99788713 -0.05397579 -0.0361648 0.3530984 ] [ 0.05432395 0.99848534 0.00871391 0.34454096] [ 0.03563968 -0.01066012 0.99930785 0.00703041] [ 0. 0. 0. 1. ]] SLAMing on 1.6722606149999997 meters Centerline goodness : 0.119603 Centerline is valid? [False, False] Translation: X:0.36, Y:0.34, Z:0.01 [[ 0.99796652 -0.05193247 -0.03695741 0.35561981] [ 0.0524244 0.99854706 0.01246798 0.34464046] [ 0.03625622 -0.01438009 0.99923906 0.00555071] [ 0. 0. 0. 1. ]] SLAMing on 1.7022606149999997 meters Centerline goodness : 0.122758 Centerline is valid? [False, False] Translation: X:0.36, Y:0.35, Z:0.01 [[ 0.99797585 -0.0517731 -0.03692887 0.35532007] [ 0.05222342 0.99857109 0.01133515 0.34611628] [ 0.03628925 -0.01324076 0.99925361 0.00553434] [ 0. 0. 0. 1. ]] SLAMing on 1.7322606149999997 meters Centerline goodness : 0.531333 Centerline is valid? [False, False] Translation: X:0.37, Y:0.35, Z:0.01 [[ 0.99813719 -0.0502612 -0.03458281 0.37099534] [ 0.05033495 0.99873159 0.00126476 0.35110514] [ 0.03447537 -0.00300312 0.99940104 0.00897081] [ 0. 0. 0. 1. ]] SLAMing on 1.7622606149999998 meters Centerline goodness : 0.132439 Centerline is valid? [False, False] Translation: X:0.37, Y:0.35, Z:0.01 [[ 0.99832958 -0.0464061 -0.03441686 0.37168796] [ 0.04659726 0.99890236 0.00477263 0.35087017] [ 0.0341576 -0.00636839 0.99939617 0.00714911] [ 0. 0. 0. 1. ]] SLAMing on 1.7922606149999998 meters Centerline goodness : 0.910252 Centerline is valid? [False, False] Translation: X:0.37, Y:0.35, Z:0.01 [[ 0.99864851 -0.03989769 -0.03330652 0.37027874] [ 0.04020647 0.99915393 0.00865292 0.35081894] [ 0.0329331 -0.00998036 0.99940773 0.00547339] [ 0. 0. 0. 1. ]] SLAMing on 1.8222606149999998 meters Centerline goodness : 0.920880 Centerline is valid? [False, False] Translation: X:0.37, Y:0.35, Z:0.01 [[ 0.99879016 -0.03738333 -0.03194847 0.36749283] [ 0.03765885 0.9992581 0.00806594 0.3510423 ] [ 0.03162323 -0.00925932 0.99945697 0.00527606] [ 0. 0. 0. 1. ]] SLAMing on 1.8522606149999996 meters Centerline goodness : 0.171601 Centerline is valid? [False, False] Translation: X:0.36, Y:0.35, Z:0.01 [[ 0.99895861 -0.0340385 -0.03038204 0.36413382] [ 0.03426982 0.99938721 0.00712568 0.35190141] [ 0.03012088 -0.00815944 0.99951296 0.00514156] [ 0. 0. 0. 1. ]] SLAMing on 1.8822606149999996 meters Centerline goodness : 0.932968 Centerline is valid? [False, False] Translation: X:0.36, Y:0.35, Z:0.00 [[ 0.99944601 -0.02052119 -0.02620216 0.35787053] [ 0.02082745 0.9997173 0.01146934 0.350372 ] [ 0.02595938 -0.01200871 0.99959087 0.00164189] [ 0. 0. 0. 1. ]] SLAMing on 1.9122606149999997 meters Centerline goodness : 0.947436 Centerline is valid? [False, False] Translation: X:0.38, Y:0.36, Z:0.01 [[ 0.99966497 0.00160787 -0.02583351 0.37631695] [-0.00153948 0.99999526 0.00266682 0.35538083] [ 0.02583767 -0.00262616 0.9996627 0.00649579] [ 0. 0. 0. 1. ]] SLAMing on 1.9422606149999997 meters Centerline goodness : 0.937498 Centerline is valid? [False, False] Translation: X:0.38, Y:0.36, Z:0.00 [[ 0.99959054 0.00966291 -0.02693301 0.38144347] [-0.00942617 0.99991594 0.00890321 0.35823416] [ 0.02701678 -0.00864568 0.99959759 0.00379387] [ 0. 0. 0. 1. ]] SLAMing on 1.9722606149999997 meters Centerline goodness : 0.924499 Centerline is valid? [False, False] Translation: X:0.41, Y:0.36, Z:0.00 [[ 0.99932676 0.02859283 -0.02298865 0.40941835] [-0.02834474 0.99953717 0.0110463 0.35826504] [ 0.02329385 -0.01038725 0.9996747 0.00193485] [ 0. 0. 0. 1. ]] SLAMing on 2.002260615 meters Centerline goodness : 0.837933 Centerline is valid? [False, False] Translation: X:0.41, Y:0.36, Z:0.00 [[ 0.99928815 0.03008556 -0.02276073 0.41068203] [-0.02981872 0.99948361 0.01197351 0.35737067] [ 0.02310921 -0.01128629 0.99966924 0.00124448] [ 0. 0. 0. 1. ]] SLAMing on 2.0322606149999998 meters Centerline goodness : 0.933998 Centerline is valid? [False, False] Translation: X:0.42, Y:0.35, Z:0.00 [[ 9.99546602e-01 2.50798325e-02 -1.66611153e-02 4.23022093e-01] [-2.48296939e-02 9.99578339e-01 1.50542784e-02 3.51526166e-01] [ 1.70316487e-02 -1.46337624e-02 9.99747856e-01 9.41061093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0622606149999996 meters Centerline goodness : 0.949465 Centerline is valid? [False, False] Translation: X:0.42, Y:0.34, Z:0.01 [[ 0.99973543 0.01587118 -0.0166488 0.42127666] [-0.01574017 0.99984435 0.00797027 0.34205142] [ 0.0167727 -0.0077061 0.99982963 0.00514786] [ 0. 0. 0. 1. ]] SLAMing on 2.092260615 meters Centerline goodness : 0.958316 Centerline is valid? [False, True] Translation: X:0.42, Y:0.34, Z:0.01 [[ 0.99980405 0.01120731 -0.01631714 0.42014975] [-0.01113265 0.99992718 0.00465894 0.33585502] [ 0.01636817 -0.00447637 0.99985601 0.00633684] [ 0. 0. 0. 1. ]] SLAMing on 2.1222606149999996 meters Centerline goodness : 0.255993 Centerline is valid? [True, False] Translation: X:0.43, Y:0.33, Z:0.00 [[ 0.99994502 0.00259177 -0.01016047 0.43067951] [-0.00252607 0.99997585 0.00647376 0.32979871] [ 0.01017701 -0.00644774 0.99992742 0.00351777] [ 0. 0. 0. 1. ]] SLAMing on 2.152260615 meters Centerline goodness : 0.290462 Centerline is valid? [False, False] Translation: X:0.43, Y:0.32, Z:0.00 [[ 0.99995451 -0.00294475 -0.00907226 0.43172876] [ 0.00296232 0.99999376 0.0019236 0.31604291] [ 0.00906654 -0.00195039 0.999957 0.0024259 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1822606149999997 meters Centerline goodness : 0.839024 Centerline is valid? [False, False] Translation: X:0.43, Y:0.31, Z:0.00 [[ 9.99939173e-01 -4.72830713e-03 -9.96461145e-03 4.34825517e-01] [ 4.73377317e-03 9.99988658e-01 5.25030723e-04 3.10243340e-01] [ 9.96201592e-03 -5.72168998e-04 9.99950214e-01 9.43997511e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2122606149999995 meters Centerline goodness : 0.797768 Centerline is valid? [False, False] Translation: X:0.44, Y:0.30, Z:-0.00 [[ 0.99991767 -0.00355247 -0.01233034 0.44327204] [ 0.00356956 0.9999927 0.00136445 0.29701901] [ 0.0123254 -0.00140835 0.99992305 -0.00131552] [ 0. 0. 0. 1. ]] SLAMing on 2.2422606149999997 meters Centerline goodness : 0.839259 Centerline is valid? [False, False] Translation: X:0.44, Y:0.29, Z:-0.00 [[ 0.99992256 -0.00318591 -0.01203037 0.44360603] [ 0.00322019 0.99999081 0.0028314 0.28987075] [ 0.01202124 -0.00286992 0.99992362 -0.00230083] [ 0. 0. 0. 1. ]] SLAMing on 2.2722606149999995 meters Centerline goodness : 0.313159 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-0.01 [[ 0.9999366 -0.00985851 -0.00544193 0.45546825] [ 0.00988987 0.99993447 0.00576619 0.27607586] [ 0.00538473 -0.00581964 0.99996857 -0.005317 ] [ 0. 0. 0. 1. ]] SLAMing on 2.302260615 meters Centerline goodness : 0.720845 Centerline is valid? [False, False] Translation: X:0.46, Y:0.27, Z:-0.01 [[ 0.9999038 -0.0129125 -0.00506604 0.45577375] [ 0.01293258 0.99990857 0.0039509 0.2687315 ] [ 0.00501457 -0.00401604 0.99997936 -0.00618363] [ 0. 0. 0. 1. ]] SLAMing on 2.3322606149999996 meters Centerline goodness : 0.701842 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:-0.01 [[ 0.99971313 -0.0232371 -0.00580467 0.45780139] [ 0.02321425 0.99972261 -0.00397455 0.25850002] [ 0.00589542 0.00383866 0.99997525 -0.00608274] [ 0. 0. 0. 1. ]] SLAMing on 2.362260615 meters Centerline goodness : 0.715931 Centerline is valid? [False, False] Translation: X:0.46, Y:0.25, Z:-0.01 [[ 0.99961597 -0.02674836 -0.00724197 0.46023493] [ 0.02670264 0.99962333 -0.00633787 0.25461938] [ 0.00740877 0.00614206 0.99995369 -0.00600907] [ 0. 0. 0. 1. ]] SLAMing on 2.3922606149999996 meters Centerline goodness : 0.721491 Centerline is valid? [False, False] Translation: X:0.46, Y:0.25, Z:-0.01 [[ 0.99945856 -0.03157205 -0.00926295 0.46446116] [ 0.03149341 0.99946768 -0.00851568 0.24935951] [ 0.00952688 0.00821935 0.99992084 -0.00696009] [ 0. 0. 0. 1. ]] SLAMing on 2.4222606149999995 meters Centerline goodness : 0.383185 Centerline is valid? [False, False] Translation: X:0.47, Y:0.25, Z:-0.01 [[ 0.99933682 -0.03514643 -0.00952054 0.46641898] [ 0.0350321 0.99931509 -0.01192102 0.24860479] [ 0.009933 0.01157958 0.99988362 -0.00838426] [ 0. 0. 0. 1. ]] SLAMing on 2.4522606149999997 meters Centerline goodness : 0.396786 Centerline is valid? [False, False] Translation: X:0.48, Y:0.25, Z:-0.01 [[ 0.999139 -0.0414637 -0.00141887 0.47950436] [ 0.04144511 0.99907709 -0.01128159 0.24986453] [ 0.00188534 0.01121308 0.99993535 -0.01352454] [ 0. 0. 0. 1. ]] SLAMing on 2.4822606149999995 meters Centerline goodness : 0.260419 Centerline is valid? [False, False] Translation: X:0.48, Y:0.25, Z:-0.01 [[ 0.9991419 -0.04138931 -0.00154324 0.48055937] [ 0.04136887 0.99907765 -0.0115092 0.25147795] [ 0.00201817 0.01143548 0.99993258 -0.01415424] [ 0. 0. 0. 1. ]] SLAMing on 2.5122606149999998 meters Centerline goodness : 0.230786 Centerline is valid? [False, False] Translation: X:0.50, Y:0.26, Z:-0.02 [[ 0.99917647 -0.04043793 0.00333927 0.4969404 ] [ 0.04044801 0.99917712 -0.00300605 0.258495 ] [-0.00321496 0.00313864 0.99998991 -0.01763548] [ 0. 0. 0. 1. ]] SLAMing on 2.5422606149999996 meters Centerline goodness : 0.219963 Centerline is valid? [False, False] Translation: X:0.50, Y:0.26, Z:-0.02 [[ 9.99293159e-01 -3.74646499e-02 3.09568973e-03 4.97359629e-01] [ 3.74653132e-02 9.99297916e-01 -1.56525014e-04 2.61787603e-01] [-3.08765214e-03 2.72395361e-04 9.99995196e-01 -1.72494803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.572260615 meters Centerline goodness : 0.247479 Centerline is valid? [False, False] Translation: X:0.52, Y:0.27, Z:-0.02 [[ 9.99204731e-01 -3.75239626e-02 1.34854926e-02 5.19292761e-01] [ 3.75166106e-02 9.99295686e-01 7.97832136e-04 2.72685633e-01] [-1.35059324e-02 -2.91267669e-04 9.99908748e-01 -1.79241205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6022606149999996 meters Centerline goodness : 0.330722 Centerline is valid? [False, False] Translation: X:0.52, Y:0.28, Z:-0.02 [[ 9.99160341e-01 -3.81517579e-02 1.49350935e-02 5.18810596e-01] [ 3.81579485e-02 9.99271712e-01 -1.29653568e-04 2.75893493e-01] [-1.49192699e-02 6.99437232e-04 9.99888457e-01 -1.90186380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6322606149999994 meters Centerline goodness : 0.330994 Centerline is valid? [False, False] Translation: X:0.54, Y:0.28, Z:-0.03 [[ 0.99885199 -0.04388119 0.01921294 0.53797534] [ 0.04381223 0.99903179 0.0039954 0.28469092] [-0.01936966 -0.00314905 0.99980743 -0.02727504] [ 0. 0. 0. 1. ]] SLAMing on 2.6622606149999997 meters Centerline goodness : 0.327061 Centerline is valid? [False, False] Translation: X:0.54, Y:0.29, Z:-0.03 [[ 0.99885336 -0.04457618 0.01746221 0.54266017] [ 0.04451838 0.99900177 0.00368526 0.28781385] [-0.01760906 -0.00290364 0.99984073 -0.02902601] [ 0. 0. 0. 1. ]] SLAMing on 2.6922606149999995 meters Centerline goodness : 0.637556 Centerline is valid? [False, False] Translation: X:0.56, Y:0.30, Z:-0.03 [[ 0.99844161 -0.05167602 0.02106981 0.55776865] [ 0.05148386 0.99862804 0.00956316 0.29613192] [-0.02153509 -0.0084635 0.99973227 -0.03465941] [ 0. 0. 0. 1. ]] SLAMing on 2.7222606149999997 meters Centerline goodness : 0.576550 Centerline is valid? [False, False] Translation: X:0.56, Y:0.30, Z:-0.03 [[ 0.99839714 -0.05269014 0.02066136 0.55900994] [ 0.05252511 0.99858384 0.00845094 0.2999224 ] [-0.02107738 -0.00735216 0.99975081 -0.03478426] [ 0. 0. 0. 1. ]] SLAMing on 2.7522606149999995 meters Centerline goodness : 0.544802 Centerline is valid? [False, False] Translation: X:0.60, Y:0.31, Z:-0.04 [[ 0.99825416 -0.05278847 0.02649552 0.59687678] [ 0.05256599 0.99857667 0.00902456 0.31057043] [-0.0269342 -0.00761604 0.9996082 -0.03796126] [ 0. 0. 0. 1. ]] SLAMing on 2.7822606149999998 meters Centerline goodness : 0.544769 Centerline is valid? [False, False] Translation: X:0.60, Y:0.32, Z:-0.04 [[ 0.99833745 -0.05079818 0.02723733 0.59990813] [ 0.05054977 0.99867412 0.00973298 0.31583261] [-0.02769563 -0.00833995 0.99958161 -0.04233749] [ 0. 0. 0. 1. ]] SLAMing on 2.8122606149999996 meters Centerline goodness : 0.549811 Centerline is valid? [False, False] Translation: X:0.64, Y:0.33, Z:-0.04 [[ 0.99859333 -0.04083362 0.03382279 0.64089466] [ 0.04018997 0.99900183 0.01949632 0.32754807] [-0.03458513 -0.01810956 0.99923767 -0.04495326] [ 0. 0. 0. 1. ]] SLAMing on 2.8422606149999994 meters Centerline goodness : 0.557186 Centerline is valid? [False, False] Translation: X:0.68, Y:0.34, Z:-0.04 [[ 0.99848088 -0.03939945 0.03851785 0.67570479] [ 0.03850301 0.99897633 0.02374479 0.33765872] [-0.03941395 -0.02222566 0.99897576 -0.04256553] [ 0. 0. 0. 1. ]] SLAMing on 2.8722606149999996 meters Centerline goodness : 0.550553 Centerline is valid? [False, False] Translation: X:0.68, Y:0.34, Z:-0.04 [[ 0.99832234 -0.0434494 0.03827076 0.67826686] [ 0.0427237 0.99889503 0.01958051 0.33858521] [-0.03907924 -0.01791259 0.99907555 -0.04387009] [ 0. 0. 0. 1. ]] SLAMing on 2.9022606149999994 meters Centerline goodness : 0.574157 Centerline is valid? [False, False] Translation: X:0.68, Y:0.34, Z:-0.04 [[ 0.99797394 -0.05080038 0.03830587 0.68048953] [ 0.05038709 0.99866147 0.01167927 0.338821 ] [-0.0388479 -0.00972549 0.99919781 -0.04484443] [ 0. 0. 0. 1. ]] SLAMing on 2.9322606149999997 meters Centerline goodness : 0.600445 Centerline is valid? [False, False] Translation: X:0.71, Y:0.34, Z:-0.05 [[ 0.99674684 -0.06609815 0.0461169 0.70964042] [ 0.06609812 0.99781196 0.00152724 0.33648224] [-0.04611694 0.00152597 0.99893488 -0.04807732] [ 0. 0. 0. 1. ]] SLAMing on 2.9622606149999995 meters Centerline goodness : 0.611042 Centerline is valid? [False, False] Translation: X:0.71, Y:0.33, Z:-0.05 [[ 0.99634733 -0.07243861 0.04521771 0.71253544] [ 0.07269666 0.99734573 -0.0040866 0.33376102] [-0.04480166 0.00735885 0.9989688 -0.04773967] [ 0. 0. 0. 1. ]] SLAMing on 2.9922606149999997 meters Centerline goodness : 0.611042 Centerline is valid? [False, False] Translation: X:0.71, Y:0.33, Z:-0.05 [[ 0.99634733 -0.07243861 0.04521771 0.71253544] [ 0.07269666 0.99734573 -0.0040866 0.33376102] [-0.04480166 0.00735885 0.9989688 -0.04773967] [ 0. 0. 0. 1. ]] SLAMing on 3.0222606149999995 meters Centerline goodness : 0.631010 Centerline is valid? [False, False] Translation: X:0.75, Y:0.33, Z:-0.05 [[ 0.99531854 -0.0838958 0.04798426 0.74603195] [ 0.08436295 0.99640463 -0.00779094 0.33329686] [-0.04715812 0.01180256 0.99881771 -0.04847984] [ 0. 0. 0. 1. ]] SLAMing on 3.0522606149999993 meters Centerline goodness : 0.636097 Centerline is valid? [False, False] Translation: X:0.75, Y:0.33, Z:-0.05 [[ 0.99500824 -0.08766227 0.04768566 0.7499847 ] [ 0.08830777 0.99602571 -0.01159848 0.33265706] [-0.04647939 0.0157516 0.99879505 -0.05096205] [ 0. 0. 0. 1. ]] SLAMing on 3.0822606149999996 meters Centerline goodness : 0.640498 Centerline is valid? [False, False] Translation: X:0.78, Y:0.33, Z:-0.06 [[ 0.9955435 -0.08218136 0.04625321 0.78395848] [ 0.08305072 0.99639696 -0.01719539 0.331604 ] [-0.04467342 0.02096012 0.99878174 -0.05504778] [ 0. 0. 0. 1. ]] SLAMing on 3.1122606149999994 meters Centerline goodness : 0.643021 Centerline is valid? [False, False] Translation: X:0.79, Y:0.33, Z:-0.06 [[ 0.99560849 -0.08114108 0.04668889 0.78666884] [ 0.08199714 0.99649232 -0.01671888 0.33224338] [-0.04516853 0.02047382 0.99876956 -0.05872769] [ 0. 0. 0. 1. ]] SLAMing on 3.1422606149999996 meters Centerline goodness : 0.655506 Centerline is valid? [False, False] Translation: X:0.82, Y:0.33, Z:-0.06 [[ 0.99566174 -0.07564967 0.05417403 0.82434383] [ 0.07635176 0.99702019 -0.01100657 0.33433748] [-0.05317996 0.0150951 0.99847085 -0.06122691] [ 0. 0. 0. 1. ]] SLAMing on 3.1722606149999995 meters Centerline goodness : 0.662876 Centerline is valid? [False, False] Translation: X:0.85, Y:0.34, Z:-0.06 [[ 0.99536915 -0.07422103 0.06108602 0.84976951] [ 0.07466041 0.99719679 -0.00493884 0.33549811] [-0.06054822 0.00947667 0.99812029 -0.06208684] [ 0. 0. 0. 1. ]] SLAMing on 3.2022606149999997 meters Centerline goodness : 0.670264 Centerline is valid? [False, False] Translation: X:0.88, Y:0.33, Z:-0.06 [[ 9.95000811e-01 -7.39720240e-02 6.70934167e-02 8.75207941e-01] [ 7.40964570e-02 9.97250877e-01 6.35397800e-04 3.34882644e-01] [-6.69559703e-02 4.33916314e-03 9.97746496e-01 -6.23985891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2322606149999995 meters Centerline goodness : 0.675473 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.06 [[ 0.99432539 -0.07836644 0.07194252 0.91757813] [ 0.0787567 0.99689048 -0.0025997 0.32972532] [-0.07151508 0.0082509 0.99740539 -0.06070507] [ 0. 0. 0. 1. ]] SLAMing on 3.2622606149999993 meters Centerline goodness : 0.679307 Centerline is valid? [False, False] Translation: X:0.97, Y:0.32, Z:-0.06 [[ 0.9941114 -0.08208528 0.07074276 0.96828657] [ 0.08323929 0.99643791 -0.01351718 0.31993536] [-0.0693812 0.01932616 0.997403 -0.0625622 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2922606149999996 meters Centerline goodness : 0.678816 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.07 [[ 0.99401362 -0.08435696 0.06943223 0.97941039] [ 0.08577945 0.99615581 -0.01776218 0.31134052] [-0.06766696 0.0236117 0.99742853 -0.06503983] [ 0. 0. 0. 1. ]] SLAMing on 3.3222606149999994 meters Centerline goodness : 0.680823 Centerline is valid? [False, False] Translation: X:0.99, Y:0.30, Z:-0.07 [[ 0.99389027 -0.08691893 0.06802371 0.9879781 ] [ 0.08855078 0.99584287 -0.02134794 0.30346043] [-0.06588539 0.02724106 0.99745528 -0.06655231] [ 0. 0. 0. 1. ]] SLAMing on 3.3522606149999996 meters Centerline goodness : 0.677705 Centerline is valid? [False, False] Translation: X:1.04, Y:0.29, Z:-0.07 [[ 0.99373246 -0.08897532 0.06766972 1.04281287] [ 0.09051567 0.99569334 -0.02004186 0.29116402] [-0.06559506 0.02604141 0.99750646 -0.07172767] [ 0. 0. 0. 1. ]] SLAMing on 3.3822606149999994 meters Centerline goodness : 0.669148 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.08 [[ 0.99396646 -0.08870673 0.06451193 1.10115549] [ 0.09069203 0.99547052 -0.02852031 0.27655154] [-0.06168978 0.03419895 0.9975093 -0.07709889] [ 0. 0. 0. 1. ]] SLAMing on 3.4122606149999997 meters Centerline goodness : 0.665977 Centerline is valid? [False, False] Translation: X:1.12, Y:0.26, Z:-0.08 [[ 0.99427434 -0.08657243 0.06263982 1.12293894] [ 0.0887332 0.9955227 -0.03257243 0.26383935] [-0.05953949 0.03794416 0.99750453 -0.08066419] [ 0. 0. 0. 1. ]] SLAMing on 3.4422606149999995 meters Centerline goodness : 0.662840 Centerline is valid? [False, False] Translation: X:1.14, Y:0.25, Z:-0.09 [[ 0.99435477 -0.08644348 0.06153138 1.13732442] [ 0.08873771 0.99541937 -0.03557956 0.25138529] [-0.05817391 0.04083886 0.99747079 -0.08520712] [ 0. 0. 0. 1. ]] SLAMing on 3.4722606149999993 meters Centerline goodness : 0.658822 Centerline is valid? [False, False] Translation: X:1.20, Y:0.23, Z:-0.09 [[ 0.99482616 -0.08544252 0.05495896 1.19550181] [ 0.08757397 0.99544756 -0.037616 0.22608658] [-0.05149476 0.04223435 0.99777981 -0.09189852] [ 0. 0. 0. 1. ]] SLAMing on 3.5022606149999995 meters Centerline goodness : 0.657966 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:-0.10 [[ 0.9949881 -0.08558985 0.05170155 1.2145109 ] [ 0.08766659 0.99537319 -0.0393291 0.21126658] [-0.04809616 0.04366449 0.99788786 -0.09690273] [ 0. 0. 0. 1. ]] SLAMing on 3.5322606149999993 meters Centerline goodness : 0.653177 Centerline is valid? [False, False] Translation: X:1.27, Y:0.18, Z:-0.10 [[ 0.99586412 -0.08344137 0.03594719 1.27258265] [ 0.08459965 0.99590095 -0.03200297 0.18261845] [-0.03312946 0.03491173 0.99884113 -0.10484183] [ 0. 0. 0. 1. ]] SLAMing on 3.5622606149999996 meters Centerline goodness : 0.650870 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.11 [[ 0.9960437 -0.08349635 0.03041873 1.28996484] [ 0.08441883 0.99596592 -0.03041964 0.16704599] [-0.02775609 0.0328672 0.99907424 -0.10652938] [ 0. 0. 0. 1. ]] SLAMing on 3.5922606149999994 meters Centerline goodness : 0.577843 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.11 [[ 0.9954255 -0.09393304 0.01745426 1.33158999] [ 0.09456648 0.99471712 -0.03993775 0.13475749] [-0.01361058 0.04140564 0.99904971 -0.11408613] [ 0. 0. 0. 1. ]] SLAMing on 3.6222606149999996 meters Centerline goodness : 0.455471 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:-0.13 [[ 0.99504025 -0.09865578 0.01272562 1.35545041] [ 0.09911865 0.994138 -0.04318726 0.11340917] [-0.00839035 0.04423441 0.99898595 -0.12625958] [ 0. 0. 0. 1. ]] SLAMing on 3.6522606149999994 meters Centerline goodness : 0.164380 Centerline is valid? [False, False] Translation: X:1.40, Y:0.07, Z:-0.14 [[ 9.94498532e-01 -1.04750471e-01 -8.93200388e-05 1.40221675e+00] [ 1.04629009e-01 9.93385706e-01 -4.73033806e-02 7.43414744e-02] [ 5.04378066e-03 4.70337971e-02 9.98880565e-01 -1.43357949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6822606149999992 meters Centerline goodness : 0.606500 Centerline is valid? [False, False] Translation: X:1.42, Y:0.05, Z:-0.15 [[ 0.99464388 -0.10316143 -0.00642362 1.42340931] [ 0.10279579 0.99378218 -0.04277854 0.05491868] [ 0.01079677 0.0418891 0.99906393 -0.14863059] [ 0. 0. 0. 1. ]] SLAMing on 3.7122606149999995 meters Centerline goodness : 0.602795 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:-0.16 [[ 0.99427479 -0.10438126 -0.02285153 1.46830183] [ 0.10390394 0.99436207 -0.02116709 0.02628604] [ 0.02493214 0.01867154 0.99951476 -0.15599517] [ 0. 0. 0. 1. ]] SLAMing on 3.7422606149999993 meters Centerline goodness : 0.597710 Centerline is valid? [False, False] Translation: X:1.49, Y:0.01, Z:-0.16 [[ 0.99413936 -0.10298701 -0.03287255 1.48697421] [ 0.10262173 0.99464044 -0.01261674 0.01323006] [ 0.03399573 0.00916935 0.99937991 -0.16358758] [ 0. 0. 0. 1. ]] SLAMing on 3.7722606149999995 meters Centerline goodness : 0.574061 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.01, Z:-0.17 [[ 0.99327913 -0.10244199 -0.0538721 1.52749703] [ 0.10244197 0.99473513 -0.00276902 -0.01070978] [ 0.05387213 -0.00276836 0.998544 -0.17486618] [ 0. 0. 0. 1. ]] SLAMing on 3.8022606149999993 meters Centerline goodness : 0.537868 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.02, Z:-0.18 [[ 9.92543088e-01 -1.05802195e-01 -6.05319213e-02 1.54514230e+00] [ 1.06003707e-01 9.94365727e-01 1.18465569e-04 -2.38063306e-02] [ 6.01783340e-02 -6.53419025e-03 9.98166255e-01 -1.83483147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8322606149999996 meters Centerline goodness : 0.501384 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.05, Z:-0.19 [[ 9.91077984e-01 -1.11387022e-01 -7.31939981e-02 1.58103406e+00] [ 1.11647194e-01 9.93747761e-01 -5.40038848e-04 -4.61326887e-02] [ 7.27965251e-02 -7.63668390e-03 9.97317576e-01 -1.91601614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8622606149999994 meters Centerline goodness : 0.497271 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.19 [[ 9.90844168e-01 -1.12159686e-01 -7.51534367e-02 1.58950776e+00] [ 1.12504106e-01 9.93651198e-01 3.51700147e-04 -5.23529363e-02] [ 7.46368558e-02 -8.80355025e-03 9.97171920e-01 -1.94415235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.892260614999999 meters Centerline goodness : 0.502184 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.06, Z:-0.20 [[ 0.99068275 -0.11222021 -0.07716415 1.59657458] [ 0.11272485 0.9936238 0.00220169 -0.05719907] [ 0.07642507 -0.01087949 0.99701597 -0.19590863] [ 0. 0. 0. 1. ]] SLAMing on 3.9222606149999995 meters Centerline goodness : 0.495071 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.06, Z:-0.19 [[ 0.98978806 -0.11934809 -0.07794632 1.61251427] [ 0.12041389 0.99268204 0.00910275 -0.06028931] [ 0.07628951 -0.01839562 0.996916 -0.1935301 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9522606149999993 meters Centerline goodness : 0.563127 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.10, Z:-0.19 [[ 0.97197079 -0.20462769 -0.11575962 1.51899296] [ 0.20510232 0.97870845 -0.00792489 -0.10216615] [ 0.11491657 -0.0160398 0.99324564 -0.18983154] [ 0. 0. 0. 1. ]] SLAMing on 3.9822606149999995 meters Centerline goodness : 0.394552 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.06, Z:-0.18 [[ 0.98326509 -0.16457233 -0.07813911 1.60506247] [ 0.16442221 0.98635433 -0.00839545 -0.06192974] [ 0.07845451 -0.00459285 0.99690712 -0.17815509] [ 0. 0. 0. 1. ]] SLAMing on 4.012260615 meters Centerline goodness : 0.567190 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.07, Z:-0.18 [[ 0.98191268 -0.17430813 -0.07391994 1.57765636] [ 0.17358742 0.98468661 -0.01611469 -0.07111804] [ 0.07559689 0.00299164 0.99713397 -0.17633165] [ 0. 0. 0. 1. ]] SLAMing on 4.042260615 meters Centerline goodness : 0.550777 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:-0.15 [[ 0.99546169 -0.09380751 -0.01600519 1.88943994] [ 0.09293756 0.99449332 -0.0484318 0.02358424] [ 0.02046032 0.04672452 0.99869825 -0.15355694] [ 0. 0. 0. 1. ]] SLAMing on 4.072260615 meters Centerline goodness : 0.564580 Centerline is valid? [False, False] Translation: X:1.90, Y:0.03, Z:-0.15 [[ 0.99546981 -0.09485338 -0.0065335 1.89678493] [ 0.09443743 0.99438847 -0.04767749 0.03236696] [ 0.01101921 0.0468445 0.99884141 -0.15095329] [ 0. 0. 0. 1. ]] SLAMing on 4.102260615 meters Centerline goodness : 0.636037 Centerline is valid? [False, False] Translation: X:1.92, Y:0.05, Z:-0.15 [[ 9.93391904e-01 -1.14763647e-01 1.35262124e-03 1.92374456e+00] [ 1.14741914e-01 9.92797725e-01 -3.44524353e-02 5.33459580e-02] [ 2.61100784e-03 3.43799726e-02 9.99405423e-01 -1.46609674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.132260615 meters Centerline goodness : 0.656070 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:-0.14 [[ 9.91317542e-01 -1.31489656e-01 3.35260168e-05 1.95067207e+00] [ 1.31449139e-01 9.91005685e-01 -2.50770192e-02 7.78155721e-02] [ 3.26414415e-03 2.48636960e-02 9.99685522e-01 -1.41691529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.162260615 meters Centerline goodness : 0.656648 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:-0.14 [[ 0.9910944 -0.13313068 -0.00284922 1.95679942] [ 0.13301401 0.99077817 -0.02580494 0.08828963] [ 0.00625838 0.02519615 0.99966294 -0.14151406] [ 0. 0. 0. 1. ]] SLAMing on 4.1922606149999995 meters Centerline goodness : 0.671444 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:-0.15 [[ 0.99098405 -0.13392454 -0.00385015 1.96138169] [ 0.13376634 0.99061782 -0.02798047 0.09626894] [ 0.0075613 0.02721318 0.99960106 -0.14534385] [ 0. 0. 0. 1. ]] SLAMing on 4.222260615 meters Centerline goodness : 0.692256 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.15 [[ 0.99038481 -0.1381752 -0.00674839 1.97300333] [ 0.13787818 0.9898864 -0.03338441 0.11277922] [ 0.01129303 0.03213296 0.9994198 -0.15244135] [ 0. 0. 0. 1. ]] SLAMing on 4.252260615 meters Centerline goodness : 0.711496 Centerline is valid? [False, False] Translation: X:1.98, Y:0.12, Z:-0.15 [[ 0.99031943 -0.13843115 -0.01020953 1.98128603] [ 0.13805581 0.98993363 -0.031177 0.12365717] [ 0.01442263 0.0294657 0.99946174 -0.15326908] [ 0. 0. 0. 1. ]] SLAMing on 4.282260615 meters Centerline goodness : 0.134867 Centerline is valid? [False, False] Translation: X:2.00, Y:0.14, Z:-0.15 [[ 0.98948451 -0.14294131 -0.02209503 1.998804 ] [ 0.14273145 0.98970244 -0.01080817 0.14216048] [ 0.02341244 0.00754086 0.99969745 -0.15379813] [ 0. 0. 0. 1. ]] SLAMing on 4.312260615 meters Centerline goodness : 0.807834 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:-0.16 [[ 0.98949357 -0.14203579 -0.02698709 2.02795994] [ 0.141744 0.98982513 -0.0124437 0.14924252] [ 0.02847996 0.00848771 0.99955833 -0.15899182] [ 0. 0. 0. 1. ]] SLAMing on 4.342260615 meters Centerline goodness : 0.817180 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:-0.16 [[ 0.98893241 -0.14582319 -0.02735481 2.03301772] [ 0.14543238 0.98924233 -0.01578091 0.14650621] [ 0.02936176 0.01162798 0.99950121 -0.16227274] [ 0. 0. 0. 1. ]] SLAMing on 4.372260615 meters Centerline goodness : 0.824842 Centerline is valid? [False, False] Translation: X:2.04, Y:0.14, Z:-0.17 [[ 0.98839374 -0.14938787 -0.02758767 2.03748337] [ 0.14889436 0.98866741 -0.01916306 0.14470808] [ 0.03013776 0.014833 0.99943569 -0.16536987] [ 0. 0. 0. 1. ]] SLAMing on 4.402260614999999 meters Centerline goodness : 0.826664 Centerline is valid? [False, False] Translation: X:2.04, Y:0.14, Z:-0.17 [[ 0.98848087 -0.14871563 -0.02809344 2.03990932] [ 0.14824725 0.98878488 -0.01808929 0.14296253] [ 0.03046853 0.01371614 0.99944161 -0.16632538] [ 0. 0. 0. 1. ]] SLAMing on 4.432260615 meters Centerline goodness : 0.845692 Centerline is valid? [False, False] Translation: X:2.04, Y:0.14, Z:-0.16 [[ 0.98961696 -0.14077458 -0.02899637 2.03914218] [ 0.1405705 0.99003003 -0.0089704 0.14140923] [ 0.02997008 0.00480123 0.99953927 -0.16483395] [ 0. 0. 0. 1. ]] SLAMing on 4.462260615 meters Centerline goodness : 0.768034 Centerline is valid? [False, False] Translation: X:2.03, Y:0.14, Z:-0.16 [[ 0.9916929 -0.12603491 -0.02569803 2.0264349 ] [ 0.12625103 0.9919739 0.00696193 0.14339816] [ 0.02461433 -0.0101485 0.99964551 -0.15539689] [ 0. 0. 0. 1. ]] SLAMing on 4.492260615 meters Centerline goodness : 0.827612 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:-0.16 [[ 0.99274677 -0.11904644 -0.01678679 2.03292286] [ 0.11919198 0.9928394 0.00794988 0.15015231] [ 0.01572018 -0.00989307 0.99982749 -0.1559103 ] [ 0. 0. 0. 1. ]] SLAMing on 4.5222606149999995 meters Centerline goodness : 0.851107 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.15 [[ 0.99271667 -0.12008658 -0.0096345 2.04468787] [ 0.12014512 0.99273972 0.0057449 0.15667416] [ 0.00887467 -0.0068606 0.99993708 -0.1528026 ] [ 0. 0. 0. 1. ]] SLAMing on 4.552260615 meters Centerline goodness : 0.789928 Centerline is valid? [False, False] Translation: X:2.05, Y:0.15, Z:-0.15 [[ 0.99266405 -0.12047484 -0.01019341 2.04623519] [ 0.1205414 0.99268903 0.00618584 0.15474775] [ 0.00937365 -0.00736919 0.99992891 -0.15256504] [ 0. 0. 0. 1. ]] SLAMing on 4.582260615 meters Centerline goodness : 0.809593 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:-0.15 [[ 9.92169685e-01 -1.23867166e-01 -1.60075655e-02 2.06825980e+00] [ 1.23912408e-01 9.92291412e-01 1.86224565e-03 1.58278664e-01] [ 1.56534987e-02 -3.83119967e-03 9.99870137e-01 -1.51830015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.612260614999999 meters Centerline goodness : 0.874094 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:-0.15 [[ 9.92007104e-01 -1.25090503e-01 -1.65611542e-02 2.07089265e+00] [ 1.25114483e-01 9.92142224e-01 4.15784130e-04 1.60543581e-01] [ 1.63790098e-02 -2.48450106e-03 9.99862768e-01 -1.53626385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642260615 meters Centerline goodness : 0.888397 Centerline is valid? [False, False] Translation: X:2.07, Y:0.17, Z:-0.15 [[ 9.91837206e-01 -1.26484390e-01 -1.61448220e-02 2.06985383e+00] [ 1.26480383e-01 9.91968292e-01 -1.27312389e-03 1.66125941e-01] [ 1.61761818e-02 -7.79271621e-04 9.99868853e-01 -1.53156423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.672260615 meters Centerline goodness : 0.859728 Centerline is valid? [False, False] Translation: X:2.07, Y:0.17, Z:-0.15 [[ 9.92205714e-01 -1.23464377e-01 -1.68632650e-02 2.07061445e+00] [ 1.23515674e-01 9.92340543e-01 2.03109147e-03 1.67829489e-01] [ 1.64833341e-02 -4.09813811e-03 9.99855742e-01 -1.53242193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702260615 meters Centerline goodness : 0.903799 Centerline is valid? [False, False] Translation: X:2.07, Y:0.17, Z:-0.16 [[ 9.91932752e-01 -1.25567366e-01 -1.73853698e-02 2.07372480e+00] [ 1.25573746e-01 9.92084020e-01 -7.28543210e-04 1.72785935e-01] [ 1.73392288e-02 -1.46048014e-03 9.99848598e-01 -1.55770358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7322606149999995 meters Centerline goodness : 0.903777 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.16 [[ 9.91764518e-01 -1.26787632e-01 -1.81118091e-02 2.07688355e+00] [ 1.26775354e-01 9.91929768e-01 -1.82913564e-03 1.73777611e-01] [ 1.81975544e-02 -4.82059195e-04 9.99834295e-01 -1.57700136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762260615 meters Centerline goodness : 0.861493 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.16 [[ 9.91706210e-01 -1.27185411e-01 -1.85111768e-02 2.07792762e+00] [ 1.27174408e-01 9.91878782e-01 -1.77516852e-03 1.73147352e-01] [ 1.85866191e-02 -5.93702308e-04 9.99827078e-01 -1.57591111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.792260615 meters Centerline goodness : 0.920981 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.15 [[ 9.91153695e-01 -1.31535741e-01 -1.76833710e-02 2.07647589e+00] [ 1.31480007e-01 9.91309569e-01 -4.28333531e-03 1.68789610e-01] [ 1.80931066e-02 1.92043387e-03 9.99834462e-01 -1.54217607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822260614999999 meters Centerline goodness : 0.930105 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.15 [[ 9.91192661e-01 -1.31270119e-01 -1.74718361e-02 2.07535042e+00] [ 1.31245416e-01 9.91346608e-01 -2.55808061e-03 1.64720926e-01] [ 1.76564450e-02 2.42452327e-04 9.99844083e-01 -1.51927932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.852260615 meters Centerline goodness : 0.937809 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:-0.15 [[ 9.91602196e-01 -1.28211979e-01 -1.69344098e-02 2.07041881e+00] [ 1.28262282e-01 9.91738435e-01 1.91408300e-03 1.61808972e-01] [ 1.65490967e-02 -4.07005496e-03 9.99854770e-01 -1.46076143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.882260615 meters Centerline goodness : 0.947653 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:-0.14 [[ 0.99212411 -0.12411562 -0.01688383 2.06764238] [ 0.12423358 0.99223411 0.00612326 0.16296286] [ 0.01599272 -0.00817257 0.99983871 -0.1434909 ] [ 0. 0. 0. 1. ]] SLAMing on 4.912260615 meters Centerline goodness : 0.957287 Centerline is valid? [False, True] Translation: X:2.08, Y:0.18, Z:-0.14 [[ 0.99262276 -0.12080192 -0.01034229 2.07761544] [ 0.12088586 0.99263486 0.00791517 0.17840384] [ 0.00930995 -0.00910702 0.99991519 -0.141589 ] [ 0. 0. 0. 1. ]] SLAMing on 4.9422606149999995 meters Centerline goodness : 0.957287 Centerline is valid? [True, True] Translation: X:2.11, Y:0.19, Z:-0.14 [[ 9.92638483e-01 -1.20835814e-01 -8.21880201e-03 2.10531248e+00] [ 1.20826937e-01 9.92672346e-01 -1.56998666e-03 1.88915327e-01] [ 8.34828809e-03 5.65376502e-04 9.99964993e-01 -1.42338526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.972260615 meters Centerline goodness : 0.962955 Centerline is valid? [True, True] Translation: X:2.14, Y:0.20, Z:-0.14 [[ 0.99172806 -0.12803724 -0.00905117 2.13710607] [ 0.12806382 0.99176298 0.00241772 0.20364486] [ 0.00866705 -0.00355684 0.99995611 -0.14464483] [ 0. 0. 0. 1. ]] SLAMing on 5.002260615 meters Centerline goodness : 0.961088 Centerline is valid? [True, True] Translation: X:2.16, Y:0.22, Z:-0.15 [[ 0.99196616 -0.125199 -0.01812055 2.1585794 ] [ 0.12496459 0.99206879 -0.01354124 0.21767293] [ 0.01967219 0.01116803 0.99974411 -0.15217424] [ 0. 0. 0. 1. ]] SLAMing on 5.032260614999999 meters Centerline goodness : 0.962024 Centerline is valid? [True, True] Translation: X:2.18, Y:0.21, Z:-0.15 [[ 0.99165468 -0.12384916 -0.03581044 2.18456374] [ 0.1233107 0.99222451 -0.01688168 0.21327576] [ 0.03762278 0.01232498 0.999216 -0.15290433] [ 0. 0. 0. 1. ]] SLAMing on 5.062260615 meters Centerline goodness : 0.965028 Centerline is valid? [True, True] Translation: X:2.20, Y:0.22, Z:-0.15 [[ 0.9919224 -0.1207111 -0.03897166 2.2028274 ] [ 0.11933473 0.99220461 -0.035906 0.21998312] [ 0.04300211 0.03096529 0.998595 -0.14780642] [ 0. 0. 0. 1. ]] SLAMing on 5.092260615 meters Centerline goodness : 0.966381 Centerline is valid? [True, True] Translation: X:2.23, Y:0.22, Z:-0.15 [[ 0.99191269 -0.1191451 -0.04374531 2.23154242] [ 0.11835847 0.99276623 -0.02016137 0.21543943] [ 0.045831 0.01482069 0.99883926 -0.1465319 ] [ 0. 0. 0. 1. ]] SLAMing on 5.122260615 meters Centerline goodness : 0.970426 Centerline is valid? [True, True] Translation: X:2.27, Y:0.20, Z:-0.15 [[ 0.99203299 -0.11805519 -0.04397173 2.27412943] [ 0.11936325 0.99244419 0.02840664 0.19744017] [ 0.04028594 -0.03342893 0.99862883 -0.14990047] [ 0. 0. 0. 1. ]] SLAMing on 5.152260614999999 meters Centerline goodness : 0.971421 Centerline is valid? [True, True] Translation: X:2.29, Y:0.23, Z:-0.15 [[ 0.99272719 -0.11608481 -0.03189103 2.2886096 ] [ 0.1145683 0.99235639 -0.04585738 0.23251008] [ 0.03697061 0.04187017 0.99843881 -0.14565485] [ 0. 0. 0. 1. ]] SLAMing on 5.182260615 meters Centerline goodness : 0.975407 Centerline is valid? [True, True] Translation: X:2.31, Y:0.22, Z:-0.14 [[ 0.99301634 -0.10933286 -0.0443268 2.31418474] [ 0.10791235 0.99360353 -0.03327079 0.21755955] [ 0.04768086 0.02825503 0.99846291 -0.1367982 ] [ 0. 0. 0. 1. ]] SLAMing on 5.212260615 meters Centerline goodness : 0.976245 Centerline is valid? [True, True] Translation: X:2.35, Y:0.21, Z:-0.14 [[ 9.92500607e-01 -1.13909193e-01 -4.43535920e-02 2.34896038e+00] [ 1.13798202e-01 9.93491164e-01 -5.02760410e-03 2.09908129e-01] [ 4.46375921e-02 -5.74588924e-05 9.99003244e-01 -1.36443007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242260614999999 meters Centerline goodness : 0.979392 Centerline is valid? [True, True] Translation: X:2.37, Y:0.22, Z:-0.13 [[ 0.99334504 -0.10672671 -0.04330184 2.37305528] [ 0.1055458 0.99400007 -0.02870454 0.21600586] [ 0.04610557 0.02394318 0.99864959 -0.1317035 ] [ 0. 0. 0. 1. ]] SLAMing on 5.2722606149999995 meters Centerline goodness : 0.980432 Centerline is valid? [True, True] Translation: X:2.41, Y:0.21, Z:-0.13 [[ 9.92747616e-01 -1.14248245e-01 -3.74100258e-02 2.41230015e+00] [ 1.14402297e-01 9.93432498e-01 1.99648973e-03 2.07599196e-01] [ 3.69362399e-02 -6.26180331e-03 9.99298006e-01 -1.32624819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302260615 meters Centerline goodness : 0.983686 Centerline is valid? [True, True] Translation: X:2.44, Y:0.21, Z:-0.12 [[ 0.99351176 -0.10792988 -0.0358541 2.4350129 ] [ 0.10660552 0.99361267 -0.03700162 0.21435741] [ 0.03961867 0.0329393 0.9986718 -0.12416096] [ 0. 0. 0. 1. ]] SLAMing on 5.332260615 meters Centerline goodness : 0.984338 Centerline is valid? [True, True] Translation: X:2.47, Y:0.21, Z:-0.12 [[ 0.99399156 -0.10199371 -0.03972476 2.46570307] [ 0.10060351 0.9942911 -0.03555475 0.21068943] [ 0.04312434 0.03134467 0.99857789 -0.11721973] [ 0. 0. 0. 1. ]] SLAMing on 5.362260614999999 meters Centerline goodness : 0.985550 Centerline is valid? [True, True] Translation: X:2.49, Y:0.21, Z:-0.11 [[ 0.99440629 -0.09683625 -0.04217671 2.48843063] [ 0.09514451 0.99464219 -0.04042804 0.21318642] [ 0.04586564 0.03618902 0.99829189 -0.10735281] [ 0. 0. 0. 1. ]] SLAMing on 5.392260615 meters Centerline goodness : 0.987479 Centerline is valid? [True, True] Translation: X:2.53, Y:0.20, Z:-0.10 [[ 9.93699431e-01 -1.03020398e-01 -4.41388466e-02 2.53119376e+00] [ 1.03170526e-01 9.94663040e-01 1.13076151e-03 2.04794645e-01] [ 4.37867879e-02 -5.67746508e-03 9.99024766e-01 -1.03782661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422260615 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:2.56, Y:0.22, Z:-0.10 [[ 0.99388007 -0.10111218 -0.04448295 2.55842741] [ 0.10087418 0.9948704 -0.0075685 0.22079861] [ 0.04502003 0.003035 0.99898147 -0.10180829] [ 0. 0. 0. 1. ]] SLAMing on 5.452260614999999 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:2.59, Y:0.23, Z:-0.10 [[ 0.99361538 -0.10429292 -0.0430286 2.58919435] [ 0.10397512 0.9945339 -0.00956496 0.23184565] [ 0.04379096 0.00502998 0.99902805 -0.10139864] [ 0. 0. 0. 1. ]] SLAMing on 5.4822606149999995 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:2.63, Y:0.24, Z:-0.10 [[ 0.99337372 -0.10707032 -0.04176849 2.62577787] [ 0.10739361 0.99420099 0.00556793 0.23503543] [ 0.04093011 -0.01001671 0.9991118 -0.1001633 ] [ 0. 0. 0. 1. ]] SLAMing on 5.512260615 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:2.65, Y:0.25, Z:-0.10 [[ 0.99450427 -0.0937193 -0.04666851 2.64551971] [ 0.09254525 0.99534997 -0.02671739 0.24922297] [ 0.04895543 0.02225161 0.99855307 -0.09799499] [ 0. 0. 0. 1. ]] SLAMing on 5.542260615 meters Centerline goodness : 0.914280 Centerline is valid? [True, False] Translation: X:2.65, Y:0.25, Z:-0.10 [[ 0.99442956 -0.09413808 -0.04741177 2.65009707] [ 0.09295581 0.99531599 -0.02655737 0.24782301] [ 0.04968975 0.02200223 0.99852232 -0.10180842] [ 0. 0. 0. 1. ]] SLAMing on 5.572260614999999 meters Centerline goodness : 0.993502 Centerline is valid? [False, True] Translation: X:2.65, Y:0.24, Z:-0.10 [[ 0.99443335 -0.09385185 -0.04789727 2.65191497] [ 0.09271631 0.99536833 -0.02540797 0.24465037] [ 0.05006001 0.02082568 0.99852906 -0.10290054] [ 0. 0. 0. 1. ]] SLAMing on 5.602260615 meters Centerline goodness : 0.146052 Centerline is valid? [True, False] Translation: X:2.65, Y:0.24, Z:-0.10 [[ 0.99481168 -0.08935101 -0.04864269 2.65313152] [ 0.08850109 0.99588794 -0.01935907 0.23919936] [ 0.05017242 0.01495369 0.99862862 -0.10311435] [ 0. 0. 0. 1. ]] SLAMing on 5.632260615 meters Centerline goodness : 0.994359 Centerline is valid? [False, True] Translation: X:2.65, Y:0.24, Z:-0.10 [[ 0.99513511 -0.0850755 -0.04968178 2.65450226] [ 0.08448102 0.99632744 -0.01394932 0.23554557] [ 0.05068606 0.00968429 0.99866768 -0.10300044] [ 0. 0. 0. 1. ]] SLAMing on 5.662260614999999 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:2.68, Y:0.24, Z:-0.10 [[ 0.99486579 -0.08601659 -0.05332168 2.68300798] [ 0.08501521 0.99616302 -0.02077628 0.24104935] [ 0.05490419 0.01613645 0.99836123 -0.10105964] [ 0. 0. 0. 1. ]] SLAMing on 5.6922606149999995 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:2.70, Y:0.24, Z:-0.10 [[ 0.99450857 -0.08474529 -0.06140796 2.70446472] [ 0.08259058 0.99590314 -0.03682028 0.24386768] [ 0.06427673 0.03154636 0.99743337 -0.10023005] [ 0. 0. 0. 1. ]] SLAMing on 5.722260615 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:2.75, Y:0.22, Z:-0.10 [[ 0.99375433 -0.09538996 -0.0579058 2.74858296] [ 0.09770603 0.99446755 0.03857241 0.21628149] [ 0.05390602 -0.04398924 0.99757661 -0.1011999 ] [ 0. 0. 0. 1. ]] SLAMing on 5.752260615 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:2.77, Y:0.25, Z:-0.10 [[ 0.99334882 -0.10162669 -0.05413075 2.77246845] [ 0.10028244 0.99459251 -0.02700332 0.25265811] [ 0.0565823 0.02139535 0.99816866 -0.09943637] [ 0. 0. 0. 1. ]] SLAMing on 5.782260614999999 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:2.77, Y:0.27, Z:-0.09 [[ 0.99421646 -0.08338127 -0.06768453 2.76830121] [ 0.07807733 0.99392636 -0.07755211 0.27014105] [ 0.07373984 0.07181895 0.99468813 -0.0883303 ] [ 0. 0. 0. 1. ]] SLAMing on 5.812260615 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:2.83, Y:0.23, Z:-0.08 [[ 0.99392035 -0.08708385 -0.06737015 2.8285474 ] [ 0.08906043 0.99566268 0.02690868 0.2348271 ] [ 0.06473464 -0.0327451 0.99736512 -0.08384218] [ 0. 0. 0. 1. ]] SLAMing on 5.842260615 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:2.86, Y:0.24, Z:-0.08 [[ 0.99492708 -0.08613095 -0.05197658 2.86114589] [ 0.08847257 0.99508106 0.0445678 0.23541457] [ 0.04788225 -0.04894021 0.99765332 -0.08351606] [ 0. 0. 0. 1. ]] SLAMing on 5.872260614999999 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:2.86, Y:0.30, Z:-0.07 [[ 0.99597739 -0.07178309 -0.05363053 2.85963099] [ 0.06612158 0.99271035 -0.10076752 0.30467939] [ 0.06047299 0.09681603 0.99346347 -0.07075266] [ 0. 0. 0. 1. ]] SLAMing on 5.902260614999999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:2.92, Y:0.26, Z:-0.07 [[ 0.99599495 -0.06335343 -0.06309042 2.91907507] [ 0.06615921 0.99686384 0.04342178 0.26042972] [ 0.06014164 -0.04742189 0.99706276 -0.070165 ] [ 0. 0. 0. 1. ]] SLAMing on 5.932260615 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:2.94, Y:0.29, Z:-0.07 [[ 9.96274380e-01 -6.59144736e-02 -5.56115333e-02 2.94046482e+00] [ 6.61372477e-02 9.97808169e-01 2.17302337e-03 2.85913652e-01] [ 5.53464086e-02 -5.84292126e-03 9.98450117e-01 -7.08087352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962260615 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:2.97, Y:0.31, Z:-0.07 [[ 0.99613054 -0.06997129 -0.05317854 2.96882748] [ 0.06840255 0.99718317 -0.03077045 0.30527509] [ 0.05518179 0.02701384 0.99811083 -0.0683279 ] [ 0. 0. 0. 1. ]] SLAMing on 5.992260614999999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:3.00, Y:0.29, Z:-0.07 [[ 0.99520881 -0.08070453 -0.05519247 3.00210257] [ 0.08146108 0.99660908 0.01159435 0.28642665] [ 0.0540696 -0.01603484 0.99840841 -0.0664482 ] [ 0. 0. 0. 1. ]] SLAMing on 6.0222606149999995 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:3.03, Y:0.30, Z:-0.07 [[ 9.94773163e-01 -8.88056573e-02 -5.03975183e-02 3.02880828e+00] [ 8.86873459e-02 9.96048968e-01 -4.58339476e-03 2.95411859e-01] [ 5.06054275e-02 8.98159602e-05 9.98718720e-01 -6.67687284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.052260615 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:3.06, Y:0.29, Z:-0.06 [[ 0.99439474 -0.09301913 -0.05026476 3.05718021] [ 0.09270282 0.99565674 -0.00859308 0.29452105] [ 0.05084577 0.00388522 0.99869896 -0.06046515] [ 0. 0. 0. 1. ]] SLAMing on 6.082260614999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.08, Y:0.29, Z:-0.06 [[ 9.95311826e-01 -8.34027886e-02 -4.89728825e-02 3.08493818e+00] [ 8.33142442e-02 9.96515887e-01 -3.85011718e-03 2.93309117e-01] [ 4.91233659e-02 -2.48071527e-04 9.98792688e-01 -5.50366510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.112260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:0.30, Z:-0.05 [[ 9.95816336e-01 -7.76568700e-02 -4.81584419e-02 3.11338519e+00] [ 7.75696901e-02 9.96980143e-01 -3.67937176e-03 2.99373357e-01] [ 4.82987388e-02 -7.16569160e-05 9.98832932e-01 -5.22289074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:0.31, Z:-0.05 [[ 9.96102120e-01 -7.32039225e-02 -4.92113116e-02 3.14173258e+00] [ 7.30627427e-02 9.97316441e-01 -4.66402044e-03 3.08685047e-01] [ 4.94206748e-02 1.05032725e-03 9.98777500e-01 -5.04982530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.172260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:0.32, Z:-0.05 [[ 9.96078392e-01 -7.22930704e-02 -5.10053855e-02 3.16883662e+00] [ 7.21290590e-02 9.97382516e-01 -5.05137488e-03 3.19147113e-01] [ 5.12370591e-02 1.35259491e-03 9.98685603e-01 -5.15643014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.20, Y:0.32, Z:-0.05 [[ 0.99580116 -0.0767728 -0.04985957 3.19814083] [ 0.07621458 0.99700662 -0.01300503 0.32465323] [ 0.05070875 0.0091504 0.99867156 -0.05174866] [ 0. 0. 0. 1. ]] SLAMing on 6.2322606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.23, Y:0.31, Z:-0.05 [[ 9.94784767e-01 -8.70627732e-02 -5.31351223e-02 3.22698882e+00] [ 8.70829434e-02 9.96199176e-01 -1.93990947e-03 3.13701137e-01] [ 5.31020590e-02 -2.69737046e-03 9.98585447e-01 -4.76028085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:0.32, Z:-0.05 [[ 0.99438863 -0.0927265 -0.05092193 3.25565017] [ 0.09220598 0.99566171 -0.01248274 0.31976802] [ 0.0518585 0.00771739 0.99862462 -0.04677105] [ 0. 0. 0. 1. ]] SLAMing on 6.292260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:0.32, Z:-0.04 [[ 9.93423134e-01 -1.04624942e-01 -4.65198680e-02 3.28281307e+00] [ 1.04458891e-01 9.94511148e-01 -5.99298832e-03 3.18269057e-01] [ 4.68915434e-02 1.09415943e-03 9.98899387e-01 -4.16977018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:0.32, Z:-0.04 [[ 9.92837530e-01 -1.11441223e-01 -4.30638262e-02 3.31072531e+00] [ 1.11438402e-01 9.93768265e-01 -2.47359830e-03 3.20313995e-01] [ 4.30711246e-02 -2.34308276e-03 9.99069261e-01 -3.61930737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:0.33, Z:-0.03 [[ 0.99221406 -0.11821315 -0.03920346 3.33970613] [ 0.11794627 0.99297865 -0.00906012 0.32644018] [ 0.03999923 0.00436568 0.99919017 -0.03180457] [ 0. 0. 0. 1. ]] SLAMing on 6.382260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:0.33, Z:-0.02 [[ 0.99122259 -0.12576595 -0.04075173 3.36844647] [ 0.12551004 0.99205342 -0.00878856 0.33109007] [ 0.0415332 0.00359667 0.99913065 -0.02481122] [ 0. 0. 0. 1. ]] SLAMing on 6.412260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.39, Y:0.34, Z:-0.02 [[ 9.91363421e-01 -1.24493949e-01 -4.12289269e-02 3.39400598e+00] [ 1.24440862e-01 9.92219512e-01 -3.86153245e-03 3.39897450e-01] [ 4.13888831e-02 -1.30238117e-03 9.99142264e-01 -2.02748308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4422606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:0.35, Z:-0.02 [[ 9.91691089e-01 -1.21861976e-01 -4.12121637e-02 3.42135578e+00] [ 1.21903700e-01 9.92540786e-01 -1.50850954e-03 3.48342885e-01] [ 4.10885833e-02 -3.52793976e-03 9.99149279e-01 -1.56861881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:0.37, Z:-0.01 [[ 0.9923335 -0.11717256 -0.03930404 3.4462367 ] [ 0.11693586 0.99310499 -0.00827596 0.37179938] [ 0.04000275 0.00361646 0.99919302 -0.01153861] [ 0. 0. 0. 1. ]] SLAMing on 6.502260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:0.38, Z:-0.01 [[ 0.99252307 -0.11557797 -0.03923887 3.4760726 ] [ 0.11527525 0.99328426 -0.00989914 0.3834477 ] [ 0.04011948 0.00530185 0.99918082 -0.00838331] [ 0. 0. 0. 1. ]] SLAMing on 6.532260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:0.39, Z:-0.00 [[ 9.92579753e-01 -1.13269267e-01 -4.42211084e-02 3.50370875e+00] [ 1.13524456e-01 9.93529740e-01 3.29462038e-03 3.87448239e-01] [ 4.35618071e-02 -8.29035078e-03 9.99016336e-01 -2.45258648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:0.40, Z:0.00 [[ 9.93267004e-01 -1.06833655e-01 -4.48021175e-02 3.52859144e+00] [ 1.06649682e-01 9.94275519e-01 -6.48357260e-03 4.00939386e-01] [ 4.52383124e-02 1.66178716e-03 9.98974841e-01 7.84517034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:0.40, Z:0.00 [[ 9.93864451e-01 -1.02323787e-01 -4.19916220e-02 3.55759335e+00] [ 1.02326921e-01 9.94748648e-01 -2.08038832e-03 4.04498112e-01] [ 4.19839825e-02 -2.22924940e-03 9.99115797e-01 1.11128906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.59, Y:0.42, Z:-0.00 [[ 9.94889917e-01 -9.52436316e-02 -3.35067837e-02 3.58560247e+00] [ 9.47502142e-02 9.95372147e-01 -1.60213955e-02 4.16058083e-01] [ 3.48776551e-02 1.27647499e-02 9.99310067e-01 -2.77349948e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.652260614999999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:3.61, Y:0.42, Z:0.00 [[ 9.94947908e-01 -9.39576387e-02 -3.53641306e-02 3.61377610e+00] [ 9.39373536e-02 9.95575594e-01 -2.23838316e-03 4.16570065e-01] [ 3.54179785e-02 -1.09493820e-03 9.99371987e-01 5.26516410e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682260615 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:3.64, Y:0.43, Z:0.00 [[ 0.99491581 -0.09577548 -0.03113836 3.64309011] [ 0.09555234 0.99538743 -0.00858033 0.4272747 ] [ 0.03181652 0.00556136 0.99947825 0.00422243] [ 0. 0. 0. 1. ]] SLAMing on 6.712260614999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.67, Y:0.43, Z:0.01 [[ 9.94770788e-01 -9.72604950e-02 -3.11685073e-02 3.66972361e+00] [ 9.72458662e-02 9.95258402e-01 -1.98847728e-03 4.25724986e-01] [ 3.12141190e-02 -1.05292937e-03 9.99512166e-01 6.81670092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.70, Y:0.41, Z:0.02 [[ 0.99418738 -0.1028191 -0.0319324 3.69739711] [ 0.10346501 0.99444629 0.0192761 0.41175398] [ 0.0297731 -0.02246794 0.99930413 0.01610204] [ 0. 0. 0. 1. ]] SLAMing on 6.7722606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.72, Y:0.43, Z:0.02 [[ 0.99359817 -0.11019718 -0.02488474 3.72495484] [ 0.10951416 0.99360965 -0.02732246 0.43254979] [ 0.02773658 0.02442232 0.99931688 0.01789691] [ 0. 0. 0. 1. ]] SLAMing on 6.802260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.43, Z:0.02 [[ 9.93640923e-01 -1.08874093e-01 -2.87079802e-02 3.75560331e+00] [ 1.08802857e-01 9.94055152e-01 -4.03659194e-03 4.26528037e-01] [ 2.89767959e-02 8.87412681e-04 9.99579691e-01 1.99874796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.832260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.78, Y:0.43, Z:0.02 [[ 9.92741459e-01 -1.15236937e-01 -3.44215520e-02 3.78331980e+00] [ 1.15305752e-01 9.93330048e-01 1.41871630e-05 4.27265202e-01] [ 3.41903270e-02 -3.98308713e-03 9.99407403e-01 2.24314531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:0.43, Z:0.03 [[ 0.99277411 -0.11480871 -0.03490745 3.80980766] [ 0.11531584 0.99324546 0.01287262 0.42638308] [ 0.03319378 -0.01680499 0.99930764 0.02603391] [ 0. 0. 0. 1. ]] SLAMing on 6.892260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:0.45, Z:0.03 [[ 0.9923195 -0.12102597 -0.02558772 3.8376107 ] [ 0.12050441 0.99248995 -0.02103323 0.4478362 ] [ 0.02794112 0.01778825 0.99945129 0.03072722] [ 0. 0. 0. 1. ]] SLAMing on 6.922260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.86, Y:0.44, Z:0.04 [[ 0.99209508 -0.12217573 -0.02864324 3.8624696 ] [ 0.12236594 0.99247257 0.00497792 0.44225463] [ 0.02781945 -0.00844353 0.9995773 0.03583524] [ 0. 0. 0. 1. ]] SLAMing on 6.952260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:0.46, Z:0.04 [[ 0.99124494 -0.12949234 -0.0257916 3.89219091] [ 0.12918683 0.9915326 -0.01318567 0.45682515] [ 0.02728065 0.0097383 0.99958038 0.03828125] [ 0. 0. 0. 1. ]] SLAMing on 6.9822606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:0.46, Z:0.04 [[ 9.89943935e-01 -1.38371445e-01 -2.93998240e-02 3.91941299e+00] [ 1.38418558e-01 9.90373724e-01 -4.36461452e-04 4.56990982e-01] [ 2.91772070e-02 -3.63740886e-03 9.99567636e-01 3.97598726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:0.46, Z:0.04 [[ 9.88458375e-01 -1.46624792e-01 -3.80947700e-02 3.94909870e+00] [ 1.46529603e-01 9.89192119e-01 -5.29406855e-03 4.62502792e-01] [ 3.84592879e-02 -3.49045111e-04 9.99260107e-01 3.97490146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:0.47, Z:0.04 [[ 9.88316258e-01 -1.46176458e-01 -4.31673110e-02 3.97457211e+00] [ 1.46229366e-01 9.89248798e-01 -1.94650671e-03 4.65829994e-01] [ 4.29877440e-02 -4.38856430e-03 9.99065961e-01 4.14889403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.072260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:0.48, Z:0.04 [[ 0.98856925 -0.14515634 -0.04074895 4.00209315] [ 0.14477099 0.98938912 -0.012269 0.47870183] [ 0.04209749 0.00622949 0.99909409 0.04311211] [ 0. 0. 0. 1. ]] SLAMing on 7.102260615 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.03, Y:0.50, Z:0.05 [[ 9.89439183e-01 -1.40960544e-01 -3.37672509e-02 4.02832299e+00] [ 1.40872730e-01 9.90015200e-01 -4.97767863e-03 4.96122571e-01] [ 3.41317480e-02 1.68225468e-04 9.99417328e-01 4.74634930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132260614999999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:4.05, Y:0.51, Z:0.05 [[ 9.89695544e-01 -1.40005246e-01 -3.00210095e-02 4.05355858e+00] [ 1.39962936e-01 9.90150499e-01 -3.51654662e-03 5.12164887e-01] [ 3.02176526e-02 -7.21518116e-04 9.99543082e-01 5.07544958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162260614999999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:4.08, Y:0.52, Z:0.05 [[ 9.89800254e-01 -1.38815631e-01 -3.20262002e-02 4.07916809e+00] [ 1.38639390e-01 9.90313226e-01 -7.67036047e-03 5.21680970e-01] [ 3.27807355e-02 3.15203190e-03 9.99457597e-01 5.46294617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1922606149999995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:4.11, Y:0.53, Z:0.05 [[ 9.90174652e-01 -1.36018063e-01 -3.24537309e-02 4.10780066e+00] [ 1.36047616e-01 9.90701438e-01 -1.30614357e-03 5.27301386e-01] [ 3.23296170e-02 -3.12194248e-03 9.99472385e-01 5.49405470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222260615 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:4.13, Y:0.53, Z:0.06 [[ 9.90694307e-01 -1.32270233e-01 -3.20838791e-02 4.13386311e+00] [ 1.32191934e-01 9.91213655e-01 -4.55880644e-03 5.34660173e-01] [ 3.24049735e-02 2.75153556e-04 9.99474783e-01 5.79556490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.252260614999999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:4.16, Y:0.54, Z:0.06 [[ 0.99118529 -0.12855524 -0.03201994 4.16189177] [ 0.12831858 0.99168894 -0.00934809 0.54478364] [ 0.03295556 0.00515693 0.99944351 0.0597839 ] [ 0. 0. 0. 1. ]] SLAMing on 7.282260614999999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:4.19, Y:0.55, Z:0.06 [[ 9.92351606e-01 -1.16562961e-01 -4.06370099e-02 4.18892829e+00] [ 1.16597766e-01 9.93178055e-01 -1.52064359e-03 5.49493047e-01] [ 4.05370372e-02 -3.22917146e-03 9.99172818e-01 5.94478045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.312260615 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:4.22, Y:0.56, Z:0.06 [[ 0.99314924 -0.10773101 -0.0452616 4.21685122] [ 0.10736086 0.99416427 -0.01053796 0.55955283] [ 0.04613274 0.00560644 0.99891959 0.05996698] [ 0. 0. 0. 1. ]] SLAMing on 7.342260614999999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:4.25, Y:0.56, Z:0.06 [[ 9.93322236e-01 -1.04108563e-01 -4.97226554e-02 4.24500532e+00] [ 1.04023100e-01 9.94565540e-01 -4.31053104e-03 5.62196180e-01] [ 4.99012028e-02 -8.90558444e-04 9.98753762e-01 6.14782996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372260614999999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:4.27, Y:0.57, Z:0.06 [[ 9.93482942e-01 -9.81152542e-02 -5.80089699e-02 4.27232069e+00] [ 9.81324907e-02 9.95170070e-01 -2.55837684e-03 5.67169806e-01] [ 5.79798064e-02 -3.15086095e-03 9.98312784e-01 6.10224436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402260614999999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:4.30, Y:0.58, Z:0.06 [[ 0.99371543 -0.09662819 -0.05650345 4.29991859] [ 0.0959122 0.99527289 -0.01525535 0.57600465] [ 0.05771044 0.0097401 0.99828585 0.06021588] [ 0. 0. 0. 1. ]] SLAMing on 7.432260615 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:4.33, Y:0.58, Z:0.06 [[ 0.99425625 -0.09152172 -0.05548232 4.33028749] [ 0.09045316 0.99566905 -0.02147926 0.579637 ] [ 0.05720785 0.01633734 0.99822861 0.05750878] [ 0. 0. 0. 1. ]] SLAMing on 7.462260614999999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:4.36, Y:0.57, Z:0.06 [[ 0.99405327 -0.08950772 -0.06201984 4.35807406] [ 0.09002196 0.99592436 0.00554195 0.56966255] [ 0.06127102 -0.01109214 0.99805953 0.06034772] [ 0. 0. 0. 1. ]] SLAMing on 7.492260614999999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:4.39, Y:0.58, Z:0.06 [[ 9.93713648e-01 -9.39566088e-02 -6.08715224e-02 4.38558026e+00] [ 9.35658321e-02 9.95570171e-01 -9.24492755e-03 5.78946918e-01] [ 6.14704941e-02 3.49131603e-03 9.98102795e-01 6.39527805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5222606149999995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:4.41, Y:0.58, Z:0.07 [[ 9.92879503e-01 -1.02677208e-01 -6.03960516e-02 4.41286593e+00] [ 1.02384314e-01 9.94713289e-01 -7.93257963e-03 5.76040778e-01] [ 6.08912503e-02 1.69248743e-03 9.98142971e-01 6.59886864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552260614999999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:4.44, Y:0.57, Z:0.07 [[ 9.92249035e-01 -1.05617639e-01 -6.54734099e-02 4.44161028e+00] [ 1.05648604e-01 9.94399004e-01 -2.99892393e-03 5.71586778e-01] [ 6.54234328e-02 -3.94149498e-03 9.97849808e-01 6.83419161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582260614999999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:4.47, Y:0.58, Z:0.07 [[ 0.99212736 -0.1081991 -0.06305754 4.46832667] [ 0.1071731 0.99405026 -0.01944219 0.58013293] [ 0.06478599 0.01253106 0.9978205 0.06838862] [ 0. 0. 0. 1. ]] SLAMing on 7.612260614999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:4.50, Y:0.57, Z:0.07 [[ 9.91902453e-01 -1.06255632e-01 -6.95648228e-02 4.49799369e+00] [ 1.06369060e-01 9.94324538e-01 -2.08224900e-03 5.72078973e-01] [ 6.93912610e-02 -5.33415690e-03 9.97575260e-01 7.01361431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642260615 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.53, Y:0.57, Z:0.07 [[ 9.92370643e-01 -1.00706485e-01 -7.11246085e-02 4.52597800e+00] [ 1.00290186e-01 9.94913737e-01 -9.40924176e-03 5.74376136e-01] [ 7.17104217e-02 2.20435506e-03 9.97423058e-01 7.13751714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.672260614999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:4.55, Y:0.58, Z:0.07 [[ 0.992638 -0.09866183 -0.07025416 4.55468535] [ 0.09791523 0.99509626 -0.01400115 0.58072175] [ 0.07129103 0.00701912 0.99743086 0.07494615] [ 0. 0. 0. 1. ]] SLAMing on 7.702260614999999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:4.58, Y:0.58, Z:0.08 [[ 9.92966279e-01 -9.53112497e-02 -7.02405475e-02 4.58110127e+00] [ 9.47739932e-02 9.95438593e-01 -1.09497577e-02 5.78422050e-01] [ 7.09637869e-02 4.21576301e-03 9.97469984e-01 7.88772519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7322606149999995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:4.61, Y:0.58, Z:0.08 [[ 9.92639025e-01 -9.79188580e-02 -7.12717601e-02 4.61118054e+00] [ 9.73714035e-02 9.95185947e-01 -1.11238517e-02 5.78444625e-01] [ 7.20178889e-02 4.10213804e-03 9.97394905e-01 8.02353694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762260614999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:4.64, Y:0.59, Z:0.08 [[ 0.9926413 -0.10057907 -0.06743214 4.63901202] [ 0.09908035 0.99475974 -0.0252218 0.58752064] [ 0.06961556 0.018355 0.99740502 0.08057059] [ 0. 0. 0. 1. ]] SLAMing on 7.792260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:0.58, Z:0.08 [[ 0.99273117 -0.0977079 -0.07027086 4.66648161] [ 0.09683426 0.99517603 -0.01574154 0.58412196] [ 0.07146995 0.00882249 0.99740373 0.08309832] [ 0. 0. 0. 1. ]] SLAMing on 7.822260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.70, Y:0.57, Z:0.09 [[ 0.9932998 -0.08914168 -0.07354775 4.69925478] [ 0.09088755 0.99564525 0.02073615 0.5695283 ] [ 0.07137902 -0.02728179 0.9970761 0.08796664] [ 0. 0. 0. 1. ]] SLAMing on 7.852260615 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.72, Y:0.60, Z:0.09 [[ 0.99440344 -0.08252323 -0.06596751 4.71820819] [ 0.07961497 0.9957837 -0.04556611 0.59982098] [ 0.06944963 0.04005909 0.99678083 0.08906392] [ 0. 0. 0. 1. ]] SLAMing on 7.882260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:0.57, Z:0.09 [[ 0.99464739 -0.07510168 -0.07096701 4.7543259 ] [ 0.07693331 0.99676079 0.02343504 0.57415225] [ 0.06897713 -0.02876933 0.99720333 0.09300379] [ 0. 0. 0. 1. ]] SLAMing on 7.912260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.78, Y:0.59, Z:0.10 [[ 0.99507088 -0.07564929 -0.06411806 4.77951353] [ 0.07516621 0.99712171 -0.00991669 0.59348534] [ 0.0646837 0.0050483 0.99789305 0.09662053] [ 0. 0. 0. 1. ]] SLAMing on 7.9422606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:0.61, Z:0.10 [[ 0.99553508 -0.07730226 -0.05416889 4.80762002] [ 0.07519936 0.99637224 -0.03984249 0.61109901] [ 0.0570523 0.03559113 0.99773659 0.09516636] [ 0. 0. 0. 1. ]] SLAMing on 7.972260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.84, Y:0.60, Z:0.10 [[ 9.95317766e-01 -7.51736814e-02 -6.07574114e-02 4.83842218e+00] [ 7.50266198e-02 9.97170448e-01 -4.70141938e-03 5.97216458e-01] [ 6.09389182e-02 1.20983026e-04 9.98141490e-01 9.79800197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.87, Y:0.59, Z:0.10 [[ 9.95010831e-01 -7.56625005e-02 -6.50279273e-02 4.86557771e+00] [ 7.55514879e-02 9.97133191e-01 -4.16808209e-03 5.93133048e-01] [ 6.51568722e-02 -7.65669839e-04 9.97874740e-01 1.01028730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.032260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:0.60, Z:0.10 [[ 0.99466309 -0.07855391 -0.06689264 4.89335982] [ 0.07780271 0.99687373 -0.01376599 0.60130991] [ 0.06776489 0.00848809 0.99766521 0.10359515] [ 0. 0. 0. 1. ]] SLAMing on 8.062260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:0.61, Z:0.10 [[ 0.99443302 -0.0846389 -0.0627633 4.92163587] [ 0.08341369 0.99627443 -0.02189564 0.61295798] [ 0.06438269 0.01653843 0.99778823 0.10104466] [ 0. 0. 0. 1. ]] SLAMing on 8.092260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.95, Y:0.61, Z:0.11 [[ 9.93862941e-01 -8.70690893e-02 -6.82306964e-02 4.94975498e+00] [ 8.74674963e-02 9.96163246e-01 2.86786628e-03 6.05091020e-01] [ 6.77192095e-02 -8.81823420e-03 9.97665449e-01 1.06324647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:0.61, Z:0.11 [[ 0.99342476 -0.09467238 -0.06437687 4.97788155] [ 0.09367787 0.99543433 -0.01830189 0.61426291] [ 0.06581563 0.01215086 0.99775782 0.10821731] [ 0. 0. 0. 1. ]] SLAMing on 8.152260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.01, Y:0.61, Z:0.11 [[ 9.93023962e-01 -9.66983795e-02 -6.74746892e-02 5.00543637e+00] [ 9.64465131e-02 9.95313638e-01 -6.98805979e-03 6.12128883e-01] [ 6.78342124e-02 4.31612325e-04 9.97696514e-01 1.11690857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:0.63, Z:0.11 [[ 0.99196998 -0.10717253 -0.06715358 5.03446597] [ 0.10581228 0.99410826 -0.0235058 0.62678977] [ 0.0692771 0.01621137 0.99746573 0.11380508] [ 0. 0. 0. 1. ]] SLAMing on 8.212260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:0.62, Z:0.12 [[ 9.91661160e-01 -1.10643562e-01 -6.60768236e-02 5.06261825e+00] [ 1.10676310e-01 9.93851431e-01 -3.17607861e-03 6.22561458e-01] [ 6.60219584e-02 -4.16354518e-03 9.97809484e-01 1.15810054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.09, Y:0.63, Z:0.12 [[ 9.90853540e-01 -1.19678301e-01 -6.23407328e-02 5.09090993e+00] [ 1.19139725e-01 9.92801314e-01 -1.22994406e-02 6.29923093e-01] [ 6.33639377e-02 4.75968647e-03 9.97979136e-01 1.21761339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.12, Y:0.63, Z:0.12 [[ 9.90533900e-01 -1.22143410e-01 -6.26384833e-02 5.11617537e+00] [ 1.22021987e-01 9.92510599e-01 -5.77462787e-03 6.28840966e-01] [ 6.28746913e-02 -1.92330753e-03 9.98019576e-01 1.24270074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:0.64, Z:0.13 [[ 9.90074870e-01 -1.26779401e-01 -6.06525848e-02 5.14494604e+00] [ 1.26530527e-01 9.91930919e-01 -7.94215407e-03 6.37348501e-01] [ 6.11700757e-02 1.88923619e-04 9.98127340e-01 1.28899091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:0.65, Z:0.13 [[ 9.90461431e-01 -1.25034540e-01 -5.79009370e-02 5.17144191e+00] [ 1.24637716e-01 9.92147506e-01 -1.04291185e-02 6.46448815e-01] [ 5.87502702e-02 3.11299909e-03 9.98267857e-01 1.32499602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:0.65, Z:0.14 [[ 9.92117143e-01 -1.12958762e-01 -5.42576546e-02 5.20035807e+00] [ 1.12557942e-01 9.93590766e-01 -1.03970486e-02 6.54799332e-01] [ 5.50843424e-02 4.20796022e-03 9.98472838e-01 1.37824120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.392260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.23, Y:0.66, Z:0.14 [[ 9.93239027e-01 -1.02692999e-01 -5.41330168e-02 5.22985340e+00] [ 1.02739912e-01 9.94706395e-01 -1.92290366e-03 6.58342531e-01] [ 5.40439267e-02 -3.65171840e-03 9.98531882e-01 1.41193800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.26, Y:0.66, Z:0.15 [[ 0.99490263 -0.0830234 -0.05723531 5.25513648] [ 0.08419013 0.99628202 0.01828002 0.65730869] [ 0.05550484 -0.02300549 0.99819335 0.14575417] [ 0. 0. 0. 1. ]] SLAMing on 8.452260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.28, Y:0.68, Z:0.15 [[ 0.99533616 -0.08224486 -0.05041544 5.28129948] [ 0.08056628 0.99615297 -0.03447218 0.68499626] [ 0.05305665 0.03024963 0.99813323 0.14521049] [ 0. 0. 0. 1. ]] SLAMing on 8.482260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.31, Y:0.67, Z:0.15 [[ 9.95343377e-01 -7.44886299e-02 -6.11801134e-02 5.31224986e+00] [ 7.42560942e-02 9.97220738e-01 -6.06888286e-03 6.73483239e-01] [ 6.14621406e-02 1.49762610e-03 9.98108292e-01 1.46783909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.512260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.34, Y:0.67, Z:0.15 [[ 0.9952131 -0.07087198 -0.06729082 5.34020625] [ 0.07178102 0.99735769 0.01118568 0.66793531] [ 0.06632027 -0.01596234 0.9976707 0.15046003] [ 0. 0. 0. 1. ]] SLAMing on 8.542260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:0.68, Z:0.15 [[ 0.9951888 -0.07094218 -0.06757556 5.36571326] [ 0.07036174 0.99746161 -0.01093421 0.67873185] [ 0.06817973 0.00612687 0.99765424 0.15141317] [ 0. 0. 0. 1. ]] SLAMing on 8.572260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:0.68, Z:0.15 [[ 0.99525594 -0.06734684 -0.07021409 5.39365763] [ 0.06671049 0.99770757 -0.01137158 0.67535376] [ 0.07081897 0.00663361 0.99746713 0.15075665] [ 0. 0. 0. 1. ]] SLAMing on 8.602260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:0.68, Z:0.15 [[ 0.99502696 -0.06815485 -0.07263793 5.42097353] [ 0.06649217 0.99747194 -0.02507017 0.68238473] [ 0.07416295 0.02011565 0.99704324 0.15281466] [ 0. 0. 0. 1. ]] SLAMing on 8.632260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.45, Y:0.67, Z:0.15 [[ 9.94850312e-01 -6.77160838e-02 -7.54147721e-02 5.45204531e+00] [ 6.79577459e-02 9.97687995e-01 6.39938692e-04 6.73437504e-01] [ 7.51970786e-02 -5.76166112e-03 9.97152046e-01 1.52611506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:0.67, Z:0.15 [[ 0.99412284 -0.07548101 -0.07760404 5.48088185] [ 0.07472237 0.99712429 -0.01263772 0.67220609] [ 0.07833478 0.00676469 0.99690416 0.1511738 ] [ 0. 0. 0. 1. ]] SLAMing on 8.692260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:0.67, Z:0.15 [[ 0.99370872 -0.07873446 -0.07964843 5.50805823] [ 0.07794308 0.99687303 -0.01300136 0.67048162] [ 0.08042303 0.00671152 0.99673823 0.15196056] [ 0. 0. 0. 1. ]] SLAMing on 8.722260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:0.68, Z:0.15 [[ 0.99368323 -0.07905738 -0.07964658 5.53604363] [ 0.07826613 0.99684757 -0.01301269 0.67525717] [ 0.08042425 0.00669686 0.99673823 0.1544141 ] [ 0. 0. 0. 1. ]] SLAMing on 8.752260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:0.67, Z:0.15 [[ 0.99334823 -0.08065095 -0.08218706 5.56488142] [ 0.07981132 0.99671916 -0.01345604 0.6745343 ] [ 0.08300266 0.00680708 0.99652608 0.15493461] [ 0. 0. 0. 1. ]] SLAMing on 8.782260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.69, Z:0.16 [[ 0.99321432 -0.08240018 -0.08207027 5.59249444] [ 0.07923296 0.99600711 -0.04113369 0.6920661 ] [ 0.085132 0.03435189 0.99577733 0.1555984 ] [ 0. 0. 0. 1. ]] SLAMing on 8.812260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.67, Z:0.16 [[ 0.99362259 -0.07622032 -0.083094 5.62268378] [ 0.07767502 0.99687456 0.01441216 0.67046055] [ 0.0817358 -0.02077458 0.99643749 0.16066327] [ 0. 0. 0. 1. ]] SLAMing on 8.842260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:0.69, Z:0.16 [[ 0.99376779 -0.08273946 -0.07469784 5.6479753 ] [ 0.08204871 0.99655273 -0.01227444 0.68625642] [ 0.07545592 0.00606908 0.99713067 0.16245783] [ 0. 0. 0. 1. ]] SLAMing on 8.872260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:0.69, Z:0.17 [[ 9.93199099e-01 -9.38650436e-02 -6.88832600e-02 5.67609538e+00] [ 9.33028354e-02 9.95573179e-01 -1.13413306e-02 6.86043061e-01] [ 6.96428806e-02 4.83719585e-03 9.97560259e-01 1.67097580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:0.70, Z:0.17 [[ 0.99262622 -0.10302093 -0.06387397 5.70479082] [ 0.10082049 0.99422478 -0.03677395 0.70146759] [ 0.06729357 0.03006298 0.9972802 0.16736778] [ 0. 0. 0. 1. ]] SLAMing on 8.932260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:0.68, Z:0.18 [[ 0.99200756 -0.10667207 -0.06739495 5.73466823] [ 0.10793391 0.99403945 0.01535737 0.67960978] [ 0.06535504 -0.02250883 0.99760818 0.17679944] [ 0. 0. 0. 1. ]] SLAMing on 8.962260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:0.70, Z:0.18 [[ 9.91837386e-01 -1.11954575e-01 -6.10309177e-02 5.76078576e+00] [ 1.11545001e-01 9.93708180e-01 -1.00879181e-02 6.95307777e-01] [ 6.17763108e-02 3.19788050e-03 9.98084897e-01 1.79113983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.992260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:0.70, Z:0.18 [[ 9.91819984e-01 -1.14203135e-01 -5.70154597e-02 5.78834001e+00] [ 1.13848369e-01 9.93453261e-01 -9.44287628e-03 6.99540861e-01] [ 5.77206004e-02 2.87451633e-03 9.98328638e-01 1.82447967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:0.71, Z:0.19 [[ 9.92345445e-01 -1.12261375e-01 -5.14577727e-02 5.81427768e+00] [ 1.11968636e-01 9.93674993e-01 -8.54593369e-03 7.05181390e-01] [ 5.20916802e-02 2.71886172e-03 9.98638606e-01 1.88115587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.052260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:0.71, Z:0.19 [[ 9.93135039e-01 -1.05370630e-01 -5.07919821e-02 5.84133957e+00] [ 1.05076393e-01 9.94428369e-01 -8.43630062e-03 7.13468176e-01] [ 5.13979262e-02 3.04134747e-03 9.98673622e-01 1.91561294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:0.72, Z:0.19 [[ 9.93357189e-01 -1.03231131e-01 -5.08412155e-02 5.86895521e+00] [ 1.02932557e-01 9.94652331e-01 -8.46339262e-03 7.18412290e-01] [ 5.14430191e-02 3.17395558e-03 9.98670888e-01 1.94067679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.112260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.73, Z:0.19 [[ 0.99319997 -0.10461899 -0.05107529 5.89609817] [ 0.10329658 0.99425962 -0.02788586 0.73164946] [ 0.05369949 0.02242033 0.99830541 0.19466233] [ 0. 0. 0. 1. ]] SLAMing on 9.142260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:0.72, Z:0.20 [[ 0.99266432 -0.1041298 -0.06143717 5.92655499] [ 0.10488409 0.99444214 0.00917407 0.71582738] [ 0.06014042 -0.01555055 0.99806879 0.1967721 ] [ 0. 0. 0. 1. ]] SLAMing on 9.172260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.73, Z:0.20 [[ 9.91702283e-01 -1.14027629e-01 -5.93656646e-02 5.95155935e+00] [ 1.13636751e-01 9.93472737e-01 -9.93025285e-03 7.28604927e-01] [ 6.01104925e-02 3.10173319e-03 9.98186910e-01 1.95445836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.73, Z:0.20 [[ 9.91093962e-01 -1.18695952e-01 -6.03657957e-02 5.97857557e+00] [ 1.18300104e-01 9.92926497e-01 -1.01023545e-02 7.33820195e-01] [ 6.11379066e-02 2.87110257e-03 9.98125199e-01 1.96771032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.74, Z:0.20 [[ 9.90151723e-01 -1.24900981e-01 -6.32401068e-02 6.00559773e+00] [ 1.24477532e-01 9.92165723e-01 -1.06076547e-02 7.39473921e-01] [ 6.40695727e-02 2.63121515e-03 9.97941966e-01 1.98314318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:0.75, Z:0.20 [[ 9.89745788e-01 -1.27174065e-01 -6.50386992e-02 6.03250884e+00] [ 1.26729413e-01 9.91877060e-01 -1.09340335e-02 7.45026646e-01] [ 6.59009192e-02 2.57959747e-03 9.97822837e-01 2.00816432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:0.75, Z:0.20 [[ 9.89306675e-01 -1.29694289e-01 -6.67210115e-02 6.05990123e+00] [ 1.29230311e-01 9.91550878e-01 -1.12419816e-02 7.49894515e-01] [ 6.76152984e-02 2.49939034e-03 9.97708336e-01 2.03494571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.76, Z:0.21 [[ 9.88227194e-01 -1.37765796e-01 -6.65401939e-02 6.08598905e+00] [ 1.37320770e-01 9.90462877e-01 -1.12381410e-02 7.56851077e-01] [ 6.74538233e-02 1.96848589e-03 9.97720455e-01 2.07708445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.11, Y:0.77, Z:0.21 [[ 9.86480840e-01 -1.49072323e-01 -6.80661053e-02 6.11250723e+00] [ 1.48632356e-01 9.88825519e-01 -1.15115499e-02 7.67259925e-01] [ 6.90215554e-02 1.23909785e-03 9.97614399e-01 2.09955385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:0.78, Z:0.21 [[ 9.85313906e-01 -1.55033602e-01 -7.15617861e-02 6.13872022e+00] [ 1.54560654e-01 9.87908792e-01 -1.21335322e-02 7.75554699e-01] [ 7.25776229e-02 8.94701592e-04 9.97362366e-01 2.11684350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.16, Y:0.80, Z:0.21 [[ 9.83239780e-01 -1.64040439e-01 -7.95629850e-02 6.16382571e+00] [ 1.63483883e-01 9.86453578e-01 -1.35040359e-02 7.95001629e-01] [ 8.07003992e-02 2.70439550e-04 9.96738367e-01 2.12910480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:0.81, Z:0.21 [[ 9.82510713e-01 -1.67614843e-01 -8.11046442e-02 6.18969280e+00] [ 1.67047124e-01 9.85852557e-01 -1.37838211e-02 8.10667862e-01] [ 8.22675939e-02 -5.54573047e-06 9.96610276e-01 2.14291759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:0.82, Z:0.22 [[ 9.82010344e-01 -1.69909493e-01 -8.23799008e-02 6.21554370e+00] [ 1.69329215e-01 9.85459657e-01 -1.40314547e-02 8.24661049e-01] [ 8.35661461e-02 -1.70290275e-04 9.96502218e-01 2.15962650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.84, Z:0.21 [[ 9.81716840e-01 -1.70586854e-01 -8.44521830e-02 6.24077575e+00] [ 1.69976702e-01 9.85342623e-01 -1.44165354e-02 8.40444968e-01] [ 8.56736069e-02 -2.01947939e-04 9.96323237e-01 2.14802332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.85, Z:0.22 [[ 9.81692061e-01 -1.70043108e-01 -8.58256347e-02 6.26736945e+00] [ 1.69408920e-01 9.85436615e-01 -1.46729284e-02 8.49121995e-01] [ 8.70707533e-02 -1.35330746e-04 9.96202121e-01 2.15927093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.29, Y:0.86, Z:0.22 [[ 9.82207192e-01 -1.68645294e-01 -8.26304788e-02 6.29363826e+00] [ 1.68050172e-01 9.85676805e-01 -1.41554030e-02 8.63679761e-01] [ 8.38341885e-02 1.74725210e-05 9.96479718e-01 2.18022916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:0.87, Z:0.22 [[ 9.82796750e-01 -1.67315040e-01 -7.82063022e-02 6.32009213e+00] [ 1.66775677e-01 9.85903471e-01 -1.34245615e-02 8.72845793e-01] [ 7.93499959e-02 1.50706384e-04 9.96846806e-01 2.21644746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:0.90, Z:0.23 [[ 0.98400303 -0.16624775 -0.06402907 6.34310661] [ 0.16454777 0.98588175 -0.03100334 0.89534744] [ 0.06827933 0.01997154 0.99746633 0.22715865] [ 0. 0. 0. 1. ]] SLAMing on 9.652260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:0.90, Z:0.23 [[ 9.83935684e-01 -1.66748487e-01 -6.37613726e-02 6.37085523e+00] [ 1.66287643e-01 9.85997996e-01 -1.25048944e-02 8.98051834e-01] [ 6.49537578e-02 1.70128348e-03 9.97886825e-01 2.30924503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682260614999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:6.40, Y:0.90, Z:0.24 [[ 0.98256945 -0.17153141 -0.07165366 6.39805331] [ 0.17255577 0.98496467 0.00831296 0.90434177] [ 0.06915039 -0.02053231 0.99739493 0.24096968] [ 0. 0. 0. 1. ]] SLAMing on 9.712260614999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.42, Y:0.93, Z:0.24 [[ 0.98197246 -0.17767588 -0.06450863 6.42209854] [ 0.17558589 0.98377667 -0.03678388 0.93415515] [ 0.0699977 0.02479395 0.99723898 0.24107649] [ 0. 0. 0. 1. ]] SLAMing on 9.742260615 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:6.45, Y:0.92, Z:0.24 [[ 0.98128597 -0.17855362 -0.07208642 6.45190136] [ 0.17991369 0.98359932 0.01278411 0.92482134] [ 0.06862151 -0.0255142 0.99731646 0.24393653] [ 0. 0. 0. 1. ]] SLAMing on 9.772260614999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:6.48, Y:0.95, Z:0.25 [[ 9.80611773e-01 -1.84099719e-01 -6.71404874e-02 6.47562726e+00] [ 1.83734005e-01 9.82907135e-01 -1.16352870e-02 9.46019868e-01] [ 6.81349172e-02 -9.26291232e-04 9.97675686e-01 2.46801098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802260615 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:6.50, Y:0.97, Z:0.25 [[ 9.79587707e-01 -1.89451101e-01 -6.72027097e-02 6.50062517e+00] [ 1.89096792e-01 9.81889306e-01 -1.16530714e-02 9.66396542e-01] [ 6.81933092e-02 -1.29261130e-03 9.97671289e-01 2.48647453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832260615 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:6.53, Y:0.98, Z:0.25 [[ 9.78992423e-01 -1.92409868e-01 -6.74705759e-02 6.52684279e+00] [ 1.92058050e-01 9.81313533e-01 -1.17240928e-02 9.78784438e-01] [ 6.84656204e-02 -1.48046921e-03 9.97652378e-01 2.51389667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862260614999999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:6.55, Y:1.00, Z:0.25 [[ 0.97797388 -0.19850592 -0.06451735 6.54995379] [ 0.19686858 0.97994348 -0.03087931 1.0045991 ] [ 0.06935309 0.01749772 0.99743871 0.2504257 ] [ 0. 0. 0. 1. ]] SLAMing on 9.892260615 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:6.58, Y:1.00, Z:0.25 [[ 0.97754747 -0.19817093 -0.07161865 6.58049243] [ 0.19914302 0.97994804 0.00662598 0.9994059 ] [ 0.06886948 -0.02073957 0.99741008 0.2520957 ] [ 0. 0. 0. 1. ]] SLAMing on 9.922260614999999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:6.60, Y:1.03, Z:0.26 [[ 9.77135263e-01 -2.01421442e-01 -6.80887732e-02 6.60329251e+00] [ 2.01081005e-01 9.79502474e-01 -1.18883105e-02 1.02861687e+00] [ 6.90876824e-02 -2.07487157e-03 9.97608434e-01 2.55756722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952260614999998 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:6.63, Y:1.04, Z:0.26 [[ 9.77493379e-01 -2.00205388e-01 -6.65168956e-02 6.62873547e+00] [ 1.99876116e-01 9.79752069e-01 -1.16370981e-02 1.04384852e+00] [ 6.74998759e-02 -1.91995237e-03 9.97717435e-01 2.59313849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982260615 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:6.65, Y:1.07, Z:0.27 [[ 9.79067591e-01 -1.92843660e-01 -6.50997261e-02 6.65105302e+00] [ 1.92510185e-01 9.81228560e-01 -1.14166977e-02 1.07126406e+00] [ 6.60793483e-02 -1.35464163e-03 9.97813452e-01 2.65842922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012260614999999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:6.68, Y:1.09, Z:0.27 [[ 9.80024047e-01 -1.88060818e-01 -6.46992668e-02 6.67582421e+00] [ 1.87720636e-01 9.82156855e-01 -1.13522819e-02 1.08724344e+00] [ 6.56797479e-02 -1.01987827e-03 9.97840233e-01 2.70182879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042260614999998 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:6.70, Y:1.11, Z:0.28 [[ 0.98224629 -0.17719851 -0.06158662 6.69884692] [ 0.17588456 0.98406256 -0.02618211 1.11117928] [ 0.06524452 0.01488514 0.99775828 0.27685832] [ 0. 0. 0. 1. ]] SLAMing on 10.072260615 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:6.73, Y:1.10, Z:0.27 [[ 9.83169141e-01 -1.70722219e-01 -6.50566283e-02 6.72911595e+00] [ 1.71304567e-01 9.85212117e-01 3.43953574e-03 1.10428682e+00] [ 6.35073733e-02 -1.45261429e-02 9.97875646e-01 2.74132127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102260614999999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:6.75, Y:1.12, Z:0.28 [[ 9.85122294e-01 -1.59752173e-01 -6.33506770e-02 6.75460429e+00] [ 1.59363678e-01 9.87156733e-01 -1.11714907e-02 1.12042270e+00] [ 6.43217173e-02 9.09487698e-04 9.97928800e-01 2.80210703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132260614999998 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:6.78, Y:1.13, Z:0.28 [[ 9.85941522e-01 -1.54542861e-01 -6.35281021e-02 6.78012631e+00] [ 1.54139868e-01 9.87985261e-01 -1.12261009e-02 1.13227857e+00] [ 6.44997422e-02 1.27606573e-03 9.97916908e-01 2.83866169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162260615 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:6.80, Y:1.16, Z:0.29 [[ 0.98793707 -0.14343967 -0.05835593 6.80336581] [ 0.14173489 0.98937447 -0.0323942 1.15789349] [ 0.06238248 0.02373236 0.99777011 0.29038065] [ 0. 0. 0. 1. ]] SLAMing on 10.192260614999999 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:6.83, Y:1.16, Z:0.29 [[ 9.88982193e-01 -1.34787804e-01 -6.12084107e-02 6.83229461e+00] [ 1.34428496e-01 9.90873143e-01 -9.96963987e-03 1.15677940e+00] [ 6.19935562e-02 1.63164171e-03 9.98075216e-01 2.88534549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222260615 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:6.86, Y:1.17, Z:0.29 [[ 9.90150315e-01 -1.24282138e-01 -6.44694047e-02 6.85935730e+00] [ 1.24102203e-01 9.92246115e-01 -6.80374446e-03 1.16636081e+00] [ 6.48151002e-02 -1.26406544e-03 9.97896490e-01 2.87193651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252260614999999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:6.89, Y:1.17, Z:0.29 [[ 9.90270559e-01 -1.22635989e-01 -6.57619525e-02 6.88769840e+00] [ 1.22555415e-01 9.92447662e-01 -5.27329088e-03 1.17407837e+00] [ 6.59119913e-02 -2.83749865e-03 9.97821406e-01 2.86431513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282260614999998 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:6.91, Y:1.19, Z:0.29 [[ 0.9903 -0.12254193 -0.06549334 6.91243097] [ 0.12119067 0.99233332 -0.02423642 1.19314666] [ 0.06796121 0.01606414 0.99755863 0.28871605] [ 0. 0. 0. 1. ]] SLAMing on 10.312260615 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:6.94, Y:1.20, Z:0.29 [[ 0.98999827 -0.12248023 -0.07001445 6.93958349] [ 0.12160759 0.99243928 -0.01660927 1.19706455] [ 0.0715194 0.00792886 0.99740769 0.29324964] [ 0. 0. 0. 1. ]] SLAMing on 10.342260614999999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:6.97, Y:1.20, Z:0.29 [[ 9.89022675e-01 -1.29892149e-01 -7.04427309e-02 6.96670611e+00] [ 1.29702681e-01 9.91526231e-01 -7.27655819e-03 1.20164304e+00] [ 7.07909832e-02 -1.93993002e-03 9.97489285e-01 2.92531501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372260614999998 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:6.99, Y:1.21, Z:0.30 [[ 9.87636527e-01 -1.39401156e-01 -7.17036146e-02 6.99232141e+00] [ 1.38780750e-01 9.90229917e-01 -1.35872818e-02 1.20968265e+00] [ 7.28971472e-02 3.46821435e-03 9.97333433e-01 2.96083860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402260615 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:7.02, Y:1.22, Z:0.30 [[ 0.98351217 -0.16388007 -0.07646654 7.02025366] [ 0.16280799 0.98645317 -0.02009209 1.21758643] [ 0.07872335 0.00731145 0.99686969 0.3003497 ] [ 0. 0. 0. 1. ]] SLAMing on 10.432260614999999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:7.05, Y:1.22, Z:0.30 [[ 9.81405174e-01 -1.74536825e-01 -7.98797948e-02 7.04771128e+00] [ 1.74107796e-01 9.84649041e-01 -1.23588789e-02 1.21622335e+00] [ 8.08106428e-02 -1.77862730e-03 9.96727885e-01 3.00927846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462260614999998 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:7.08, Y:1.21, Z:0.30 [[ 9.78647944e-01 -1.86432382e-01 -8.65515339e-02 7.07700100e+00] [ 1.86537099e-01 9.82423347e-01 -6.94818435e-03 1.21139141e+00] [ 8.63256142e-02 -9.34524574e-03 9.96223145e-01 2.97787943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.492260615 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:7.10, Y:1.23, Z:0.31 [[ 0.97830635 -0.18994203 -0.08269644 7.10114193] [ 0.18847212 0.98175249 -0.02530454 1.23075573] [ 0.08599383 0.00916962 0.99625347 0.30647471] [ 0. 0. 0. 1. ]] SLAMing on 10.522260614999999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:7.13, Y:1.23, Z:0.31 [[ 9.78740067e-01 -1.87953294e-01 -8.21062784e-02 7.12944572e+00] [ 1.87366630e-01 9.82177610e-01 -1.48623180e-02 1.23426418e+00] [ 8.34363699e-02 -8.37630544e-04 9.96512755e-01 3.08575357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.552260614999998 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:7.15, Y:1.24, Z:0.31 [[ 9.79211740e-01 -1.87190455e-01 -7.81287524e-02 7.15488034e+00] [ 1.86575973e-01 9.82323604e-01 -1.51572729e-02 1.24093616e+00] [ 7.95850145e-02 2.65231572e-04 9.96828047e-01 3.12669181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582260615 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:7.18, Y:1.25, Z:0.32 [[ 9.79569779e-01 -1.86574642e-01 -7.50529899e-02 7.18185989e+00] [ 1.86123252e-01 9.82440045e-01 -1.30266267e-02 1.25137008e+00] [ 7.61655010e-02 -1.20861670e-03 9.97094457e-01 3.17252028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612260614999999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:7.21, Y:1.26, Z:0.32 [[ 9.79517614e-01 -1.86750413e-01 -7.52962673e-02 7.20881291e+00] [ 1.86217193e-01 9.82407370e-01 -1.41037731e-02 1.25682171e+00] [ 7.66054933e-02 -2.06565324e-04 9.97061460e-01 3.20439946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642260615 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:7.23, Y:1.27, Z:0.33 [[ 9.79406786e-01 -1.86597539e-01 -7.70954331e-02 7.23391468e+00] [ 1.86125347e-01 9.82435587e-01 -1.33293831e-02 1.26672539e+00] [ 7.82285271e-02 -1.29452598e-03 9.96934613e-01 3.25395722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672260614999999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:7.26, Y:1.28, Z:0.33 [[ 9.80251087e-01 -1.83339663e-01 -7.41240431e-02 7.25951320e+00] [ 1.82666822e-01 9.83047667e-01 -1.58150689e-02 1.28433075e+00] [ 7.57669970e-02 1.96273508e-03 9.97123618e-01 3.32670520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702260614999998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:7.28, Y:1.29, Z:0.34 [[ 9.80764575e-01 -1.80866529e-01 -7.34039932e-02 7.28491940e+00] [ 1.80397853e-01 9.83507537e-01 -1.30207044e-02 1.29243799e+00] [ 7.45483902e-02 -4.71677077e-04 9.97217286e-01 3.35277472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732260615 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:7.31, Y:1.30, Z:0.34 [[ 9.82382683e-01 -1.71943764e-01 -7.32093285e-02 7.31132242e+00] [ 1.71796039e-01 9.85097088e-01 -8.35750793e-03 1.30077739e+00] [ 7.35553177e-02 -4.36680155e-03 9.97281578e-01 3.35374310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762260614999999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:7.34, Y:1.31, Z:0.34 [[ 9.83194639e-01 -1.67125876e-01 -7.34659318e-02 7.33658055e+00] [ 1.66139802e-01 9.85911794e-01 -1.93778184e-02 1.31161432e+00] [ 7.56694635e-02 6.84655181e-03 9.97109451e-01 3.41422054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792260614999998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:7.36, Y:1.32, Z:0.34 [[ 9.84983770e-01 -1.56263727e-01 -7.34072226e-02 7.36287267e+00] [ 1.55828602e-01 9.87715367e-01 -1.16533573e-02 1.31826451e+00] [ 7.43264388e-02 3.94229322e-05 9.97233964e-01 3.43103156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822260615 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:7.39, Y:1.33, Z:0.35 [[ 9.85416135e-01 -1.53100471e-01 -7.42649758e-02 7.38953610e+00] [ 1.52490222e-01 9.88207891e-01 -1.38526796e-02 1.32749533e+00] [ 7.55100869e-02 2.32597137e-03 9.97142325e-01 3.47895286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852260614999999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:7.42, Y:1.34, Z:0.35 [[ 0.98562428 -0.14721631 -0.08289841 7.41621065] [ 0.14595438 0.98906595 -0.0211157 1.3367681 ] [ 0.08510057 0.00871276 0.99633427 0.34869133] [ 0. 0. 0. 1. ]] SLAMing on 10.882260614999998 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:7.45, Y:1.33, Z:0.35 [[ 9.85231030e-01 -1.44331928e-01 -9.21309551e-02 7.44801177e+00] [ 1.44729779e-01 9.89468347e-01 -2.38362430e-03 1.33226534e+00] [ 9.15046969e-02 -1.09856721e-02 9.95744046e-01 3.46794704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.912260615 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:7.47, Y:1.35, Z:0.36 [[ 0.98573432 -0.14495431 -0.08553425 7.47145176] [ 0.14257964 0.98922367 -0.03328016 1.3469941 ] [ 0.08943661 0.02060995 0.99577925 0.35686564] [ 0. 0. 0. 1. ]] SLAMing on 10.942260614999999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:7.50, Y:1.34, Z:0.36 [[ 9.85987181e-01 -1.45212611e-01 -8.21131914e-02 7.50182557e+00] [ 1.44761559e-01 9.89400295e-01 -1.14519839e-02 1.33622541e+00] [ 8.29057883e-02 -5.95324213e-04 9.96557212e-01 3.55989436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972260614999998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:7.53, Y:1.33, Z:0.36 [[ 9.85777636e-01 -1.48887484e-01 -7.79420962e-02 7.53198295e+00] [ 1.48728859e-01 9.88846706e-01 -7.86885564e-03 1.33387188e+00] [ 7.82443592e-02 -3.83529714e-03 9.96926833e-01 3.56390860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002260614999999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:7.56, Y:1.33, Z:0.36 [[ 9.84535680e-01 -1.55697562e-01 -8.02979658e-02 7.56321504e+00] [ 1.56239541e-01 9.87719081e-01 4.72615117e-04 1.32944485e+00] [ 7.92382479e-02 -1.30110238e-02 9.96770793e-01 3.57307418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032260614999998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:7.59, Y:1.34, Z:0.37 [[ 0.98153624 -0.17590748 -0.07512099 7.58659663] [ 0.17405671 0.98426122 -0.03056325 1.34068086] [ 0.07931498 0.01692363 0.99670594 0.36784684] [ 0. 0. 0. 1. ]] SLAMing on 11.062260615 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:7.62, Y:1.34, Z:0.37 [[ 9.79133816e-01 -1.89008608e-01 -7.46506315e-02 7.61603908e+00] [ 1.87956072e-01 9.81954064e-01 -2.09459005e-02 1.33606687e+00] [ 7.72624464e-02 6.47780002e-03 9.96989745e-01 3.66795208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092260614999999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:7.65, Y:1.33, Z:0.37 [[ 9.78598390e-01 -1.89919956e-01 -7.92186969e-02 7.64598783e+00] [ 1.89473171e-01 9.81797324e-01 -1.31883607e-02 1.33235614e+00] [ 8.02814374e-02 -2.10370916e-03 9.96770016e-01 3.68452551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122260614999998 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:7.68, Y:1.33, Z:0.37 [[ 9.78152493e-01 -1.89669738e-01 -8.51063530e-02 7.67537732e+00] [ 1.88755224e-01 9.81845330e-01 -1.87407167e-02 1.33243547e+00] [ 8.71158221e-02 2.26701004e-03 9.96195610e-01 3.67469862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152260615 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:7.70, Y:1.33, Z:0.37 [[ 9.77888341e-01 -1.87986011e-01 -9.16277934e-02 7.70244888e+00] [ 1.87557918e-01 9.82162973e-01 -1.33387370e-02 1.33361789e+00] [ 9.25009219e-02 -4.14172272e-03 9.95703985e-01 3.70312906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182260614999999 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:7.73, Y:1.34, Z:0.38 [[ 9.78048833e-01 -1.86906664e-01 -9.21215500e-02 7.72940790e+00] [ 1.85577050e-01 9.82363525e-01 -2.28705683e-02 1.34339516e+00] [ 9.47715122e-02 5.27288706e-03 9.95485086e-01 3.75192444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.212260614999998 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:7.76, Y:1.35, Z:0.38 [[ 9.78115419e-01 -1.83495059e-01 -9.80805274e-02 7.75903594e+00] [ 1.82902284e-01 9.83015455e-01 -1.50787796e-02 1.34860953e+00] [ 9.91815558e-02 -3.19036564e-03 9.95064239e-01 3.76442202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242260615 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:7.78, Y:1.36, Z:0.38 [[ 9.77787284e-01 -1.83499397e-01 -1.01291650e-01 7.78409849e+00] [ 1.82433181e-01 9.83019452e-01 -1.97709567e-02 1.35755112e+00] [ 1.03199621e-01 8.52832180e-04 9.94660299e-01 3.79528126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272260614999999 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:7.81, Y:1.37, Z:0.38 [[ 0.977395 -0.18198425 -0.10761387 7.8080809 ] [ 0.17986873 0.98325919 -0.02913086 1.3737229 ] [ 0.11111368 0.00911599 0.99376589 0.38485743] [ 0. 0. 0. 1. ]] SLAMing on 11.302260614999998 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:7.84, Y:1.37, Z:0.38 [[ 0.97780356 -0.18005595 -0.10714504 7.83682806] [ 0.18022001 0.98359189 -0.00822997 1.37298275] [ 0.10686885 -0.01126238 0.99420934 0.37903867] [ 0. 0. 0. 1. ]] SLAMing on 11.332260615 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:7.86, Y:1.39, Z:0.39 [[ 9.78226541e-01 -1.80044125e-01 -1.03232493e-01 7.86276212e+00] [ 1.78372335e-01 9.83638258e-01 -2.52801904e-02 1.38859048e+00] [ 1.06094980e-01 6.31593229e-03 9.94335941e-01 3.86408311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362260614999999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:7.89, Y:1.39, Z:0.39 [[ 9.79706084e-01 -1.71580437e-01 -1.03615355e-01 7.89147458e+00] [ 1.70882006e-01 9.85167248e-01 -1.56471621e-02 1.39223245e+00] [ 1.04763201e-01 -2.37637991e-03 9.94494356e-01 3.87657282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392260614999998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:7.92, Y:1.40, Z:0.39 [[ 9.80355268e-01 -1.67658374e-01 -1.03895229e-01 7.91775938e+00] [ 1.66298433e-01 9.85837141e-01 -2.16786371e-02 1.40212289e+00] [ 1.06058381e-01 3.97515227e-03 9.94351959e-01 3.93912067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422260614999999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:7.94, Y:1.42, Z:0.40 [[ 0.98122045 -0.16203329 -0.1046501 7.94367884] [ 0.15997283 0.98672853 -0.02784766 1.41521101] [ 0.10777349 0.01058352 0.99411914 0.4022402 ] [ 0. 0. 0. 1. ]] SLAMing on 11.452260614999998 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:7.97, Y:1.41, Z:0.40 [[ 9.81339298e-01 -1.62099488e-01 -1.03426004e-01 7.97310098e+00] [ 1.61830636e-01 9.86756771e-01 -1.10417602e-02 1.41321774e+00] [ 1.03846174e-01 -5.90178281e-03 9.94575860e-01 4.02204902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482260615 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:8.00, Y:1.42, Z:0.41 [[ 9.81620544e-01 -1.65149487e-01 -9.56386676e-02 7.99969862e+00] [ 1.64398432e-01 9.86268508e-01 -1.57348472e-02 1.41730036e+00] [ 9.69240079e-02 -2.77197722e-04 9.95291746e-01 4.06149324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512260614999999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:8.03, Y:1.42, Z:0.41 [[ 9.81708350e-01 -1.70088168e-01 -8.55495832e-02 8.02680830e+00] [ 1.69271141e-01 9.85426857e-01 -1.67687149e-02 1.41872895e+00] [ 8.71550169e-02 1.98091184e-03 9.96192792e-01 4.12743371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542260614999998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:8.05, Y:1.42, Z:0.42 [[ 9.81944578e-01 -1.68553758e-01 -8.58747711e-02 8.05368022e+00] [ 1.68013793e-01 9.85691800e-01 -1.35292833e-02 1.42278498e+00] [ 8.69264692e-02 -1.14313966e-03 9.96214074e-01 4.15678922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572260615 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:8.08, Y:1.44, Z:0.43 [[ 9.81440752e-01 -1.68302071e-01 -9.19155232e-02 8.07827570e+00] [ 1.67007327e-01 9.85717788e-01 -2.16562831e-02 1.44107885e+00] [ 9.42475635e-02 5.90379295e-03 9.95531286e-01 4.25043230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602260614999999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:8.11, Y:1.45, Z:0.43 [[ 9.80981170e-01 -1.69056162e-01 -9.53727309e-02 8.10516851e+00] [ 1.68009511e-01 9.85603058e-01 -1.89582839e-02 1.44909835e+00] [ 9.72046699e-02 2.57419370e-03 9.95261084e-01 4.28618265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632260614999998 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:8.13, Y:1.46, Z:0.43 [[ 9.80353822e-01 -1.73481659e-01 -9.38642552e-02 8.13050442e+00] [ 1.72433815e-01 9.84833507e-01 -1.92235095e-02 1.45655541e+00] [ 9.57755899e-02 2.66046932e-03 9.95399396e-01 4.29315531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662260615 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:8.16, Y:1.46, Z:0.43 [[ 9.79634123e-01 -1.77509833e-01 -9.38469232e-02 8.15826231e+00] [ 1.76596454e-01 9.84118438e-01 -1.80164404e-02 1.45977809e+00] [ 9.55545828e-02 1.07648595e-03 9.95423610e-01 4.29915841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692260614999999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:8.19, Y:1.47, Z:0.43 [[ 9.78810975e-01 -1.81441404e-01 -9.49109723e-02 8.18597245e+00] [ 1.80150231e-01 9.83391433e-01 -2.20722531e-02 1.46657347e+00] [ 9.73394576e-02 4.50632997e-03 9.95241038e-01 4.33236237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722260614999998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:8.21, Y:1.48, Z:0.44 [[ 9.77189520e-01 -1.90267021e-01 -9.43350593e-02 8.21322798e+00] [ 1.89533099e-01 9.81731233e-01 -1.67627907e-02 1.47775237e+00] [ 9.58010803e-02 -1.49919275e-03 9.95399370e-01 4.35613030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752260614999999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:8.24, Y:1.49, Z:0.44 [[ 9.76274833e-01 -1.94583825e-01 -9.49978215e-02 8.23879319e+00] [ 1.93872603e-01 9.80883718e-01 -1.67494679e-02 1.49072978e+00] [ 9.64409919e-02 -2.06539095e-03 9.95336561e-01 4.43053505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782260614999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:8.26, Y:1.51, Z:0.45 [[ 9.76228732e-01 -1.95256505e-01 -9.40869782e-02 8.26118340e+00] [ 1.94199454e-01 9.80750910e-01 -2.03525237e-02 1.50897352e+00] [ 9.62498521e-02 1.59707862e-03 9.95355924e-01 4.51613746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812260614999998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:8.29, Y:1.52, Z:0.45 [[ 9.76794360e-01 -1.92507080e-01 -9.38818559e-02 8.28948305e+00] [ 1.91899564e-01 9.81291492e-01 -1.55423776e-02 1.51662520e+00] [ 9.51174842e-02 -2.83418050e-03 9.95462019e-01 4.53619578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842260614999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.31, Y:1.53, Z:0.47 [[ 0.9775356 -0.18806489 -0.09516166 8.30838908] [ 0.1851097 0.98194116 -0.03906342 1.53304822] [ 0.10078961 0.02057054 0.99469508 0.46630423] [ 0. 0. 0. 1. ]] SLAMing on 11.872260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.34, Y:1.54, Z:0.46 [[ 9.79388497e-01 -1.76563848e-01 -9.80988205e-02 8.34495957e+00] [ 1.77284938e-01 9.84158589e-01 -1.38634386e-03 1.53565982e+00] [ 9.67895750e-02 -1.60336741e-02 9.95175713e-01 4.57681433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:1.57, Z:0.47 [[ 0.98153801 -0.16576717 -0.09541689 8.36658253] [ 0.16367065 0.98607538 -0.02944931 1.57065206] [ 0.09896997 0.01328868 0.99500169 0.47033924] [ 0. 0. 0. 1. ]] SLAMing on 11.932260614999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.39, Y:1.57, Z:0.47 [[ 9.82014734e-01 -1.57202789e-01 -1.04567419e-01 8.39353490e+00] [ 1.57673805e-01 9.87483944e-01 -3.79880002e-03 1.57443995e+00] [ 1.03855829e-01 -1.27570652e-02 9.94510545e-01 4.70889171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:1.59, Z:0.48 [[ 9.83076603e-01 -1.51968027e-01 -1.02304018e-01 8.41770114e+00] [ 1.50841766e-01 9.88380996e-01 -1.87020879e-02 1.59202328e+00] [ 1.03957466e-01 2.95386630e-03 9.94577357e-01 4.79569508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992260615 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:8.44, Y:1.61, Z:0.48 [[ 0.98444234 -0.14392392 -0.10079278 8.44426708] [ 0.14228903 0.98955173 -0.02326381 1.60679064] [ 0.10308788 0.00856018 0.99463542 0.48455089] [ 0. 0. 0. 1. ]] SLAMing on 12.022260614999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:8.47, Y:1.62, Z:0.49 [[ 9.84451692e-01 -1.43276971e-01 -1.01619764e-01 8.47313036e+00] [ 1.42377374e-01 9.89681682e-01 -1.60888753e-02 1.61512874e+00] [ 1.02876384e-01 1.37036551e-03 9.94693205e-01 4.86141442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.052260614999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:8.50, Y:1.63, Z:0.49 [[ 9.83576216e-01 -1.48227768e-01 -1.02987167e-01 8.49808059e+00] [ 1.47569638e-01 9.88952251e-01 -1.40231002e-02 1.62892932e+00] [ 1.03928003e-01 -1.40499105e-03 9.94583831e-01 4.89517122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082260615 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:8.52, Y:1.64, Z:0.50 [[ 0.982825 -0.15371732 -0.10210782 8.52197425] [ 0.15192436 0.98807192 -0.02515681 1.64035108] [ 0.10475691 0.00921208 0.99445519 0.49591416] [ 0. 0. 0. 1. ]] SLAMing on 12.112260614999999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:8.55, Y:1.64, Z:0.49 [[ 9.81813028e-01 -1.59144365e-01 -1.03519320e-01 8.55197113e+00] [ 1.58530737e-01 9.87252189e-01 -1.41816982e-02 1.64218352e+00] [ 1.04456613e-01 -2.48721812e-03 9.94526334e-01 4.94431517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142260614999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:8.58, Y:1.65, Z:0.50 [[ 9.80380231e-01 -1.70425483e-01 -9.90442195e-02 8.57865316e+00] [ 1.69416068e-01 9.85369526e-01 -1.85766880e-02 1.65059219e+00] [ 1.00761097e-01 1.43253539e-03 9.94909619e-01 4.99204675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172260614999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:8.61, Y:1.66, Z:0.50 [[ 9.79431162e-01 -1.77185432e-01 -9.65397418e-02 8.60677103e+00] [ 1.76258207e-01 9.84177215e-01 -1.81177688e-02 1.65789297e+00] [ 9.82224190e-02 7.29185545e-04 9.95164220e-01 5.03824363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202260614999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:8.63, Y:1.67, Z:0.51 [[ 9.76581337e-01 -1.94160990e-01 -9.26844222e-02 8.63435785e+00] [ 1.92766816e-01 9.80954670e-01 -2.38514247e-02 1.66791013e+00] [ 9.55502330e-02 5.42637523e-03 9.95409819e-01 5.11369564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232260614999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:8.67, Y:1.67, Z:0.51 [[ 9.75563009e-01 -1.99334181e-01 -9.24267244e-02 8.66599024e+00] [ 1.98621170e-01 9.79929866e-01 -1.69437036e-02 1.67134227e+00] [ 9.39491669e-02 -1.82825369e-03 9.95575317e-01 5.11678473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262260614999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.70, Y:1.68, Z:0.51 [[ 9.76282807e-01 -1.97602243e-01 -8.84603573e-02 8.69764483e+00] [ 1.96710048e-01 9.80281838e-01 -1.87796282e-02 1.67849880e+00] [ 9.04269784e-02 9.33187042e-04 9.95902651e-01 5.11132694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292260614999998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:8.73, Y:1.68, Z:0.51 [[ 9.77304771e-01 -1.91650953e-01 -9.02513022e-02 8.72803298e+00] [ 1.91169004e-01 9.81456779e-01 -1.40357809e-02 1.68308914e+00] [ 9.12677231e-02 -3.53601598e-03 9.95820114e-01 5.14020122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322260615 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:8.76, Y:1.70, Z:0.53 [[ 9.79315799e-01 -1.81389124e-01 -8.96579683e-02 8.75630465e+00] [ 1.81159263e-01 9.83394872e-01 -1.07631924e-02 1.70036210e+00] [ 9.01215124e-02 -5.70180706e-03 9.95914455e-01 5.25733577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352260614999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:8.79, Y:1.72, Z:0.54 [[ 9.79683821e-01 -1.80504577e-01 -8.73939847e-02 8.78522746e+00] [ 1.79756121e-01 9.83574070e-01 -1.64251365e-02 1.71676908e+00] [ 8.89232696e-02 3.81836796e-04 9.96038406e-01 5.37594731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:1.73, Z:0.55 [[ 9.79810736e-01 -1.80327747e-01 -8.63297448e-02 8.81535695e+00] [ 1.79098809e-01 9.83588662e-01 -2.18394186e-02 1.72934658e+00] [ 8.88512114e-02 5.93694227e-03 9.96027216e-01 5.46230556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412260615 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:8.85, Y:1.73, Z:0.54 [[ 9.79447303e-01 -1.80359481e-01 -9.02963907e-02 8.84883207e+00] [ 1.79506974e-01 9.83600280e-01 -1.75423843e-02 1.73054586e+00] [ 9.19794905e-02 9.73009072e-04 9.95760426e-01 5.41984811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442260614999999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:8.88, Y:1.73, Z:0.54 [[ 9.78441082e-01 -1.82567703e-01 -9.65509380e-02 8.88036300e+00] [ 1.81304124e-01 9.83185931e-01 -2.17770446e-02 1.73034209e+00] [ 9.89033089e-02 3.80247187e-03 9.95089783e-01 5.40369352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472260614999998 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:8.91, Y:1.73, Z:0.54 [[ 9.78222862e-01 -1.83382812e-01 -9.72151036e-02 8.91312523e+00] [ 1.82855569e-01 9.83034587e-01 -1.43820143e-02 1.73171650e+00] [ 9.82032234e-02 -3.70750786e-03 9.95159475e-01 5.38478035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502260614999999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:8.94, Y:1.75, Z:0.54 [[ 0.97778551 -0.1846798 -0.09914063 8.93904206] [ 0.18221292 0.98268945 -0.03346493 1.74501576] [ 0.10360475 0.01465682 0.99451055 0.54394272] [ 0. 0. 0. 1. ]] SLAMing on 12.532260614999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:8.97, Y:1.74, Z:0.54 [[ 9.77779484e-01 -1.83135224e-01 -1.02023381e-01 8.97038532e+00] [ 1.82016110e-01 9.83086960e-01 -2.02525374e-02 1.74483125e+00] [ 1.04006809e-01 1.23261659e-03 9.94575821e-01 5.42169571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562260614999998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:9.00, Y:1.74, Z:0.55 [[ 0.97742303 -0.17982727 -0.11093414 9.00199301] [ 0.17987511 0.98364203 -0.00965963 1.74480016] [ 0.11085655 -0.01051275 0.99378081 0.54514325] [ 0. 0. 0. 1. ]] SLAMing on 12.592260614999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:9.02, Y:1.76, Z:0.56 [[ 9.77225513e-01 -1.81016766e-01 -1.10739460e-01 9.02467102e+00] [ 1.79147008e-01 9.83460185e-01 -2.66910712e-02 1.76144153e+00] [ 1.13739382e-01 6.24455266e-03 9.93490996e-01 5.56676711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622260614999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:9.05, Y:1.76, Z:0.55 [[ 9.76655426e-01 -1.83628369e-01 -1.11466593e-01 9.05424258e+00] [ 1.83302821e-01 9.82967194e-01 -1.32503222e-02 1.76057059e+00] [ 1.12001139e-01 -7.49114185e-03 9.93679842e-01 5.53271199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.652260614999998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:9.08, Y:1.76, Z:0.55 [[ 9.73866020e-01 -2.01707690e-01 -1.04398192e-01 9.08122136e+00] [ 2.00234725e-01 9.79441270e-01 -2.45123215e-02 1.76328758e+00] [ 1.07196222e-01 2.96757368e-03 9.94233455e-01 5.54564041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682260614999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.11, Y:1.76, Z:0.56 [[ 9.72306827e-01 -2.08098468e-01 -1.06369458e-01 9.11171832e+00] [ 2.07617118e-01 9.78084129e-01 -1.57025058e-02 1.76148293e+00] [ 1.07305947e-01 -6.81646688e-03 9.94202680e-01 5.55237786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.712260614999998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:9.14, Y:1.77, Z:0.56 [[ 9.69807897e-01 -2.19909510e-01 -1.05415602e-01 9.13787042e+00] [ 2.19013398e-01 9.75513822e-01 -2.01473357e-02 1.77233383e+00] [ 1.07264968e-01 -3.54838406e-03 9.94224138e-01 5.63427484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742260615 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:9.17, Y:1.78, Z:0.57 [[ 9.69508621e-01 -2.20791880e-01 -1.06320176e-01 9.16776350e+00] [ 2.20057193e-01 9.75306937e-01 -1.87406312e-02 1.78216264e+00] [ 1.07832585e-01 -5.22731600e-03 9.94155324e-01 5.69001051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772260614999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:9.20, Y:1.80, Z:0.58 [[ 9.71874899e-01 -2.11193264e-01 -1.04194945e-01 9.19511551e+00] [ 2.10424880e-01 9.77436120e-01 -1.84391391e-02 1.79933931e+00] [ 1.05738125e-01 -4.00467246e-03 9.94385947e-01 5.78428361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802260614999998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:9.22, Y:1.81, Z:0.59 [[ 9.73997893e-01 -2.02306405e-01 -1.01981481e-01 9.22353986e+00] [ 2.01372517e-01 9.79321027e-01 -1.94791190e-02 1.81096536e+00] [ 1.03813359e-01 -1.56364665e-03 9.94595567e-01 5.86196075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832260615 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.25, Y:1.83, Z:0.59 [[ 9.78118166e-01 -1.81862048e-01 -1.01049731e-01 9.25330600e+00] [ 1.80672752e-01 9.83321675e-01 -2.08767803e-02 1.82580470e+00] [ 1.03161085e-01 2.16302510e-03 9.94662310e-01 5.93815276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862260614999999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:9.28, Y:1.84, Z:0.60 [[ 9.81003083e-01 -1.63614355e-01 -1.04227124e-01 9.28388208e+00] [ 1.62473005e-01 9.86522132e-01 -1.94063081e-02 1.83814702e+00] [ 1.05997515e-01 2.10355405e-03 9.94364170e-01 6.00447274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892260614999998 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:9.31, Y:1.85, Z:0.60 [[ 9.81880722e-01 -1.58128198e-01 -1.04430455e-01 9.31279178e+00] [ 1.56796590e-01 9.87409914e-01 -2.08923817e-02 1.84807637e+00] [ 1.06419342e-01 4.13948753e-03 9.94312722e-01 6.04815647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922260614999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:9.34, Y:1.86, Z:0.61 [[ 9.82585922e-01 -1.54467973e-01 -1.03269313e-01 9.34398256e+00] [ 1.53064345e-01 9.87983851e-01 -2.14293276e-02 1.85782598e+00] [ 1.05338558e-01 5.24930576e-03 9.94422563e-01 6.12864160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952260614999998 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:9.37, Y:1.87, Z:0.62 [[ 9.84131420e-01 -1.50708672e-01 -9.36602621e-02 9.37286004e+00] [ 1.49192132e-01 9.88540024e-01 -2.30288651e-02 1.86940875e+00] [ 9.60575674e-02 8.69005549e-03 9.95337845e-01 6.21492743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982260614999998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:9.41, Y:1.87, Z:0.62 [[ 9.84641158e-01 -1.48405407e-01 -9.19653476e-02 9.41027182e+00] [ 1.47644433e-01 9.88925815e-01 -1.50616765e-02 1.86888208e+00] [ 9.31821406e-02 1.25217495e-03 9.95648292e-01 6.20076067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.012260614999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.44, Y:1.87, Z:0.62 [[ 9.83202678e-01 -1.55965632e-01 -9.48009298e-02 9.44009613e+00] [ 1.54580590e-01 9.87739029e-01 -2.18277651e-02 1.87152002e+00] [ 9.70429595e-02 6.80673348e-03 9.95256918e-01 6.18773760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042260614999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.47, Y:1.87, Z:0.62 [[ 9.82105777e-01 -1.61622851e-01 -9.66762462e-02 9.47277629e+00] [ 1.60860435e-01 9.86852588e-01 -1.56808589e-02 1.87097822e+00] [ 9.79395890e-02 -1.51120852e-04 9.95192350e-01 6.17935283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.072260614999998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.50, Y:1.88, Z:0.63 [[ 0.97947631 -0.17936978 -0.09193824 9.50359376] [ 0.17750853 0.98371788 -0.02810436 1.88024186] [ 0.09548236 0.01120773 0.99536803 0.63164754] [ 0. 0. 0. 1. ]] SLAMing on 13.102260614999999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:9.54, Y:1.88, Z:0.63 [[ 9.78846795e-01 -1.84451389e-01 -8.85247873e-02 9.53928547e+00] [ 1.84645043e-01 9.82786545e-01 -6.06761949e-03 1.87953863e+00] [ 8.81201507e-02 -1.04063933e-02 9.96055493e-01 6.28284769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132260614999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:9.57, Y:1.89, Z:0.64 [[ 9.78956726e-01 -1.86176451e-01 -8.35587032e-02 9.56946064e+00] [ 1.85548299e-01 9.82516179e-01 -1.52900968e-02 1.89085965e+00] [ 8.49444337e-02 -5.35832048e-04 9.96385546e-01 6.39730320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162260615 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:9.60, Y:1.90, Z:0.65 [[ 9.80305668e-01 -1.79757198e-01 -8.17810856e-02 9.60006201e+00] [ 1.79134110e-01 9.83711009e-01 -1.49539624e-02 1.90174742e+00] [ 8.31370367e-02 9.67212420e-06 9.96538124e-01 6.46825137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192260614999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.63, Y:1.91, Z:0.65 [[ 9.80987083e-01 -1.75514862e-01 -8.28183270e-02 9.63119150e+00] [ 1.74861264e-01 9.84476713e-01 -1.51373902e-02 1.90998344e+00] [ 8.41895512e-02 3.67866865e-04 9.96449690e-01 6.50702291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222260614999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.66, Y:1.92, Z:0.65 [[ 9.82108794e-01 -1.67988586e-01 -8.51008331e-02 9.65764476e+00] [ 1.66794656e-01 9.85767959e-01 -2.10017642e-02 1.92092251e+00] [ 8.74177313e-02 6.43165320e-03 9.96150980e-01 6.53606666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.252260614999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.69, Y:1.92, Z:0.65 [[ 9.81933089e-01 -1.68391582e-01 -8.63231412e-02 9.69404843e+00] [ 1.68035905e-01 9.85714694e-01 -1.14226757e-02 1.92483868e+00] [ 8.70134711e-02 -3.28908399e-03 9.96201705e-01 6.53800505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282260614999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.73, Y:1.93, Z:0.66 [[ 9.81963920e-01 -1.68860650e-01 -8.50466961e-02 9.72540004e+00] [ 1.68152515e-01 9.85639529e-01 -1.54741863e-02 1.93374918e+00] [ 8.64383666e-02 8.94276798e-04 9.96256799e-01 6.59130147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312260614999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:9.76, Y:1.94, Z:0.66 [[ 9.82017673e-01 -1.68426560e-01 -8.52864801e-02 9.75761702e+00] [ 1.67713754e-01 9.85713772e-01 -1.55066657e-02 1.93981260e+00] [ 8.66797923e-02 9.24103969e-04 9.96235795e-01 6.59958689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342260614999999 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:9.78, Y:1.95, Z:0.66 [[ 9.82396117e-01 -1.66192326e-01 -8.53110779e-02 9.78431941e+00] [ 1.65296563e-01 9.86088491e-01 -1.75081366e-02 1.94603106e+00] [ 8.70339900e-02 3.09829741e-03 9.96200525e-01 6.62289570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372260614999998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:9.82, Y:1.95, Z:0.66 [[ 9.80923739e-01 -1.70965586e-01 -9.25169563e-02 9.81992918e+00] [ 1.70215030e-01 9.85276999e-01 -1.60024321e-02 1.95100474e+00] [ 9.38906943e-02 -5.06110223e-05 9.95582510e-01 6.62205543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402260614999998 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:9.85, Y:1.96, Z:0.66 [[ 9.79754473e-01 -1.75859610e-01 -9.56795164e-02 9.85237101e+00] [ 1.74998855e-01 9.84415215e-01 -1.73805732e-02 1.95609836e+00] [ 9.72449126e-02 2.84888532e-04 9.95260441e-01 6.63288491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432260614999999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:9.89, Y:1.96, Z:0.66 [[ 9.77176447e-01 -1.87879022e-01 -9.91345830e-02 9.88554981e+00] [ 1.87017674e-01 9.82191713e-01 -1.79952521e-02 1.96064349e+00] [ 1.00750096e-01 -9.55382575e-04 9.94911305e-01 6.62472626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462260614999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:9.92, Y:1.97, Z:0.67 [[ 9.76738598e-01 -1.89673045e-01 -1.00029234e-01 9.91534559e+00] [ 1.88063497e-01 9.81829175e-01 -2.53691185e-02 1.97047947e+00] [ 1.03023458e-01 5.96714975e-03 9.94661028e-01 6.69505244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:1.98, Z:0.67 [[ 9.77843697e-01 -1.84308834e-01 -9.92570272e-02 9.94700778e+00] [ 1.83960918e-01 9.82851176e-01 -1.27258497e-02 1.97908915e+00] [ 9.99003723e-02 -5.81552191e-03 9.94980450e-01 6.72185269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:1.99, Z:0.68 [[ 9.78584679e-01 -1.79031331e-01 -1.01586456e-01 9.97781768e+00] [ 1.79505881e-01 9.83746491e-01 -4.52558384e-03 1.98690548e+00] [ 1.00745541e-01 -1.38066994e-02 9.94816421e-01 6.77538329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552260614999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.01, Y:2.00, Z:0.69 [[ 9.79960838e-01 -1.72380844e-01 -9.98078163e-02 1.00086962e+01] [ 1.71709264e-01 9.85028140e-01 -1.53457678e-02 1.99781640e+00] [ 1.00958824e-01 -2.09967513e-03 9.94888389e-01 6.85334485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582260615 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:10.04, Y:2.01, Z:0.69 [[ 0.98037661 -0.17273663 -0.09499349 10.04070878] [ 0.17034284 0.98483821 -0.03281805 2.0072741 ] [ 0.09922209 0.01599259 0.99493679 0.69332632] [ 0. 0. 0. 1. ]] SLAMing on 13.612260614999999 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:10.07, Y:2.01, Z:0.69 [[ 9.80635176e-01 -1.69829356e-01 -9.75327690e-02 1.00726996e+01] [ 1.68639821e-01 9.85467158e-01 -2.03737953e-02 2.00559988e+00] [ 9.95754092e-02 3.53135172e-03 9.95023752e-01 6.91346143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:2.01, Z:0.70 [[ 9.81677694e-01 -1.67449761e-01 -9.09366995e-02 1.01065090e+01] [ 1.66873045e-01 9.85879518e-01 -1.39629382e-02 2.00814003e+00] [ 9.19907201e-02 -1.46777900e-03 9.95758783e-01 6.96482358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.672260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:2.01, Z:0.70 [[ 9.82791651e-01 -1.62926262e-01 -8.70379513e-02 1.01391258e+01] [ 1.62184094e-01 9.86637525e-01 -1.55792946e-02 2.01373449e+00] [ 8.84131850e-02 1.19502941e-03 9.96083170e-01 7.02075253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702260614999998 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:10.17, Y:2.02, Z:0.70 [[ 9.84975542e-01 -1.49470267e-01 -8.64975215e-02 1.01730296e+01] [ 1.48686415e-01 9.88763361e-01 -1.54714440e-02 2.01514361e+00] [ 8.78381010e-02 2.37798752e-03 9.96131926e-01 7.02023548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732260614999998 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:10.20, Y:2.02, Z:0.71 [[ 0.98591857 -0.1410649 -0.08980682 10.19803874] [ 0.13868664 0.9898119 -0.03222452 2.02495427] [ 0.09343761 0.01931575 0.99543775 0.71102075] [ 0. 0. 0. 1. ]] SLAMing on 13.762260614999999 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:10.24, Y:2.02, Z:0.70 [[ 9.86821631e-01 -1.31511833e-01 -9.42746326e-02 1.02365655e+01] [ 1.31889257e-01 9.91261918e-01 -2.24344999e-03 2.02219410e+00] [ 9.37458933e-02 -1.02199263e-02 9.95543701e-01 7.01411747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.792260614999998 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:10.27, Y:2.03, Z:0.71 [[ 9.87128528e-01 -1.29994626e-01 -9.31593644e-02 1.02650311e+01] [ 1.29004809e-01 9.91505096e-01 -1.65952916e-02 2.03238851e+00] [ 9.45252833e-02 4.36367979e-03 9.95512898e-01 7.11224901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822260614999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:10.30, Y:2.03, Z:0.71 [[ 9.87619688e-01 -1.24003640e-01 -9.60752246e-02 1.02986592e+01] [ 1.22923039e-01 9.92268724e-01 -1.71086773e-02 2.02795322e+00] [ 9.74539787e-02 5.08700796e-03 9.95227032e-01 7.10377654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852260614999999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:10.33, Y:2.03, Z:0.71 [[ 9.87661716e-01 -1.22468194e-01 -9.76005928e-02 1.03292595e+01] [ 1.21346359e-01 9.92458217e-01 -1.73709229e-02 2.02727953e+00] [ 9.89918959e-02 5.31311895e-03 9.95074055e-01 7.12292358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882260614999998 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:10.36, Y:2.03, Z:0.72 [[ 9.87681874e-01 -1.21848303e-01 -9.81708069e-02 1.03599854e+01] [ 1.20710228e-01 9.92534007e-01 -1.74724094e-02 2.02683152e+00] [ 9.95668478e-02 5.40696162e-03 9.95016185e-01 7.19029006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912260614999997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:10.39, Y:2.03, Z:0.72 [[ 9.87510029e-01 -1.23757851e-01 -9.75086544e-02 1.03891748e+01] [ 1.22644436e-01 9.92298936e-01 -1.73540863e-02 2.03060326e+00] [ 9.89054384e-02 5.17844035e-03 9.95083362e-01 7.24678512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942260614999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:10.42, Y:2.02, Z:0.73 [[ 9.87126677e-01 -1.29353983e-01 -9.40663058e-02 1.04208278e+01] [ 1.28342953e-01 9.91588464e-01 -1.67452626e-02 2.02448646e+00] [ 9.54411301e-02 4.45694801e-03 9.95425098e-01 7.25767475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972260614999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:10.45, Y:2.01, Z:0.72 [[ 9.86933740e-01 -1.32671364e-01 -9.14335916e-02 1.04530443e+01] [ 1.31730125e-01 9.91151918e-01 -1.62803526e-02 2.01283361e+00] [ 9.27845162e-02 4.02307080e-03 9.95678085e-01 7.22985219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002260614999999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:10.48, Y:2.01, Z:0.73 [[ 9.86933843e-01 -1.34491221e-01 -8.87338781e-02 1.04837968e+01] [ 1.33611691e-01 9.90907715e-01 -1.58055671e-02 2.01384903e+00] [ 9.00527945e-02 3.74316556e-03 9.95929959e-01 7.27240736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032260614999998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:10.51, Y:2.02, Z:0.74 [[ 9.86900645e-01 -1.38116443e-01 -8.33724539e-02 1.05140855e+01] [ 1.37353550e-01 9.90410829e-01 -1.48455964e-02 2.01842834e+00] [ 8.46234022e-02 3.19962622e-03 9.96407869e-01 7.39855117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062260614999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:10.55, Y:2.02, Z:0.75 [[ 9.86904054e-01 -1.39298852e-01 -8.13401329e-02 1.05450877e+01] [ 1.38577253e-01 9.90245793e-01 -1.44780865e-02 2.02259817e+00] [ 8.25635052e-02 3.01659005e-03 9.96581240e-01 7.45510232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092260614999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:10.58, Y:2.02, Z:0.74 [[ 9.86561340e-01 -1.40722687e-01 -8.30291976e-02 1.05792146e+01] [ 1.39976866e-01 9.90044672e-01 -1.47656734e-02 2.01699976e+00] [ 8.42804799e-02 2.94507567e-03 9.96437719e-01 7.44658447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122260614999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:10.61, Y:2.02, Z:0.75 [[ 9.86422946e-01 -1.39692860e-01 -8.63462544e-02 1.06102359e+01] [ 1.38227049e-01 9.90139070e-01 -2.27575104e-02 2.01955299e+00] [ 8.86738618e-02 1.05131426e-02 9.96005231e-01 7.47552576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.152260614999998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:10.64, Y:2.01, Z:0.74 [[ 9.86505466e-01 -1.31780141e-01 -9.71646077e-02 1.06393823e+01] [ 1.33104811e-01 9.91075441e-01 7.25123204e-03 2.00878599e+00] [ 9.53418880e-02 -2.00864568e-02 9.95241910e-01 7.39658764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:2.03, Z:0.76 [[ 0.98785764 -0.13188588 -0.08211816 10.66651498] [ 0.12953306 0.99101337 -0.03337208 2.02888833] [ 0.0857815 0.02232985 0.99606371 0.75555298] [ 0. 0. 0. 1. ]] SLAMing on 14.212260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:2.03, Z:0.76 [[ 9.88575851e-01 -1.26757454e-01 -8.15495827e-02 1.06966594e+01] [ 1.25992343e-01 9.91925508e-01 -1.44815424e-02 2.02720245e+00] [ 8.27267547e-02 4.04148010e-03 9.96564072e-01 7.57695589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242260614999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:10.73, Y:2.03, Z:0.76 [[ 9.88434774e-01 -1.26122749e-01 -8.42006576e-02 1.07281684e+01] [ 1.25304362e-01 9.92005616e-01 -1.49557773e-02 2.03025891e+00] [ 8.54137889e-02 4.23210065e-03 9.96336577e-01 7.61740438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272260614999999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:10.76, Y:2.02, Z:0.76 [[ 9.87034258e-01 -1.29062300e-01 -9.54269154e-02 1.07579004e+01] [ 1.29257914e-01 9.91602304e-01 -4.15484826e-03 2.02032137e+00] [ 9.51617835e-02 -8.23370649e-03 9.95427768e-01 7.59336142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:2.03, Z:0.77 [[ 0.98737377 -0.13217229 -0.08731281 10.78470574] [ 0.13014766 0.99108456 -0.02851273 2.02842577] [ 0.09030297 0.01678917 0.99577281 0.767599 ] [ 0. 0. 0. 1. ]] SLAMing on 14.332260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:2.02, Z:0.77 [[ 9.87477826e-01 -1.33205319e-01 -8.45215146e-02 1.08137533e+01] [ 1.32404353e-01 9.91081712e-01 -1.50375145e-02 2.02388888e+00] [ 8.57708043e-02 3.65819572e-03 9.96308179e-01 7.70126986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362260614999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:10.84, Y:2.02, Z:0.77 [[ 9.87349722e-01 -1.31762067e-01 -8.82002549e-02 1.08413680e+01] [ 1.31837222e-01 9.91258777e-01 -4.99841444e-03 2.02463096e+00] [ 8.80878782e-02 -6.69289344e-03 9.96090222e-01 7.73852622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.392260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:2.03, Z:0.78 [[ 9.87431450e-01 -1.32587109e-01 -8.60220347e-02 1.08697755e+01] [ 1.31904918e-01 9.91169186e-01 -1.35917860e-02 2.03336924e+00] [ 8.70644857e-02 2.07422755e-03 9.96200518e-01 7.80936823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:2.04, Z:0.78 [[ 9.87412228e-01 -1.33048167e-01 -8.55293888e-02 1.08962896e+01] [ 1.32243291e-01 9.91103273e-01 -1.50337904e-02 2.03896384e+00] [ 8.67686754e-02 3.53386065e-03 9.96222219e-01 7.84274130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.452260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:2.04, Z:0.79 [[ 0.98772473 -0.13112076 -0.08489526 10.92417155] [ 0.12920687 0.99123117 -0.02768304 2.04156484] [ 0.08778065 0.01637418 0.99600524 0.78848326] [ 0. 0. 0. 1. ]] SLAMing on 14.482260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:2.03, Z:0.78 [[ 9.87317634e-01 -1.30627088e-01 -9.02244655e-02 1.09549426e+01] [ 1.29919736e-01 9.91429941e-01 -1.36942874e-02 2.03470030e+00] [ 9.12400814e-02 1.79867268e-03 9.95827300e-01 7.84306243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512260614999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:10.98, Y:2.03, Z:0.78 [[ 9.87142598e-01 -1.34011988e-01 -8.71221981e-02 1.09832780e+01] [ 1.32937890e-01 9.90960137e-01 -1.80422919e-02 2.02946913e+00] [ 8.87525087e-02 6.22847373e-03 9.96034236e-01 7.83492951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542260614999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.01, Y:2.03, Z:0.79 [[ 9.87863518e-01 -1.29364139e-01 -8.59685323e-02 1.10113030e+01] [ 1.28506474e-01 9.91588155e-01 -1.54601873e-02 2.03102639e+00] [ 8.72453722e-02 4.22504207e-03 9.96177893e-01 7.87535602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572260614999998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:11.04, Y:2.04, Z:0.79 [[ 9.88256609e-01 -1.27469538e-01 -8.42638271e-02 1.10367030e+01] [ 1.26635875e-01 9.91832998e-01 -1.51874628e-02 2.03905525e+00] [ 8.55115831e-02 4.33828702e-03 9.96327731e-01 7.94792151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602260614999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.06, Y:2.04, Z:0.80 [[ 9.88672498e-01 -1.24189405e-01 -8.42833475e-02 1.10632512e+01] [ 1.23342701e-01 9.92247718e-01 -1.52001304e-02 2.04428994e+00] [ 8.55176544e-02 4.63221522e-03 9.96325887e-01 7.99178074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632260614999998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:11.09, Y:2.04, Z:0.80 [[ 9.89293245e-01 -1.19267784e-01 -8.41074980e-02 1.10919921e+01] [ 1.18403996e-01 9.92849122e-01 -1.52024635e-02 2.03617700e+00] [ 8.53192197e-02 5.08103060e-03 9.96340712e-01 7.97948331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662260614999997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:11.12, Y:2.03, Z:0.80 [[ 9.89337258e-01 -1.16969451e-01 -8.67752093e-02 1.11199637e+01] [ 1.16430685e-01 9.93134970e-01 -1.12617092e-02 2.02800152e+00] [ 8.74967708e-02 1.03833148e-03 9.96164262e-01 7.95884203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692260614999999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:11.15, Y:2.02, Z:0.80 [[ 0.98920065 -0.11743638 -0.08769702 11.15052052] [ 0.11572639 0.99298255 -0.02435273 2.02167612] [ 0.08994151 0.01394088 0.99584947 0.80027981] [ 0. 0. 0. 1. ]] SLAMing on 14.722260614999998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:11.18, Y:2.02, Z:0.80 [[ 9.89118537e-01 -1.16780419e-01 -8.94810209e-02 1.11800649e+01] [ 1.15597675e-01 9.93127419e-01 -1.83059306e-02 2.01700467e+00] [ 9.10038296e-02 7.76293732e-03 9.95820285e-01 8.03932977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.752260614999997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:11.21, Y:2.02, Z:0.81 [[ 9.89281553e-01 -1.14580759e-01 -9.05166250e-02 1.12080094e+01] [ 1.13203262e-01 9.93365974e-01 -2.02253279e-02 2.01829285e+00] [ 9.22335687e-02 9.76176661e-03 9.95689548e-01 8.09011835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782260614999998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:11.24, Y:2.01, Z:0.81 [[ 9.89627164e-01 -1.10996729e-01 -9.12019914e-02 1.12362204e+01] [ 1.09942177e-01 9.93800651e-01 -1.65221938e-02 2.01480101e+00] [ 9.24705080e-02 6.32386633e-03 9.95695342e-01 8.09636050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812260614999998 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:11.27, Y:2.00, Z:0.81 [[ 0.98938123 -0.11082913 -0.09403021 11.26770936] [ 0.10917718 0.99376648 -0.0225504 2.00444883] [ 0.09594332 0.01204499 0.99531392 0.80895235] [ 0. 0. 0. 1. ]] SLAMing on 14.842260614999999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:11.30, Y:2.00, Z:0.81 [[ 9.89124975e-01 -1.11061019e-01 -9.64221657e-02 1.12968119e+01] [ 1.09518155e-01 9.93759432e-01 -2.11651822e-02 1.99919689e+00] [ 9.81710633e-02 1.03750326e-02 9.95115471e-01 8.09630269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872260614999998 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:11.33, Y:1.99, Z:0.81 [[ 9.89100140e-01 -1.11233467e-01 -9.64781269e-02 1.13270421e+01] [ 1.10199228e-01 9.93780733e-01 -1.59995299e-02 1.98651690e+00] [ 9.76577869e-02 5.19332217e-03 9.95206504e-01 8.12022202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902260614999998 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:11.36, Y:1.99, Z:0.82 [[ 9.89089174e-01 -1.10190697e-01 -9.77784080e-02 1.13551847e+01] [ 1.08526912e-01 9.93845805e-01 -2.21906644e-02 1.98594767e+00] [ 9.96218653e-02 1.13369573e-02 9.94960782e-01 8.18766367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932260614999999 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:11.38, Y:1.99, Z:0.82 [[ 0.9890082 -0.10986611 -0.09895561 11.38270681] [ 0.10782466 0.99383605 -0.02576336 1.98966445] [ 0.10117618 0.01481032 0.99475828 0.82065544] [ 0. 0. 0. 1. ]] SLAMing on 14.962260614999998 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:11.41, Y:1.99, Z:0.82 [[ 9.88703761e-01 -1.09816367e-01 -1.02006068e-01 1.14132548e+01] [ 1.08328044e-01 9.93913310e-01 -2.00341489e-02 1.98827432e+00] [ 1.03585266e-01 8.75772064e-03 9.94582020e-01 8.21064192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992260614999998 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:11.44, Y:1.98, Z:0.82 [[ 9.88321608e-01 -1.11598222e-01 -1.03760477e-01 1.14424644e+01] [ 1.11120792e-01 9.93752607e-01 -1.03887762e-02 1.97639096e+00] [ 1.04271613e-01 -1.26249438e-03 9.94548057e-01 8.22555185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022260614999999 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:11.47, Y:1.98, Z:0.83 [[ 0.9884179 -0.1137699 -0.10043144 11.47036451] [ 0.11178146 0.99341254 -0.0252277 1.97989905] [ 0.10264 0.01370913 0.99462409 0.82795237] [ 0. 0. 0. 1. ]] SLAMing on 15.052260614999998 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:11.50, Y:1.97, Z:0.83 [[ 9.88805180e-01 -1.10908458e-01 -9.98179838e-02 1.15001792e+01] [ 1.09427813e-01 9.93789363e-01 -2.02053487e-02 1.96965428e+00] [ 1.01438995e-01 9.05628975e-03 9.94800540e-01 8.32299347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082260614999997 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:11.53, Y:1.97, Z:0.84 [[ 9.89525635e-01 -1.06803258e-01 -9.71189057e-02 1.15312252e+01] [ 1.05728932e-01 9.94263725e-01 -1.61566605e-02 1.96676347e+00] [ 9.82873890e-02 5.71915161e-03 9.95141638e-01 8.37938326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112260614999999 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:11.56, Y:1.97, Z:0.84 [[ 9.89681086e-01 -1.04697290e-01 -9.78254875e-02 1.15586221e+01] [ 1.03752037e-01 9.94494346e-01 -1.47143133e-02 1.96657447e+00] [ 9.88274429e-02 4.41288396e-03 9.95094801e-01 8.40195233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142260614999998 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:11.59, Y:1.96, Z:0.85 [[ 0.98921576 -0.1051111 -0.10199922 11.5874204 ] [ 0.10311868 0.99436411 -0.0246285 1.96431097] [ 0.10401309 0.01384488 0.99447956 0.8454629 ] [ 0. 0. 0. 1. ]] SLAMing on 15.172260614999997 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:11.62, Y:1.96, Z:0.85 [[ 9.89009311e-01 -1.04099402e-01 -1.04994746e-01 1.16160112e+01] [ 1.02475747e-01 9.94518917e-01 -2.07568153e-02 1.96295636e+00] [ 1.06580033e-01 9.76926858e-03 9.94256133e-01 8.47894736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202260614999998 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:11.65, Y:1.96, Z:0.85 [[ 0.98878875 -0.10653028 -0.1046332 11.64585854] [ 0.10447307 0.99421433 -0.02496468 1.95975235] [ 0.10668732 0.01375345 0.99419749 0.84926531] [ 0. 0. 0. 1. ]] SLAMing on 15.232260614999998 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:11.68, Y:1.96, Z:0.85 [[ 9.88487111e-01 -1.08922278e-01 -1.05019846e-01 1.16756633e+01] [ 1.07270240e-01 9.94002360e-01 -2.12698043e-02 1.95643075e+00] [ 1.06706730e-01 9.75942341e-03 9.94242640e-01 8.51696103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262260614999999 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:11.71, Y:1.94, Z:0.85 [[ 9.87715477e-01 -1.14164335e-01 -1.06698831e-01 1.17096898e+01] [ 1.14860384e-01 9.93381572e-01 3.80811996e-04 1.93801508e+00] [ 1.05949178e-01 -1.26316027e-02 9.94291313e-01 8.51986349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292260614999998 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:11.73, Y:1.95, Z:0.86 [[ 9.87589169e-01 -1.17503020e-01 -1.04214553e-01 1.17347813e+01] [ 1.16138726e-01 9.93049617e-01 -1.90854443e-02 1.94530995e+00] [ 1.05732820e-01 6.74523256e-03 9.94371697e-01 8.58106799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322260614999998 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:11.76, Y:1.95, Z:0.86 [[ 0.98770542 -0.11698397 -0.10369551 11.75935586] [ 0.11400512 0.99289053 -0.03422326 1.9517656 ] [ 0.10696186 0.02198068 0.99402013 0.86394298] [ 0. 0. 0. 1. ]] SLAMing on 15.352260614999999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:11.79, Y:1.95, Z:0.87 [[ 0.98787932 -0.1154387 -0.10377064 11.7907368 ] [ 0.11341477 0.99322766 -0.02521715 1.95128926] [ 0.10597891 0.01314237 0.99428152 0.86625145] [ 0. 0. 0. 1. ]] SLAMing on 15.382260614999998 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:11.82, Y:1.94, Z:0.87 [[ 9.87745278e-01 -1.13397397e-01 -1.07239432e-01 1.18211417e+01] [ 1.13961685e-01 9.93484763e-01 -8.71602307e-04 1.93696694e+00] [ 1.06639579e-01 -1.13602653e-02 9.94232842e-01 8.68677015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412260614999997 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:11.85, Y:1.94, Z:0.87 [[ 9.87830419e-01 -1.15814224e-01 -1.03817765e-01 1.18481331e+01] [ 1.14447399e-01 9.93246689e-01 -1.90475295e-02 1.94394589e+00] [ 1.05322626e-01 6.93405583e-03 9.94413930e-01 8.73338127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442260614999999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:11.88, Y:1.94, Z:0.88 [[ 9.87808237e-01 -1.14971841e-01 -1.04958859e-01 1.18765566e+01] [ 1.13565594e-01 9.93343072e-01 -1.92975917e-02 1.93788635e+00] [ 1.06478835e-01 7.14260489e-03 9.94289314e-01 8.79057659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472260614999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:11.91, Y:1.93, Z:0.88 [[ 9.87818775e-01 -1.13522953e-01 -1.06426530e-01 1.19059253e+01] [ 1.12066941e-01 9.93507688e-01 -1.95824974e-02 1.93149262e+00] [ 1.07958639e-01 7.41706285e-03 9.94127718e-01 8.84467313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502260614999997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:11.93, Y:1.94, Z:0.89 [[ 0.98789117 -0.11533159 -0.10377698 11.93452585] [ 0.11181682 0.99295966 -0.03909118 1.93815685] [ 0.1075548 0.02701382 0.99383209 0.88615722] [ 0. 0. 0. 1. ]] SLAMing on 15.532260614999998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:11.97, Y:1.93, Z:0.89 [[ 9.87280375e-01 -1.13911474e-01 -1.10912742e-01 1.19655675e+01] [ 1.12350619e-01 9.93462410e-01 -2.02429904e-02 1.92905957e+00] [ 1.12493549e-01 7.52439197e-03 9.93623966e-01 8.87657289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562260614999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:11.99, Y:1.92, Z:0.89 [[ 9.86968556e-01 -1.15923188e-01 -1.11601454e-01 1.19948825e+01] [ 1.14627594e-01 9.93245840e-01 -1.79782060e-02 1.92414959e+00] [ 1.12931771e-01 4.95131786e-03 9.93590408e-01 8.87170231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.02, Y:1.92, Z:0.89 [[ 9.86552609e-01 -1.16441026e-01 -1.14697150e-01 1.20232270e+01] [ 1.16786935e-01 9.93150017e-01 -3.72242591e-03 1.91741167e+00] [ 1.14344919e-01 -9.72275956e-03 9.93393531e-01 8.89834094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:1.92, Z:0.89 [[ 9.85123852e-01 -1.28130773e-01 -1.14514195e-01 1.20512640e+01] [ 1.26517868e-01 9.91736181e-01 -2.12738241e-02 1.91887371e+00] [ 1.16293703e-01 6.46925974e-03 9.93193800e-01 8.89523096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:1.92, Z:0.89 [[ 9.84295857e-01 -1.34056763e-01 -1.14849686e-01 1.20792576e+01] [ 1.32469428e-01 9.90956513e-01 -2.13784932e-02 1.91929015e+00] [ 1.16676976e-01 5.82869004e-03 9.93152813e-01 8.91810720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682260614999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.11, Y:1.92, Z:0.90 [[ 9.83158587e-01 -1.42773393e-01 -1.14083084e-01 1.21068193e+01] [ 1.41260573e-01 9.89743741e-01 -2.12785832e-02 1.91673231e+00] [ 1.15951034e-01 4.80477991e-03 9.93243309e-01 8.96485017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712260614999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.13, Y:1.92, Z:0.90 [[ 9.82632822e-01 -1.45224934e-01 -1.15509546e-01 1.21349774e+01] [ 1.43688466e-01 9.89388010e-01 -2.15636291e-02 1.91916076e+00] [ 1.17415337e-01 4.59174012e-03 9.93072281e-01 9.00304993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742260614999998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:12.16, Y:1.92, Z:0.90 [[ 9.82361887e-01 -1.44374151e-01 -1.18832772e-01 1.21633981e+01] [ 1.42735944e-01 9.89511163e-01 -2.22285672e-02 1.92142848e+00] [ 1.20795585e-01 4.87478930e-03 9.92665434e-01 9.02876933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772260614999999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:12.19, Y:1.93, Z:0.91 [[ 9.82449836e-01 -1.42905356e-01 -1.19876519e-01 1.21910778e+01] [ 1.41221663e-01 9.89722983e-01 -2.24690852e-02 1.92700050e+00] [ 1.21855499e-01 5.14558765e-03 9.92534513e-01 9.06420919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802260614999998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:12.22, Y:1.93, Z:0.91 [[ 9.82867241e-01 -1.39449300e-01 -1.20523352e-01 1.22186847e+01] [ 1.37715682e-01 9.90213086e-01 -2.26370218e-02 1.93073027e+00] [ 1.22500517e-01 5.65123155e-03 9.92452360e-01 9.09931764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832260614999997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:12.25, Y:1.93, Z:0.91 [[ 9.83155608e-01 -1.37213913e-01 -1.20736870e-01 1.22452750e+01] [ 1.35451796e-01 9.90523356e-01 -2.27220753e-02 1.93375649e+00] [ 1.22710475e-01 5.98530983e-03 9.92424463e-01 9.12847840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862260614999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:12.27, Y:1.94, Z:0.92 [[ 9.84098315e-01 -1.31760198e-01 -1.19120763e-01 1.22733564e+01] [ 1.30002994e-01 9.91259680e-01 -2.24381013e-02 1.93628723e+00] [ 1.21036058e-01 6.59524179e-03 9.92626201e-01 9.15336357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892260614999998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:12.30, Y:1.94, Z:0.92 [[ 9.84619312e-01 -1.29182360e-01 -1.17629625e-01 1.22995183e+01] [ 1.27445578e-01 9.91597070e-01 -2.22008049e-02 1.94073732e+00] [ 1.19509144e-01 6.86796569e-03 9.92809345e-01 9.18448413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922260614999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.33, Y:1.94, Z:0.92 [[ 9.84988686e-01 -1.27675376e-01 -1.16173522e-01 1.23262443e+01] [ 1.25968922e-01 9.91791442e-01 -2.19446130e-02 1.94442539e+00] [ 1.18021691e-01 6.98094221e-03 9.92986479e-01 9.21506635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952260614999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.35, Y:1.95, Z:0.93 [[ 0.98517891 -0.1272675 -0.1150022 12.35433174] [ 0.12397428 0.99165456 -0.03537803 1.9518586 ] [ 0.11854493 0.02059637 0.99273505 0.92844332] [ 0. 0. 0. 1. ]] SLAMing on 15.982260614999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.38, Y:1.95, Z:0.93 [[ 0.98558979 -0.12633041 -0.11248733 12.38388362] [ 0.12319007 0.99178421 -0.03447166 1.9549973 ] [ 0.11591797 0.0201176 0.99305504 0.93044139] [ 0. 0. 0. 1. ]] SLAMing on 16.012260615 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:12.42, Y:1.95, Z:0.94 [[ 9.84794824e-01 -1.22718937e-01 -1.22960222e-01 1.24150114e+01] [ 1.22564767e-01 9.92421093e-01 -8.84606134e-03 1.94544652e+00] [ 1.23113897e-01 -6.35903555e-03 9.92372174e-01 9.35938727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042260614999996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:12.44, Y:1.95, Z:0.93 [[ 9.85218089e-01 -1.18228172e-01 -1.23965384e-01 1.24427681e+01] [ 1.17881787e-01 9.92975745e-01 -1.01515268e-02 1.95131880e+00] [ 1.24294816e-01 -4.61179319e-03 9.92234614e-01 9.31182031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072260614999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.47, Y:1.97, Z:0.93 [[ 0.9851077 -0.11974015 -0.12339012 12.46779994] [ 0.11628335 0.9926037 -0.03487225 1.96811156] [ 0.1266531 0.0200047 0.99174533 0.9314589 ] [ 0. 0. 0. 1. ]] SLAMing on 16.102260615 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.50, Y:1.97, Z:0.93 [[ 9.84565555e-01 -1.18194883e-01 -1.29076091e-01 1.24965902e+01] [ 1.15803989e-01 9.92934338e-01 -2.59005278e-02 1.96808799e+00] [ 1.31225393e-01 1.05532413e-02 9.91296386e-01 9.30368473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132260614999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.53, Y:1.97, Z:0.93 [[ 0.9838077 -0.12020444 -0.13294098 12.52595 ] [ 0.11735409 0.99266366 -0.02910106 1.97271943] [ 0.13546375 0.01302868 0.99069664 0.93268274] [ 0. 0. 0. 1. ]] SLAMing on 16.162260614999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.56, Y:1.97, Z:0.93 [[ 9.83280387e-01 -1.19331824e-01 -1.37548526e-01 1.25564548e+01] [ 1.19112271e-01 9.92831872e-01 -9.85600120e-03 1.96548042e+00] [ 1.37738695e-01 -6.69250462e-03 9.90445992e-01 9.31934867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.58, Y:1.98, Z:0.94 [[ 0.98331281 -0.12241781 -0.13457265 12.58062955] [ 0.11820035 0.99222654 -0.03892528 1.98234613] [ 0.1382917 0.02236919 0.99013889 0.93580667] [ 0. 0. 0. 1. ]] SLAMing on 16.222260615 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:12.61, Y:1.98, Z:0.94 [[ 9.84165902e-01 -1.17736364e-01 -1.32497647e-01 1.26089393e+01] [ 1.15653804e-01 9.93015504e-01 -2.33325200e-02 1.97797977e+00] [ 1.34319303e-01 7.63921371e-03 9.90908657e-01 9.43787210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252260614999997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:12.64, Y:1.99, Z:0.95 [[ 0.98454009 -0.1166433 -0.13067196 12.63549956] [ 0.11338393 0.99303136 -0.03213714 1.9851166 ] [ 0.13350994 0.0168242 0.99090466 0.9502083 ] [ 0. 0. 0. 1. ]] SLAMing on 16.282260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:1.98, Z:0.96 [[ 9.85186105e-01 -1.13312057e-01 -1.28719527e-01 1.26637971e+01] [ 1.11266016e-01 9.93524467e-01 -2.30001477e-02 1.98221487e+00] [ 1.30492193e-01 8.33731702e-03 9.91414281e-01 9.56587036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:1.98, Z:0.96 [[ 9.85906377e-01 -1.11184494e-01 -1.25006494e-01 1.26921719e+01] [ 1.10973468e-01 9.93785531e-01 -8.67227809e-03 1.98209311e+00] [ 1.25193868e-01 -5.32234988e-03 9.92118021e-01 9.60054834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:1.99, Z:0.96 [[ 9.86019149e-01 -1.13332823e-01 -1.22155262e-01 1.27186857e+01] [ 1.11277404e-01 9.93510515e-01 -2.35413579e-02 1.99432600e+00] [ 1.24030546e-01 9.61910927e-03 9.92231776e-01 9.62983837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:2.00, Z:0.97 [[ 9.86297258e-01 -1.16329069e-01 -1.16984040e-01 1.27448251e+01] [ 1.14461093e-01 9.93170988e-01 -2.25842274e-02 1.99980866e+00] [ 1.18812356e-01 8.88464046e-03 9.92876975e-01 9.68557763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:2.01, Z:0.97 [[ 0.98624644 -0.12196215 -0.11154903 12.77136996] [ 0.11705784 0.99188921 -0.04953036 2.01379275] [ 0.11668511 0.03579146 0.99252383 0.96876048] [ 0. 0. 0. 1. ]] SLAMing on 16.432260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:1.98, Z:0.98 [[ 9.85873091e-01 -1.16151331e-01 -1.20677740e-01 1.28055690e+01] [ 1.16365086e-01 9.93192375e-01 -5.29848682e-03 1.98498017e+00] [ 1.20471638e-01 -8.81904005e-03 9.92677596e-01 9.78262923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:1.99, Z:0.98 [[ 9.86511908e-01 -1.15566216e-01 -1.15925431e-01 1.28328327e+01] [ 1.13940593e-01 9.93274479e-01 -2.05754788e-02 1.99187711e+00] [ 1.17523602e-01 7.08934248e-03 9.93044785e-01 9.80416262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:1.99, Z:0.98 [[ 0.98722347 -0.11114455 -0.11417845 12.85893174] [ 0.10861759 0.99368527 -0.02813904 1.9935405 ] [ 0.11658495 0.01537773 0.99306167 0.98320473] [ 0. 0. 0. 1. ]] SLAMing on 16.522260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:2.00, Z:0.98 [[ 0.98721597 -0.11403215 -0.11136107 12.88979605] [ 0.11072129 0.99321741 -0.03549613 2.0003048 ] [ 0.11465346 0.0227123 0.99314588 0.98335825] [ 0. 0. 0. 1. ]] SLAMing on 16.552260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:1.98, Z:0.99 [[ 9.86183093e-01 -1.11786198e-01 -1.22256910e-01 1.29196423e+01] [ 1.11843286e-01 9.93705136e-01 -6.41731207e-03 1.97767252e+00] [ 1.22204687e-01 -7.34496995e-03 9.92477741e-01 9.87427918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582260615 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.95, Y:1.98, Z:0.99 [[ 9.86015148e-01 -1.16285028e-01 -1.19381407e-01 1.29494580e+01] [ 1.15246149e-01 9.93214568e-01 -1.55931795e-02 1.98132531e+00] [ 1.20384606e-01 1.61686373e-03 9.92726011e-01 9.88139626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:1.99, Z:0.98 [[ 0.98550495 -0.12497219 -0.11472554 12.97692858] [ 0.12049987 0.99168603 -0.04515086 1.99077226] [ 0.11941431 0.03067198 0.99237062 0.98483895] [ 0. 0. 0. 1. ]] SLAMing on 16.642260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:1.97, Z:0.99 [[ 9.84533371e-01 -1.24908834e-01 -1.22848791e-01 1.30084560e+01] [ 1.25674077e-01 9.92070403e-01 -1.53062143e-03 1.97299647e+00] [ 1.22065837e-01 -1.39319605e-02 9.92424220e-01 9.92859439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.672260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:1.98, Z:0.99 [[ 9.83351479e-01 -1.37743641e-01 -1.18518175e-01 1.30347507e+01] [ 1.35956155e-01 9.90446065e-01 -2.30763061e-02 1.98499999e+00] [ 1.20564475e-01 6.57884436e-03 9.92683699e-01 9.92209973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:1.99, Z:1.00 [[ 9.83080426e-01 -1.42987985e-01 -1.14487168e-01 1.30611640e+01] [ 1.41351105e-01 9.89707594e-01 -2.23325434e-02 1.99031670e+00] [ 1.16502105e-01 5.77179869e-03 9.93173674e-01 9.96335344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:2.01, Z:1.00 [[ 0.98279477 -0.150814 -0.10662818 13.08590627] [ 0.14654989 0.98809559 -0.0467999 2.00705229] [ 0.11241692 0.03036835 0.99319696 0.99965019] [ 0. 0. 0. 1. ]] SLAMing on 16.762260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:1.99, Z:1.02 [[ 9.82129524e-01 -1.52551262e-01 -1.10225724e-01 1.31168737e+01] [ 1.53883984e-01 9.88082232e-01 3.63628987e-03 1.98876853e+00] [ 1.08357358e-01 -2.05332811e-02 9.93899928e-01 1.01663667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:2.01, Z:1.02 [[ 9.81503159e-01 -1.57772687e-01 -1.08440437e-01 1.31423885e+01] [ 1.56386478e-01 9.87467860e-01 -2.12248867e-02 2.00503160e+00] [ 1.10430154e-01 3.87367540e-03 9.93876338e-01 1.01984205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822260614999998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.17, Y:2.01, Z:1.02 [[ 9.81560426e-01 -1.57480390e-01 -1.08346926e-01 1.31690015e+01] [ 1.56090476e-01 9.87514247e-01 -2.12455909e-02 2.01278254e+00] [ 1.10339897e-01 3.94190792e-03 9.93886094e-01 1.02348005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.19, Y:2.03, Z:1.02 [[ 0.98144521 -0.15976992 -0.10601352 13.19174238] [ 0.15552014 0.98670134 -0.04726463 2.03403785] [ 0.11215515 0.02990041 0.99324075 1.02273111] [ 0. 0. 0. 1. ]] SLAMing on 16.882260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.22, Y:2.03, Z:1.03 [[ 9.81660286e-01 -1.50306565e-01 -1.17264740e-01 1.32236557e+01] [ 1.51614660e-01 9.88437084e-01 2.26417143e-03 2.02549761e+00] [ 1.15568498e-01 -2.00017009e-02 9.93098109e-01 1.02683819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.25, Y:2.04, Z:1.03 [[ 9.82417244e-01 -1.47041834e-01 -1.15043721e-01 1.32482066e+01] [ 1.45219806e-01 9.89105664e-01 -2.41079646e-02 2.04254467e+00] [ 1.17335275e-01 6.97745336e-03 9.93067847e-01 1.02580466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.28, Y:2.05, Z:1.03 [[ 9.84001754e-01 -1.29968595e-01 -1.21855297e-01 1.32761741e+01] [ 1.28098043e-01 9.91492578e-01 -2.30945912e-02 2.04954497e+00] [ 1.23820194e-01 7.11569322e-03 9.92279158e-01 1.02833513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:2.06, Z:1.03 [[ 9.84835571e-01 -1.22397640e-01 -1.22954121e-01 1.33016236e+01] [ 1.20138792e-01 9.92425723e-01 -2.56486773e-02 2.05990282e+00] [ 1.25162170e-01 1.04881701e-02 9.92080858e-01 1.03056089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002260614999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.33, Y:2.07, Z:1.03 [[ 9.85545132e-01 -1.16373538e-01 -1.23117800e-01 1.33299154e+01] [ 1.14346558e-01 9.93164638e-01 -2.34278805e-02 2.06618048e+00] [ 1.25002630e-01 9.01113692e-03 9.92115488e-01 1.03415238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:2.07, Z:1.04 [[ 9.85379926e-01 -1.20412995e-01 -1.20528472e-01 1.33572366e+01] [ 1.18387423e-01 9.92680917e-01 -2.38540496e-02 2.07063195e+00] [ 1.22518652e-01 9.23624636e-03 9.92423232e-01 1.03841688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.38, Y:2.07, Z:1.04 [[ 9.85158796e-01 -1.26236328e-01 -1.16303640e-01 1.33845044e+01] [ 1.24386411e-01 9.91965894e-01 -2.30583086e-02 2.07423036e+00] [ 1.18280041e-01 8.24950313e-03 9.92946009e-01 1.04289260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:2.08, Z:1.05 [[ 9.84897610e-01 -1.35549541e-01 -1.07717311e-01 1.34114693e+01] [ 1.34014836e-01 9.90748346e-01 -2.13948110e-02 2.07667578e+00] [ 1.09620804e-01 6.63598051e-03 9.93951328e-01 1.04916201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:2.08, Z:1.05 [[ 9.85455917e-01 -1.36045498e-01 -1.01824648e-01 1.34381890e+01] [ 1.34676203e-01 9.90683013e-01 -2.02358046e-02 2.08140006e+00] [ 1.03628939e-01 6.22813648e-03 9.94596528e-01 1.05447081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:2.09, Z:1.06 [[ 0.98594996 -0.13345835 -0.10045667 13.46432085] [ 0.13132351 0.99095522 -0.02760233 2.08775631] [ 0.10323182 0.01402219 0.99455848 1.05878354] [ 0. 0. 0. 1. ]] SLAMing on 17.182260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:2.09, Z:1.06 [[ 0.98647452 -0.12964011 -0.10030686 13.49212388] [ 0.12742781 0.99144733 -0.02818407 2.08964503] [ 0.10310276 0.01502099 0.99455728 1.06210396] [ 0. 0. 0. 1. ]] SLAMing on 17.212260614999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.52, Y:2.08, Z:1.07 [[ 9.86553514e-01 -1.25042275e-01 -1.05245392e-01 1.35246787e+01] [ 1.25071972e-01 9.92127389e-01 -6.34395436e-03 2.07871956e+00] [ 1.05210099e-01 -6.90459832e-03 9.94426046e-01 1.06831617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:2.09, Z:1.07 [[ 9.86148133e-01 -1.28840671e-01 -1.04460236e-01 1.35504619e+01] [ 1.27348549e-01 9.91638684e-01 -2.08582683e-02 2.09320703e+00] [ 1.06274204e-01 7.26648280e-03 9.94310310e-01 1.06627651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:2.11, Z:1.06 [[ 0.98569489 -0.13511038 -0.10075106 13.57532976] [ 0.13082064 0.99024028 -0.04806403 2.11309403] [ 0.10626171 0.03419615 0.99375001 1.06021634] [ 0. 0. 0. 1. ]] SLAMing on 17.302260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:2.09, Z:1.07 [[ 9.85030795e-01 -1.29189420e-01 -1.14124611e-01 1.36082768e+01] [ 1.30639264e-01 9.91415877e-01 5.28593943e-03 2.09190078e+00] [ 1.12462064e-01 -2.01159683e-02 9.93452380e-01 1.07031904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:2.11, Z:1.07 [[ 9.85212647e-01 -1.32534934e-01 -1.08584217e-01 1.36333185e+01] [ 1.30357820e-01 9.91100925e-01 -2.69405858e-02 2.10500647e+00] [ 1.11188486e-01 1.23874040e-02 9.93722131e-01 1.07107098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:2.11, Z:1.08 [[ 9.85065217e-01 -1.33796531e-01 -1.08374385e-01 1.36622983e+01] [ 1.32052087e-01 9.90972437e-01 -2.31489856e-02 2.10672188e+00] [ 1.10493283e-01 8.49219674e-03 9.93840589e-01 1.07607258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:2.11, Z:1.08 [[ 9.84111377e-01 -1.43631418e-01 -1.04378223e-01 1.36893505e+01] [ 1.41582274e-01 9.89563059e-01 -2.68218621e-02 2.11347578e+00] [ 1.07141296e-01 1.16175935e-02 9.94175927e-01 1.07930084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:2.11, Z:1.09 [[ 9.83678390e-01 -1.47802124e-01 -1.02622400e-01 1.37182385e+01] [ 1.47569377e-01 9.89002173e-01 -9.89857149e-03 2.11458140e+00] [ 1.02956807e-01 -5.40691276e-03 9.94671132e-01 1.08503447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:2.14, Z:1.09 [[ 0.98159735 -0.1644951 -0.09699482 13.743052 ] [ 0.1618816 0.98621462 -0.03427937 2.13986236] [ 0.1012965 0.01794686 0.99469439 1.08748974] [ 0. 0. 0. 1. ]] SLAMing on 17.482260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:2.14, Z:1.09 [[ 9.80382779e-01 -1.69808691e-01 -1.00073053e-01 1.37697638e+01] [ 1.68381066e-01 9.85462729e-01 -2.26058720e-02 2.14117061e+00] [ 1.02456937e-01 5.31200026e-03 9.94723257e-01 1.09414673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:2.14, Z:1.10 [[ 9.76962789e-01 -1.88348215e-01 -1.00342709e-01 1.37991439e+01] [ 1.87883349e-01 9.82089432e-01 -1.41490183e-02 2.14290557e+00] [ 1.01210456e-01 -5.02965985e-03 9.94852324e-01 1.10042663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:2.15, Z:1.10 [[ 9.75358038e-01 -1.96451374e-01 -1.00416913e-01 1.38240486e+01] [ 1.95620447e-01 9.80511654e-01 -1.81531759e-02 2.15099652e+00] [ 1.02026169e-01 -1.93775534e-03 9.94779828e-01 1.10448364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:2.16, Z:1.11 [[ 9.73825312e-01 -2.03259877e-01 -1.01733401e-01 1.38511328e+01] [ 2.03012100e-01 9.79091341e-01 -1.28931475e-02 2.16375926e+00] [ 1.02226951e-01 -8.09743791e-03 9.94728145e-01 1.10771008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:2.18, Z:1.11 [[ 9.73862426e-01 -2.03487393e-01 -1.00920050e-01 1.38759449e+01] [ 2.01738702e-01 9.79057457e-01 -2.73494536e-02 2.17998736e+00] [ 1.04371797e-01 6.27512531e-03 9.94518552e-01 1.10886364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:2.19, Z:1.12 [[ 9.74812706e-01 -1.98614721e-01 -1.01451374e-01 1.39005530e+01] [ 1.97938130e-01 9.80070627e-01 -1.67947472e-02 2.19454482e+00] [ 1.02765196e-01 -3.70936228e-03 9.94698726e-01 1.11509538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:2.21, Z:1.12 [[ 9.75851195e-01 -1.95606815e-01 -9.72235577e-02 1.39267680e+01] [ 1.94508310e-01 9.80681497e-01 -2.07441152e-02 2.21063393e+00] [ 9.94030344e-02 1.33237965e-03 9.95046361e-01 1.11728062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:2.23, Z:1.12 [[ 9.76588877e-01 -1.92222493e-01 -9.65643710e-02 1.39500171e+01] [ 1.90870537e-01 9.81342543e-01 -2.31355180e-02 2.23335746e+00] [ 9.92098923e-02 4.16259620e-03 9.95057822e-01 1.12238737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:2.25, Z:1.13 [[ 9.76871365e-01 -1.89792056e-01 -9.84952324e-02 1.39697253e+01] [ 1.87732737e-01 9.81766275e-01 -2.98563211e-02 2.24655204e+00] [ 1.02365790e-01 1.06750056e-02 9.94689544e-01 1.12917033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:2.25, Z:1.13 [[ 9.77340531e-01 -1.88189621e-01 -9.69027992e-02 1.40025855e+01] [ 1.88522959e-01 9.82051730e-01 -5.78737930e-03 2.25247136e+00] [ 9.62526863e-02 -1.26121621e-02 9.95277024e-01 1.13244263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:2.28, Z:1.14 [[ 9.76501978e-01 -1.92849735e-01 -9.61918251e-02 1.40239116e+01] [ 1.91190619e-01 9.81201470e-01 -2.62644565e-02 2.28030576e+00] [ 9.94486537e-02 7.25631907e-03 9.95016237e-01 1.13724464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:2.29, Z:1.14 [[ 9.74226026e-01 -1.99243183e-01 -1.05762963e-01 1.40506492e+01] [ 1.98766348e-01 9.79929990e-01 -1.51378214e-02 2.29000847e+00] [ 1.06656407e-01 -6.27445837e-03 9.94276140e-01 1.14319952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:2.30, Z:1.14 [[ 9.73631133e-01 -2.03793869e-01 -1.02520611e-01 1.40771593e+01] [ 2.02725577e-01 9.79013698e-01 -2.08451348e-02 2.30391081e+00] [ 1.04617193e-01 -4.88077794e-04 9.94512446e-01 1.14179806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:2.32, Z:1.15 [[ 9.72122154e-01 -2.11028891e-01 -1.02202372e-01 1.41019692e+01] [ 2.10002942e-01 9.77479059e-01 -2.08195610e-02 2.32272825e+00] [ 1.04294207e-01 -1.22364234e-03 9.94545736e-01 1.14596345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:2.34, Z:1.15 [[ 9.70726966e-01 -2.14896745e-01 -1.07277890e-01 1.41277936e+01] [ 2.13784990e-01 9.76635330e-01 -2.18954530e-02 2.33529276e+00] [ 1.09476639e-01 -1.67989608e-03 9.93987949e-01 1.15226870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:2.35, Z:1.16 [[ 9.69896334e-01 -2.21129574e-01 -1.01994176e-01 1.41539553e+01] [ 2.20002226e-01 9.75244112e-01 -2.23146297e-02 2.35094672e+00] [ 1.04403644e-01 -7.96068166e-04 9.94534688e-01 1.15512488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:2.37, Z:1.16 [[ 9.69837079e-01 -2.24831062e-01 -9.41649266e-02 1.41771179e+01] [ 2.24202313e-01 9.74388303e-01 -1.73423534e-02 2.37166365e+00] [ 9.56523028e-02 -4.29273697e-03 9.95405550e-01 1.15947904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:2.39, Z:1.16 [[ 9.70133766e-01 -2.24610411e-01 -9.16004340e-02 1.42028662e+01] [ 2.23892914e-01 9.74444383e-01 -1.81688783e-02 2.38722777e+00] [ 9.33404476e-02 -2.88244582e-03 9.95630078e-01 1.16402508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022260614999997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:14.22, Y:2.42, Z:1.17 [[ 9.71162023e-01 -2.21033279e-01 -8.93790530e-02 1.42234288e+01] [ 2.20233170e-01 9.75265280e-01 -1.88410126e-02 2.41596337e+00] [ 9.13327780e-02 -1.38655621e-03 9.95819462e-01 1.16997132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052260614999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:14.25, Y:2.45, Z:1.17 [[ 9.72706256e-01 -2.16209384e-01 -8.42380085e-02 1.42455154e+01] [ 2.15519686e-01 9.76346126e-01 -1.73062846e-02 2.44788261e+00] [ 8.59872344e-02 -1.32101789e-03 9.96295363e-01 1.17299309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082260615 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:14.27, Y:2.46, Z:1.18 [[ 9.73589549e-01 -2.13384038e-01 -8.11827764e-02 1.42701958e+01] [ 2.12731323e-01 9.76967883e-01 -1.67074830e-02 2.46381086e+00] [ 8.28780754e-02 -1.00388856e-03 9.96559189e-01 1.17611060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112260614999997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:14.29, Y:2.48, Z:1.18 [[ 9.74595117e-01 -2.09281541e-01 -7.97846754e-02 1.42946693e+01] [ 2.08635041e-01 9.77855234e-01 -1.64487432e-02 2.48006734e+00] [ 8.14602807e-02 -6.15014205e-04 9.96676399e-01 1.18023432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142260614999998 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:14.32, Y:2.51, Z:1.19 [[ 9.76296981e-01 -1.99555535e-01 -8.37961389e-02 1.43169994e+01] [ 1.97935916e-01 9.79834856e-01 -2.72951943e-02 2.51393402e+00] [ 8.75532848e-02 1.00619503e-02 9.96109020e-01 1.18614894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172260615 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:14.34, Y:2.53, Z:1.18 [[ 9.77579401e-01 -1.87607194e-01 -9.56141004e-02 1.43418801e+01] [ 1.87544222e-01 9.82208010e-01 -9.72576866e-03 2.52688279e+00] [ 9.57375594e-02 -8.42416094e-03 9.95370963e-01 1.18366133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202260614999997 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:14.37, Y:2.54, Z:1.19 [[ 9.78420044e-01 -1.84856129e-01 -9.23169992e-02 1.43655631e+01] [ 1.83869079e-01 9.82763996e-01 -1.91595865e-02 2.54198964e+00] [ 9.42675901e-02 1.77188187e-03 9.95545319e-01 1.18868842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232260614999998 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:14.39, Y:2.55, Z:1.19 [[ 9.78358719e-01 -1.85181429e-01 -9.23149837e-02 1.43931358e+01] [ 1.84194907e-01 9.82702790e-01 -1.91692961e-02 2.54793423e+00] [ 9.42679897e-02 1.75049808e-03 9.95545319e-01 1.19223792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262260615 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:14.42, Y:2.57, Z:1.20 [[ 9.79359387e-01 -1.81406674e-01 -8.91448816e-02 1.44175214e+01] [ 1.80409920e-01 9.83404449e-01 -1.91820553e-02 2.56810297e+00] [ 9.11452260e-02 2.70350498e-03 9.95833941e-01 1.19853177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292260614999996 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:14.44, Y:2.58, Z:1.20 [[ 9.79262595e-01 -1.80432802e-01 -9.21345463e-02 1.44425831e+01] [ 1.79514025e-01 9.83586434e-01 -1.82329795e-02 2.57881844e+00] [ 9.39121174e-02 1.31543160e-03 9.95579622e-01 1.20154252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322260614999998 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:14.47, Y:2.59, Z:1.20 [[ 9.78811682e-01 -1.82289734e-01 -9.32638410e-02 1.44696657e+01] [ 1.80960260e-01 9.83230923e-01 -2.25906077e-02 2.58895871e+00] [ 9.58179283e-02 5.23490177e-03 9.95385112e-01 1.20320586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352260615 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:14.50, Y:2.59, Z:1.21 [[ 9.77661397e-01 -1.89830134e-01 -9.02369861e-02 1.44957756e+01] [ 1.88771328e-01 9.81813181e-01 -2.02055435e-02 2.59387251e+00] [ 9.24314834e-02 2.72002416e-03 9.95715332e-01 1.20542369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382260614999996 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:14.52, Y:2.60, Z:1.21 [[ 9.76380203e-01 -1.98174938e-01 -8.60720232e-02 1.45227147e+01] [ 1.97510995e-01 9.80166008e-01 -1.62481592e-02 2.59896460e+00] [ 8.75848493e-02 -1.13579002e-03 9.96156416e-01 1.20971761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412260614999997 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:14.55, Y:2.61, Z:1.22 [[ 9.73166777e-01 -2.15788253e-01 -7.98865080e-02 1.45485610e+01] [ 2.15226270e-01 9.76438272e-01 -1.56829199e-02 2.60582712e+00] [ 8.13884337e-02 -1.93157852e-03 9.96680587e-01 1.21532218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442260615 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:14.58, Y:2.61, Z:1.22 [[ 9.71585067e-01 -2.23217097e-01 -7.87183913e-02 1.45750888e+01] [ 2.22849913e-01 9.74758847e-01 -1.35316897e-02 2.61359833e+00] [ 7.97519528e-02 -4.39519897e-03 9.96805050e-01 1.21751694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472260614999996 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:14.60, Y:2.64, Z:1.22 [[ 9.69459789e-01 -2.31821234e-01 -8.00414507e-02 1.45976697e+01] [ 2.30945417e-01 9.72757829e-01 -2.01598682e-02 2.63514637e+00] [ 8.25344333e-02 1.05897534e-03 9.96587651e-01 1.22278802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502260614999997 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:14.62, Y:2.65, Z:1.23 [[ 9.68817579e-01 -2.33382850e-01 -8.32162540e-02 1.46241760e+01] [ 2.32426066e-01 9.72384257e-01 -2.11419075e-02 2.65141677e+00] [ 8.58523340e-02 1.14102504e-03 9.96307219e-01 1.22639896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532260615 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:14.65, Y:2.67, Z:1.23 [[ 9.69260445e-01 -2.30395514e-01 -8.63255260e-02 1.46496891e+01] [ 2.29771765e-01 9.73092019e-01 -1.72295780e-02 2.66588118e+00] [ 8.79722979e-02 -3.13522003e-03 9.96117988e-01 1.22869990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562260614999996 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:14.67, Y:2.69, Z:1.23 [[ 9.72122889e-01 -2.16943168e-01 -8.89536388e-02 1.46726343e+01] [ 2.16691642e-01 9.76158889e-01 -1.25919134e-02 2.68760994e+00] [ 8.95646148e-02 -7.03462282e-03 9.95956171e-01 1.22646104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592260614999997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:14.69, Y:2.72, Z:1.23 [[ 9.75298271e-01 -2.01927643e-01 -8.95461296e-02 1.46949718e+01] [ 2.00682440e-01 9.79391185e-01 -2.27917822e-02 2.71694090e+00] [ 9.23029808e-02 4.25844994e-03 9.95721861e-01 1.23249460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622260615 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:14.72, Y:2.73, Z:1.24 [[ 9.76339370e-01 -1.95769684e-01 -9.18458803e-02 1.47189112e+01] [ 1.94412805e-01 9.80636281e-01 -2.35827549e-02 2.73379285e+00] [ 9.46841909e-02 5.16875680e-03 9.95493942e-01 1.23749547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652260614999996 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:14.74, Y:2.76, Z:1.24 [[ 9.76997395e-01 -1.91750118e-01 -9.33165673e-02 1.47438006e+01] [ 1.91487082e-01 9.81423608e-01 -1.18490522e-02 2.75727641e+00] [ 9.38551393e-02 -6.29242400e-03 9.95565979e-01 1.23905888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682260614999997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:14.77, Y:2.78, Z:1.25 [[ 9.77067109e-01 -1.92895777e-01 -9.01725191e-02 1.47676574e+01] [ 1.91954586e-01 9.81218347e-01 -1.90785750e-02 2.77580498e+00] [ 9.21591067e-02 1.33201954e-03 9.95743403e-01 1.24562428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712260614999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.79, Y:2.79, Z:1.25 [[ 9.76575950e-01 -1.97474366e-01 -8.54592784e-02 1.47936808e+01] [ 1.96643069e-01 9.80307644e-01 -1.81225423e-02 2.79470422e+00] [ 8.73551214e-02 8.93064224e-04 9.96176834e-01 1.24893986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742260615 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:14.82, Y:2.81, Z:1.26 [[ 0.97550283 -0.20470139 -0.08057023 14.82180745] [ 0.20259812 0.97868691 -0.033555 2.80995415] [ 0.08572179 0.01640962 0.99618397 1.2564977 ] [ 0. 0. 0. 1. ]] SLAMing on 18.772260614999997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.86, Y:2.81, Z:1.25 [[ 9.73854328e-01 -2.13904634e-01 -7.65020005e-02 1.48564738e+01] [ 2.14023441e-01 9.76805281e-01 -6.73867323e-03 2.81073820e+00] [ 7.61689915e-02 -9.81073528e-03 9.97046656e-01 1.24937754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802260614999998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:14.89, Y:2.83, Z:1.26 [[ 9.72743168e-01 -2.20315482e-01 -7.23313016e-02 1.48856028e+01] [ 2.19829356e-01 9.75427376e-01 -1.47135166e-02 2.82502441e+00] [ 7.37955472e-02 -1.58807067e-03 9.97272127e-01 1.25702064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832260615 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:14.92, Y:2.84, Z:1.26 [[ 9.72158672e-01 -2.23592054e-01 -7.01007093e-02 1.49155462e+01] [ 2.23076844e-01 9.74682432e-01 -1.51946917e-02 2.83870625e+00] [ 7.17233421e-02 -8.66193652e-04 9.97424189e-01 1.26186282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862260614999997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:14.94, Y:2.86, Z:1.27 [[ 9.70862340e-01 -2.28086185e-01 -7.35051623e-02 1.49421614e+01] [ 2.27542155e-01 9.73639966e-01 -1.58045555e-02 2.86347773e+00] [ 7.51723645e-02 -1.38147529e-03 9.97169598e-01 1.26980623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892260614999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.97, Y:2.89, Z:1.27 [[ 9.69882392e-01 -2.31186846e-01 -7.66862992e-02 1.49691615e+01] [ 2.30672268e-01 9.72906064e-01 -1.56235630e-02 2.88635469e+00] [ 7.82205278e-02 -2.53638397e-03 9.96932854e-01 1.27376227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922260615 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:15.00, Y:2.90, Z:1.28 [[ 9.69662713e-01 -2.32141123e-01 -7.65814683e-02 1.49983587e+01] [ 2.31561744e-01 9.72680543e-01 -1.64839364e-02 2.90123111e+00] [ 7.83159036e-02 -1.74947988e-03 9.96927058e-01 1.27829701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952260614999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:15.03, Y:2.92, Z:1.28 [[ 9.70417674e-01 -2.27072205e-01 -8.20228773e-02 1.50285840e+01] [ 2.26947670e-01 9.73845256e-01 -1.09623109e-02 2.91566005e+00] [ 8.23668261e-02 -7.97688058e-03 9.96570156e-01 1.27542731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982260614999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:15.06, Y:2.93, Z:1.28 [[ 9.70843741e-01 -2.25458354e-01 -8.14307188e-02 1.50579672e+01] [ 2.24232596e-01 9.74239684e-01 -2.40162898e-02 2.93075948e+00] [ 8.47477109e-02 5.05664322e-03 9.96389610e-01 1.28121338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012260615 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:15.09, Y:2.94, Z:1.28 [[ 9.72384917e-01 -2.17145105e-01 -8.55311484e-02 1.50883590e+01] [ 2.16441060e-01 9.76138239e-01 -1.75330132e-02 2.94234369e+00] [ 8.72974326e-02 -1.46361486e-03 9.96181216e-01 1.28342602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042260614999996 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:15.12, Y:2.95, Z:1.29 [[ 9.72639696e-01 -2.15835887e-01 -8.59470283e-02 1.51163982e+01] [ 2.14932880e-01 9.76429387e-01 -1.97360125e-02 2.95464322e+00] [ 8.81809439e-02 7.23186918e-04 9.96104210e-01 1.29010946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072260614999998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:15.15, Y:2.96, Z:1.29 [[ 9.73371463e-01 -2.11890419e-01 -8.74668228e-02 1.51501111e+01] [ 2.11718897e-01 9.77264806e-01 -1.13404911e-02 2.96008045e+00] [ 8.78811890e-02 -7.47986882e-03 9.96102880e-01 1.29370094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102260615 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:15.18, Y:2.97, Z:1.30 [[ 9.74175947e-01 -2.09360401e-01 -8.45544003e-02 1.51791731e+01] [ 2.08603654e-01 9.77838497e-01 -1.77873400e-02 2.97438513e+00] [ 8.64045123e-02 -3.10358049e-04 9.96260088e-01 1.30248807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132260614999996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:15.21, Y:2.98, Z:1.30 [[ 9.73581989e-01 -2.11965844e-01 -8.49034275e-02 1.52098963e+01] [ 2.10669918e-01 9.77261460e-01 -2.40462998e-02 2.97963907e+00] [ 8.80698418e-02 5.52444634e-03 9.96098983e-01 1.30276201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162260614999997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:15.24, Y:2.98, Z:1.30 [[ 9.72974316e-01 -2.14037374e-01 -8.66543824e-02 1.52430523e+01] [ 2.13159973e-01 9.76825402e-01 -1.93638763e-02 2.97937296e+00] [ 8.87907952e-02 3.69308500e-04 9.96050229e-01 1.30061239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192260615 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:15.28, Y:2.98, Z:1.30 [[ 9.70718850e-01 -2.21618182e-01 -9.26838515e-02 1.52785298e+01] [ 2.21384403e-01 9.75100943e-01 -1.29265869e-02 2.97528659e+00] [ 9.32408777e-02 -7.97067756e-03 9.95611675e-01 1.29832654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222260614999996 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:15.31, Y:2.98, Z:1.30 [[ 9.69382486e-01 -2.26707800e-01 -9.43460058e-02 1.53100779e+01] [ 2.25857612e-01 9.73960386e-01 -1.97358957e-02 2.98283275e+00] [ 9.63635537e-02 -2.17713193e-03 9.95343823e-01 1.30369203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252260614999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:15.34, Y:2.99, Z:1.31 [[ 9.68433673e-01 -2.30201703e-01 -9.56211072e-02 1.53388030e+01] [ 2.28821883e-01 9.73139398e-01 -2.53032996e-02 2.99004827e+00] [ 9.88775294e-02 2.62436556e-03 9.95096150e-01 1.30717694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282260615 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:15.37, Y:2.99, Z:1.31 [[ 9.67251395e-01 -2.31839369e-01 -1.03321086e-01 1.53737640e+01] [ 2.31332465e-01 9.72725707e-01 -1.70290881e-02 2.99262232e+00] [ 1.04451089e-01 -7.43011227e-03 9.94502269e-01 1.30667606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312260614999996 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:15.40, Y:3.01, Z:1.31 [[ 9.67447555e-01 -2.30207500e-01 -1.05117720e-01 1.54020533e+01] [ 2.29177003e-01 9.73137363e-01 -2.19448077e-02 3.00506397e+00] [ 1.07345840e-01 -2.86011354e-03 9.94217627e-01 1.31225122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342260614999997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:15.43, Y:3.02, Z:1.32 [[ 9.67792636e-01 -2.28546977e-01 -1.05563695e-01 1.54305681e+01] [ 2.26938154e-01 9.73530074e-01 -2.71710952e-02 3.01633684e+00] [ 1.08979303e-01 2.33955584e-03 9.94041266e-01 1.31811853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372260615 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.46, Y:3.02, Z:1.32 [[ 9.67616008e-01 -2.27346876e-01 -1.09693476e-01 1.54648131e+01] [ 2.26680748e-01 9.73790114e-01 -1.86722151e-02 3.02063605e+00] [ 1.11063492e-01 -6.79786494e-03 9.93790063e-01 1.31867241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402260614999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:15.50, Y:3.03, Z:1.32 [[ 9.66787431e-01 -2.28508318e-01 -1.14481491e-01 1.54952066e+01] [ 2.27280600e-01 9.73537430e-01 -2.38411672e-02 3.03005222e+00] [ 1.16899922e-01 -2.97008121e-03 9.93139259e-01 1.32102602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432260614999997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:15.52, Y:3.04, Z:1.32 [[ 9.66393552e-01 -2.29301430e-01 -1.16208250e-01 1.55247143e+01] [ 2.28043302e-01 9.73350450e-01 -2.41899643e-02 3.03610797e+00] [ 1.18658146e-01 -3.12348761e-03 9.92930253e-01 1.32289863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462260614999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:15.55, Y:3.04, Z:1.33 [[ 9.65591544e-01 -2.30608130e-01 -1.20220055e-01 1.55546020e+01] [ 2.29271793e-01 9.73040760e-01 -2.50224880e-02 3.04460215e+00] [ 1.22749402e-01 -3.40156470e-03 9.92431868e-01 1.32822707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492260614999996 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:15.58, Y:3.05, Z:1.33 [[ 9.65599087e-01 -2.30972574e-01 -1.19457409e-01 1.55848478e+01] [ 2.29656573e-01 9.72954213e-01 -2.48587465e-02 3.05136989e+00] [ 1.21968278e-01 -3.43059619e-03 9.92528070e-01 1.33445301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522260614999997 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:15.61, Y:3.06, Z:1.34 [[ 9.65915926e-01 -2.30687753e-01 -1.17429060e-01 1.56149279e+01] [ 2.29414702e-01 9.73022095e-01 -2.44314844e-02 3.05519192e+00] [ 1.19897114e-01 -3.34119281e-03 9.92780700e-01 1.33848996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552260614999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.65, Y:3.06, Z:1.34 [[ 9.66302644e-01 -2.30116705e-01 -1.15349482e-01 1.56462145e+01] [ 2.28884665e-01 9.73157733e-01 -2.39965913e-02 3.05777654e+00] [ 1.17775257e-01 -3.21375791e-03 9.93035075e-01 1.34164906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582260615 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:15.68, Y:3.05, Z:1.34 [[ 9.66112311e-01 -2.32826372e-01 -1.11440043e-01 1.56784535e+01] [ 2.31695150e-01 9.72512279e-01 -2.31781028e-02 3.05280951e+00] [ 1.13773284e-01 -3.42746708e-03 9.93500827e-01 1.34018875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612260614999997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:15.71, Y:3.05, Z:1.34 [[ 9.65956951e-01 -2.34735683e-01 -1.08748919e-01 1.57086602e+01] [ 2.33670582e-01 9.72052707e-01 -2.26184567e-02 3.05328667e+00] [ 1.11019040e-01 -3.56296783e-03 9.93811893e-01 1.34118904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642260614999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:15.74, Y:3.05, Z:1.34 [[ 9.66178876e-01 -2.36786780e-01 -1.02129331e-01 1.57395387e+01] [ 2.35859081e-01 9.71555098e-01 -2.12411259e-02 3.05493635e+00] [ 1.04253890e-01 -3.56540309e-03 9.94544325e-01 1.34462234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672260615 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:15.77, Y:3.06, Z:1.35 [[ 9.66512977e-01 -2.36959269e-01 -9.85036553e-02 1.57703267e+01] [ 2.36097031e-01 9.71513448e-01 -2.04893180e-02 3.06231832e+00] [ 1.00552760e-01 -3.45322886e-03 9.94925735e-01 1.35039499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702260614999997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:15.80, Y:3.07, Z:1.36 [[ 9.67080614e-01 -2.37172462e-01 -9.22188130e-02 1.58016183e+01] [ 2.36418535e-01 9.71462096e-01 -1.91747777e-02 3.06898362e+00] [ 9.41348106e-02 -3.25868083e-03 9.95554126e-01 1.35580236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732260614999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:15.83, Y:3.07, Z:1.36 [[ 9.67257035e-01 -2.37042478e-01 -9.06900923e-02 1.58335135e+01] [ 2.36313459e-01 9.71494021e-01 -1.88498516e-02 3.07333478e+00] [ 9.25730979e-02 -3.19863781e-03 9.95700753e-01 1.35880131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762260615 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:15.87, Y:3.08, Z:1.36 [[ 9.67191213e-01 -2.38386537e-01 -8.78237762e-02 1.58674263e+01] [ 2.37709188e-01 9.71164986e-01 -1.82458562e-02 3.07516004e+00] [ 8.96409429e-02 -3.22928677e-03 9.95968912e-01 1.36021779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792260614999996 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:15.90, Y:3.08, Z:1.36 [[ 9.67077976e-01 -2.39092686e-01 -8.71485834e-02 1.58991477e+01] [ 2.38429692e-01 9.70991205e-01 -1.80931290e-02 3.08007531e+00] [ 8.89464428e-02 -3.28134334e-03 9.96031005e-01 1.36447617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822260614999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:15.93, Y:3.09, Z:1.37 [[ 9.66759707e-01 -2.40477800e-01 -8.68682731e-02 1.59313362e+01] [ 2.39825423e-01 9.70648662e-01 -1.80261367e-02 3.08574705e+00] [ 8.86534587e-02 -3.40627772e-03 9.96056706e-01 1.37011327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852260615 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:15.96, Y:3.09, Z:1.37 [[ 9.66662917e-01 -2.41082562e-01 -8.62670400e-02 1.59630915e+01] [ 2.40442598e-01 9.70498483e-01 -1.78899970e-02 3.09185329e+00] [ 8.80349977e-02 -3.44867454e-03 9.96111412e-01 1.37488386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882260614999996 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:15.99, Y:3.10, Z:1.38 [[ 9.66833117e-01 -2.40236527e-01 -8.67187080e-02 1.59943086e+01] [ 2.39587554e-01 9.70708422e-01 -1.79711984e-02 3.09752936e+00] [ 8.84959185e-02 -3.40157331e-03 9.96070731e-01 1.37794930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912260614999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:16.03, Y:3.10, Z:1.38 [[ 9.66960164e-01 -2.39305293e-01 -8.78693214e-02 1.60269351e+01] [ 2.38636090e-01 9.70938522e-01 -1.81990094e-02 3.10045994e+00] [ 8.96708282e-02 -3.37107413e-03 9.95965752e-01 1.37632474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942260615 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:16.06, Y:3.11, Z:1.38 [[ 9.67040776e-01 -2.38642293e-01 -8.87805967e-02 1.60583518e+01] [ 2.37957045e-01 9.71101757e-01 -1.83799645e-02 3.10630572e+00] [ 9.06012303e-02 -3.35179334e-03 9.95881611e-01 1.37836443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972260614999996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:16.09, Y:3.12, Z:1.38 [[ 9.66965650e-01 -2.38062126e-01 -9.11254998e-02 1.60878220e+01] [ 2.37338419e-01 9.71243999e-01 -1.88565459e-02 3.11654248e+00] [ 9.29941243e-02 -3.39394998e-03 9.95660873e-01 1.38168867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002260614999997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:16.12, Y:3.13, Z:1.39 [[ 9.66861609e-01 -2.37543931e-01 -9.35495019e-02 1.61183655e+01] [ 2.36779270e-01 9.71370708e-01 -1.93526446e-02 3.12671987e+00] [ 9.54683492e-02 -3.43925362e-03 9.95426525e-01 1.38666655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032260615 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:16.15, Y:3.14, Z:1.39 [[ 9.66677323e-01 -2.36143649e-01 -9.88490293e-02 1.61486535e+01] [ 2.35283402e-01 9.71711858e-01 -2.04398074e-02 3.14020698e+00] [ 1.00879505e-01 -3.49883754e-03 9.94892499e-01 1.39066467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062260614999996 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:16.18, Y:3.15, Z:1.39 [[ 9.67119453e-01 -2.33517031e-01 -1.00746014e-01 1.61763658e+01] [ 2.32563424e-01 9.72348521e-01 -2.12745671e-02 3.14890795e+00] [ 1.02928212e-01 -2.85479033e-03 9.94684690e-01 1.39472497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092260614999997 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:16.21, Y:3.16, Z:1.40 [[ 9.67324384e-01 -2.31809358e-01 -1.02703248e-01 1.62081594e+01] [ 2.30830511e-01 9.72756829e-01 -2.14808642e-02 3.16172181e+00] [ 1.04884751e-01 -2.92807944e-03 9.94480073e-01 1.39913086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122260615 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:16.24, Y:3.17, Z:1.40 [[ 9.67661627e-01 -2.30093744e-01 -1.03382028e-01 1.62393037e+01] [ 2.29121306e-01 9.73163754e-01 -2.13479646e-02 3.16930786e+00] [ 1.05519676e-01 -3.02941921e-03 9.94412601e-01 1.40170542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152260614999996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:16.27, Y:3.18, Z:1.41 [[ 9.67685224e-01 -2.29993734e-01 -1.03383702e-01 1.62710990e+01] [ 2.29021593e-01 9.73187403e-01 -2.13398559e-02 3.17577594e+00] [ 1.05519749e-01 -3.02683680e-03 9.94412601e-01 1.40587002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:3.18, Z:1.41 [[ 9.68260109e-01 -2.27489836e-01 -1.03540986e-01 1.63034183e+01] [ 2.26501690e-01 9.73776517e-01 -2.13607126e-02 3.18049731e+00] [ 1.05685126e-01 -2.76948235e-03 9.94395789e-01 1.40746272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212260614999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:16.34, Y:3.18, Z:1.41 [[ 9.68141923e-01 -2.27797376e-01 -1.03969091e-01 1.63354283e+01] [ 2.26803747e-01 9.73704464e-01 -2.14400850e-02 3.18444569e+00] [ 1.06119163e-01 -2.82353422e-03 9.94349411e-01 1.41079897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242260614999996 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:16.37, Y:3.19, Z:1.42 [[ 9.67443761e-01 -2.29763782e-01 -1.06118679e-01 1.63658228e+01] [ 2.28741397e-01 9.73241449e-01 -2.18736103e-02 3.18604877e+00] [ 1.08304861e-01 -3.11224717e-03 9.94112856e-01 1.41635204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272260614999997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:16.40, Y:3.19, Z:1.42 [[ 9.66966242e-01 -2.31336818e-01 -1.07049349e-01 1.63953681e+01] [ 2.30306974e-01 9.72868034e-01 -2.20564350e-02 3.19060022e+00] [ 1.09247355e-01 -3.32638352e-03 9.94009029e-01 1.42132045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302260614999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:16.42, Y:3.20, Z:1.43 [[ 9.66912855e-01 -2.31387728e-01 -1.07420905e-01 1.64230475e+01] [ 2.29783399e-01 9.72860187e-01 -2.72515489e-02 3.19543595e+00] [ 1.10811196e-01 1.66633215e-03 9.93840079e-01 1.42676873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332260614999996 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:16.46, Y:3.19, Z:1.42 [[ 9.66529738e-01 -2.33580914e-01 -1.06114193e-01 1.64564945e+01] [ 2.33036135e-01 9.72307350e-01 -1.76798649e-02 3.18840661e+00] [ 1.07305289e-01 -7.64032633e-03 9.94196761e-01 1.42212569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362260614999997 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:16.49, Y:3.19, Z:1.42 [[ 9.65941380e-01 -2.36886508e-01 -1.04125080e-01 1.64876083e+01] [ 2.35945356e-01 9.71529686e-01 -2.14443167e-02 3.18761355e+00] [ 1.06240476e-01 -3.85387624e-03 9.94332997e-01 1.42192402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392260614999998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:16.52, Y:3.19, Z:1.42 [[ 9.65136201e-01 -2.39922086e-01 -1.04639887e-01 1.65160361e+01] [ 2.38989419e-01 9.70783020e-01 -2.15496006e-02 3.19203063e+00] [ 1.06752851e-01 -4.20952607e-03 9.94276676e-01 1.42462660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422260615 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:16.54, Y:3.20, Z:1.43 [[ 9.61877587e-01 -2.47038066e-01 -1.17318805e-01 1.65390172e+01] [ 2.48548123e-01 9.68617854e-01 -1.81225831e-03 3.19999040e+00] [ 1.14084786e-01 -2.74161981e-02 9.93092651e-01 1.42911179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452260614999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:16.57, Y:3.23, Z:1.45 [[ 0.96260148 -0.24943464 -0.10573902 16.56597149] [ 0.24576538 0.96820725 -0.04662717 3.2286804 ] [ 0.11400772 0.01889639 0.99330014 1.4483781 ] [ 0. 0. 0. 1. ]] SLAMing on 20.482260614999998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:16.60, Y:3.23, Z:1.44 [[ 9.61382605e-01 -2.48142247e-01 -1.19033242e-01 1.65951647e+01] [ 2.49674299e-01 9.68327588e-01 -2.10407941e-03 3.22565541e+00] [ 1.15785283e-01 -2.76967160e-02 9.92888040e-01 1.44273630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512260615 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.62, Y:3.25, Z:1.45 [[ 9.62976409e-01 -2.43553446e-01 -1.15577485e-01 1.66223084e+01] [ 2.42354609e-01 9.69877552e-01 -2.45311521e-02 3.24901825e+00] [ 1.18070655e-01 -4.38781531e-03 9.92995502e-01 1.45499300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542260614999996 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:16.65, Y:3.26, Z:1.46 [[ 9.64594150e-01 -2.38087067e-01 -1.13457804e-01 1.66531328e+01] [ 2.36023633e-01 9.71237182e-01 -3.14830375e-02 3.25509002e+00] [ 1.17690142e-01 3.58963065e-03 9.93043879e-01 1.45552214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.572260614999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:16.69, Y:3.25, Z:1.45 [[ 9.66379162e-01 -2.33820165e-01 -1.06955339e-01 1.66904860e+01] [ 2.31544210e-01 9.72250838e-01 -3.34004118e-02 3.25378995e+00] [ 1.11797108e-01 7.51257254e-03 9.93702656e-01 1.45274156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602260615 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:16.72, Y:3.25, Z:1.45 [[ 9.66375753e-01 -2.32896321e-01 -1.08982607e-01 1.67211260e+01] [ 2.31382290e-01 9.72501485e-01 -2.65160062e-02 3.25057004e+00] [ 1.12161227e-01 4.07780365e-04 9.93689938e-01 1.45127520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632260614999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.75, Y:3.24, Z:1.45 [[ 9.64940653e-01 -2.35871306e-01 -1.15127158e-01 1.67492696e+01] [ 2.36239340e-01 9.71636707e-01 -1.06341205e-02 3.23807932e+00] [ 1.14370056e-01 -1.69362685e-02 9.93293840e-01 1.44899323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662260614999997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:16.78, Y:3.24, Z:1.46 [[ 9.64038897e-01 -2.40010365e-01 -1.14122870e-01 1.67758815e+01] [ 2.39739160e-01 9.70700478e-01 -1.63008491e-02 3.23829567e+00] [ 1.14691497e-01 -1.16450685e-02 9.93332901e-01 1.45503642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692260615 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:16.80, Y:3.25, Z:1.47 [[ 9.64788535e-01 -2.40468448e-01 -1.06573961e-01 1.68040049e+01] [ 2.37631263e-01 9.70581953e-01 -3.87563477e-02 3.24923861e+00] [ 1.12758442e-01 1.20663750e-02 9.93549162e-01 1.46515165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722260614999996 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:16.84, Y:3.25, Z:1.47 [[ 9.64958225e-01 -2.39681622e-01 -1.06809852e-01 1.68380221e+01] [ 2.37075404e-01 9.70799555e-01 -3.66534592e-02 3.25073176e+00] [ 1.12476118e-01 1.00470681e-02 9.93603633e-01 1.46785498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752260614999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.86, Y:3.24, Z:1.46 [[ 9.64934379e-01 -2.36963591e-01 -1.12915460e-01 1.68642409e+01] [ 2.37916829e-01 9.71271858e-01 -5.15376580e-03 3.24476879e+00] [ 1.10892863e-01 -2.18914423e-02 9.93591233e-01 1.46470908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782260615 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:16.89, Y:3.26, Z:1.48 [[ 9.67069950e-01 -2.33175044e-01 -1.02005445e-01 1.68896519e+01] [ 2.31063861e-01 9.72405230e-01 -3.22111759e-02 3.26315150e+00] [ 1.06701470e-01 7.58068841e-03 9.94262204e-01 1.47878180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812260614999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:16.92, Y:3.27, Z:1.48 [[ 9.69039159e-01 -2.25941550e-01 -9.95666843e-02 1.69194777e+01] [ 2.24128253e-01 9.74122601e-01 -2.91836238e-02 3.26559396e+00] [ 1.03583951e-01 5.96436729e-03 9.94602831e-01 1.48166751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842260614999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:16.95, Y:3.27, Z:1.48 [[ 9.69199151e-01 -2.24695981e-01 -1.00820247e-01 1.69501616e+01] [ 2.23492116e-01 9.74428918e-01 -2.32283956e-02 3.26953283e+00] [ 1.03461491e-01 -1.95889764e-05 9.94633460e-01 1.48451917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872260615 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:16.98, Y:3.27, Z:1.49 [[ 9.70242719e-01 -2.20555640e-01 -9.99213454e-02 1.69763751e+01] [ 2.20029051e-01 9.75355476e-01 -1.63985606e-02 3.27296538e+00] [ 1.01075626e-01 -6.07501478e-03 9.94860197e-01 1.48721609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902260614999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.00, Y:3.28, Z:1.50 [[ 9.72362973e-01 -2.13505054e-01 -9.44766640e-02 1.70033839e+01] [ 2.12452016e-01 9.76941817e-01 -2.11855604e-02 3.28478607e+00] [ 9.68214280e-02 5.28296797e-04 9.95301629e-01 1.49562232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:3.29, Z:1.50 [[ 9.72974924e-01 -2.11256911e-01 -9.32218624e-02 1.70344192e+01] [ 2.10108553e-01 9.77428732e-01 -2.20787326e-02 3.29229894e+00] [ 9.57820115e-02 1.89534253e-03 9.95400529e-01 1.50113211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962260614999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:17.06, Y:3.30, Z:1.50 [[ 9.74484742e-01 -2.04716350e-01 -9.20364251e-02 1.70619136e+01] [ 2.03887327e-01 9.78821003e-01 -1.84228588e-02 3.29641371e+00] [ 9.38586463e-02 -8.12265902e-04 9.95585202e-01 1.50419278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992260614999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.09, Y:3.30, Z:1.51 [[ 9.74728735e-01 -2.04021355e-01 -9.09900013e-02 1.70924228e+01] [ 2.03099347e-01 9.78966353e-01 -1.93787515e-02 3.30459048e+00] [ 9.30298289e-02 4.09016095e-04 9.95663238e-01 1.50972663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:3.31, Z:1.52 [[ 9.75891655e-01 -1.99695518e-01 -8.80748406e-02 1.71213667e+01] [ 1.98886100e-01 9.79858000e-01 -1.79616092e-02 3.31495059e+00] [ 8.98876900e-02 1.17229652e-05 9.95951908e-01 1.51843460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052260614999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:17.15, Y:3.32, Z:1.52 [[ 9.76631616e-01 -1.97386791e-01 -8.50243593e-02 1.71521208e+01] [ 1.96624005e-01 9.80325665e-01 -1.73375925e-02 3.32373832e+00] [ 8.67737732e-02 2.14610944e-04 9.96228019e-01 1.52470602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082260614999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:17.18, Y:3.33, Z:1.53 [[ 9.77654438e-01 -1.95041019e-01 -7.84270385e-02 1.71817494e+01] [ 1.94385223e-01 9.80795011e-01 -1.59853323e-02 3.32926185e+00] [ 8.00386436e-02 3.83073703e-04 9.96791688e-01 1.53170985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:3.33, Z:1.54 [[ 9.77840025e-01 -1.94736658e-01 -7.68538905e-02 1.72137419e+01] [ 1.94106318e-01 9.80855482e-01 -1.56607730e-02 3.33316410e+00] [ 7.84322865e-02 3.95904971e-04 9.96919365e-01 1.53637097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142260614999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:17.25, Y:3.33, Z:1.54 [[ 9.78246675e-01 -1.92609692e-01 -7.70386223e-02 1.72466323e+01] [ 1.91970236e-01 9.81275288e-01 -1.56919451e-02 3.33243211e+00] [ 7.86185171e-02 5.61470606e-04 9.96904616e-01 1.53888992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172260614999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:17.28, Y:3.34, Z:1.54 [[ 9.78739884e-01 -1.90478087e-01 -7.60679862e-02 1.72778873e+01] [ 1.89848743e-01 9.81691186e-01 -1.54877669e-02 3.33658357e+00] [ 7.76253518e-02 7.17083626e-04 9.96982342e-01 1.54308679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202260614999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.31, Y:3.35, Z:1.55 [[ 0.97956151 -0.19107373 -0.06284957 17.30585684] [ 0.18914479 0.98131147 -0.03538429 3.35292405] [ 0.06843601 0.02277342 0.99739555 1.55146773] [ 0. 0. 0. 1. ]] SLAMing on 21.232260614999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.34, Y:3.34, Z:1.55 [[ 9.80107536e-01 -1.84160311e-01 -7.39878181e-02 1.73420196e+01] [ 1.85192728e-01 9.82675216e-01 7.28518999e-03 3.33876753e+00] [ 7.13643523e-02 -2.08422755e-02 9.97232535e-01 1.54928755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262260615 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:17.37, Y:3.36, Z:1.57 [[ 9.80484501e-01 -1.84424388e-01 -6.81013153e-02 1.73697680e+01] [ 1.83906710e-01 9.82846139e-01 -1.38487691e-02 3.35577724e+00] [ 6.94871656e-02 1.05421458e-03 9.97582289e-01 1.56781547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292260614999996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:17.40, Y:3.36, Z:1.57 [[ 9.80675524e-01 -1.84166733e-01 -6.60161377e-02 1.74018938e+01] [ 1.83680276e-01 9.82894476e-01 -1.34166089e-02 3.36248930e+00] [ 6.73577901e-02 1.03147756e-03 9.97728352e-01 1.57384351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322260614999998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:17.43, Y:3.37, Z:1.58 [[ 9.80932483e-01 -1.85067988e-01 -5.93405703e-02 1.74344162e+01] [ 1.84640862e-01 9.82724647e-01 -1.26499259e-02 3.36775161e+00] [ 6.06565373e-02 1.45202919e-03 9.98157641e-01 1.57693288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:3.37, Z:1.58 [[ 9.81051259e-01 -1.85406407e-01 -5.62395979e-02 1.74652101e+01] [ 1.85099486e-01 9.82661926e-01 -1.06638992e-02 3.36835905e+00] [ 5.72416669e-02 5.19110481e-05 9.98360350e-01 1.58233190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382260614999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:17.50, Y:3.38, Z:1.59 [[ 9.80956372e-01 -1.87893249e-01 -4.92008544e-02 1.74970146e+01] [ 1.87341263e-01 9.82170350e-01 -1.56414507e-02 3.37543608e+00] [ 5.12625433e-02 6.12623048e-03 9.98666421e-01 1.58801979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412260614999997 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:17.53, Y:3.38, Z:1.59 [[ 9.80255459e-01 -1.91380965e-01 -4.97248545e-02 1.75288829e+01] [ 1.91037630e-01 9.81514023e-01 -1.16123232e-02 3.37719227e+00] [ 5.10280197e-02 1.88372486e-03 9.98695445e-01 1.59189184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442260615 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:17.56, Y:3.38, Z:1.60 [[ 9.79717037e-01 -1.92662089e-01 -5.50985247e-02 1.75603086e+01] [ 1.92733229e-01 9.81242752e-01 -4.06997677e-03 3.37879868e+00] [ 5.48491582e-02 -6.63189102e-03 9.98472627e-01 1.59527232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472260614999996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:17.59, Y:3.39, Z:1.60 [[ 9.78614514e-01 -1.98471224e-01 -5.40629740e-02 1.75914826e+01] [ 1.98168460e-01 9.80106715e-01 -1.09584945e-02 3.38863278e+00] [ 5.51624296e-02 1.05655134e-05 9.98477394e-01 1.60420876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502260614999997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:17.62, Y:3.40, Z:1.61 [[ 9.78645353e-01 -1.98935084e-01 -5.17504204e-02 1.76235250e+01] [ 1.98658652e-01 9.80012669e-01 -1.04837022e-02 3.39635088e+00] [ 5.28016438e-02 -2.08423408e-05 9.98605020e-01 1.60943266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532260615 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:17.65, Y:3.41, Z:1.62 [[ 9.78560180e-01 -2.02168039e-01 -3.93453619e-02 1.76539121e+01] [ 2.01745250e-01 9.79331045e-01 -1.44761445e-02 3.40927709e+00] [ 4.14587482e-02 6.22803876e-03 9.99120805e-01 1.62129571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562260614999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:17.69, Y:3.41, Z:1.62 [[ 9.78222372e-01 -2.03963551e-01 -3.84689518e-02 1.76861358e+01] [ 2.03850111e-01 9.78977863e-01 -6.89028126e-03 3.41258185e+00] [ 3.90656185e-02 -1.10167283e-03 9.99236040e-01 1.62475550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592260614999997 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:17.72, Y:3.42, Z:1.62 [[ 9.75342572e-01 -2.16291109e-01 -4.38750820e-02 1.77175837e+01] [ 2.16208172e-01 9.76324409e-01 -6.68383585e-03 3.41523318e+00] [ 4.42819678e-02 -2.96712164e-03 9.99014666e-01 1.62420466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622260615 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:17.75, Y:3.42, Z:1.63 [[ 9.73414267e-01 -2.23522987e-01 -5.00213854e-02 1.77497457e+01] [ 2.23467841e-01 9.74687832e-01 -6.76411956e-03 3.42148117e+00] [ 5.02671719e-02 -4.59388054e-03 9.98725241e-01 1.62604932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652260614999996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:17.78, Y:3.43, Z:1.63 [[ 9.72104864e-01 -2.28561755e-01 -5.26465294e-02 1.77796899e+01] [ 2.28332598e-01 9.73527556e-01 -1.04078492e-02 3.43157735e+00] [ 5.36316834e-02 -1.90339800e-03 9.98558972e-01 1.62981975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682260614999997 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:17.81, Y:3.44, Z:1.63 [[ 9.72261308e-01 -2.26662097e-01 -5.77255777e-02 1.78105700e+01] [ 2.26368765e-01 9.73971914e-01 -1.16573174e-02 3.44361610e+00] [ 5.88653634e-02 -1.73330904e-03 9.98264426e-01 1.62994182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712260614999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:17.84, Y:3.46, Z:1.64 [[ 9.72683119e-01 -2.24649841e-01 -5.84807645e-02 1.78423576e+01] [ 2.24064829e-01 9.74435218e-01 -1.64608002e-02 3.45518218e+00] [ 6.06836326e-02 2.90765996e-03 9.98152815e-01 1.63511565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742260614999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.87, Y:3.46, Z:1.64 [[ 9.74165102e-01 -2.17747080e-01 -5.99046216e-02 1.78730413e+01] [ 2.17883184e-01 9.75965250e-01 -4.33003825e-03 3.46385076e+00] [ 5.94076822e-02 -8.83403756e-03 9.98194714e-01 1.63793648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:3.48, Z:1.65 [[ 9.74361904e-01 -2.17310502e-01 -5.82668498e-02 1.78985193e+01] [ 2.16383462e-01 9.76063917e-01 -2.18501169e-02 3.48187101e+00] [ 6.16204295e-02 8.68193883e-03 9.98061895e-01 1.65007784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802260614999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:17.93, Y:3.49, Z:1.65 [[ 9.74414696e-01 -2.14950871e-01 -6.56667660e-02 1.79304217e+01] [ 2.14685491e-01 9.76619528e-01 -1.11551204e-02 3.48646874e+00] [ 6.65292489e-02 -3.22798870e-03 9.97779254e-01 1.65140022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832260614999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:17.96, Y:3.49, Z:1.65 [[ 9.74171572e-01 -2.15172434e-01 -6.84877564e-02 1.79604154e+01] [ 2.14642896e-01 9.76576072e-01 -1.50865259e-02 3.49489612e+00] [ 7.01297086e-02 -3.54572102e-06 9.97537881e-01 1.65180577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:3.50, Z:1.65 [[ 9.75214252e-01 -2.10629335e-01 -6.77675906e-02 1.79940636e+01] [ 2.10626080e-01 9.77539635e-01 -7.27438727e-03 3.49536468e+00] [ 6.77777051e-02 -7.17953586e-03 9.97674615e-01 1.65046112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892260614999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:18.02, Y:3.50, Z:1.66 [[ 9.75704581e-01 -2.09744304e-01 -6.33079584e-02 1.80249345e+01] [ 2.09584947e-01 9.77746948e-01 -9.22254023e-03 3.50268786e+00] [ 6.38335384e-02 -4.26992035e-03 9.97951425e-01 1.65637161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922260614999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:18.05, Y:3.51, Z:1.67 [[ 9.76114565e-01 -2.08559975e-01 -6.08530482e-02 1.80543240e+01] [ 2.08002180e-01 9.78006620e-01 -1.54319018e-02 3.51256286e+00] [ 6.27331611e-02 2.40573737e-03 9.98027436e-01 1.66581224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952260614999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.08, Y:3.52, Z:1.67 [[ 9.75928154e-01 -2.09298440e-01 -6.13057992e-02 1.80848922e+01] [ 2.08939680e-01 9.77851460e-01 -1.22772828e-02 3.52030316e+00] [ 6.25175814e-02 -8.27468170e-04 9.98043520e-01 1.67357749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982260614999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:18.12, Y:3.53, Z:1.68 [[ 9.75558114e-01 -2.10525734e-01 -6.29704851e-02 1.81170464e+01] [ 2.10334951e-01 9.77581071e-01 -9.71889710e-03 3.52621888e+00] [ 6.36048322e-02 -3.76354499e-03 9.97968066e-01 1.67657037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012260614999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.15, Y:3.53, Z:1.68 [[ 9.75096608e-01 -2.11903780e-01 -6.54476382e-02 1.81466856e+01] [ 2.11312710e-01 9.77289092e-01 -1.59050147e-02 3.53493841e+00] [ 6.73315956e-02 1.67900801e-03 9.97729240e-01 1.68096572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042260614999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.18, Y:3.54, Z:1.68 [[ 9.75165306e-01 -2.11417036e-01 -6.59959354e-02 1.81797462e+01] [ 2.11010218e-01 9.77395331e-01 -1.31550570e-02 3.54012556e+00] [ 6.72853223e-02 -1.09746150e-03 9.97733171e-01 1.68408263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072260614999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:18.21, Y:3.54, Z:1.68 [[ 9.74633654e-01 -2.12485264e-01 -7.02798145e-02 1.82118884e+01] [ 2.12026850e-01 9.77163471e-01 -1.40059414e-02 3.54429654e+00] [ 7.16509236e-02 -1.25054582e-03 9.97428986e-01 1.68238581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102260615 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.24, Y:3.55, Z:1.68 [[ 9.75349302e-01 -2.09274305e-01 -6.99857502e-02 1.82425569e+01] [ 2.08764550e-01 9.77856907e-01 -1.46024971e-02 3.55028914e+00] [ 7.14919767e-02 -3.68008271e-04 9.97441107e-01 1.68362976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132260614999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:18.28, Y:3.56, Z:1.69 [[ 9.76507398e-01 -2.04342156e-01 -6.83928781e-02 1.82765673e+01] [ 2.03912734e-01 9.78899035e-01 -1.32768988e-02 3.55686388e+00] [ 6.96627525e-02 -9.81188927e-04 9.97570117e-01 1.68586457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162260614999997 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:18.31, Y:3.57, Z:1.69 [[ 9.77402725e-01 -2.00759265e-01 -6.61787790e-02 1.83061033e+01] [ 2.00072508e-01 9.79635075e-01 -1.69148434e-02 3.56605747e+00] [ 6.82268646e-02 3.29205974e-03 9.97664401e-01 1.69252995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192260615 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:18.34, Y:3.57, Z:1.70 [[ 9.77679305e-01 -1.99068276e-01 -6.71937350e-02 1.83376444e+01] [ 1.98947716e-01 9.79972817e-01 -8.54893690e-03 3.57314853e+00] [ 6.75498559e-02 -5.00992141e-03 9.97703321e-01 1.69753313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222260614999996 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:18.37, Y:3.59, Z:1.71 [[ 9.77543504e-01 -1.99530936e-01 -6.77945674e-02 1.83658141e+01] [ 1.98581580e-01 9.79869232e-01 -2.05339649e-02 3.58606015e+00] [ 7.05269720e-02 6.61009163e-03 9.97487971e-01 1.70766731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252260614999997 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:18.40, Y:3.59, Z:1.71 [[ 9.77434346e-01 -1.98468333e-01 -7.23354697e-02 1.83961326e+01] [ 1.97951367e-01 9.80107247e-01 -1.43192094e-02 3.59173686e+00] [ 7.37384277e-02 -3.22818026e-04 9.97277564e-01 1.71058533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282260615 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.43, Y:3.60, Z:1.71 [[ 9.77347587e-01 -1.98766691e-01 -7.26876610e-02 1.84291462e+01] [ 1.98208843e-01 9.80046827e-01 -1.48818978e-02 3.59815040e+00] [ 7.41953371e-02 1.37449774e-04 9.97243718e-01 1.71365182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312260614999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:18.46, Y:3.60, Z:1.71 [[ 9.77557219e-01 -1.98425077e-01 -7.07769243e-02 1.84596620e+01] [ 1.97740212e-01 9.80113460e-01 -1.66257145e-02 3.59863002e+00] [ 7.26683749e-02 2.25714322e-03 9.97353605e-01 1.71410604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342260614999997 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:18.49, Y:3.60, Z:1.72 [[ 9.77815005e-01 -1.98701754e-01 -6.62980251e-02 1.84917356e+01] [ 1.98193549e-01 9.80059704e-01 -1.42229873e-02 3.60131620e+00] [ 6.78021554e-02 7.67609471e-04 9.97698491e-01 1.71594572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372260615 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:18.53, Y:3.60, Z:1.72 [[ 9.77758832e-01 -1.99277426e-01 -6.53924589e-02 1.85251761e+01] [ 1.98877840e-01 9.79942895e-01 -1.26303999e-02 3.60343856e+00] [ 6.65978291e-02 -6.55625972e-04 9.97779685e-01 1.72141066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402260614999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:18.55, Y:3.61, Z:1.72 [[ 9.76759043e-01 -2.02278854e-01 -7.08874960e-02 1.85526316e+01] [ 2.02290367e-01 9.79299910e-01 -7.09178559e-03 3.60844793e+00] [ 7.08546367e-02 -7.41289184e-03 9.97459107e-01 1.72488134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432260614999997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:18.59, Y:3.62, Z:1.73 [[ 9.76994170e-01 -2.02724082e-01 -6.62218938e-02 1.85885539e+01] [ 2.01704170e-01 9.79203613e-01 -2.18108429e-02 3.61642158e+00] [ 6.92663007e-02 7.95183424e-03 9.97566513e-01 1.73172700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462260614999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.62, Y:3.62, Z:1.73 [[ 9.78006285e-01 -1.98034423e-01 -6.54681192e-02 1.86212817e+01] [ 1.97962209e-01 9.80179774e-01 -7.65336794e-03 3.61696524e+00] [ 6.56861566e-02 -5.47517156e-03 9.97825311e-01 1.73361959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492260614999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:18.65, Y:3.63, Z:1.74 [[ 9.78306795e-01 -1.97283719e-01 -6.32056099e-02 1.86472918e+01] [ 1.97664815e-01 9.80269641e-01 -2.27955224e-04 3.62792750e+00] [ 6.20035124e-02 -1.22705151e-02 9.98000500e-01 1.74227788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522260614999997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:18.68, Y:3.64, Z:1.75 [[ 9.78476454e-01 -1.97906033e-01 -5.84553721e-02 1.86793553e+01] [ 1.96611859e-01 9.80104719e-01 -2.71756484e-02 3.64036335e+00] [ 6.26706109e-02 1.50977128e-02 9.97920064e-01 1.75356072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552260614999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:18.71, Y:3.64, Z:1.75 [[ 9.77918538e-01 -1.98665853e-01 -6.48630303e-02 1.87112625e+01] [ 1.99023312e-01 9.79994277e-01 -9.68387499e-04 3.63597288e+00] [ 6.37577840e-02 -1.19622510e-02 9.97893707e-01 1.74846144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582260614999996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:18.74, Y:3.64, Z:1.76 [[ 9.77974163e-01 -2.00438727e-01 -5.82310414e-02 1.87449220e+01] [ 1.99324004e-01 9.79629350e-01 -2.44188172e-02 3.64446775e+00] [ 6.19393139e-02 1.22741279e-02 9.98004442e-01 1.75577962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612260614999997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:18.78, Y:3.65, Z:1.76 [[ 9.78119931e-01 -1.99813225e-01 -5.79316520e-02 1.87760217e+01] [ 1.99173697e-01 9.79822409e-01 -1.66698731e-02 3.64576202e+00] [ 6.00935919e-02 4.76667385e-03 9.98181366e-01 1.75647556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642260614999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:18.81, Y:3.65, Z:1.76 [[ 9.78229646e-01 -1.99252484e-01 -5.80104100e-02 1.88098280e+01] [ 1.99294910e-01 9.79926225e-01 -5.11193758e-03 3.64708296e+00] [ 5.78644883e-02 -6.56053054e-03 9.98302890e-01 1.75697843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672260614999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.84, Y:3.66, Z:1.77 [[ 9.77971226e-01 -2.00763614e-01 -5.71511419e-02 1.88404699e+01] [ 2.00439897e-01 9.79639667e-01 -1.14004401e-02 3.65557364e+00] [ 5.82763192e-02 -3.06066647e-04 9.98300444e-01 1.76551151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702260614999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.87, Y:3.66, Z:1.77 [[ 9.77812446e-01 -2.01316966e-01 -5.79163241e-02 1.88713382e+01] [ 2.00948753e-01 9.79526115e-01 -1.21733110e-02 3.66151488e+00] [ 5.91812459e-02 2.65001929e-04 9.98247219e-01 1.76980809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732260614999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.90, Y:3.67, Z:1.77 [[ 9.77810030e-01 -2.01275149e-01 -5.81021464e-02 1.89035717e+01] [ 2.01026297e-01 9.79533184e-01 -1.01572445e-02 3.66667663e+00] [ 5.89573814e-02 -1.74820377e-03 9.98258970e-01 1.77272449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762260614999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:3.68, Z:1.78 [[ 9.78054091e-01 -2.01336934e-01 -5.36062884e-02 1.89337925e+01] [ 2.01093582e-01 9.79521487e-01 -9.95129544e-03 3.67706461e+00] [ 5.45120746e-02 -1.04697533e-03 9.98512563e-01 1.78104190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792260614999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.97, Y:3.68, Z:1.79 [[ 9.78491271e-01 -2.00038610e-01 -5.03923336e-02 1.89658338e+01] [ 1.99821007e-01 9.79787602e-01 -9.37123321e-03 3.68434677e+00] [ 5.12483922e-02 -8.99776968e-04 9.98685532e-01 1.78821972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822260614999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.00, Y:3.69, Z:1.80 [[ 9.79747436e-01 -1.95874930e-01 -4.15688952e-02 1.89971753e+01] [ 1.95933340e-01 9.80613488e-01 -2.70420525e-03 3.69172138e+00] [ 4.12927054e-02 -5.49529430e-03 9.99131980e-01 1.79583241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852260614999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.03, Y:3.70, Z:1.81 [[ 9.80233914e-01 -1.94115781e-01 -3.82169656e-02 1.90277529e+01] [ 1.93916206e-01 9.80977750e-01 -8.89711723e-03 3.70290253e+00] [ 3.92170638e-02 1.31036709e-03 9.99229856e-01 1.80507767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882260614999996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:19.06, Y:3.72, Z:1.81 [[ 9.81610562e-01 -1.88057913e-01 -3.27860529e-02 1.90576155e+01] [ 1.87876440e-01 9.82155384e-01 -8.55831484e-03 3.71533765e+00] [ 3.38104572e-02 2.24120534e-03 9.99425750e-01 1.81259683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912260614999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.09, Y:3.72, Z:1.82 [[ 9.82321200e-01 -1.84418519e-01 -3.21693898e-02 1.90885994e+01] [ 1.84306532e-01 9.82847726e-01 -6.43806862e-03 3.72373449e+00] [ 3.28049107e-02 3.95222616e-04 9.99461696e-01 1.81691582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942260615 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.12, Y:3.73, Z:1.82 [[ 9.82758718e-01 -1.82543114e-01 -2.93822051e-02 1.91174617e+01] [ 1.82458530e-01 9.83197845e-01 -5.55727797e-03 3.73447929e+00] [ 2.99029636e-02 1.00429422e-04 9.99552801e-01 1.82271883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972260614999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:19.15, Y:3.74, Z:1.83 [[ 9.82538903e-01 -1.83985494e-01 -2.76883188e-02 1.91496706e+01] [ 1.83961018e-01 9.82927483e-01 -3.45060913e-03 3.74253347e+00] [ 2.78504716e-02 -1.70321361e-03 9.99610649e-01 1.82781491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 965.49 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/766 [00:00