+ python -m lidar_slam --no-model /working/3ccff880-fefc-452c-b418-efcd68683228 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/3ccff880-fefc-452c-b418-efcd68683228 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 0.002791605 Adjusted end_distance from 9.223372036854776e+18 to 42.492791605 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002791605 meters Centerline goodness : 0.988408 Centerline is valid? [0, True] SLAMing on 0.032791605 meters Centerline goodness : 0.987044 Centerline is valid? [True, True] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99971058e-01 -7.09225435e-03 -2.75360261e-03 2.24693686e-02] [ 7.09377798e-03 9.99974691e-01 5.43949121e-04 -4.38586633e-04] [ 2.74967510e-03 -5.63466824e-04 9.99996061e-01 -7.91268017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062791605 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:0.07, Y:0.04, Z:0.01 [[ 9.99536564e-01 3.03635184e-02 -2.17096713e-03 6.50728096e-02] [-3.04298322e-02 9.98558945e-01 -4.42047278e-02 4.45028806e-02] [ 8.25627587e-04 4.42503039e-02 9.99020134e-01 1.02933200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09279160500000001 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:0.09, Y:0.00, Z:0.02 [[ 0.99919088 0.03937324 -0.00820512 0.09169314] [-0.03935531 0.99922255 0.00233471 0.00267828] [ 0.00829067 -0.0020099 0.99996361 0.02082421] [ 0. 0. 0. 1. ]] SLAMing on 0.12279160500000001 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:0.11, Y:-0.02, Z:0.02 [[ 0.99822324 0.05636739 -0.01931545 0.11136329] [-0.05579597 0.99802253 0.02894539 -0.02068068] [ 0.02090883 -0.02781624 0.99939436 0.02029032] [ 0. 0. 0. 1. ]] SLAMing on 0.15279160500000002 meters Centerline goodness : 0.990910 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 0.99997864 0.00584947 0.00291607 0.14854717] [-0.00586573 0.99996711 0.00560167 -0.00972787] [-0.00288321 -0.00561865 0.99998006 -0.01157639] [ 0. 0. 0. 1. ]] SLAMing on 0.18279160500000002 meters Centerline goodness : 0.981818 Centerline is valid? [True, True] Translation: X:0.16, Y:0.06, Z:0.01 [[ 9.96828493e-01 7.95762770e-02 7.56485747e-04 1.63356959e-01] [-7.93484104e-02 9.94608749e-01 -6.67627534e-02 6.38715643e-02] [-6.06513870e-03 6.64909889e-02 9.97768592e-01 1.16091983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21279160500000002 meters Centerline goodness : 0.989796 Centerline is valid? [True, True] Translation: X:0.20, Y:0.02, Z:0.01 [[ 0.99716833 0.07518429 0.00162828 0.19879384] [-0.07515169 0.99705992 -0.01495812 0.01539436] [-0.00274811 0.01479339 0.9998868 0.00839445] [ 0. 0. 0. 1. ]] SLAMing on 0.24279160500000002 meters Centerline goodness : 0.988866 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.05, Z:0.01 [[ 0.99982818 0.01167855 0.01439542 0.31188648] [-0.01206873 0.99955381 0.02732282 -0.05357263] [-0.01406991 -0.02749186 0.999523 0.0076621 ] [ 0. 0. 0. 1. ]] SLAMing on 0.272791605 meters Centerline goodness : 0.975037 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.04, Z:-0.00 [[ 9.99124015e-01 -3.49381857e-02 2.30331601e-02 3.34815272e-01] [ 3.49334847e-02 9.99389455e-01 6.06556166e-04 -3.87573024e-02] [-2.30402893e-02 1.98603713e-04 9.99734518e-01 -4.49246180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302791605 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:0.32, Y:0.02, Z:0.04 [[ 0.9982074 0.01103414 0.05882376 0.31640142] [-0.00686879 0.99748472 -0.07054818 0.01696776] [-0.05945424 0.07001767 0.99577242 0.0404813 ] [ 0. 0. 0. 1. ]] SLAMing on 0.332791605 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.10, Z:0.00 [[ 0.99932219 -0.02646177 0.02559172 0.37070801] [ 0.02501817 0.99816336 0.05517241 -0.09520275] [-0.02700468 -0.05449475 0.99814882 0.00358902] [ 0. 0. 0. 1. ]] SLAMing on 0.362791605 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.05, Z:0.01 [[ 9.98604508e-01 -2.93414041e-02 4.39103416e-02 4.28094374e-01] [ 2.93066641e-02 9.99569438e-01 1.43483119e-03 -5.00067513e-02] [-4.39335354e-02 -1.45963268e-04 9.99034445e-01 7.31069872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392791605 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:0.43, Y:0.01, Z:0.02 [[ 9.99742874e-01 1.26527491e-03 2.26403271e-02 4.33805221e-01] [ 3.07854276e-07 9.98441274e-01 -5.58123767e-02 8.10339591e-03] [-2.26756551e-02 5.57980328e-02 9.98184549e-01 1.98980755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422791605 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.06, Z:-0.02 [[ 0.99977326 -0.02124572 0.00143421 0.47585248] [ 0.02121684 0.9996163 0.01780738 -0.06341937] [-0.00181199 -0.01777291 0.99984041 -0.01631072] [ 0. 0. 0. 1. ]] SLAMing on 0.452791605 meters Centerline goodness : 0.983792 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.01, Z:-0.00 [[ 0.99974503 -0.02254285 -0.00129873 0.52067343] [ 0.02243956 0.99828227 -0.05412008 -0.01018639] [ 0.00251652 0.05407714 0.99853359 -0.00273776] [ 0. 0. 0. 1. ]] SLAMing on 0.482791605 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 0.99995935 -0.00848409 -0.00305279 0.50189259] [ 0.00886373 0.98703178 0.16028005 -0.17560693] [ 0.00165337 -0.1603006 0.98706686 -0.01705689] [ 0. 0. 0. 1. ]] SLAMing on 0.512791605 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:0.54, Y:0.02, Z:-0.01 [[ 0.99995072 -0.00745045 -0.00656181 0.54484945] [ 0.00696766 0.99746941 -0.07075473 0.02313071] [ 0.00707236 0.07070552 0.99747216 -0.01165121] [ 0. 0. 0. 1. ]] SLAMing on 0.542791605 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.03, Z:-0.02 [[ 0.99970602 -0.01855644 0.01560528 0.59225516] [ 0.01878383 0.99971764 -0.01455329 -0.03203407] [-0.01533082 0.01484214 0.99977231 -0.01566309] [ 0. 0. 0. 1. ]] SLAMing on 0.572791605 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.03, Z:-0.03 [[ 0.99987662 -0.01497039 -0.00475645 0.62128349] [ 0.01490599 0.99980046 -0.01329834 -0.03094927] [ 0.00495458 0.0132258 0.99990026 -0.02760309] [ 0. 0. 0. 1. ]] SLAMing on 0.6027916050000001 meters Centerline goodness : 0.995756 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.01, Z:-0.02 [[ 0.99943395 -0.03362463 -0.0010768 0.68358735] [ 0.03354578 0.99848618 -0.04358926 -0.01484737] [ 0.00254085 0.04352847 0.99904896 -0.01776694] [ 0. 0. 0. 1. ]] SLAMing on 0.632791605 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.05, Z:-0.01 [[ 0.99920966 -0.0374457 -0.01333721 0.71912073] [ 0.03741187 0.99929607 -0.00277678 -0.04730041] [ 0.0134318 0.00227562 0.9999072 -0.01321453] [ 0. 0. 0. 1. ]] SLAMing on 0.662791605 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.05, Z:-0.02 [[ 9.99234730e-01 -3.91069511e-02 -7.75664316e-04 7.47638780e-01] [ 3.91067950e-02 9.99235013e-01 -2.15371140e-04 -4.98830900e-02] [ 7.83493452e-04 1.84872578e-04 9.99999676e-01 -2.08164342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692791605 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.04, Z:-0.02 [[ 0.99826489 -0.05240744 -0.02684515 0.78823768] [ 0.05216725 0.9985925 -0.00957097 -0.04031937] [ 0.02730895 0.00815393 0.99959378 -0.02030058] [ 0. 0. 0. 1. ]] SLAMing on 0.7227916050000001 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.06, Z:-0.03 [[ 0.9987795 -0.04814981 -0.01100445 0.81904996] [ 0.04827378 0.99877031 0.01129188 -0.0587853 ] [ 0.01044722 -0.01180933 0.99987569 -0.02758786] [ 0. 0. 0. 1. ]] SLAMing on 0.7527916050000001 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.04, Z:-0.03 [[ 0.99856262 -0.05230391 -0.01170467 0.84708519] [ 0.05234267 0.99862459 0.00302956 -0.04352138] [ 0.01153011 -0.00363786 0.99992691 -0.0312625 ] [ 0. 0. 0. 1. ]] SLAMing on 0.782791605 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.04, Z:-0.03 [[ 0.99821237 -0.05811544 -0.0139519 0.87911039] [ 0.05815618 0.99830429 0.0025323 -0.04267824] [ 0.01378107 -0.00333916 0.99989946 -0.0317932 ] [ 0. 0. 0. 1. ]] SLAMing on 0.812791605 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.04, Z:-0.02 [[ 0.99981273 -0.01688844 -0.00944867 0.84201533] [ 0.01690891 0.99985485 0.00209064 -0.042104 ] [ 0.00941199 -0.00225002 0.99995317 -0.01775655] [ 0. 0. 0. 1. ]] SLAMing on 0.842791605 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.04, Z:-0.02 [[ 0.99983761 -0.01019694 -0.01485881 0.85710042] [ 0.01024892 0.99994161 0.00342651 -0.0407926 ] [ 0.014823 -0.00357824 0.99988373 -0.02438747] [ 0. 0. 0. 1. ]] SLAMing on 0.8727916050000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.01, Z:-0.01 [[ 0.99993564 -0.01105242 0.00255963 0.91674402] [ 0.01110514 0.99970515 -0.0215936 -0.01016523] [-0.00232021 0.02162064 0.99976355 -0.00762127] [ 0. 0. 0. 1. ]] SLAMing on 0.902791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.06, Z:-0.01 [[ 0.99989419 -0.01044869 -0.01012114 0.96144547] [ 0.01084215 0.99915546 0.0396334 -0.06103698] [ 0.00969848 -0.03973894 0.99916303 -0.00616865] [ 0. 0. 0. 1. ]] SLAMing on 0.932791605 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.10, Z:0.00 [[ 0.99977748 -0.01102746 -0.01798307 0.99700801] [ 0.01253178 0.99623297 0.08580689 -0.10010866] [ 0.0169691 -0.08601315 0.99614948 0.00182041] [ 0. 0. 0. 1. ]] SLAMing on 0.962791605 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.03, Z:0.00 [[ 9.99708467e-01 -2.35896468e-02 -5.14881897e-03 1.02202666e+00] [ 2.35890509e-02 9.99721724e-01 -1.76446532e-04 -2.67809823e-02] [ 5.15154849e-03 5.49393392e-05 9.99986729e-01 3.56247224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9927916050000001 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.03, Z:0.01 [[ 9.99581086e-01 -2.89188075e-02 1.16398214e-03 1.05049852e+00] [ 2.89187733e-02 9.99581764e-01 4.62118508e-05 -2.72319820e-02] [-1.16483172e-03 -1.25315563e-05 9.99999322e-01 5.01532367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.03, Z:0.01 [[ 9.99366754e-01 -3.47268155e-02 7.75498267e-03 1.08217334e+00] [ 3.47258633e-02 9.99396842e-01 2.57443106e-04 -2.63232596e-02] [-7.75924537e-03 1.20183872e-05 9.99969897e-01 6.79572485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0527916050000001 meters Centerline goodness : 0.989302 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.00, Z:0.00 [[ 0.99990899 0.00169563 0.01338452 1.16885784] [-0.00155522 0.99994373 -0.01049386 -0.00431235] [-0.01340156 0.01047209 0.99985536 0.00362814] [ 0. 0. 0. 1. ]] SLAMing on 1.0827916050000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.04, Z:0.01 [[ 0.99926581 -0.03721785 0.00909213 1.12426213] [ 0.03712658 0.99926045 0.01000825 -0.03598192] [-0.00945789 -0.00966334 0.99990858 0.00758857] [ 0. 0. 0. 1. ]] SLAMing on 1.1127916050000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.03, Z:0.01 [[ 9.99242159e-01 -3.81322598e-02 7.81276810e-03 1.15687272e+00] [ 3.81314785e-02 9.99272700e-01 2.48994291e-04 -2.55524590e-02] [-7.81658059e-03 4.91068068e-05 9.99969449e-01 7.21480937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1427916050000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.02, Z:0.01 [[ 9.99230827e-01 -3.84983141e-02 7.45889617e-03 1.19025327e+00] [ 3.84976461e-02 9.99258664e-01 2.33162714e-04 -2.43444736e-02] [-7.46234300e-03 5.41665746e-05 9.99972155e-01 7.60412024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1727916050000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.11, Z:0.01 [[ 0.9988843 -0.03868917 -0.02707972 1.21976519] [ 0.04124281 0.99401581 0.10115135 -0.1116273 ] [ 0.02300421 -0.10215534 0.99450244 0.01229026] [ 0. 0. 0. 1. ]] SLAMing on 1.2027916050000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.25, Y:0.06, Z:0.02 [[ 0.99888166 -0.04427639 0.0165841 1.24662404] [ 0.04570409 0.99404735 -0.09889895 0.06235067] [-0.0121065 0.09954631 0.99495928 0.01802992] [ 0. 0. 0. 1. ]] SLAMing on 1.2327916050000003 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.11, Z:0.01 [[ 0.99936099 -0.02958063 -0.02006487 1.28967831] [ 0.03158163 0.99363836 0.10809905 -0.11426808] [ 0.01673959 -0.10866365 0.99393762 0.00620897] [ 0. 0. 0. 1. ]] SLAMing on 1.262791605 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:1.31, Y:0.07, Z:0.02 [[ 0.99872318 -0.04782674 0.016267 1.30648942] [ 0.04928733 0.99313183 -0.10611277 0.0694703 ] [-0.01108025 0.10677904 0.99422103 0.02133495] [ 0. 0. 0. 1. ]] SLAMing on 1.2927916050000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.09, Z:0.01 [[ 0.99964105 -0.01820311 -0.01965757 1.33443564] [ 0.01986565 0.99592348 0.0879874 -0.08745059] [ 0.01797579 -0.08834633 0.99592761 0.0076215 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3227916050000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.01, Z:0.01 [[ 0.99958425 -0.02426343 -0.01557616 1.35760773] [ 0.02423429 0.99970419 -0.002057 -0.01017304] [ 0.01562146 0.00167867 0.99987657 0.00829204] [ 0. 0. 0. 1. ]] SLAMing on 1.3527916050000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.04, Z:0.00 [[ 0.99942293 -0.03070202 -0.01453252 1.39466151] [ 0.03105055 0.99922 0.02439791 -0.03858987] [ 0.01377212 -0.02483507 0.99959669 0.00246814] [ 0. 0. 0. 1. ]] SLAMing on 1.3827916050000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.41, Y:0.03, Z:0.01 [[ 0.99914949 -0.03970137 -0.01114007 1.41364967] [ 0.03902439 0.99769404 -0.05553113 0.02907077] [ 0.01331905 0.05504917 0.99839481 0.01178077] [ 0. 0. 0. 1. ]] SLAMing on 1.4127916050000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.02, Z:0.01 [[ 0.99925984 -0.03680628 -0.01118324 1.44107271] [ 0.03686258 0.99930848 0.00487043 -0.02246649] [ 0.01099624 -0.00527907 0.9999256 0.01022267] [ 0. 0. 0. 1. ]] SLAMing on 1.4427916050000003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.06, Z:0.00 [[ 0.99901502 -0.04209876 -0.01402442 1.48791616] [ 0.04269555 0.99805658 0.04538881 -0.06218819] [ 0.01208635 -0.04594289 0.99887095 0.00412079] [ 0. 0. 0. 1. ]] SLAMing on 1.4727916050000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.49, Y:0.02, Z:0.01 [[ 0.99931544 -0.03680361 -0.00375986 1.49283336] [ 0.03660821 0.99840375 -0.04300919 0.01654994] [ 0.00533675 0.04284211 0.9990676 0.0131459 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5027916050000003 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.04, Z:0.01 [[ 9.99023542e-01 -4.41758884e-02 -6.72974059e-04 1.53230763e+00] [ 4.41809223e-02 9.98874516e-01 1.72553579e-02 -4.00004332e-02] [-9.00541255e-05 -1.72682414e-02 9.99850889e-01 8.13543293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5327916050000001 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.00, Z:-0.00 [[ 0.99977216 -0.01925079 -0.00922191 1.52676587] [ 0.01907725 0.99964591 -0.01855017 -0.002351 ] [ 0.00957575 0.01837002 0.9997854 -0.00325965] [ 0. 0. 0. 1. ]] SLAMing on 1.5627916050000001 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.01, Z:-0.01 [[ 0.99985555 -0.01545307 -0.00707716 1.55276833] [ 0.01534586 0.99977034 -0.01495928 -0.00597752] [ 0.00730671 0.01484852 0.99986306 -0.00610769] [ 0. 0. 0. 1. ]] SLAMing on 1.5927916050000002 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.01, Z:-0.00 [[ 0.99991415 -0.01258876 -0.0036353 1.582752 ] [ 0.01253971 0.99983409 -0.01321172 -0.00705327] [ 0.00380101 0.013165 0.99990611 -0.00398352] [ 0. 0. 0. 1. ]] SLAMing on 1.6227916050000002 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.10, Z:-0.00 [[ 9.99065774e-01 -2.13188206e-02 -3.75910429e-02 1.61493807e+00] [ 2.46895048e-02 9.95488647e-01 9.16121254e-02 -1.02615846e-01] [ 3.54683940e-02 -9.24546433e-02 9.95084987e-01 -8.37556130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6527916050000002 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:1.64, Y:0.03, Z:-0.00 [[ 0.99982672 -0.01286276 -0.01345621 1.63696931] [ 0.01214431 0.99856411 -0.05217503 0.02680453] [ 0.014108 0.05200258 0.99854729 -0.00211854] [ 0. 0. 0. 1. ]] SLAMing on 1.6827916050000002 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:1.68, Y:0.10, Z:0.01 [[ 9.99949634e-01 -8.35804624e-04 -1.00015881e-02 1.67850282e+00] [-5.18872410e-04 9.90888713e-01 -1.34682175e-01 1.01202873e-01] [ 1.00230288e-02 1.34680581e-01 9.90838372e-01 1.04317718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7127916050000003 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.08, Z:-0.00 [[ 9.99670910e-01 -1.48148305e-02 -2.09425948e-02 1.70836650e+00] [ 1.62398389e-02 9.97442980e-01 6.95971950e-02 -8.38968208e-02] [ 1.98579736e-02 -6.99143956e-02 9.97355322e-01 -1.09481478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7427916050000003 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:1.75, Y:0.06, Z:0.02 [[ 0.99941427 -0.01396558 -0.03124235 1.74712701] [ 0.01068922 0.99465688 -0.10268118 0.0613823 ] [ 0.03250942 0.10228708 0.99422356 0.01867825] [ 0. 0. 0. 1. ]] SLAMing on 1.7727916050000003 meters Centerline goodness : 0.935000 Centerline is valid? [True, False] Translation: X:1.74, Y:0.02, Z:0.01 [[ 0.9997097 -0.00746157 -0.02290921 1.74459848] [ 0.00631309 0.9987392 -0.0498012 0.01582382] [ 0.02325192 0.04964211 0.99849637 0.01471912] [ 0. 0. 0. 1. ]] SLAMing on 1.8027916050000001 meters Centerline goodness : 0.999455 Centerline is valid? [False, True] Translation: X:1.74, Y:-0.01, Z:0.01 [[ 0.99987752 -0.00417369 -0.01508361 1.74175012] [ 0.00378948 0.99966989 -0.02541145 -0.00565904] [ 0.01518469 0.02535118 0.99956328 0.01239111] [ 0. 0. 0. 1. ]] SLAMing on 1.8327916050000002 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.09, Z:0.00 [[ 9.99899563e-01 -1.06250920e-02 -9.37934883e-03 1.69647511e+00] [ 1.12317503e-02 9.97676869e-01 6.71916174e-02 -9.20407828e-02] [ 8.64364225e-03 -6.72902153e-02 9.97696003e-01 8.07896766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8627916050000002 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.05, Z:0.02 [[ 0.99992609 0.00691502 -0.01000003 1.71468078] [-0.00655806 0.99935529 0.03529854 -0.04827098] [ 0.01023767 -0.03523035 0.99932678 0.016631 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8927916050000002 meters Centerline goodness : 0.949639 Centerline is valid? [True, False] Translation: X:1.73, Y:-0.04, Z:0.02 [[ 0.99996421 0.0039095 -0.00750346 1.73415802] [-0.00375802 0.99979096 0.02009745 -0.03672454] [ 0.00758046 -0.02006853 0.99976987 0.01647013] [ 0. 0. 0. 1. ]] SLAMing on 1.9227916050000002 meters Centerline goodness : 0.909724 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.03, Z:0.02 [[ 0.99997212 0.00586764 -0.00461738 1.75452357] [-0.00581598 0.99992123 0.01112243 -0.03011789] [ 0.00468228 -0.01109527 0.99992748 0.01554218] [ 0. 0. 0. 1. ]] SLAMing on 1.9527916050000003 meters Centerline goodness : 0.907655 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.02, Z:0.02 [[ 9.99986180e-01 -2.03159635e-03 -4.84888517e-03 1.75583094e+00] [ 2.03934785e-03 9.99996650e-01 1.59420612e-03 -2.41113527e-02] [ 4.84563014e-03 -1.60407265e-03 9.99986973e-01 1.51511961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9827916050000003 meters Centerline goodness : 0.922661 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.02, Z:0.01 [[ 9.99986264e-01 -2.02760953e-03 -4.83336631e-03 1.75619269e+00] [ 2.03593568e-03 9.99996451e-01 1.71834226e-03 -2.46244419e-02] [ 4.82986503e-03 -1.72815908e-03 9.99986843e-01 1.49870582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0127916050000003 meters Centerline goodness : 0.958649 Centerline is valid? [False, True] Translation: X:1.76, Y:-0.02, Z:0.01 [[ 9.99988651e-01 -1.83934864e-03 -4.39480969e-03 1.75672435e+00] [ 1.84599115e-03 9.99997159e-01 1.50786739e-03 -2.38495128e-02] [ 4.39202371e-03 -1.51596306e-03 9.99989206e-01 1.46727054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042791605 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.03, Z:0.02 [[ 0.99890501 0.04593054 -0.00889803 1.81675411] [-0.0459492 0.99894196 -0.00190383 -0.0258573 ] [ 0.00880117 0.0023106 0.9999586 0.01502929] [ 0. 0. 0. 1. ]] SLAMing on 2.0727916050000004 meters Centerline goodness : 0.982491 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.13, Z:0.02 [[ 0.99905381 0.03711563 -0.02266954 1.83800994] [-0.03461149 0.9941485 0.102327 -0.12860195] [ 0.02633482 -0.10144555 0.99449247 0.0202686 ] [ 0. 0. 0. 1. ]] SLAMing on 2.102791605 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:1.94, Y:0.21, Z:0.07 [[ 9.99979974e-01 -6.32365703e-03 2.50717032e-04 1.93972072e+00] [ 6.13597349e-03 9.59077713e-01 -2.83076473e-01 2.11866084e-01] [ 1.54962141e-03 2.83072342e-01 9.59097309e-01 7.15488666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1327916050000004 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.07, Z:0.04 [[ 0.99948613 -0.03070649 -0.00919688 1.97305113] [ 0.03102898 0.99882384 0.03725783 -0.07254046] [ 0.00804201 -0.03752406 0.99926336 0.03948787] [ 0. 0. 0. 1. ]] SLAMing on 2.1627916050000002 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.08, Z:0.06 [[ 0.99917477 -0.03425178 0.02183087 1.96685401] [ 0.03350332 0.99886776 0.03377471 -0.07688771] [-0.022963 -0.03301543 0.99919101 0.05732256] [ 0. 0. 0. 1. ]] SLAMing on 2.1927916050000005 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.13, Z:0.06 [[ 0.99792162 -0.06022216 0.02292873 2.00529312] [ 0.05796892 0.99436726 0.0887319 -0.1339609 ] [-0.0281432 -0.08721833 0.99579161 0.06010045] [ 0. 0. 0. 1. ]] SLAMing on 2.2227916050000003 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.00, Z:0.07 [[ 0.99933325 -0.02394971 0.02755851 2.02069405] [ 0.02522555 0.99858012 -0.04691929 -0.00283763] [-0.02639567 0.04758318 0.99851846 0.06518545] [ 0. 0. 0. 1. ]] SLAMing on 2.252791605 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:2.05, Y:0.01, Z:0.07 [[ 0.99868268 -0.02448977 0.04509049 2.05308303] [ 0.0273103 0.99763739 -0.06303799 0.01225499] [-0.04344018 0.06418638 0.99699201 0.06553991] [ 0. 0. 0. 1. ]] SLAMing on 2.2827916050000003 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:0.06 [[ 0.99865003 0.03602493 0.03742084 2.06942546] [-0.04033387 0.99175568 0.12162999 -0.12289142] [-0.03273061 -0.12297512 0.99186986 0.05866578] [ 0. 0. 0. 1. ]] SLAMing on 2.312791605 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.11, Z:0.06 [[ 0.99721919 -0.06277167 0.0401696 2.11701682] [ 0.06033227 0.9964152 0.05930228 -0.11497208] [-0.04374811 -0.05671385 0.99743152 0.06081365] [ 0. 0. 0. 1. ]] SLAMing on 2.3427916050000004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:2.13, Y:0.02, Z:0.07 [[ 0.99919958 -0.00882486 0.03901689 2.13129357] [ 0.01144085 0.99766442 -0.06734106 0.01819428] [-0.03833149 0.06773355 0.99696683 0.06702534] [ 0. 0. 0. 1. ]] SLAMing on 2.372791605 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:2.17, Y:0.03, Z:0.07 [[ 0.99831884 -0.00727938 0.05750224 2.17033397] [ 0.01190089 0.99668822 -0.08044224 0.03147518] [-0.05672623 0.08099133 0.99509926 0.06701615] [ 0. 0. 0. 1. ]] SLAMing on 2.4027916050000004 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.04, Z:0.07 [[ 0.99783609 -0.00606012 0.06547066 2.20727978] [ 0.00570869 0.99996828 0.00555349 -0.0418961 ] [-0.06550223 -0.00516772 0.99783904 0.06772972] [ 0. 0. 0. 1. ]] SLAMing on 2.4327916050000002 meters Centerline goodness : 0.988198 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.15, Z:0.05 [[ 0.99750479 0.05668531 0.04208298 2.224849 ] [-0.06289318 0.98429664 0.16493807 -0.15086104] [-0.03207257 -0.16717325 0.98540573 0.05231015] [ 0. 0. 0. 1. ]] SLAMing on 2.4627916050000005 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.02, Z:0.06 [[ 0.99841139 -0.03732295 0.04221011 2.25650828] [ 0.03873056 0.99870343 -0.03303651 -0.0181032 ] [-0.04092236 0.03461885 0.99856241 0.05625249] [ 0. 0. 0. 1. ]] SLAMing on 2.4927916050000003 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.07, Z:0.06 [[ 0.99873072 -0.04108613 0.02913543 2.2946026 ] [ 0.04038789 0.99889188 0.02416239 -0.07076144] [-0.03009588 -0.022955 0.9992834 0.05640744] [ 0. 0. 0. 1. ]] SLAMing on 2.522791605 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:2.33, Y:0.08, Z:0.08 [[ 0.99743004 0.0029755 0.07158541 2.32850335] [ 0.00631343 0.9916005 -0.12918436 0.07776052] [-0.07136852 0.12930431 0.98903333 0.07537982] [ 0. 0. 0. 1. ]] SLAMing on 2.5527916050000004 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.03, Z:0.07 [[ 9.97483154e-01 -1.08272297e-03 7.08955889e-02 2.36106146e+00] [ 1.07068364e-03 9.99999405e-01 2.07818639e-04 -3.18465173e-02] [-7.08957718e-02 -1.31388844e-04 9.97483720e-01 6.56458907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582791605 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.03, Z:0.06 [[ 9.97621801e-01 1.06495789e-03 6.89173930e-02 2.39418454e+00] [-1.07893401e-03 9.99999404e-01 1.65572719e-04 -2.94898216e-02] [-6.89171756e-02 -2.39536274e-04 9.97622356e-01 6.34984490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6127916050000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.12, Z:0.05 [[ 9.99263067e-01 -2.59703158e-03 3.82959352e-02 2.41181945e+00] [-1.32135623e-03 9.94789685e-01 1.01939871e-01 -1.15086034e-01] [-3.83611423e-02 -1.01915351e-01 9.94053160e-01 5.29099245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.642791605 meters Centerline goodness : 0.977051 Centerline is valid? [True, True] Translation: X:2.42, Y:0.06, Z:0.05 [[ 0.99903026 0.03009505 0.03213754 2.42337604] [-0.026862 0.99495257 -0.09668412 0.06208487] [-0.03488504 0.09572709 0.99479614 0.04995727] [ 0. 0. 0. 1. ]] SLAMing on 2.6727916050000005 meters Centerline goodness : 0.977051 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.00, Z:0.04 [[ 9.98850277e-01 3.66941338e-02 3.08490715e-02 2.45642257e+00] [-3.59775430e-02 9.99076919e-01 -2.34718032e-02 -5.16941503e-04] [-3.16818728e-02 2.23349433e-02 9.99248422e-01 4.33670361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7027916050000003 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.14, Z:0.06 [[ 0.99905574 -0.01548624 0.04059319 2.51437912] [ 0.01024236 0.99193383 0.12634227 -0.13690876] [-0.04222232 -0.1258072 0.9911558 0.05677137] [ 0. 0. 0. 1. ]] SLAMing on 2.7327916050000005 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:2.54, Y:0.00, Z:0.05 [[ 9.98908280e-01 -5.00219547e-03 4.64459526e-02 2.54275664e+00] [ 6.21026743e-03 9.99645183e-01 -2.59025143e-02 1.51792998e-03] [-4.62999033e-02 2.61626778e-02 9.98584915e-01 5.33734889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7627916050000003 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.04, Z:0.05 [[ 0.99832956 -0.00929371 0.05702381 2.56008502] [ 0.00773642 0.9995927 0.02746974 -0.0384194 ] [-0.05725588 -0.02698269 0.99799484 0.04821205] [ 0. 0. 0. 1. ]] SLAMing on 2.792791605 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:2.60, Y:0.02, Z:0.05 [[ 0.99815268 0.02449478 0.05559892 2.59719202] [-0.02290363 0.99931473 -0.02907738 0.02036252] [-0.05627307 0.02775025 0.99802969 0.05217359] [ 0. 0. 0. 1. ]] SLAMing on 2.8227916050000004 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:2.59, Y:0.06, Z:0.04 [[ 0.99908691 -0.00727148 0.04210071 2.59377247] [ 0.01089637 0.99619035 -0.08652204 0.05941197] [-0.04131117 0.08690179 0.99535997 0.04245823] [ 0. 0. 0. 1. ]] SLAMing on 2.852791605 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.05, Z:0.04 [[ 0.99847133 -0.01156024 0.05404959 2.65973498] [ 0.00924229 0.99903488 0.04294054 -0.0478316 ] [-0.05449383 -0.04237535 0.99761453 0.04195324] [ 0. 0. 0. 1. ]] SLAMing on 2.8827916050000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.00, Z:0.04 [[ 9.98397219e-01 -1.30980590e-02 5.50584505e-02 2.69014640e+00] [ 1.35873875e-02 9.99871367e-01 -8.52250162e-03 -2.05089607e-03] [-5.49397399e-02 9.25694242e-03 9.98446761e-01 4.18046205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9127916050000002 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.02, Z:0.03 [[ 9.98086804e-01 -3.65410492e-02 4.98746726e-02 2.73623433e+00] [ 3.65743186e-02 9.99330906e-01 2.45717473e-04 -1.50758956e-02] [-4.98502805e-02 1.57888480e-03 9.98755454e-01 2.68489040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9427916050000005 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.01, Z:0.01 [[ 9.97553138e-01 -5.43462806e-02 4.39797481e-02 2.78109153e+00] [ 5.44537644e-02 9.98515512e-01 -1.24874229e-03 -1.27470889e-02] [-4.38465962e-02 3.64054964e-03 9.99031642e-01 1.30596440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9727916050000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:2.79, Y:0.01, Z:0.03 [[ 0.99835842 -0.03916839 0.04178878 2.78955894] [ 0.04019179 0.99890522 -0.023937 0.0070259 ] [-0.04080546 0.02557727 0.99883969 0.02745836] [ 0. 0. 0. 1. ]] SLAMing on 3.0027916050000005 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.01, Z:0.02 [[ 9.97816888e-01 -5.36745543e-02 3.84772581e-02 2.83430486e+00] [ 5.37168378e-02 9.98556206e-01 -6.51973412e-05 -1.25752672e-02] [-3.84182054e-02 2.13193164e-03 9.99259474e-01 1.52653684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0327916050000003 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.01, Z:0.01 [[ 0.99720292 -0.06662551 0.03387293 2.86830932] [ 0.06691245 0.99773135 -0.00740815 -0.00942217] [-0.03330251 0.00965395 0.99939869 0.01002534] [ 0. 0. 0. 1. ]] SLAMing on 3.062791605 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.88, Y:0.01, Z:0.02 [[ 0.99850137 -0.03628816 0.0409657 2.87904232] [ 0.03667441 0.99928925 -0.00871661 0.00870844] [-0.04062028 0.01020594 0.99912253 0.02028773] [ 0. 0. 0. 1. ]] SLAMing on 3.0927916050000004 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.00, Z:0.01 [[ 0.99728847 -0.06679174 0.03089599 2.92988351] [ 0.06715956 0.99768135 -0.01102329 -0.00400877] [-0.03008809 0.01306836 0.99946182 0.00598183] [ 0. 0. 0. 1. ]] SLAMing on 3.122791605 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.01, Z:0.01 [[ 0.99896292 -0.03031354 0.03397316 2.8866655 ] [ 0.03007563 0.99951954 0.00749246 -0.00871999] [-0.03418396 -0.00646292 0.99939466 0.01254672] [ 0. 0. 0. 1. ]] SLAMing on 3.1527916050000004 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.01, Z:0.00 [[ 9.98759818e-01 -3.81454336e-02 3.19961083e-02 2.92868938e+00] [ 3.81189561e-02 9.99272175e-01 1.43732243e-03 -5.02630466e-03] [-3.20276480e-02 -2.15881639e-04 9.99486960e-01 2.67043085e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1827916050000002 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:2.94, Y:0.03, Z:0.01 [[ 0.9993666 -0.00719458 0.03485161 2.94306063] [ 0.00855521 0.99920063 -0.03905016 0.0345401 ] [-0.0345428 0.03932358 0.99862929 0.00657495] [ 0. 0. 0. 1. ]] SLAMing on 3.2127916050000005 meters Centerline goodness : 0.986126 Centerline is valid? [True, True] Translation: X:3.05, Y:0.08, Z:0.00 [[ 0.99869055 -0.04755975 0.01884819 3.05105002] [ 0.04946874 0.99168052 -0.11883853 0.08404663] [-0.01303945 0.11961531 0.99273468 0.00365963] [ 0. 0. 0. 1. ]] SLAMing on 3.2427916050000003 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:3.08, Y:0.00, Z:-0.01 [[ 9.98034247e-01 -5.52552775e-02 2.95718736e-02 3.08363392e+00] [ 5.59364645e-02 9.98175669e-01 -2.27254328e-02 1.08614620e-03] [-2.82622247e-02 2.43349062e-02 9.99304287e-01 -9.18758950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2727916050000005 meters Centerline goodness : 0.983958 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.00, Z:-0.01 [[ 0.99813724 -0.05653652 0.02292755 3.11930825] [ 0.05696079 0.99820879 -0.01829414 -0.00417942] [-0.02185219 0.01956603 0.99956973 -0.01050516] [ 0. 0. 0. 1. ]] SLAMing on 3.3027916050000004 meters Centerline goodness : 0.983947 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.01, Z:-0.02 [[ 0.99807702 -0.0561483 0.02626073 3.15293437] [ 0.05657138 0.99827582 -0.01565455 -0.00605613] [-0.02533648 0.01711005 0.99953255 -0.01599504] [ 0. 0. 0. 1. ]] SLAMing on 3.332791605 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:3.18, Y:0.00, Z:-0.01 [[ 0.99899637 -0.03390993 0.02926392 3.18256673] [ 0.03454164 0.99917501 -0.02135809 0.00482854] [-0.02851553 0.02234747 0.99934351 -0.01315469] [ 0. 0. 0. 1. ]] SLAMing on 3.3627916050000004 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.03, Z:-0.01 [[ 0.99800219 -0.059349 0.02166372 3.20731687] [ 0.05915674 0.99820434 0.00941106 -0.02586874] [-0.02218336 -0.00811071 0.99972102 -0.01499106] [ 0. 0. 0. 1. ]] SLAMing on 3.392791605 meters Centerline goodness : 0.980091 Centerline is valid? [True, True] Translation: X:3.25, Y:0.02, Z:-0.02 [[ 0.99837842 -0.05396081 0.01813195 3.25004863] [ 0.05463757 0.99773762 -0.03917118 0.02090102] [-0.01597722 0.04009835 0.99906799 -0.01874555] [ 0. 0. 0. 1. ]] SLAMing on 3.4227916050000005 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.02, Z:0.00 [[ 0.99837564 -0.04875835 0.02947385 3.2409043 ] [ 0.04887986 0.99879882 -0.00341607 -0.01624944] [-0.02927188 0.0048512 0.99955971 0.00451614] [ 0. 0. 0. 1. ]] SLAMing on 3.4527916050000003 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:3.21, Y:0.07, Z:0.01 [[ 0.99832235 -0.02686286 0.0512921 3.21410749] [ 0.03132355 0.99560637 -0.08824278 0.06695422] [-0.04869629 0.08970139 0.99477753 0.01347031] [ 0. 0. 0. 1. ]] SLAMing on 3.4827916050000005 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.08, Z:0.00 [[ 0.99881822 -0.03972525 0.02800135 3.23327695] [ 0.03760735 0.99666024 0.07248484 -0.07715858] [-0.03078731 -0.07134612 0.99697636 0.00378591] [ 0. 0. 0. 1. ]] SLAMing on 3.5127916050000003 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.04, Z:0.02 [[ 0.99823438 -0.02527414 0.05375257 3.28754753] [ 0.02254971 0.99845928 0.0507009 -0.04327919] [-0.05495118 -0.04939928 0.9972663 0.01516902] [ 0. 0. 0. 1. ]] SLAMing on 3.5427916050000006 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.06, Z:-0.01 [[ 0.99860839 -0.05218836 -0.00759287 3.2882566 ] [ 0.05248558 0.99754234 0.04641702 -0.05803953] [ 0.00515178 -0.04675094 0.99889329 -0.01068003] [ 0. 0. 0. 1. ]] SLAMing on 3.5727916050000004 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:3.34, Y:0.04, Z:0.02 [[ 0.99772518 -0.01500033 0.06572253 3.3370903 ] [ 0.01776499 0.99897285 -0.04168512 0.04216003] [-0.06502973 0.04275786 0.99696685 0.01987354] [ 0. 0. 0. 1. ]] SLAMing on 3.602791605 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:3.37, Y:0.01, Z:0.02 [[ 9.97286399e-01 -1.81356044e-02 7.13508152e-02 3.37086756e+00] [ 1.80259554e-02 9.99835142e-01 2.18041646e-03 7.69900475e-03] [-7.13785956e-02 -8.88333066e-04 9.97448899e-01 1.51674132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6327916050000004 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.00, Z:0.01 [[ 9.98754952e-01 3.88386357e-03 4.97339095e-02 3.43410538e+00] [-5.16325943e-03 9.99658362e-01 2.56222413e-02 -3.02553321e-03] [-4.96174052e-02 -2.58471295e-02 9.98433793e-01 8.83296864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6627916050000002 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.02, Z:0.00 [[ 9.97518302e-01 -3.02460791e-02 6.35799633e-02 3.45779778e+00] [ 2.88645880e-02 9.99329258e-01 2.25359831e-02 -1.83663254e-02] [-6.42189427e-02 -2.06448462e-02 9.97722265e-01 2.03450145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6927916050000005 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:3.45, Y:0.11, Z:0.03 [[ 0.9964436 -0.01767296 0.08238818 3.45302255] [ 0.02706961 0.99306917 -0.11437159 0.10877046] [-0.07979588 0.11619505 0.99001582 0.02678942] [ 0. 0. 0. 1. ]] SLAMing on 3.7227916050000003 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.49, Y:0.01, Z:0.01 [[ 9.96709976e-01 -2.23212409e-02 7.79165342e-02 3.48924637e+00] [ 2.21635176e-02 9.99750186e-01 2.88854806e-03 1.03702778e-02] [-7.79615455e-02 -1.15214018e-03 9.96955701e-01 1.27640016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7527916050000005 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.09, Z:0.01 [[ 0.99864795 -0.02780831 0.04392002 3.51874352] [ 0.02233183 0.99245004 0.12059934 -0.09136249] [-0.04694209 -0.11945547 0.99172921 0.01303559] [ 0. 0. 0. 1. ]] SLAMing on 3.7827916050000003 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:3.55, Y:0.02, Z:0.01 [[ 9.98436719e-01 -2.00844291e-02 5.21606577e-02 3.54659118e+00] [ 2.02679077e-02 9.99790111e-01 -2.99094496e-03 1.86321094e-02] [-5.20896384e-02 4.04345667e-03 9.98634227e-01 1.41036834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8127916050000006 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:3.58, Y:0.11, Z:0.02 [[ 0.99583189 -0.01003675 0.09065382 3.57656253] [ 0.01951221 0.9943596 -0.10425091 0.11236668] [-0.08909615 0.10558524 0.99041084 0.02299785] [ 0. 0. 0. 1. ]] SLAMing on 3.8427916050000004 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:3.61, Y:0.02, Z:0.01 [[ 9.96066489e-01 -1.50931566e-02 8.73140681e-02 3.61252168e+00] [ 1.48789014e-02 9.99884485e-01 3.10417399e-03 2.29899017e-02] [-8.73508337e-02 -1.79282628e-03 9.96175997e-01 9.13859659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.872791605 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.07, Z:0.01 [[ 0.99862509 -0.02106606 0.04800164 3.64263094] [ 0.01546471 0.99333633 0.11420936 -0.07211233] [-0.05008772 -0.11331 0.99229636 0.00845827] [ 0. 0. 0. 1. ]] SLAMing on 3.9027916050000004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.67, Y:0.12, Z:0.02 [[ 0.99593548 -0.00400111 0.08998066 3.67051505] [ 0.01353566 0.99431618 -0.10560359 0.12497876] [-0.08904669 0.10639231 0.99032892 0.01702819] [ 0. 0. 0. 1. ]] SLAMing on 3.9327916050000002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.06, Z:0.00 [[ 9.98420239e-01 -1.76841575e-02 5.33319501e-02 3.70343014e+00] [ 1.17590806e-02 9.93924735e-01 1.09431916e-01 -6.07039781e-02] [-5.49431557e-02 -1.08631905e-01 9.92562521e-01 3.63280546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9627916050000005 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:3.73, Y:0.04, Z:0.01 [[ 9.98234526e-01 -1.12237441e-02 5.83254597e-02 3.73022230e+00] [ 1.12138549e-02 9.99936999e-01 4.96866451e-04 3.78691445e-02] [-5.83273618e-02 1.58063993e-04 9.98297498e-01 5.59930704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9927916050000003 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:3.76, Y:0.13, Z:0.01 [[ 0.99531784 -0.00530326 0.09651052 3.75951091] [ 0.01476612 0.99511598 -0.097602 0.12872241] [-0.09552155 0.09857009 0.99053499 0.01387308] [ 0. 0. 0. 1. ]] SLAMing on 4.022791605 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.07, Z:-0.02 [[ 0.99270334 -0.08705758 0.08343295 3.78871629] [ 0.07811112 0.99139157 0.10507809 -0.07494504] [-0.09186257 -0.09779433 0.99095789 -0.01605553] [ 0. 0. 0. 1. ]] SLAMing on 4.052791605 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:3.82, Y:0.03, Z:-0.00 [[ 9.97801473e-01 -2.04053549e-02 6.30542771e-02 3.82079845e+00] [ 1.93690135e-02 9.99667805e-01 1.70035431e-02 3.33307968e-02] [-6.33802941e-02 -1.57448612e-02 9.97865240e-01 -1.52174029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082791605 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:3.86, Y:0.06, Z:-0.01 [[ 0.9973213 -0.02324969 0.06935177 3.86015368] [ 0.02389507 0.99967841 -0.0084908 0.05644938] [-0.06913206 0.01012522 0.99755613 -0.01104275] [ 0. 0. 0. 1. ]] SLAMing on 4.112791605 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.01, Z:-0.03 [[ 0.99292196 -0.09437613 0.07210498 3.88118794] [ 0.09233453 0.99524072 0.03114881 -0.00997282] [-0.07470152 -0.02427056 0.99691054 -0.03045099] [ 0. 0. 0. 1. ]] SLAMing on 4.142791605 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:3.90, Y:0.12, Z:0.00 [[ 0.99655449 -0.02061621 0.08033756 3.90486414] [ 0.02652539 0.9969648 -0.07319564 0.11955058] [-0.0785847 0.07507442 0.99407659 0.00474103] [ 0. 0. 0. 1. ]] SLAMing on 4.172791605 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:3.94, Y:0.11, Z:-0.00 [[ 9.94070801e-01 -2.16164720e-02 1.06564400e-01 3.93801484e+00] [ 2.73293972e-02 9.98249808e-01 -5.24445013e-02 1.05270490e-01] [-1.05244226e-01 5.50458882e-02 9.92921751e-01 -3.25220552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202791605 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.03, Z:-0.03 [[ 0.99471536 -0.07525214 0.06984608 3.95840729] [ 0.06931191 0.99406126 0.08389325 -0.02942833] [-0.07574442 -0.07860874 0.99402387 -0.02613981] [ 0. 0. 0. 1. ]] SLAMing on 4.232791605 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:4.01, Y:0.02, Z:-0.04 [[ 0.9937777 -0.09040912 0.06505443 4.01077679] [ 0.08934101 0.99581697 0.01915057 0.02115415] [-0.06651369 -0.01321938 0.99769794 -0.04484561] [ 0. 0. 0. 1. ]] SLAMing on 4.262791605 meters Centerline goodness : 0.970550 Centerline is valid? [True, True] Translation: X:4.06, Y:0.05, Z:-0.05 [[ 0.99253067 -0.10769395 0.0573139 4.05911151] [ 0.10834381 0.99407845 -0.00834571 0.0544093 ] [-0.05607573 0.01449298 0.99832132 -0.04785621] [ 0. 0. 0. 1. ]] SLAMing on 4.292791605 meters Centerline goodness : 0.958940 Centerline is valid? [True, True] Translation: X:4.11, Y:0.07, Z:-0.05 [[ 0.99316416 -0.10362223 0.05373443 4.10889422] [ 0.1052485 0.99404129 -0.0283666 0.06763486] [-0.05047483 0.03382816 0.99815227 -0.05205753] [ 0. 0. 0. 1. ]] SLAMing on 4.322791605 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:4.10, Y:0.01, Z:-0.06 [[ 0.99432733 -0.08677252 0.06151171 4.10389761] [ 0.08477495 0.9958069 0.03437763 0.0102674 ] [-0.06423682 -0.02896796 0.99751415 -0.0559383 ] [ 0. 0. 0. 1. ]] SLAMing on 4.352791605 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:4.11, Y:0.05, Z:-0.04 [[ 0.99478226 -0.05500696 0.08592137 4.11129282] [ 0.05434466 0.99847186 0.01003011 0.05307123] [-0.0863418 -0.00530841 0.99625143 -0.03917037] [ 0. 0. 0. 1. ]] SLAMing on 4.382791605 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:4.15, Y:0.04, Z:-0.05 [[ 0.99562377 -0.07048606 0.06135974 4.14947326] [ 0.06982843 0.9974769 0.01279953 0.04236771] [-0.06210711 -0.00845886 0.99803364 -0.05058469] [ 0. 0. 0. 1. ]] SLAMing on 4.412791605 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:4.18, Y:0.05, Z:-0.05 [[ 9.94827352e-01 -8.17600683e-02 6.02812591e-02 4.18099318e+00] [ 8.17304197e-02 9.96650073e-01 2.96146841e-03 4.63917879e-02] [-6.03214511e-02 1.98066283e-03 9.98177038e-01 -5.40777881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442791605 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:4.19, Y:0.10, Z:-0.07 [[ 0.99802566 -0.01975711 0.05961915 4.19090775] [ 0.02027477 0.99976171 -0.00809029 0.09670994] [-0.0594451 0.00928308 0.99818841 -0.07151278] [ 0. 0. 0. 1. ]] SLAMing on 4.472791605 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:4.24, Y:0.04, Z:-0.05 [[ 0.99626726 -0.06669689 0.05480028 4.24248157] [ 0.0658163 0.99767437 0.01772167 0.04076576] [-0.05585482 -0.01404877 0.99834006 -0.05449052] [ 0. 0. 0. 1. ]] SLAMing on 4.502791605 meters Centerline goodness : 0.990307 Centerline is valid? [True, True] Translation: X:4.31, Y:0.04, Z:-0.06 [[ 0.99506143 -0.0785604 0.06067144 4.30748483] [ 0.07763786 0.99682943 0.01741966 0.03971667] [-0.06184758 -0.01262323 0.99800578 -0.05826529] [ 0. 0. 0. 1. ]] SLAMing on 4.532791605 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:4.35, Y:0.11, Z:-0.05 [[ 0.99584428 -0.08506166 0.03253754 4.3533717 ] [ 0.08701872 0.99412309 -0.06439735 0.11471109] [-0.02686857 0.06696111 0.99739375 -0.05009769] [ 0. 0. 0. 1. ]] SLAMing on 4.562791605 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:4.39, Y:0.06, Z:-0.06 [[ 9.95599106e-01 -8.97614898e-02 2.69313009e-02 4.39340471e+00] [ 8.98470141e-02 9.95953610e-01 -1.98011880e-03 6.23542689e-02] [-2.66445880e-02 4.39110149e-03 9.99635326e-01 -6.04945215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592791605 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:4.43, Y:0.06, Z:-0.06 [[ 9.95368374e-01 -9.30476406e-02 2.41647899e-02 4.42647368e+00] [ 9.31070308e-02 9.95655201e-01 -1.34188857e-03 6.31811557e-02] [-2.39349392e-02 3.58558529e-03 9.99707088e-01 -6.24643380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622791605 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:4.42, Y:0.02, Z:-0.08 [[ 0.9977175 -0.06701499 0.00829288 4.41935457] [ 0.06642479 0.99610546 0.05797977 0.02254527] [-0.01214609 -0.05729658 0.99828331 -0.08172337] [ 0. 0. 0. 1. ]] SLAMing on 4.652791605 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.00, Z:-0.07 [[ 9.95515781e-01 -9.20246228e-02 2.19043165e-02 4.42404453e+00] [ 9.03259235e-02 9.93529066e-01 6.88565350e-02 -3.19038132e-03] [-2.80990718e-02 -6.65692396e-02 9.97386073e-01 -6.55297824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682791605 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:4.46, Y:0.24, Z:-0.03 [[ 0.99598405 -0.0685592 0.05757964 4.45742543] [ 0.07873915 0.97686004 -0.19885828 0.24342785] [-0.04261369 0.20259344 0.97833531 -0.02643993] [ 0. 0. 0. 1. ]] SLAMing on 4.712791605 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.13, Z:-0.09 [[ 0.99386971 -0.09976419 -0.04764556 4.4836925 ] [ 0.10720327 0.97498164 0.19472612 -0.12994395] [ 0.02702686 -0.19864016 0.97969977 -0.09378563] [ 0. 0. 0. 1. ]] SLAMing on 4.742791605 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:-0.07 [[ 0.99590131 -0.08834453 0.01938629 4.511688 ] [ 0.08632419 0.99239134 0.08779274 -0.0131073 ] [-0.0269948 -0.08575939 0.9959501 -0.07357312] [ 0. 0. 0. 1. ]] SLAMing on 4.772791605 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:4.56, Y:0.23, Z:-0.04 [[ 0.99758316 -0.05151957 0.04662152 4.55721622] [ 0.05888215 0.9830553 -0.17359482 0.22950475] [-0.036888 0.17592044 0.983713 -0.04038948] [ 0. 0. 0. 1. ]] SLAMing on 4.802791605 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:4.60, Y:0.12, Z:-0.06 [[ 0.99691504 -0.06438602 0.0448869 4.59728219] [ 0.06668635 0.9964292 -0.05178598 0.12216723] [-0.04139232 0.05461956 0.99764893 -0.06459869] [ 0. 0. 0. 1. ]] SLAMing on 4.832791605 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:4.64, Y:0.05, Z:-0.07 [[ 0.99681811 -0.07126664 0.03570315 4.63852465] [ 0.07005836 0.99696252 0.03402302 0.04655817] [-0.03801941 -0.03141345 0.99878312 -0.073602 ] [ 0. 0. 0. 1. ]] SLAMing on 4.862791605 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:4.67, Y:0.13, Z:-0.07 [[ 0.99704753 -0.0642428 0.04206053 4.66718862] [ 0.06620492 0.9966962 -0.0470488 0.12736684] [-0.03889902 0.0496945 0.99800667 -0.06775112] [ 0. 0. 0. 1. ]] SLAMing on 4.892791605 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:4.72, Y:0.09, Z:-0.08 [[ 0.99567027 -0.08565904 0.03610049 4.71708529] [ 0.08625668 0.99615495 -0.01533323 0.08960452] [-0.03464825 0.01838075 0.99923053 -0.07565191] [ 0. 0. 0. 1. ]] SLAMing on 4.9227916050000005 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:4.75, Y:0.06, Z:-0.09 [[ 0.99503277 -0.09453065 0.03120501 4.75189451] [ 0.09403624 0.99542445 0.01695162 0.06139499] [-0.03266468 -0.01393301 0.99936925 -0.08518415] [ 0. 0. 0. 1. ]] SLAMing on 4.952791605 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.02, Z:-0.07 [[ 0.99524816 -0.09679335 0.01058989 4.79274112] [ 0.09501764 0.98920004 0.11160166 -0.01960621] [-0.02127782 -0.11006512 0.9936966 -0.07004697] [ 0. 0. 0. 1. ]] SLAMing on 4.982791605 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:4.82, Y:0.08, Z:-0.07 [[ 9.95162727e-01 -9.25830889e-02 3.28560216e-02 4.81609559e+00] [ 9.25320150e-02 9.95704962e-01 3.07489034e-03 8.15737295e-02] [-3.29995866e-02 -1.97823724e-05 9.99455365e-01 -6.52346946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012791605 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:4.85, Y:0.09, Z:-0.06 [[ 9.95176284e-01 -9.07689527e-02 3.72177614e-02 4.84916796e+00] [ 9.07029086e-02 9.95871976e-01 3.46266711e-03 8.50979943e-02] [-3.73784283e-02 -7.02049702e-05 9.99301180e-01 -6.43805856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042791605 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.05, Z:-0.08 [[ 0.99876838 -0.04722191 -0.01522555 4.93117663] [ 0.04914026 0.98385299 0.17210035 -0.04807735] [ 0.00685279 -0.17263657 0.98496175 -0.07609985] [ 0. 0. 0. 1. ]] SLAMing on 5.072791605 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:4.89, Y:0.23, Z:-0.03 [[ 0.99361635 -0.09604554 0.05917596 4.89010602] [ 0.10475892 0.98018753 -0.16810105 0.22930819] [-0.04185818 0.17322717 0.98399199 -0.03398835] [ 0. 0. 0. 1. ]] SLAMing on 5.102791605 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:4.94, Y:0.03, Z:-0.08 [[ 0.99945038 -0.01776298 0.02798938 4.94038632] [ 0.01479215 0.99457266 0.10298743 0.02975745] [-0.02966684 -0.1025168 0.99428878 -0.08441704] [ 0. 0. 0. 1. ]] SLAMing on 5.132791605 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:4.96, Y:0.17, Z:-0.05 [[ 0.99371398 -0.09854206 0.05312235 4.95907155] [ 0.10324326 0.99015223 -0.09454837 0.16988932] [-0.04328222 0.09943856 0.99410192 -0.04810613] [ 0. 0. 0. 1. ]] SLAMing on 5.162791605 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:5.00, Y:0.09, Z:-0.06 [[ 9.93968467e-01 -1.00661962e-01 4.35184654e-02 5.00040477e+00] [ 1.00566587e-01 9.94920685e-01 4.38092867e-03 8.79991441e-02] [-4.37384142e-02 2.19986000e-05 9.99043017e-01 -6.02711374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192791605 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:5.03, Y:0.09, Z:-0.06 [[ 9.94085191e-01 -9.99930014e-02 4.23796169e-02 5.03279299e+00] [ 9.99029056e-02 9.94988140e-01 4.24382149e-03 9.16834531e-02] [-4.25915686e-02 1.51267588e-05 9.99092567e-01 -6.10498568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222791605 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:5.07, Y:0.09, Z:-0.06 [[ 9.94081483e-01 -9.98807778e-02 4.27297990e-02 5.06561313e+00] [ 9.97900692e-02 9.94999412e-01 4.25593334e-03 9.43005594e-02] [-4.29412108e-02 3.32650735e-05 9.99077600e-01 -6.16128198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252791605 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:5.10, Y:0.01, Z:-0.06 [[ 9.94744567e-01 -1.02343079e-01 -3.02320897e-03 5.10034973e+00] [ 1.02110156e-01 9.89442625e-01 1.02843605e-01 6.97686972e-03] [-7.53403939e-03 -1.02611818e-01 9.94692944e-01 -6.14021709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282791605 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:5.12, Y:0.19, Z:-0.05 [[ 0.99361216 -0.09771053 0.0564582 5.1167883 ] [ 0.10277054 0.99015481 -0.09503511 0.1861844 ] [-0.04661643 0.10023028 0.99387162 -0.04950045] [ 0. 0. 0. 1. ]] SLAMing on 5.312791605 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.16, Y:0.10, Z:-0.06 [[ 9.94037587e-01 -9.97292839e-02 4.40834016e-02 5.15806055e+00] [ 9.96349799e-02 9.95014605e-01 4.33675590e-03 1.03355324e-01] [-4.42961300e-02 8.13504707e-05 9.99018441e-01 -6.11666046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342791605 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:5.19, Y:0.11, Z:-0.06 [[ 9.93936707e-01 -9.98610221e-02 4.60173776e-02 5.19112323e+00] [ 9.97595531e-02 9.95001388e-01 4.50207943e-03 1.07049449e-01] [-4.62369369e-02 1.15891029e-04 9.98930494e-01 -6.08335892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372791605 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:5.22, Y:0.11, Z:-0.06 [[ 9.93861176e-01 -9.99428744e-02 4.74487560e-02 5.22424687e+00] [ 9.98363042e-02 9.94993166e-01 4.61656401e-03 1.11031038e-01] [-4.76725806e-02 1.48884703e-04 9.98863005e-01 -6.15906193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402791605 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:5.26, Y:0.12, Z:-0.06 [[ 9.93880779e-01 -1.00137874e-01 4.66197798e-02 5.25668091e+00] [ 1.00035955e-01 9.94973556e-01 4.52005708e-03 1.15059489e-01] [-4.68380770e-02 1.71256337e-04 9.98902480e-01 -6.21892092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432791605 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:5.29, Y:0.12, Z:-0.07 [[ 9.93977551e-01 -9.97018669e-02 4.54770966e-02 5.28905038e+00] [ 9.96053116e-02 9.95017342e-01 4.38996482e-03 1.19962563e-01] [-4.56881875e-02 1.66233903e-04 9.98955736e-01 -6.50883844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4627916050000005 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:5.32, Y:0.12, Z:-0.07 [[ 9.94062015e-01 -9.93768350e-02 4.43278114e-02 5.32196740e+00] [ 9.92858209e-02 9.95049856e-01 4.25561535e-03 1.23087649e-01] [-4.45312919e-02 1.70777582e-04 9.99007975e-01 -6.66206177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492791605 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:5.36, Y:0.13, Z:-0.07 [[ 9.94220551e-01 -9.85702814e-02 4.25370000e-02 5.35530809e+00] [ 9.84866783e-02 9.95130080e-01 4.06169969e-03 1.26825677e-01] [-4.27302111e-02 1.51102533e-04 9.99086636e-01 -6.70934691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522791605 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:5.39, Y:0.13, Z:-0.07 [[ 9.94347663e-01 -9.76433315e-02 4.16953886e-02 5.38813051e+00] [ 9.75631037e-02 9.95221464e-01 3.95955496e-03 1.30656663e-01] [-4.18827699e-02 1.30757309e-04 9.99122523e-01 -6.80885696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552791605 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:5.42, Y:0.13, Z:-0.09 [[ 9.94107178e-01 -1.07677245e-01 1.25112054e-02 5.42109206e+00] [ 1.07670822e-01 9.94185890e-01 1.18778526e-03 1.29881250e-01] [-1.25663613e-02 1.66305917e-04 9.99921026e-01 -8.96437881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582791605 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:5.45, Y:0.07, Z:-0.08 [[ 0.99482969 -0.09745462 0.02857411 5.45228415] [ 0.09436761 0.99103791 0.09454427 0.06722895] [-0.0375318 -0.09135897 0.9951105 -0.08381093] [ 0. 0. 0. 1. ]] SLAMing on 5.612791605 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:5.48, Y:0.22, Z:-0.06 [[ 0.99437506 -0.09277242 0.051103 5.47600392] [ 0.09685825 0.99171973 -0.08432356 0.22173279] [-0.04285695 0.08879899 0.99512714 -0.06029416] [ 0. 0. 0. 1. ]] SLAMing on 5.642791605 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:5.52, Y:0.15, Z:-0.07 [[ 9.94752420e-01 -9.29309094e-02 4.27956685e-02 5.51532534e+00] [ 9.28456037e-02 9.95672560e-01 3.98095079e-03 1.51786139e-01] [-4.29804262e-02 1.33292514e-05 9.99075914e-01 -7.38353560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6727916050000005 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:5.58, Y:0.13, Z:-0.10 [[ 0.99251539 -0.12105105 0.01611995 5.58270931] [ 0.12057745 0.992318 0.02767774 0.12658757] [-0.01934653 -0.02552688 0.99948691 -0.09619031] [ 0. 0. 0. 1. ]] SLAMing on 5.702791605 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:5.62, Y:0.15, Z:-0.10 [[ 9.91254387e-01 -1.31623944e-01 9.48041438e-03 5.61589696e+00] [ 1.31618961e-01 9.91299715e-01 1.15031990e-03 1.50529953e-01] [-9.54934172e-03 1.07542649e-04 9.99954398e-01 -9.73659232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732791605 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:5.54, Y:0.19, Z:-0.08 [[ 9.97484827e-01 -7.06588850e-02 5.59832172e-03 5.54451089e+00] [ 7.07536458e-02 9.97311476e-01 -1.90720136e-02 1.86285756e-01] [-4.23566328e-03 1.94201459e-02 9.99802439e-01 -8.34350953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762791605 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:5.60, Y:0.17, Z:-0.08 [[ 9.96560467e-01 -8.09015448e-02 1.79492480e-02 5.60020568e+00] [ 8.09038554e-02 9.96721730e-01 5.98564891e-04 1.71448832e-01] [-1.79388303e-02 8.55657254e-04 9.99838720e-01 -8.45786807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792791605 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:5.62, Y:0.17, Z:-0.09 [[ 0.99758774 -0.06531037 0.02352154 5.62060904] [ 0.0650081 0.99779483 0.01339496 0.17340642] [-0.0243445 -0.01183356 0.99963359 -0.08993242] [ 0. 0. 0. 1. ]] SLAMing on 5.822791605 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:5.66, Y:0.20, Z:-0.09 [[ 0.9988101 -0.04221146 0.02442495 5.66097256] [ 0.04252543 0.99901742 -0.01248097 0.20263869] [-0.02387411 0.0135048 0.99962375 -0.08995167] [ 0. 0. 0. 1. ]] SLAMing on 5.852791605 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:5.69, Y:0.20, Z:-0.08 [[ 0.99771854 -0.06656921 0.01123642 5.69434454] [ 0.06673751 0.99765274 -0.01533346 0.20384306] [-0.01018931 0.01604837 0.9998193 -0.08352549] [ 0. 0. 0. 1. ]] SLAMing on 5.882791605 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:5.73, Y:0.22, Z:-0.09 [[ 9.95889637e-01 -9.04436661e-02 4.87593210e-03 5.73097460e+00] [ 9.05546762e-02 9.95362832e-01 -3.24450674e-02 2.20600255e-01] [-1.91887074e-03 3.27532449e-02 9.99461627e-01 -9.43259248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912791605 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:5.76, Y:0.16, Z:-0.08 [[ 0.99547427 -0.09321896 0.01847192 5.76397703] [ 0.09255783 0.99513029 0.0338932 0.16167027] [-0.02154146 -0.03203009 0.99925474 -0.08002338] [ 0. 0. 0. 1. ]] SLAMing on 5.942791605 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:5.81, Y:0.26, Z:-0.08 [[ 0.99476852 -0.0999977 0.02088192 5.80874559] [ 0.10131969 0.99188699 -0.07677575 0.26452645] [-0.01303511 0.07848985 0.99682969 -0.08368154] [ 0. 0. 0. 1. ]] SLAMing on 5.972791605 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:5.83, Y:0.13, Z:-0.08 [[ 0.99496359 -0.09992939 0.00784614 5.82887896] [ 0.09903422 0.99209847 0.07702505 0.1265504 ] [-0.01548121 -0.07586009 0.99699828 -0.0839373 ] [ 0. 0. 0. 1. ]] SLAMing on 6.0027916050000005 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.87, Y:0.25, Z:-0.09 [[ 0.99453918 -0.10126278 0.02525203 5.86732485] [ 0.1024366 0.99345233 -0.05058858 0.24701708] [-0.01996395 0.05289906 0.99840029 -0.0883945 ] [ 0. 0. 0. 1. ]] SLAMing on 6.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.20, Z:-0.11 [[ 9.95174180e-01 -9.78363208e-02 7.51041340e-03 5.90015767e+00] [ 9.78059082e-02 9.95196150e-01 4.31604209e-03 2.03319138e-01] [-7.89660018e-03 -3.56065084e-03 9.99962482e-01 -1.10117114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.94, Y:0.20, Z:-0.10 [[ 9.96013641e-01 -8.88427829e-02 -7.98667828e-03 5.93871853e+00] [ 8.88790882e-02 9.96033092e-01 4.31123280e-03 2.01872568e-01] [ 7.57197395e-03 -5.00389536e-03 9.99958812e-01 -9.82351967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092791605 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:5.94, Y:0.17, Z:-0.08 [[ 0.99200136 -0.12603684 0.00692898 5.94310251] [ 0.12579337 0.99164868 0.0284415 0.17154891] [-0.01045579 -0.02734239 0.99957144 -0.0794997 ] [ 0. 0. 0. 1. ]] SLAMing on 6.122791605 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:5.97, Y:0.20, Z:-0.08 [[ 9.92346070e-01 -1.23198191e-01 8.45477111e-03 5.97356660e+00] [ 1.23194125e-01 9.92382085e-01 1.00208557e-03 1.99517408e-01] [-8.51381851e-03 4.71624535e-05 9.99963756e-01 -7.68335998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152791605 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:6.01, Y:0.20, Z:-0.08 [[ 9.92628726e-01 -1.20787017e-01 9.93524046e-03 6.00616881e+00] [ 1.20781351e-01 9.92678445e-01 1.17059499e-03 2.03817927e-01] [-1.00038917e-02 3.80255458e-05 9.99949959e-01 -7.73607304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.04, Y:0.21, Z:-0.08 [[ 9.93261262e-01 -1.14989584e-01 1.44727896e-02 6.03913963e+00] [ 1.14977122e-01 9.93366697e-01 1.69299029e-03 2.08509475e-01] [-1.45714635e-02 -1.75419817e-05 9.99893830e-01 -7.87257301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2127916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:0.21, Z:-0.08 [[ 9.93491687e-01 -1.12274372e-01 1.92024270e-02 6.07147869e+00] [ 1.12252190e-01 9.93677242e-01 2.23261132e-03 2.12645818e-01] [-1.93316797e-02 -6.25663175e-05 9.99813124e-01 -7.94084398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.10, Y:0.22, Z:-0.08 [[ 9.93514404e-01 -1.11194365e-01 2.37685339e-02 6.10444223e+00] [ 1.11160433e-01 9.93798675e-01 2.74820114e-03 2.16766671e-01] [-2.39267220e-02 -8.82568845e-05 9.99713711e-01 -7.84384592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272791605 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:6.14, Y:0.22, Z:-0.08 [[ 9.93097229e-01 -1.12173874e-01 3.42770466e-02 6.13789347e+00] [ 1.12104676e-01 9.93688592e-01 3.94012724e-03 2.19901393e-01] [-3.45026895e-02 -7.03122509e-05 9.99404602e-01 -7.51506641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:0.22, Z:-0.07 [[ 9.92940878e-01 -1.12170786e-01 3.85503153e-02 6.17086834e+00] [ 1.12084110e-01 9.93688941e-01 4.40918613e-03 2.23275848e-01] [-3.88016039e-02 -5.71833805e-05 9.99246933e-01 -7.48519368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:0.23, Z:-0.08 [[ 9.92759326e-01 -1.12494778e-01 4.21170471e-02 6.20329147e+00] [ 1.12392606e-01 9.93652316e-01 4.79351630e-03 2.26259175e-01] [-4.23889469e-02 -2.51633342e-05 9.99101184e-01 -7.61413918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.23, Z:-0.08 [[ 9.93035268e-01 -1.09610689e-01 4.32024775e-02 6.23603606e+00] [ 1.09501469e-01 9.93974587e-01 4.89367592e-03 2.29871688e-01] [-4.34785639e-02 -1.28858049e-04 9.99054352e-01 -7.61477088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.24, Z:-0.08 [[ 9.93101706e-01 -1.08327000e-01 4.48805356e-02 6.26870464e+00] [ 1.08208913e-01 9.94115302e-01 5.05948889e-03 2.35113921e-01] [-4.51645064e-02 -1.68113075e-04 9.98979549e-01 -7.63876652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4227916050000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.30, Y:0.18, Z:-0.08 [[ 0.99407281 -0.10807567 0.01178518 6.30246567] [ 0.10699253 0.99177323 0.07027421 0.18110223] [-0.01928316 -0.06859676 0.99745809 -0.07992123] [ 0. 0. 0. 1. ]] SLAMing on 6.452791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.33, Y:0.24, Z:-0.08 [[ 9.94085966e-01 -1.06433309e-01 2.15648716e-02 6.32758565e+00] [ 1.06394627e-01 9.94319647e-01 2.93648822e-03 2.43779206e-01] [-2.17549157e-02 -6.24735261e-04 9.99763139e-01 -7.51119468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.31, Z:-0.07 [[ 0.99308083 -0.10316373 0.05610446 6.35295845] [ 0.10660037 0.99235694 -0.06216155 0.30635166] [-0.04926283 0.0677122 0.99648795 -0.06885523] [ 0. 0. 0. 1. ]] SLAMing on 6.512791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:0.25, Z:-0.08 [[ 9.93444396e-01 -1.03730454e-01 4.80439965e-02 6.39220038e+00] [ 1.03592866e-01 9.94605388e-01 5.35168608e-03 2.51175549e-01] [-4.83399506e-02 -3.39587231e-04 9.98830884e-01 -7.82991264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.43, Y:0.26, Z:-0.08 [[ 9.93682445e-01 -1.01388466e-01 4.81204490e-02 6.42535242e+00] [ 1.01248941e-01 9.94846820e-01 5.33448358e-03 2.56565869e-01] [-4.84133308e-02 -4.28638210e-04 9.98827295e-01 -7.88418367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.46, Y:0.26, Z:-0.08 [[ 9.93887479e-01 -9.98978601e-02 4.69903948e-02 6.45815886e+00] [ 9.97643300e-02 9.94997589e-01 5.18428201e-03 2.61915460e-01] [-4.72732282e-02 -4.64627725e-04 9.98881888e-01 -7.92829744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.49, Y:0.27, Z:-0.08 [[ 9.94285620e-01 -9.66488390e-02 4.53333071e-02 6.49041126e+00] [ 9.65222780e-02 9.95318378e-01 4.97763342e-03 2.68349932e-01] [-4.56021562e-02 -5.73515253e-04 9.98959516e-01 -8.17511073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.19, Z:-0.09 [[ 9.95017114e-01 -9.97033681e-02 -4.26156317e-04 6.52559505e+00] [ 9.92963931e-02 9.90551269e-01 9.45960358e-02 1.91319821e-01] [-9.00941370e-03 -9.41669903e-02 9.95515649e-01 -8.59223325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.54, Y:0.36, Z:-0.07 [[ 0.99456013 -0.08794472 0.05581994 6.54321446] [ 0.09254127 0.99199292 -0.08594272 0.35995828] [-0.04781478 0.09064085 0.99473513 -0.06958423] [ 0. 0. 0. 1. ]] SLAMing on 6.692791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:0.21, Z:-0.09 [[ 0.99538733 -0.09520524 0.01183328 6.58447084] [ 0.09375288 0.99146413 0.09060505 0.20743394] [-0.02035835 -0.08907771 0.9958166 -0.08690228] [ 0. 0. 0. 1. ]] SLAMing on 6.722791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:0.36, Z:-0.07 [[ 0.99472769 -0.08506801 0.05727346 6.60370901] [ 0.08951886 0.99274735 -0.08024384 0.36413399] [-0.0500319 0.08494783 0.99512847 -0.0698621 ] [ 0. 0. 0. 1. ]] SLAMing on 6.7527916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:0.30, Z:-0.08 [[ 9.95112637e-01 -8.65078563e-02 4.76154349e-02 6.64417789e+00] [ 8.63617443e-02 9.96250683e-01 5.12119111e-03 2.98512572e-01] [-4.78799328e-02 -9.84009981e-04 9.98852614e-01 -8.21185425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.68, Y:0.31, Z:-0.08 [[ 9.95146159e-01 -8.62185343e-02 4.74392934e-02 6.67629859e+00] [ 8.60743940e-02 9.96275778e-01 5.07669433e-03 3.05685146e-01] [-4.77003240e-02 -9.68744434e-04 9.98861222e-01 -8.33082634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.71, Y:0.31, Z:-0.09 [[ 9.95117494e-01 -8.76183429e-02 4.54334517e-02 6.70856090e+00] [ 8.74886912e-02 9.96153764e-01 4.83817377e-03 3.14676017e-01] [-4.56826167e-02 -8.39638131e-04 9.98955651e-01 -8.53068609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:0.32, Z:-0.09 [[ 9.94992102e-01 -8.88494261e-02 4.57875061e-02 6.74154823e+00] [ 8.87201874e-02 9.96044776e-01 4.85112436e-03 3.19866527e-01] [-4.60374259e-02 -7.64554298e-04 9.98939423e-01 -8.59250744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:0.32, Z:-0.09 [[ 9.94858389e-01 -9.04565678e-02 4.55455336e-02 6.77398522e+00] [ 9.03314914e-02 9.95900181e-01 4.80113393e-03 3.24596318e-01] [-4.57930993e-02 -6.62252389e-04 9.98950726e-01 -8.68384774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:0.33, Z:-0.09 [[ 9.94563566e-01 -9.30702082e-02 4.67038501e-02 6.80699521e+00] [ 9.29427602e-02 9.95659407e-01 4.89778340e-03 3.30701897e-01] [-4.69569654e-02 -5.30372183e-04 9.98896772e-01 -8.80570025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:0.34, Z:-0.09 [[ 9.94501935e-01 -9.43222572e-02 4.54885982e-02 6.83991422e+00] [ 9.42037765e-02 9.95541623e-01 4.74613298e-03 3.35514636e-01] [-4.57334589e-02 -4.34840692e-04 9.98953583e-01 -8.85569105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9627916050000005 meters Centerline goodness : 0.986305 Centerline is valid? [True, True] Translation: X:6.85, Y:0.24, Z:-0.12 [[ 0.99894682 -0.03509315 0.02955878 6.85037316] [ 0.03095865 0.99099327 0.13028391 0.24163826] [-0.03386462 -0.1292316 0.99103601 -0.12088822] [ 0. 0. 0. 1. ]] SLAMing on 6.992791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:0.44, Z:-0.07 [[ 0.99454041 -0.08487108 0.06071467 6.8860363 ] [ 0.09102506 0.990079 -0.10704212 0.4445237 ] [-0.05102754 0.11198427 0.99239897 -0.07021972] [ 0. 0. 0. 1. ]] SLAMing on 7.022791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:0.35, Z:-0.09 [[ 9.94523349e-01 -9.58736510e-02 4.16119075e-02 6.91842823e+00] [ 9.56196708e-02 9.95385341e-01 8.05614458e-03 3.47364655e-01] [-4.21922548e-02 -4.03310699e-03 9.99101370e-01 -9.13159770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052791605 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:6.97, Y:0.31, Z:-0.10 [[ 0.99047038 -0.13094488 0.04268331 6.96549166] [ 0.12945751 0.9909336 0.03593546 0.30820747] [-0.04700189 -0.03006733 0.99844218 -0.10203439] [ 0. 0. 0. 1. ]] SLAMing on 7.082791605000001 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:6.99, Y:0.38, Z:-0.09 [[ 0.99273868 -0.10987363 0.0489664 6.98687374] [ 0.11130621 0.99340419 -0.02755068 0.37534445] [-0.04561633 0.03280089 0.99842038 -0.09302674] [ 0. 0. 0. 1. ]] SLAMing on 7.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:0.44, Z:-0.08 [[ 0.99507492 -0.08622121 0.04890614 7.0125519 ] [ 0.09002138 0.99258182 -0.08171583 0.4353494 ] [-0.04149771 0.08571597 0.99545503 -0.07982619] [ 0. 0. 0. 1. ]] SLAMing on 7.142791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:0.31, Z:-0.11 [[ 0.99605924 -0.08123249 0.03559878 7.04592399] [ 0.07874376 0.99467586 0.06647821 0.30805481] [-0.04080944 -0.06341305 0.99715263 -0.1125758 ] [ 0. 0. 0. 1. ]] SLAMing on 7.1727916050000005 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:7.09, Y:0.37, Z:-0.10 [[ 0.99381109 -0.10247526 0.0428758 7.09356072] [ 0.10313847 0.99457474 -0.0135474 0.37336448] [-0.04125491 0.0178857 0.99898856 -0.10453561] [ 0. 0. 0. 1. ]] SLAMing on 7.202791605 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:7.13, Y:0.39, Z:-0.11 [[ 0.99502151 -0.09294711 0.03595873 7.12821874] [ 0.09378507 0.99534133 -0.02236061 0.39056352] [-0.03371285 0.02562168 0.99910308 -0.1056619 ] [ 0. 0. 0. 1. ]] SLAMing on 7.232791605 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:7.17, Y:0.36, Z:-0.12 [[ 0.99412808 -0.10471308 0.02728608 7.16932388] [ 0.10439763 0.99445399 0.0127436 0.35607919] [-0.02846918 -0.00982017 0.99954643 -0.12011684] [ 0. 0. 0. 1. ]] SLAMing on 7.262791605 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:7.17, Y:0.35, Z:-0.12 [[ 0.99655092 -0.07868801 0.02635258 7.16784036] [ 0.07793702 0.99655349 0.02840696 0.34956101] [-0.02849704 -0.02625514 0.99924901 -0.12013009] [ 0. 0. 0. 1. ]] SLAMing on 7.292791605000001 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:7.24, Y:0.41, Z:-0.12 [[ 0.99433157 -0.10452363 0.01948193 7.23800998] [ 0.10527505 0.99352747 -0.04266541 0.412725 ] [-0.01489629 0.04447453 0.99889945 -0.12081367] [ 0. 0. 0. 1. ]] SLAMing on 7.322791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.22, Y:0.37, Z:-0.12 [[ 9.94361774e-01 -1.05908158e-01 5.30319192e-03 7.21781663e+00] [ 1.05981647e-01 9.94233951e-01 -1.63322067e-02 3.69403017e-01] [-3.54289954e-03 1.68021630e-02 9.99852557e-01 -1.22074623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.24, Y:0.30, Z:-0.13 [[ 0.99173972 -0.12652044 0.02109272 7.24098449] [ 0.1252246 0.99063973 0.05432978 0.30079936] [-0.02776912 -0.05123967 0.99830024 -0.12663653] [ 0. 0. 0. 1. ]] SLAMing on 7.382791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.29, Y:0.29, Z:-0.12 [[ 9.92689941e-01 -1.20674057e-01 -2.11017051e-03 7.28586874e+00] [ 1.20515086e-01 9.90131497e-01 7.15243534e-02 2.93829131e-01] [-6.54178762e-03 -7.12558135e-02 9.97436622e-01 -1.19503944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:0.39, Z:-0.11 [[ 0.99305038 -0.11654532 0.01637485 7.30209052] [ 0.11700411 0.99265981 -0.03060279 0.3883385 ] [-0.01268805 0.03230603 0.99939749 -0.10999022] [ 0. 0. 0. 1. ]] SLAMing on 7.442791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.31, Y:0.41, Z:-0.12 [[ 0.99345137 -0.11227079 0.02120476 7.30963455] [ 0.11326509 0.9921147 -0.05366043 0.4103318 ] [-0.01501306 0.05571079 0.99833407 -0.11733204] [ 0. 0. 0. 1. ]] SLAMing on 7.472791605 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:7.40, Y:0.31, Z:-0.12 [[ 0.99512882 -0.09821935 0.00846133 7.4023347 ] [ 0.09724746 0.99210441 0.07919457 0.31497065] [-0.01617296 -0.07798596 0.99682327 -0.1240217 ] [ 0. 0. 0. 1. ]] SLAMing on 7.5027916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.40, Y:0.45, Z:-0.12 [[ 0.99385505 -0.10687968 0.02879022 7.39868452] [ 0.10877813 0.99120419 -0.07537626 0.44760158] [-0.0204808 0.07804482 0.99673946 -0.11552966] [ 0. 0. 0. 1. ]] SLAMing on 7.532791605 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:7.43, Y:0.33, Z:-0.14 [[ 0.9919505 -0.12608514 0.01169382 7.4253292 ] [ 0.12532278 0.99076072 0.05184014 0.33432269] [-0.01812205 -0.04995735 0.99858693 -0.13841262] [ 0. 0. 0. 1. ]] SLAMing on 7.562791605 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:7.49, Y:0.39, Z:-0.13 [[ 9.95726335e-01 -9.11320138e-02 1.49673785e-02 7.48638096e+00] [ 9.10504169e-02 9.95827925e-01 6.04690849e-03 3.85279395e-01] [-1.54560004e-02 -4.65827998e-03 9.99869698e-01 -1.31501597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:0.36, Z:-0.12 [[ 0.99114652 -0.13018216 0.02609942 7.52047649] [ 0.12930272 0.99105747 0.0329531 0.35683701] [-0.03015593 -0.02928662 0.99911607 -0.11829754] [ 0. 0. 0. 1. ]] SLAMing on 7.622791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:0.39, Z:-0.12 [[ 9.91035031e-01 -1.30126048e-01 3.02783680e-02 7.55011209e+00] [ 1.30078454e-01 9.91497368e-01 3.54477467e-03 3.87539927e-01] [-3.04821897e-02 4.25567415e-04 9.99535219e-01 -1.15213891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.39, Z:-0.13 [[ 9.90955804e-01 -1.32347928e-01 2.21499736e-02 7.58135709e+00] [ 1.32323194e-01 9.91203253e-01 2.58507867e-03 3.90356774e-01] [-2.22972557e-02 3.69256543e-04 9.99751317e-01 -1.29562792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.62, Y:0.34, Z:-0.12 [[ 0.99182562 -0.12693647 0.01300269 7.61849806] [ 0.1259228 0.99015942 0.06105542 0.34496064] [-0.02062489 -0.05891899 0.99804968 -0.11856693] [ 0. 0. 0. 1. ]] SLAMing on 7.7127916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:0.41, Z:-0.11 [[ 9.91896677e-01 -1.23957185e-01 2.78495839e-02 7.64169241e+00] [ 1.24096677e-01 9.92264541e-01 -3.33083956e-03 4.05468140e-01] [-2.72212731e-02 6.75988952e-03 9.99606576e-01 -1.09928282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:0.45, Z:-0.10 [[ 0.99108866 -0.12197162 0.05353678 7.66847675] [ 0.12450832 0.99110884 -0.04691421 0.45005507] [-0.04733858 0.05316191 0.99746322 -0.10319686] [ 0. 0. 0. 1. ]] SLAMing on 7.772791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:0.41, Z:-0.11 [[ 9.91361958e-01 -1.21921919e-01 4.83374920e-02 7.70589161e+00] [ 1.21794625e-01 9.92539631e-01 5.58115386e-03 4.10148997e-01] [-4.86573414e-02 3.54303089e-04 9.98815467e-01 -1.12471578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:0.41, Z:-0.11 [[ 9.91429849e-01 -1.21854855e-01 4.70982783e-02 7.73913104e+00] [ 1.21735079e-01 9.92547863e-01 5.41390296e-03 4.13343063e-01] [-4.74070058e-02 3.66007620e-04 9.98875589e-01 -1.14455741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.78, Y:0.34, Z:-0.12 [[ 0.99202468 -0.12550647 0.01162577 7.77577447] [ 0.12391677 0.98799995 0.09219942 0.33741063] [-0.02305789 -0.09002347 0.99567269 -0.12163598] [ 0. 0. 0. 1. ]] SLAMing on 7.862791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.79, Y:0.50, Z:-0.10 [[ 0.9908944 -0.119291 0.06243355 7.79298483] [ 0.12416511 0.98894286 -0.08108665 0.49649853] [-0.05207031 0.08810038 0.99474972 -0.09864522] [ 0. 0. 0. 1. ]] SLAMing on 7.892791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:0.35, Z:-0.12 [[ 0.99197287 -0.124849 0.02006376 7.83791587] [ 0.12269785 0.98870768 0.08603696 0.35281673] [-0.03057882 -0.08288455 0.9960899 -0.11951369] [ 0. 0. 0. 1. ]] SLAMing on 7.9227916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:0.44, Z:-0.11 [[ 0.99194932 -0.12224284 0.03306398 7.8589838 ] [ 0.1225976 0.99241641 -0.00891609 0.43887866] [-0.03172331 0.01289788 0.99941347 -0.10993252] [ 0. 0. 0. 1. ]] SLAMing on 7.952791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.89, Y:0.49, Z:-0.10 [[ 0.99076734 -0.1195493 0.06393779 7.88591923] [ 0.12352606 0.9903809 -0.06234565 0.48981387] [-0.05586939 0.06966802 0.99600451 -0.10427178] [ 0. 0. 0. 1. ]] SLAMing on 7.982791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.93, Y:0.36, Z:-0.12 [[ 0.9917953 -0.12651984 0.01829764 7.92860114] [ 0.12451542 0.98849734 0.08584242 0.36076739] [-0.02894794 -0.08285977 0.99614069 -0.12288737] [ 0. 0. 0. 1. ]] SLAMing on 8.012791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:0.44, Z:-0.11 [[ 9.91791044e-01 -1.25310478e-01 2.54521066e-02 7.95533798e+00] [ 1.25243086e-01 9.92117063e-01 4.23119013e-03 4.37083113e-01] [-2.57816817e-02 -1.00875611e-03 9.99667088e-01 -1.14134963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.98, Y:0.51, Z:-0.10 [[ 0.99023106 -0.12249182 0.06661988 7.97952028] [ 0.12715918 0.9893365 -0.07102 0.50887667] [-0.05721011 0.07879754 0.99524768 -0.10325728] [ 0. 0. 0. 1. ]] SLAMing on 8.072791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.02, Y:0.45, Z:-0.12 [[ 9.90504161e-01 -1.25080512e-01 5.70646385e-02 8.01911172e+00] [ 1.24917284e-01 9.92146306e-01 6.43267023e-03 4.45440482e-01] [-5.74210720e-02 7.56773048e-04 9.98349762e-01 -1.16913257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.05, Y:0.45, Z:-0.12 [[ 9.90492701e-01 -1.26427495e-01 5.42245092e-02 8.05235219e+00] [ 1.26283624e-01 9.91975512e-01 6.08526863e-03 4.48072865e-01] [-5.45587305e-02 8.20253387e-04 9.98510226e-01 -1.19490890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:0.45, Z:-0.12 [[ 9.90368697e-01 -1.26790560e-01 5.56237091e-02 8.08500927e+00] [ 1.26641390e-01 9.91929110e-01 6.21280806e-03 4.51424379e-01] [-5.59625017e-02 8.91293184e-04 9.98432473e-01 -1.21051737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:8.12, Y:0.43, Z:-0.12 [[ 0.99121281 -0.12771051 0.03445558 8.11910992] [ 0.12682883 0.99156594 0.02667276 0.43486763] [-0.03757137 -0.02206842 0.99905024 -0.12253954] [ 0. 0. 0. 1. ]] SLAMing on 8.192791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.15, Y:0.48, Z:-0.12 [[ 0.99039383 -0.12499743 0.05912443 8.1476466 ] [ 0.12614144 0.99188299 -0.01601503 0.47791456] [-0.05664268 0.02331922 0.99812215 -0.1197045 ] [ 0. 0. 0. 1. ]] SLAMing on 8.222791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:0.46, Z:-0.12 [[ 9.90981495e-01 -1.22628419e-01 5.40180257e-02 8.18232183e+00] [ 1.22484814e-01 9.92452410e-01 5.97367290e-03 4.62543334e-01] [-5.43428619e-02 6.96588518e-04 9.98522092e-01 -1.24586080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.21, Y:0.47, Z:-0.13 [[ 9.91175858e-01 -1.21325477e-01 5.33905096e-02 8.21476577e+00] [ 1.21184770e-01 9.92612569e-01 5.87699264e-03 4.66858790e-01] [-5.37091199e-02 6.44983383e-04 9.98556415e-01 -1.26359287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.46, Z:-0.13 [[ 0.9915383 -0.12379876 0.03905989 8.24601223] [ 0.12332244 0.99226237 0.01438653 0.46180788] [-0.04053869 -0.00944784 0.9991333 -0.12988856] [ 0. 0. 0. 1. ]] SLAMing on 8.312791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:0.47, Z:-0.13 [[ 9.91909636e-01 -1.22823124e-01 3.20897930e-02 8.27954727e+00] [ 1.22786534e-01 9.92428213e-01 3.11584970e-03 4.74239068e-01] [-3.22295143e-02 8.49553112e-04 9.99480133e-01 -1.31474912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342791605 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:8.34, Y:0.41, Z:-0.15 [[ 0.98559901 -0.16659674 0.02898483 8.34331994] [ 0.16466055 0.98453912 0.05974631 0.41359075] [-0.03849024 -0.05411324 0.99779269 -0.15125819] [ 0. 0. 0. 1. ]] SLAMing on 8.372791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:0.54, Z:-0.13 [[ 0.99023657 -0.13094396 0.04780398 8.33026758] [ 0.133817 0.98900949 -0.06287484 0.53537776] [-0.03904551 0.06865796 0.99687589 -0.12583613] [ 0. 0. 0. 1. ]] SLAMing on 8.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:0.48, Z:-0.14 [[ 9.90183019e-01 -1.34030103e-01 3.96676282e-02 8.37030095e+00] [ 1.33922047e-01 9.90977261e-01 5.38088702e-03 4.79482605e-01] [-4.00309184e-02 -1.56929740e-05 9.99198441e-01 -1.37801948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:0.49, Z:-0.14 [[ 9.90291175e-01 -1.32435618e-01 4.22397439e-02 8.39892529e+00] [ 1.32791121e-01 9.91127585e-01 -5.71218221e-03 4.94027555e-01] [-4.11084790e-02 1.12657866e-02 9.99091175e-01 -1.36048005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.48, Z:-0.15 [[ 0.98903266 -0.14232584 0.03946846 8.44961045] [ 0.14179291 0.98976698 0.01600275 0.47723956] [-0.04134218 -0.01023089 0.99909266 -0.14698742] [ 0. 0. 0. 1. ]] SLAMing on 8.492791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:0.49, Z:-0.14 [[ 9.92317428e-01 -1.20634709e-01 2.74479388e-02 8.45866999e+00] [ 1.20412601e-01 9.92677398e-01 9.61189868e-03 4.92199823e-01] [-2.84064771e-02 -6.23297687e-03 9.99577022e-01 -1.44824363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522791605000002 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:8.47, Y:0.55, Z:-0.16 [[ 0.99546867 -0.09305162 0.01958392 8.47040267] [ 0.09385243 0.99456962 -0.04497769 0.54519449] [-0.01529232 0.04661188 0.99879601 -0.15593915] [ 0. 0. 0. 1. ]] SLAMing on 8.552791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.55, Y:0.49, Z:-0.16 [[ 0.9872276 -0.15718175 0.02599155 8.55339841] [ 0.15676845 0.98748468 0.01725275 0.48525242] [-0.02837808 -0.01295774 0.99951327 -0.15899439] [ 0. 0. 0. 1. ]] SLAMing on 8.582791605 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.57, Y:0.51, Z:-0.16 [[ 9.87541948e-01 -1.56164274e-01 1.93292787e-02 8.57053165e+00] [ 1.56274808e-01 9.87704092e-01 -4.33721290e-03 5.05842219e-01] [-1.84142899e-02 7.30385898e-03 9.99803765e-01 -1.58889354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.57, Y:0.51, Z:-0.16 [[ 9.91628453e-01 -1.28940627e-01 6.87932285e-03 8.57105252e+00] [ 1.29020885e-01 9.91558140e-01 -1.28867024e-02 5.12581731e-01] [-5.15962907e-03 1.36663971e-02 9.99893298e-01 -1.59653709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:0.51, Z:-0.16 [[ 9.92223920e-01 -1.24411670e-01 3.66454364e-03 8.59990772e+00] [ 1.24416055e-01 9.92229641e-01 -9.92872883e-04 5.05066584e-01] [-3.51254384e-03 1.44108029e-03 9.99992793e-01 -1.61803155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672791605 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.63, Y:0.53, Z:-0.15 [[ 0.99113074 -0.13017867 0.02670913 8.62541644] [ 0.13063902 0.9912964 -0.0162754 0.52517253] [-0.02435796 0.01962031 0.99951075 -0.1532742 ] [ 0. 0. 0. 1. ]] SLAMing on 8.702791605000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:8.68, Y:0.49, Z:-0.17 [[ 0.9880546 -0.15315049 0.01711818 8.68029479] [ 0.15268404 0.98793648 0.02586679 0.48732811] [-0.02087319 -0.02294413 0.99951882 -0.16928718] [ 0. 0. 0. 1. ]] SLAMing on 8.732791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.73, Y:0.55, Z:-0.17 [[ 9.88261592e-01 -1.52636335e-01 6.41684799e-03 8.72861891e+00] [ 1.52768467e-01 9.87122745e-01 -4.74392453e-02 5.49408093e-01] [ 9.06735936e-04 4.78626761e-02 9.98853514e-01 -1.66586822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762791605000002 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:8.79, Y:0.53, Z:-0.18 [[ 0.98139196 -0.1914473 0.01475665 8.78812383] [ 0.1917843 0.98108057 -0.02645178 0.530104 ] [-0.00941334 0.02878966 0.99954117 -0.17854741] [ 0. 0. 0. 1. ]] SLAMing on 8.792791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.78, Y:0.46, Z:-0.15 [[ 0.9816177 -0.18995706 0.01852069 8.7816944 ] [ 0.18933878 0.98142792 0.03082322 0.46068241] [-0.02403181 -0.02674993 0.99935325 -0.15214334] [ 0. 0. 0. 1. ]] SLAMing on 8.822791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:8.81, Y:0.49, Z:-0.15 [[ 9.81876916e-01 -1.88261745e-01 2.17999300e-02 8.81065955e+00] [ 1.88229920e-01 9.82118678e-01 3.52127189e-03 4.88963041e-01] [-2.20730392e-02 6.45943496e-04 9.99756152e-01 -1.49882888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852791605000002 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:8.88, Y:0.52, Z:-0.18 [[ 9.84904485e-01 -1.73085644e-01 -2.12492367e-03 8.88185496e+00] [ 1.73047669e-01 9.84838031e-01 -1.21884273e-02 5.23990764e-01] [ 4.20234744e-03 1.16367236e-02 9.99923461e-01 -1.81818337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882791605000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.87, Y:0.48, Z:-0.15 [[ 0.98200698 -0.18795951 0.01826249 8.86723061] [ 0.1877053 0.98211428 0.01477355 0.47831933] [-0.02071268 -0.01107976 0.99972407 -0.15332689] [ 0. 0. 0. 1. ]] SLAMing on 8.912791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:8.90, Y:0.49, Z:-0.15 [[ 9.82844002e-01 -1.81970443e-01 3.00736661e-02 8.89851475e+00] [ 1.81903014e-01 9.83303835e-01 4.98605282e-03 4.89860986e-01] [-3.04788655e-02 5.69978392e-04 9.99535249e-01 -1.51400453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.93, Y:0.49, Z:-0.15 [[ 9.82961183e-01 -1.80105311e-01 3.67340255e-02 8.93114748e+00] [ 1.80004249e-01 9.83647120e-01 6.06742748e-03 4.92957455e-01] [-3.72260943e-02 6.48234980e-04 9.99306658e-01 -1.49451330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:0.50, Z:-0.15 [[ 9.82864894e-01 -1.79084267e-01 4.36511861e-02 8.96428485e+00] [ 1.78941691e-01 9.83833453e-01 7.18392976e-03 4.96214686e-01] [-4.42320259e-02 7.50184684e-04 9.99021003e-01 -1.48807400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:0.50, Z:-0.15 [[ 9.82768972e-01 -1.77239454e-01 5.24530674e-02 8.99727109e+00] [ 1.77032557e-01 9.84167406e-01 8.60177445e-03 4.99266602e-01] [-5.31471731e-02 8.32343617e-04 9.98586343e-01 -1.47371386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:0.48, Z:-0.15 [[ 0.98412943 -0.17428084 0.03339835 9.03394823] [ 0.17315742 0.98430623 0.03402576 0.48011505] [-0.03880424 -0.02770258 0.99886275 -0.14854372] [ 0. 0. 0. 1. ]] SLAMing on 9.062791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:0.53, Z:-0.15 [[ 0.98320929 -0.17124967 0.06303199 9.05685412] [ 0.17272709 0.98479129 -0.01874754 0.5307209 ] [-0.05886284 0.02932009 0.99783541 -0.14514681] [ 0. 0. 0. 1. ]] SLAMing on 9.092791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:0.51, Z:-0.15 [[ 9.83518947e-01 -1.70574382e-01 5.99571572e-02 9.09359128e+00] [ 1.70295344e-01 9.85344620e-01 9.77117697e-03 5.09468477e-01] [-6.07451748e-02 6.00287056e-04 9.98153126e-01 -1.49145950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:0.51, Z:-0.15 [[ 9.83842692e-01 -1.68683012e-01 5.99966596e-02 9.12682057e+00] [ 1.68402016e-01 9.85670217e-01 9.74601767e-03 5.13013742e-01] [-6.07809081e-02 5.15010181e-04 9.98150999e-01 -1.50389389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:0.46, Z:-0.15 [[ 0.98546304 -0.16793115 0.02572414 9.16671632] [ 0.16570312 0.98350288 0.07255726 0.45873558] [-0.03748439 -0.06723993 0.99703245 -0.1543424 ] [ 0. 0. 0. 1. ]] SLAMing on 9.182791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:0.51, Z:-0.15 [[ 0.98560739 -0.16641012 0.02976159 9.18994717] [ 0.16581332 0.98592223 0.02152449 0.50702999] [-0.03292451 -0.01627983 0.99932524 -0.15189464] [ 0. 0. 0. 1. ]] SLAMing on 9.212791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.21, Y:0.60, Z:-0.14 [[ 0.98419853 -0.1615125 0.07257386 9.20864055] [ 0.16662827 0.98345853 -0.07102352 0.59547184] [-0.0599022 0.0819941 0.99483099 -0.14221669] [ 0. 0. 0. 1. ]] SLAMing on 9.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.53, Z:-0.15 [[ 9.84401663e-01 -1.64826051e-01 6.15283606e-02 9.25213464e+00] [ 1.64527648e-01 9.86322587e-01 9.92008262e-03 5.28461764e-01] [-6.23218998e-02 3.57770622e-04 9.98056037e-01 -1.53782517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:0.53, Z:-0.15 [[ 9.84515510e-01 -1.64450965e-01 6.07049495e-02 9.28494477e+00] [ 1.64161775e-01 9.86385193e-01 9.75511872e-03 5.33510136e-01] [-6.14827021e-02 3.61366556e-04 9.98108084e-01 -1.54675945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:0.54, Z:-0.16 [[ 9.84431949e-01 -1.64897352e-01 6.08490111e-02 9.31823399e+00] [ 1.64609647e-01 9.86310643e-01 9.74571274e-03 5.36814257e-01] [-6.16230695e-02 4.22343271e-04 9.98099403e-01 -1.56972643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:0.54, Z:-0.16 [[ 9.84378375e-01 -1.65256014e-01 6.07426020e-02 9.35088968e+00] [ 1.64971996e-01 9.86250588e-01 9.69626492e-03 5.39835507e-01] [-6.15097931e-02 4.76034758e-04 9.98106366e-01 -1.58756888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:0.54, Z:-0.16 [[ 9.84366098e-01 -1.65559527e-01 6.01117996e-02 9.38437679e+00] [ 1.65283903e-01 9.86199661e-01 9.56350048e-03 5.41960046e-01] [-6.08655650e-02 5.21527203e-04 9.98145837e-01 -1.60379678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:0.54, Z:-0.16 [[ 9.84281237e-01 -1.65629193e-01 6.12977662e-02 9.41752624e+00] [ 1.65344778e-01 9.86187937e-01 9.71894067e-03 5.44514348e-01] [-6.20608579e-02 5.69094621e-04 9.98072205e-01 -1.61310826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:0.55, Z:-0.16 [[ 9.84450295e-01 -1.64805338e-01 6.08014643e-02 9.45021797e+00] [ 1.64525934e-01 9.86325962e-01 9.60798856e-03 5.49913315e-01] [-6.15535105e-02 5.44830522e-04 9.98103636e-01 -1.62573697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:0.55, Z:-0.16 [[ 9.84755075e-01 -1.63536822e-01 5.92718286e-02 9.48353457e+00] [ 1.63270876e-01 9.86537112e-01 9.33531182e-03 5.53389849e-01] [-6.00005259e-02 4.84367666e-04 9.98198228e-01 -1.64280662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:0.50, Z:-0.16 [[ 0.98380474 -0.17779113 0.02277166 9.51808627] [ 0.17617591 0.98253596 0.05987605 0.50295196] [-0.03301941 -0.05489452 0.99794605 -0.1648605 ] [ 0. 0. 0. 1. ]] SLAMing on 9.512791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:0.61, Z:-0.16 [[ 0.98495204 -0.15836247 0.06921561 9.53910475] [ 0.16155426 0.98591735 -0.0432112 0.60698641] [-0.06139784 0.05374304 0.99666544 -0.1606789 ] [ 0. 0. 0. 1. ]] SLAMing on 9.542791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:0.55, Z:-0.17 [[ 0.98653086 -0.1590436 0.03823607 9.57851359] [ 0.15824383 0.98712926 0.02312386 0.55088061] [-0.04142165 -0.01676178 0.99900115 -0.16575216] [ 0. 0. 0. 1. ]] SLAMing on 9.572791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.59, Z:-0.17 [[ 9.86205765e-01 -1.53965694e-01 6.07680309e-02 9.60790553e+00] [ 1.54676481e-01 9.87939352e-01 -7.14304782e-03 5.85109144e-01] [-5.89353447e-02 1.64439001e-02 9.98126356e-01 -1.67245017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:0.56, Z:-0.17 [[ 0.98755025 -0.15286433 0.03710805 9.64135533] [ 0.15213351 0.98811962 0.02179464 0.56163088] [-0.03999881 -0.01587792 0.99907356 -0.17091159] [ 0. 0. 0. 1. ]] SLAMing on 9.632791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.59, Z:-0.17 [[ 9.87086474e-01 -1.49329816e-01 5.79732685e-02 9.67117124e+00] [ 1.49955984e-01 9.88670774e-01 -6.58060432e-03 5.93273826e-01] [-5.63337958e-02 1.51890641e-02 9.98296447e-01 -1.72036938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.71, Y:0.58, Z:-0.17 [[ 9.87320010e-01 -1.48838896e-01 5.51922234e-02 9.70540553e+00] [ 1.48596534e-01 9.88861441e-01 8.49239817e-03 5.84479419e-01] [-5.58414607e-02 -1.83341556e-04 9.98439631e-01 -1.74628439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:0.59, Z:-0.18 [[ 9.87800841e-01 -1.45578911e-01 5.52836269e-02 9.73812406e+00] [ 1.45331683e-01 9.89346582e-01 8.48783727e-03 5.89554325e-01] [-5.59303174e-02 -3.49830228e-04 9.98434613e-01 -1.75587059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:0.58, Z:-0.18 [[ 0.98852593 -0.14497783 0.04240189 9.76811491] [ 0.14433177 0.98936677 0.0179367 0.5844647 ] [-0.04455145 -0.01161096 0.99893961 -0.17570174] [ 0. 0. 0. 1. ]] SLAMing on 9.752791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.80, Y:0.56, Z:-0.19 [[ 0.99022709 -0.13302942 0.04187461 9.79504443] [ 0.13084723 0.99008248 0.05114376 0.56000388] [-0.04826294 -0.04516476 0.99781303 -0.1882682 ] [ 0. 0. 0. 1. ]] SLAMing on 9.782791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:0.66, Z:-0.17 [[ 0.98934954 -0.13298491 0.05918189 9.81699289] [ 0.13624812 0.98914638 -0.05500804 0.65895635] [-0.05122431 0.0624856 0.99673046 -0.17425261] [ 0. 0. 0. 1. ]] SLAMing on 9.812791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.60, Z:-0.19 [[ 0.99093657 -0.126664 0.04473195 9.85066998] [ 0.12607327 0.99189509 0.01580042 0.60231156] [-0.04637075 -0.01001771 0.99887407 -0.1896963 ] [ 0. 0. 0. 1. ]] SLAMing on 9.842791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:9.90, Y:0.60, Z:-0.19 [[ 0.98870431 -0.14528072 0.03684158 9.89887449] [ 0.144709 0.98931501 0.01775125 0.60167924] [-0.03902684 -0.01221943 0.99916345 -0.19283016] [ 0. 0. 0. 1. ]] SLAMing on 9.872791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.91, Y:0.65, Z:-0.19 [[ 0.99281001 -0.11584025 0.03015505 9.90532529] [ 0.11667135 0.99279162 -0.02743331 0.64929388] [-0.0267598 0.0307543 0.9991687 -0.18512788] [ 0. 0. 0. 1. ]] SLAMing on 9.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.94, Y:0.67, Z:-0.19 [[ 0.9938847 -0.10613413 0.03047549 9.93564459] [ 0.10733558 0.99337952 -0.0409415 0.66879385] [-0.02592844 0.04396224 0.99869667 -0.18909028] [ 0. 0. 0. 1. ]] SLAMing on 9.932791605000002 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:10.01, Y:0.61, Z:-0.20 [[ 0.99263703 -0.12027154 0.01436969 10.00873045] [ 0.11971457 0.9921982 0.03480158 0.60934361] [-0.01844322 -0.03282508 0.99929093 -0.20454212] [ 0. 0. 0. 1. ]] SLAMing on 9.962791605000001 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:10.02, Y:0.63, Z:-0.20 [[ 0.99341206 -0.11073982 0.02948175 10.02334646] [ 0.11035184 0.99378707 0.0144821 0.63159413] [-0.03090233 -0.01113333 0.9994604 -0.19602397] [ 0. 0. 0. 1. ]] SLAMing on 9.992791605 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:10.05, Y:0.69, Z:-0.19 [[ 0.99283655 -0.11303611 0.03870952 10.04647272] [ 0.11495359 0.99203371 -0.05152465 0.69163937] [-0.032577 0.05560536 0.99792123 -0.19418383] [ 0. 0. 0. 1. ]] SLAMing on 10.022791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:0.67, Z:-0.20 [[ 0.99560677 -0.09100117 0.02204428 10.05346035] [ 0.09143994 0.99561399 -0.0197871 0.67155828] [-0.02014695 0.0217159 0.99956116 -0.1984176 ] [ 0. 0. 0. 1. ]] SLAMing on 10.052791605000001 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:10.07, Y:0.64, Z:-0.22 [[ 9.92349140e-01 -1.23461312e-01 6.98701618e-04 1.00689577e+01] [ 1.23453140e-01 9.92324241e-01 7.20573139e-03 6.41924516e-01] [-1.58296760e-03 -7.06434444e-03 9.99973794e-01 -2.20427226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:0.66, Z:-0.20 [[ 9.95534982e-01 -9.20312944e-02 2.09843120e-02 1.01298336e+01] [ 9.20013784e-02 9.95756015e-01 2.38866060e-03 6.63468545e-01] [-2.11150864e-02 -4.47409557e-04 9.99776952e-01 -1.97254283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.14, Y:0.69, Z:-0.20 [[ 0.99670803 -0.07961208 0.01533031 10.1365363 ] [ 0.07987545 0.9966528 -0.01741002 0.69010043] [-0.01389295 0.01857723 0.9997309 -0.20499585] [ 0. 0. 0. 1. ]] SLAMing on 10.142791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.18, Y:0.64, Z:-0.21 [[ 0.99639312 -0.08337519 0.01579014 10.17867329] [ 0.08252097 0.99540058 0.04866189 0.63785839] [-0.01977471 -0.04718336 0.99869049 -0.2064758 ] [ 0. 0. 0. 1. ]] SLAMing on 10.172791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:0.67, Z:-0.21 [[ 0.99681914 -0.07810079 0.01587038 10.20165007] [ 0.0778402 0.99683056 0.01642382 0.67432537] [-0.01710279 -0.01513622 0.99973916 -0.20910662] [ 0. 0. 0. 1. ]] SLAMing on 10.202791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:0.70, Z:-0.21 [[ 9.96615997e-01 -7.96009626e-02 2.04997981e-02 1.02447229e+01] [ 7.96602195e-02 9.96819886e-01 -2.08912647e-03 6.98398565e-01] [-2.02683099e-02 3.71507527e-03 9.99787674e-01 -2.05865674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232791605000001 meters Centerline goodness : 0.942739 Centerline is valid? [True, False] Translation: X:10.24, Y:0.71, Z:-0.20 [[ 9.97245234e-01 -6.82973936e-02 2.89380234e-02 1.02397460e+01] [ 6.85783066e-02 9.97606681e-01 -8.82760070e-03 7.08363802e-01] [-2.82658634e-02 1.07878034e-02 9.99542227e-01 -2.04100350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262791605000002 meters Centerline goodness : 0.975798 Centerline is valid? [False, True] Translation: X:10.26, Y:0.72, Z:-0.20 [[ 9.97692702e-01 -5.94701797e-02 3.27501081e-02 1.02569393e+01] [ 5.98230634e-02 9.98159884e-01 -9.90183161e-03 7.15395782e-01] [-3.21009804e-02 1.18381969e-02 9.99414521e-01 -2.03394915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292791605000001 meters Centerline goodness : 0.975798 Centerline is valid? [True, True] Translation: X:10.29, Y:0.71, Z:-0.21 [[ 9.98171772e-01 -5.17665537e-02 3.11983706e-02 1.02910322e+01] [ 5.16883775e-02 9.98657785e-01 3.30762435e-03 7.07529096e-01] [-3.13277200e-02 -1.68898410e-03 9.99507739e-01 -2.06589791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322791605 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:10.36, Y:0.71, Z:-0.19 [[ 0.99918578 -0.02633534 0.03056523 10.35880118] [ 0.02558607 0.99936863 0.0246514 0.70754058] [-0.03119513 -0.02384929 0.99922874 -0.18789195] [ 0. 0. 0. 1. ]] SLAMing on 10.352791605000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.40, Y:0.72, Z:-0.20 [[ 0.99891755 -0.01471734 0.04412637 10.40272741] [ 0.01381104 0.99968881 0.0207736 0.71734201] [-0.04441837 -0.02014168 0.99880995 -0.19805458] [ 0. 0. 0. 1. ]] SLAMing on 10.382791605000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.44, Y:0.73, Z:-0.18 [[ 9.97776703e-01 -2.07719931e-02 6.33259487e-02 1.04358756e+01] [ 2.06565958e-02 9.99783563e-01 2.47650688e-03 7.33100540e-01] [-6.33636846e-02 -1.16290234e-03 9.97989825e-01 -1.79606222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:0.74, Z:-0.18 [[ 9.97331199e-01 -2.10846491e-02 6.98993350e-02 1.04686189e+01] [ 2.09464856e-02 9.99776928e-01 2.70906913e-03 7.36882212e-01] [-6.99408622e-02 -1.23769375e-03 9.97550372e-01 -1.78555107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:10.50, Y:0.74, Z:-0.18 [[ 9.96735613e-01 -2.35366320e-02 7.72278806e-02 1.05020231e+01] [ 2.33786940e-02 9.99722332e-01 2.94867206e-03 7.41133338e-01] [-7.72758387e-02 -1.13355946e-03 9.97009107e-01 -1.78275759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472791605000001 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:10.54, Y:0.69, Z:-0.18 [[ 0.9978248 -0.02855245 0.05941737 10.53501294] [ 0.02483942 0.99774723 0.0623174 0.69093092] [-0.06106283 -0.06070596 0.99628616 -0.18097442] [ 0. 0. 0. 1. ]] SLAMing on 10.502791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:0.79, Z:-0.17 [[ 0.99610928 -0.02763377 0.08368205 10.56397856] [ 0.03232231 0.99795193 -0.05520157 0.79358089] [-0.08198524 0.05769159 0.99496236 -0.1709644 ] [ 0. 0. 0. 1. ]] SLAMing on 10.532791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:0.68, Z:-0.18 [[ 0.99773882 -0.03526934 0.05721286 10.59803677] [ 0.03090729 0.99667326 0.07541317 0.68143753] [-0.0596823 -0.07347435 0.99550969 -0.18272511] [ 0. 0. 0. 1. ]] SLAMing on 10.562791605000001 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:10.63, Y:0.75, Z:-0.18 [[ 9.97529627e-01 -3.51814123e-02 6.08022334e-02 1.06255967e+01] [ 3.51299019e-02 9.99380917e-01 1.91628080e-03 7.46082500e-01] [-6.08320093e-02 2.24429624e-04 9.98147993e-01 -1.80344988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592791605000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:10.65, Y:0.81, Z:-0.17 [[ 0.99551824 -0.03295468 0.08864208 10.6546303 ] [ 0.03908841 0.99689364 -0.06837519 0.8082199 ] [-0.08611344 0.07153363 0.99371395 -0.17437717] [ 0. 0. 0. 1. ]] SLAMing on 10.622791605000002 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:10.69, Y:0.69, Z:-0.19 [[ 0.99732223 -0.04030622 0.06102281 10.68969684] [ 0.03619128 0.99708974 0.06709871 0.69120551] [-0.06354971 -0.06471054 0.9958785 -0.1886216 ] [ 0. 0. 0. 1. ]] SLAMing on 10.652791605 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:10.72, Y:0.80, Z:-0.18 [[ 0.99538272 -0.03540903 0.08921575 10.71721628] [ 0.04087755 0.997347 -0.06023281 0.80194318] [-0.08684627 0.06360162 0.9941894 -0.17939471] [ 0. 0. 0. 1. ]] SLAMing on 10.682791605000002 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:10.75, Y:0.75, Z:-0.19 [[ 9.95526292e-01 -4.20789996e-02 8.45976368e-02 1.07519143e+01] [ 4.19649178e-02 9.99114191e-01 3.12711541e-03 7.45910535e-01] [-8.46542853e-02 4.37007268e-04 9.96410287e-01 -1.89648943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712791605000001 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:10.79, Y:0.75, Z:-0.19 [[ 9.95506079e-01 -4.38517541e-02 8.39325398e-02 1.07853091e+01] [ 4.37494087e-02 9.99037853e-01 3.05912371e-03 7.47273380e-01] [-8.39859323e-02 6.26622738e-04 9.96466743e-01 -1.92535141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742791605 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:10.82, Y:0.75, Z:-0.20 [[ 9.95623414e-01 -4.34630293e-02 8.27344053e-02 1.08186389e+01] [ 4.33657725e-02 9.99054839e-01 2.97302264e-03 7.48981801e-01] [-8.27854245e-02 6.27830449e-04 9.96567198e-01 -1.95358864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772791605000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.85, Y:0.75, Z:-0.20 [[ 9.95520481e-01 -4.35965987e-02 8.38946222e-02 1.08511414e+01] [ 4.35007592e-02 9.99048977e-01 2.97087705e-03 7.49636376e-01] [-8.39443566e-02 6.91910810e-04 9.96470203e-01 -1.98637839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802791605000001 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:10.88, Y:0.75, Z:-0.20 [[ 9.95640041e-01 -4.29516392e-02 8.28013603e-02 1.08838221e+01] [ 4.28595827e-02 9.99076927e-01 2.88974666e-03 7.49752521e-01] [-8.28490479e-02 6.71684265e-04 9.96561882e-01 -2.00551737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832791605 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:10.92, Y:0.75, Z:-0.20 [[ 9.95624361e-01 -4.42383033e-02 8.23110205e-02 1.09165485e+01] [ 4.41552217e-02 9.99020673e-01 2.83030283e-03 7.48378639e-01] [-8.23556189e-02 8.16542916e-04 9.96602672e-01 -2.02599633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862791605000002 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:10.95, Y:0.75, Z:-0.21 [[ 9.95717866e-01 -4.60621727e-02 8.01511582e-02 1.09496533e+01] [ 4.59925767e-02 9.98938091e-01 2.71522662e-03 7.47439309e-01] [-8.01911143e-02 9.82758639e-04 9.96779022e-01 -2.06640045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892791605000001 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:10.98, Y:0.69, Z:-0.21 [[ 0.99735317 -0.04943781 0.05331573 10.98199329] [ 0.04565232 0.99650023 0.07002253 0.68726015] [-0.0565909 -0.06740321 0.99611961 -0.21147558] [ 0. 0. 0. 1. ]] SLAMing on 10.922791605000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:11.01, Y:0.81, Z:-0.20 [[ 0.99548252 -0.0453879 0.0833936 11.00795002] [ 0.05098602 0.99649803 -0.06627291 0.80653812] [-0.08009357 0.07022544 0.99431052 -0.20300949] [ 0. 0. 0. 1. ]] SLAMing on 10.952791605000002 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:11.04, Y:0.75, Z:-0.21 [[ 9.95385688e-01 -5.02707581e-02 8.17323814e-02 1.10430344e+01] [ 5.02144750e-02 9.98734684e-01 2.74530030e-03 7.45709574e-01] [-8.17669724e-02 1.37151599e-03 9.96650531e-01 -2.12815147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982791605000001 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:11.08, Y:0.71, Z:-0.22 [[ 0.99734723 -0.05060641 0.05232108 11.07859219] [ 0.04843189 0.99794196 0.04202603 0.70860843] [-0.05434019 -0.03938054 0.99774562 -0.21893539] [ 0. 0. 0. 1. ]] SLAMing on 11.012791605000002 meters Centerline goodness : 0.922311 Centerline is valid? [True, False] Translation: X:11.10, Y:0.73, Z:-0.22 [[ 0.99771113 -0.04353371 0.05174279 11.09690124] [ 0.04260455 0.99891272 0.01892721 0.72929145] [-0.05251051 -0.01667941 0.99848107 -0.21862212] [ 0. 0. 0. 1. ]] SLAMing on 11.042791605000001 meters Centerline goodness : 0.997431 Centerline is valid? [False, True] Translation: X:11.09, Y:0.74, Z:-0.22 [[ 9.97537538e-01 -3.67227367e-02 5.97519920e-02 1.10928433e+01] [ 3.64465330e-02 9.99319313e-01 5.70617342e-03 7.40803466e-01] [-5.99208659e-02 -3.51436924e-03 9.98196944e-01 -2.18588840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072791605 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:11.14, Y:0.77, Z:-0.22 [[ 0.9963446 -0.06966617 0.04943746 11.13968617] [ 0.07132889 0.99691657 -0.03270381 0.76744714] [-0.04700668 0.03611059 0.99824165 -0.2227358 ] [ 0. 0. 0. 1. ]] SLAMing on 11.102791605000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:11.16, Y:0.73, Z:-0.22 [[ 9.95428171e-01 -7.78751024e-02 5.53012272e-02 1.11565796e+01] [ 7.79768190e-02 9.96955121e-01 3.19338398e-04 7.28610101e-01] [-5.51577102e-02 3.99433535e-03 9.98469665e-01 -2.22585233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132791605000001 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:11.19, Y:0.73, Z:-0.23 [[ 9.95372776e-01 -7.70355278e-02 5.74331291e-02 1.11886177e+01] [ 7.72201166e-02 9.97013569e-01 -9.98296169e-04 7.31467139e-01] [-5.71847048e-02 5.42866976e-03 9.98348856e-01 -2.25255501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162791605 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:11.22, Y:0.74, Z:-0.23 [[ 9.94981141e-01 -8.03121524e-02 5.96865821e-02 1.12216573e+01] [ 8.09834639e-02 9.96675612e-01 -8.91080772e-03 7.38503107e-01] [-5.87725146e-02 1.36997118e-02 9.98177394e-01 -2.28191573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192791605000002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:11.26, Y:0.74, Z:-0.23 [[ 9.94535845e-01 -8.33659704e-02 6.28376361e-02 1.12561394e+01] [ 8.41374437e-02 9.96406671e-01 -9.72816132e-03 7.40463229e-01] [-6.18008421e-02 1.49620032e-02 9.97976350e-01 -2.30772799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222791605000001 meters Centerline goodness : 0.984937 Centerline is valid? [True, True] Translation: X:11.28, Y:0.69, Z:-0.25 [[ 0.99933329 -0.01728751 0.03215766 11.28370314] [ 0.01514761 0.99772859 0.06563696 0.68586833] [-0.03321931 -0.06510609 0.99732526 -0.25482543] [ 0. 0. 0. 1. ]] SLAMing on 11.252791605 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:11.31, Y:0.80, Z:-0.22 [[ 0.99503444 -0.07751165 0.06243728 11.31062244] [ 0.08175883 0.9942876 -0.06861242 0.79525474] [-0.05676235 0.07337652 0.99568766 -0.22452592] [ 0. 0. 0. 1. ]] SLAMing on 11.282791605000002 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:11.36, Y:0.73, Z:-0.24 [[ 9.94360661e-01 -8.78270567e-02 5.94414344e-02 1.13552221e+01] [ 8.74867161e-02 9.96131032e-01 8.30915055e-03 7.29448155e-01] [-5.99412256e-02 -3.06195654e-03 9.98197212e-01 -2.37854871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312791605000001 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:11.36, Y:0.75, Z:-0.24 [[ 0.99519666 -0.07769092 0.0595628 11.36167165] [ 0.07865763 0.99680257 -0.01405743 0.74763947] [-0.05828021 0.01867498 0.99812557 -0.24212054] [ 0. 0. 0. 1. ]] SLAMing on 11.342791605000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.41, Y:0.77, Z:-0.25 [[ 0.99654511 -0.07252423 0.04047313 11.41278343] [ 0.07412533 0.99646362 -0.03956891 0.77304248] [-0.0374603 0.04243229 0.99839683 -0.25304232] [ 0. 0. 0. 1. ]] SLAMing on 11.372791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.46, Y:0.74, Z:-0.26 [[ 0.99638622 -0.07425415 0.04124105 11.45903266] [ 0.07481562 0.99712226 -0.01223987 0.74428513] [-0.0402135 0.01528112 0.99907425 -0.26049095] [ 0. 0. 0. 1. ]] SLAMing on 11.402791605 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:11.42, Y:0.70, Z:-0.25 [[ 0.99659418 -0.06556539 0.05001213 11.42477004] [ 0.06392751 0.99738617 0.03367638 0.70206823] [-0.05208941 -0.03036453 0.99818069 -0.25310436] [ 0. 0. 0. 1. ]] SLAMing on 11.432791605000002 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:11.49, Y:0.83, Z:-0.25 [[ 0.99734078 -0.04800651 0.05483384 11.49253364] [ 0.05296436 0.99426905 -0.0928646 0.82866124] [-0.05006148 0.09552189 0.9941677 -0.24544724] [ 0. 0. 0. 1. ]] SLAMing on 11.462791605000001 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:11.52, Y:0.72, Z:-0.26 [[ 9.98566660e-01 -1.22189651e-02 5.21087581e-02 1.15151215e+01] [ 9.94218521e-03 9.98993896e-01 4.37304004e-02 7.16587803e-01] [-5.25906715e-02 -4.31496449e-02 9.97683482e-01 -2.64274266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492791605 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:11.55, Y:0.68, Z:-0.25 [[ 0.99808241 -0.04694349 0.04034618 11.55038818] [ 0.0438782 0.99630979 0.07376653 0.68141079] [-0.04366015 -0.07185476 0.99645907 -0.25304355] [ 0. 0. 0. 1. ]] SLAMing on 11.522791605000002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:11.58, Y:0.75, Z:-0.25 [[ 9.98269156e-01 -4.05394984e-02 4.26056592e-02 1.15819379e+01] [ 4.05217296e-02 9.99177836e-01 1.28094392e-03 7.46254361e-01] [-4.26225592e-02 4.47728196e-04 9.99091145e-01 -2.52443103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552791605000001 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:11.62, Y:0.86, Z:-0.24 [[ 0.99775974 -0.02720866 0.06111621 11.616954 ] [ 0.03475465 0.99141928 -0.12601556 0.86150363] [-0.05716308 0.12785732 0.99014387 -0.24451042] [ 0. 0. 0. 1. ]] SLAMing on 11.582791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.66, Y:0.74, Z:-0.26 [[ 0.99816616 -0.03224387 0.05123137 11.6577187 ] [ 0.03141912 0.99936471 0.0168233 0.73678582] [-0.05174127 -0.01518281 0.9985451 -0.26382384] [ 0. 0. 0. 1. ]] SLAMing on 11.612791605000002 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:11.69, Y:0.63, Z:-0.26 [[ 0.99875729 -0.0478872 0.0138094 11.68969204] [ 0.0458014 0.99116054 0.12451112 0.63443299] [-0.01964982 -0.1237239 0.99212211 -0.25866297] [ 0. 0. 0. 1. ]] SLAMing on 11.642791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:0.87, Z:-0.25 [[ 9.98828470e-01 -6.43077237e-03 4.79617889e-02 1.17023240e+01] [ 1.25457162e-02 9.91654930e-01 -1.28308630e-01 8.72393306e-01] [-4.67364208e-02 1.28760027e-01 9.90573855e-01 -2.52155832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.75, Y:0.76, Z:-0.27 [[ 9.99077951e-01 -4.08471110e-03 4.27383032e-02 1.17457961e+01] [ 3.88838505e-03 9.99981509e-01 4.67580107e-03 7.58095346e-01] [-4.27566122e-02 -4.50530677e-03 9.99075360e-01 -2.66424840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:11.79, Y:0.67, Z:-0.26 [[ 9.99428110e-01 -6.44483506e-04 3.38088418e-02 1.17901521e+01] [-2.90562337e-03 9.94483700e-01 1.04850975e-01 6.74786889e-01] [-3.36899168e-02 -1.04889247e-01 9.93913092e-01 -2.62144715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732791605000001 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:11.82, Y:0.77, Z:-0.26 [[ 9.99222010e-01 3.30703564e-03 3.92993470e-02 1.18207500e+01] [-3.34442682e-03 9.99994015e-01 8.85740967e-04 7.69478375e-01] [-3.92961826e-02 -1.01648566e-03 9.99227090e-01 -2.59527958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.85, Y:0.77, Z:-0.26 [[ 9.98836054e-01 4.83134033e-03 4.79916239e-02 1.18537806e+01] [-4.88751316e-03 9.99987501e-01 1.05319241e-03 7.72120308e-01] [-4.79859358e-02 -1.28652624e-03 9.98847183e-01 -2.56127912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.89, Y:0.77, Z:-0.26 [[ 9.98722693e-01 4.61031498e-03 5.03162658e-02 1.18873022e+01] [-4.67040331e-03 9.99988514e-01 1.07670450e-03 7.73919679e-01] [-5.03107239e-02 -1.31032647e-03 9.98732754e-01 -2.55692402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:11.92, Y:0.78, Z:-0.26 [[ 9.98575889e-01 4.33416563e-03 5.31733771e-02 1.19203399e+01] [-4.39935586e-03 9.99989708e-01 1.10900750e-03 7.76310554e-01] [-5.31680232e-02 -1.34135675e-03 9.98584679e-01 -2.57246862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852791605000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.95, Y:0.78, Z:-0.26 [[ 9.98474589e-01 2.78450416e-03 5.51429248e-02 1.19529935e+01] [-2.85062648e-03 9.99995309e-01 1.12048835e-03 7.79093775e-01] [-5.51395461e-02 -1.27597103e-03 9.98477843e-01 -2.59351208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:0.78, Z:-0.26 [[ 9.98478031e-01 1.90432458e-03 5.51180187e-02 1.19864524e+01] [-1.96743745e-03 9.99997470e-01 1.09081054e-03 7.80570388e-01] [-5.51158020e-02 -1.19759162e-03 9.98479251e-01 -2.60519838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:0.78, Z:-0.26 [[ 9.98424088e-01 -9.70295401e-04 5.61105907e-02 1.20197484e+01] [ 9.11105178e-04 9.99999001e-01 1.08045691e-03 7.82497495e-01] [-5.61115830e-02 -1.02763155e-03 9.98423975e-01 -2.59943311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.05, Y:0.78, Z:-0.26 [[ 9.98428167e-01 -2.37697316e-03 5.59959363e-02 1.20528618e+01] [ 2.32189722e-03 9.99996755e-01 1.04860936e-03 7.84472797e-01] [-5.59982471e-02 -9.16944316e-04 9.98430446e-01 -2.61345014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972791605000001 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.09, Y:0.79, Z:-0.26 [[ 9.98412595e-01 -3.32058625e-03 5.62251096e-02 1.20856537e+01] [ 3.26822873e-03 9.99994136e-01 1.02313808e-03 7.86617761e-01] [-5.62281773e-02 -8.37757427e-04 9.98417593e-01 -2.61935926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002791605000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.11, Y:0.69, Z:-0.26 [[ 9.99757403e-01 -1.01685707e-02 1.95380230e-02 1.21135876e+01] [ 7.96564515e-03 9.93933666e-01 1.09692371e-01 6.91902431e-01] [-2.05349135e-02 -1.09510127e-01 9.93773540e-01 -2.63339364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:0.88, Z:-0.25 [[ 9.98084588e-01 -4.40306529e-03 6.17071133e-02 1.21444904e+01] [ 1.08357589e-02 9.94486574e-01 -1.04302636e-01 8.82121934e-01] [-6.09076444e-02 1.04771497e-01 9.92629433e-01 -2.46945461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:0.69, Z:-0.26 [[ 9.99551194e-01 -1.39924151e-02 2.64881530e-02 1.21744759e+01] [ 1.08960077e-02 9.93463444e-01 1.13629495e-01 6.91280219e-01] [-2.79049628e-02 -1.13289883e-01 9.93170034e-01 -2.63253733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.20, Y:0.89, Z:-0.25 [[ 9.97864616e-01 -8.09657184e-03 6.48124482e-02 1.22049057e+01] [ 1.50609996e-02 9.94069379e-01 -1.07699749e-01 8.86739492e-01] [-6.35560714e-02 1.08445909e-01 9.92068602e-01 -2.47222718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:0.79, Z:-0.26 [[ 9.97979847e-01 -1.31694534e-02 6.21513581e-02 1.22388215e+01] [ 1.31321759e-02 9.99913261e-01 1.00825171e-03 7.92095384e-01] [-6.21592452e-02 -1.90032322e-04 9.98066226e-01 -2.63343599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:0.69, Z:-0.27 [[ 0.9994515 -0.02271676 0.02409678 12.2663579 ] [ 0.01985799 0.99341052 0.11287691 0.69306512] [-0.02650219 -0.11233649 0.99331674 -0.26713082] [ 0. 0. 0. 1. ]] SLAMing on 12.182791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.30, Y:0.89, Z:-0.25 [[ 0.99773316 -0.01507827 0.06558349 12.29877697] [ 0.02209265 0.99395086 -0.10758065 0.8886472 ] [-0.06356464 0.1087857 0.99203085 -0.25031783] [ 0. 0. 0. 1. ]] SLAMing on 12.212791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.33, Y:0.79, Z:-0.27 [[ 9.97768368e-01 -1.85874055e-02 6.41310508e-02 1.23332509e+01] [ 1.85635122e-02 9.99827214e-01 9.68464671e-04 7.93918450e-01] [-6.41379711e-02 2.24194127e-04 9.97941015e-01 -2.65660186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:0.69, Z:-0.27 [[ 0.99931779 -0.02817447 0.02387801 12.36071608] [ 0.02527019 0.99313095 0.11424682 0.6916491 ] [-0.02693283 -0.11356548 0.9931654 -0.26722111] [ 0. 0. 0. 1. ]] SLAMing on 12.272791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.39, Y:0.81, Z:-0.26 [[ 0.9990726 -0.02507764 0.03500071 12.39165468] [ 0.02562858 0.99955318 -0.01538205 0.80546474] [-0.03459932 0.0162648 0.9992689 -0.2642763 ] [ 0. 0. 0. 1. ]] SLAMing on 12.302791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.42, Y:0.87, Z:-0.26 [[ 0.99741271 -0.02183117 0.06849302 12.42317439] [ 0.02797753 0.99553951 -0.0901019 0.87176591] [-0.06622048 0.09178504 0.99357453 -0.25743988] [ 0. 0. 0. 1. ]] SLAMing on 12.332791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.45, Y:0.72, Z:-0.27 [[ 0.99921624 -0.03208775 0.02317923 12.4507414 ] [ 0.03003641 0.99601331 0.08399584 0.71693341] [-0.02578206 -0.08323378 0.99619648 -0.26830907] [ 0. 0. 0. 1. ]] SLAMing on 12.362791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.48, Y:0.78, Z:-0.27 [[ 9.99003281e-01 -2.71946036e-02 3.53962922e-02 1.24795827e+01] [ 2.68056995e-02 9.99575477e-01 1.14158037e-02 7.81402572e-01] [-3.56917139e-02 -1.04556030e-02 9.99308152e-01 -2.70505735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:0.78, Z:-0.27 [[ 9.99194179e-01 -2.49911067e-02 3.14076014e-02 1.25112786e+01] [ 2.46436865e-02 9.99631290e-01 1.14005564e-02 7.81276240e-01] [-3.16809337e-02 -1.06173705e-02 9.99441639e-01 -2.70575593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.54, Y:0.88, Z:-0.26 [[ 0.9975441 -0.01525975 0.06835861 12.54295614] [ 0.02182512 0.99510811 -0.09635099 0.87528173] [-0.06655392 0.09760629 0.99299727 -0.26292287] [ 0. 0. 0. 1. ]] SLAMing on 12.452791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:0.74, Z:-0.28 [[ 9.98863634e-01 -1.16352648e-02 4.62175335e-02 1.25607262e+01] [ 8.88595882e-03 9.98203482e-01 5.92524190e-02 7.39351986e-01] [-4.68239205e-02 -5.87743995e-02 9.97172548e-01 -2.82831111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.59, Y:0.82, Z:-0.28 [[ 9.98874957e-01 -4.27345063e-03 4.72287796e-02 1.25934366e+01] [ 5.74498260e-03 9.99500830e-01 -3.10658419e-02 8.21839071e-01] [-4.70724460e-02 3.13022200e-02 9.98400899e-01 -2.79731337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.63, Y:0.81, Z:-0.28 [[ 9.98642807e-01 -2.75956098e-03 5.20089271e-02 1.26283058e+01] [ 3.58881562e-03 9.99867816e-01 -1.58578294e-02 8.09640533e-01] [-5.19582917e-02 1.60229578e-02 9.98520706e-01 -2.81027511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542791605000001 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:12.69, Y:0.85, Z:-0.29 [[ 9.99402529e-01 1.72549592e-03 3.45196831e-02 1.26895614e+01] [ 7.36311285e-04 9.97463464e-01 -7.11765080e-02 8.54957439e-01] [-3.45549375e-02 7.11593993e-02 9.96866238e-01 -2.90700254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.70, Y:0.74, Z:-0.28 [[ 9.99032770e-01 -1.13862285e-03 4.39571194e-02 1.26963918e+01] [-1.45326342e-03 9.98263596e-01 5.88870143e-02 7.42741211e-01] [-4.39478422e-02 -5.88939383e-02 9.97296391e-01 -2.81547061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602791605000002 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:12.72, Y:0.77, Z:-0.28 [[ 9.99125236e-01 6.32246103e-03 4.13375007e-02 1.27185866e+01] [-7.57219842e-03 9.99516818e-01 3.01461963e-02 7.72650415e-01] [-4.11269290e-02 -3.04328412e-02 9.98690351e-01 -2.82720805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632791605000001 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:12.76, Y:0.84, Z:-0.29 [[ 0.99913038 0.02103692 0.03599913 12.75706456] [-0.01952889 0.99893757 -0.04174147 0.83828626] [-0.036839 0.04100215 0.9984797 -0.2932979 ] [ 0. 0. 0. 1. ]] SLAMing on 12.662791605 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:12.82, Y:0.77, Z:-0.29 [[ 9.99273906e-01 -1.34252213e-02 3.56570481e-02 1.28221822e+01] [ 1.25828865e-02 9.99638893e-01 2.37435030e-02 7.73502681e-01] [-3.59629339e-02 -2.32775944e-02 9.99081989e-01 -2.90641659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692791605000002 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:12.85, Y:0.83, Z:-0.30 [[ 9.99255100e-01 1.45512820e-03 3.85632971e-02 1.28458354e+01] [-2.81275058e-04 9.99536934e-01 -3.04276069e-02 8.29641849e-01] [-3.85897158e-02 3.03940945e-02 9.98792788e-01 -3.02670541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722791605000001 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:12.90, Y:0.82, Z:-0.30 [[ 0.99929042 -0.02314244 0.02971668 12.90070559] [ 0.02385888 0.99942757 -0.02398517 0.82441023] [-0.02914459 0.02467716 0.99927055 -0.299621 ] [ 0. 0. 0. 1. ]] SLAMing on 12.752791605000002 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:12.89, Y:0.78, Z:-0.32 [[ 9.99412244e-01 1.23893821e-02 3.19635735e-02 1.28891798e+01] [-1.33784933e-02 9.99432356e-01 3.09189660e-02 7.80433000e-01] [-3.15623626e-02 -3.13284176e-02 9.99010684e-01 -3.18443144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782791605000002 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:12.87, Y:0.85, Z:-0.30 [[ 0.99849237 0.04026771 0.03730273 12.86916322] [-0.03886381 0.99853589 -0.0376254 0.84742432] [-0.0387632 0.03611895 0.99859543 -0.30404209] [ 0. 0. 0. 1. ]] SLAMing on 12.812791605000001 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:12.90, Y:0.84, Z:-0.31 [[ 0.99926433 0.02495324 0.02912265 12.90033467] [-0.02393243 0.99910459 -0.03488914 0.84034928] [-0.02996717 0.03416649 0.99896678 -0.31031557] [ 0. 0. 0. 1. ]] SLAMing on 12.842791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.97, Y:0.74, Z:-0.30 [[ 0.99959465 0.01747537 0.02247562 12.96783342] [-0.01929973 0.99630444 0.08369581 0.74333981] [-0.02092994 -0.08409565 0.99623785 -0.30465069] [ 0. 0. 0. 1. ]] SLAMing on 12.872791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.96, Y:0.89, Z:-0.30 [[ 0.99935415 0.01932887 0.03029307 12.95952755] [-0.01656543 0.99589754 -0.08895884 0.89166186] [-0.03188827 0.08839957 0.99557454 -0.30459349] [ 0. 0. 0. 1. ]] SLAMing on 12.902791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:13.03, Y:0.74, Z:-0.31 [[ 0.99974409 0.01532013 0.01664494 13.0294041 ] [-0.01667008 0.99630547 0.08424678 0.7444466 ] [-0.01529277 -0.08450269 0.99630589 -0.30748249] [ 0. 0. 0. 1. ]] SLAMing on 12.932791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:0.82, Z:-0.30 [[ 9.99746424e-01 1.47637050e-02 1.70035413e-02 1.30631561e+01] [-1.47621236e-02 9.99891010e-01 -2.18517254e-04 8.20537343e-01] [-1.70049143e-02 -3.25465367e-05 9.99855405e-01 -3.02529114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.93, Z:-0.29 [[ 9.99240107e-01 1.40866966e-02 3.63424547e-02 1.30937523e+01] [-9.59601337e-03 9.92617704e-01 -1.20904960e-01 9.26482295e-01] [-3.77773155e-02 1.20464342e-01 9.91998597e-01 -2.88890696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.72, Z:-0.31 [[ 9.99687591e-01 3.22670967e-03 2.47852686e-02 1.31299674e+01] [-6.05934135e-03 9.93337997e-01 1.15077834e-01 7.16380733e-01] [-2.42488263e-02 -1.15192065e-01 9.93047221e-01 -3.10741395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.16, Y:0.76, Z:-0.31 [[ 9.99933788e-01 5.87395570e-03 9.89526662e-03 1.31647415e+01] [-6.48872570e-03 9.97974290e-01 6.32867540e-02 7.62339609e-01] [-9.50347809e-03 -6.33467713e-02 9.97946326e-01 -3.08857489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052791605000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.20, Y:0.87, Z:-0.29 [[ 9.99369298e-01 1.79537257e-03 3.54652287e-02 1.31963022e+01] [ 4.38738270e-04 9.98020595e-01 -6.28863944e-02 8.73110130e-01] [-3.55079332e-02 6.28622918e-02 9.97390354e-01 -2.94995505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082791605000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:13.22, Y:0.73, Z:-0.30 [[ 9.99915515e-01 -1.29398683e-03 1.29340237e-02 1.32240364e+01] [ 5.39114785e-06 9.95073936e-01 9.91355751e-02 7.29605560e-01] [-1.29985900e-02 -9.91271298e-02 9.94989874e-01 -3.04959803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:13.26, Y:0.90, Z:-0.29 [[ 9.98839054e-01 9.24951456e-04 4.81631495e-02 1.32574864e+01] [ 3.77556123e-03 9.95236869e-01 -9.74131436e-02 9.00536719e-01] [-4.80238445e-02 9.74818951e-02 9.94077960e-01 -2.88039842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142791605000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.29, Y:0.82, Z:-0.30 [[ 9.98603694e-01 -4.89278476e-04 5.28244461e-02 1.32894148e+01] [ 5.27893237e-04 9.99999604e-01 -7.17051623e-04 8.15151607e-01] [-5.28240744e-02 7.43936067e-04 9.98603557e-01 -3.01463304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:0.81, Z:-0.30 [[ 9.98561980e-01 3.98165224e-05 5.36094228e-02 1.33227423e+01] [ 6.77295041e-07 9.99999715e-01 -7.55330499e-04 8.14861093e-01] [-5.36094376e-02 7.54280628e-04 9.98561695e-01 -3.02760739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:0.82, Z:-0.30 [[ 9.98450544e-01 1.91872185e-03 5.56132178e-02 1.33562212e+01] [-1.87644755e-03 9.99997910e-01 -8.12356471e-04 8.15352232e-01] [-5.56146602e-02 7.06742474e-04 9.98452057e-01 -3.04341814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:0.81, Z:-0.31 [[ 9.98449839e-01 2.98986120e-03 5.55785850e-02 1.33896243e+01] [-2.94819617e-03 9.99995308e-01 -8.31636450e-04 8.14207016e-01] [-5.55808107e-02 6.66490708e-04 9.98453970e-01 -3.05164907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:0.81, Z:-0.31 [[ 9.98370018e-01 5.86708711e-03 5.67704581e-02 1.34223751e+01] [-5.82701636e-03 9.99982643e-01 -8.71348534e-04 8.12185080e-01] [-5.67745850e-02 5.39125864e-04 9.98386877e-01 -3.06206871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.81, Z:-0.31 [[ 9.98427933e-01 7.02803467e-03 5.56081767e-02 1.34552094e+01] [-6.98981137e-03 9.99975182e-01 -8.81836561e-04 8.11219952e-01] [-5.56129942e-02 4.91759589e-04 9.98452279e-01 -3.07572091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.49, Y:0.81, Z:-0.31 [[ 9.98512201e-01 7.59717886e-03 5.39969147e-02 1.34884927e+01] [-7.56048884e-03 9.99971029e-01 -8.83724728e-04 8.09101784e-01] [-5.40020641e-02 4.74166853e-04 9.98540711e-01 -3.09470496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.81, Z:-0.31 [[ 9.98485566e-01 7.55353877e-03 5.44932890e-02 1.35216328e+01] [-7.51455886e-03 9.99971342e-01 -9.20182011e-04 8.08543616e-01] [-5.44986779e-02 5.09295429e-04 9.98513713e-01 -3.10606976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:0.81, Z:-0.31 [[ 9.98496785e-01 7.53627262e-03 5.42897387e-02 1.35546198e+01] [-7.49603650e-03 9.99971458e-01 -9.44730573e-04 8.08048804e-01] [-5.42953089e-02 5.36352576e-04 9.98524778e-01 -3.11376433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.58, Y:0.72, Z:-0.31 [[ 9.99828130e-01 5.49065795e-03 1.77077130e-02 1.35845272e+01] [-7.14033423e-03 9.95500457e-01 9.44873305e-02 7.23055108e-01] [-1.71092388e-02 -9.45975300e-02 9.95368566e-01 -3.11086316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:0.89, Z:-0.30 [[ 9.98469894e-01 1.10678176e-02 5.41790982e-02 1.36173546e+01] [-5.99586881e-03 9.95657692e-01 -9.28967704e-02 8.87846328e-01] [-5.49720004e-02 9.24297777e-02 9.94200591e-01 -2.99763668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.65, Y:0.81, Z:-0.31 [[ 9.98534846e-01 1.21743188e-02 5.27252035e-02 1.36485596e+01] [-1.21409771e-02 9.99925842e-01 -9.52623017e-04 8.05864586e-01] [-5.27328910e-02 3.11091787e-04 9.98608605e-01 -3.13470322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.80, Z:-0.31 [[ 9.98538156e-01 1.41304344e-02 5.21716587e-02 1.36820485e+01] [-1.40992464e-02 9.99900134e-01 -9.65805682e-04 8.04653029e-01] [-5.21800958e-02 2.28812752e-04 9.98637665e-01 -3.14811220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:0.80, Z:-0.32 [[ 9.98534231e-01 1.63429155e-02 5.15974743e-02 1.37153155e+01] [-1.63142041e-02 9.99866437e-01 -9.77595590e-04 8.03464306e-01] [-5.16065595e-02 1.34390933e-04 9.98667485e-01 -3.16081377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562791605000001 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:13.76, Y:0.67, Z:-0.33 [[ 0.99914249 -0.02921601 0.029338 13.76294378] [ 0.02537497 0.99199583 0.1236947 0.67132077] [-0.03271704 -0.12284418 0.99188654 -0.33285046] [ 0. 0. 0. 1. ]] SLAMing on 13.592791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:0.87, Z:-0.30 [[ 0.99959876 0.0219152 0.01794573 13.78012119] [-0.02035557 0.99634951 -0.08290539 0.87442819] [-0.01969711 0.08250683 0.99639583 -0.30386556] [ 0. 0. 0. 1. ]] SLAMing on 13.622791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:0.85, Z:-0.31 [[ 0.99848891 0.02006066 0.05116122 13.80885647] [-0.01717476 0.99826973 -0.05623685 0.84847307] [-0.05220084 0.05527318 0.99710579 -0.31323916] [ 0. 0. 0. 1. ]] SLAMing on 13.652791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.84, Y:0.80, Z:-0.32 [[ 9.98540865e-01 1.79136818e-02 5.09435018e-02 1.38404817e+01] [-1.78863106e-02 9.99839534e-01 -9.93163097e-04 7.98845237e-01] [-5.09531183e-02 8.05226408e-05 9.98701043e-01 -3.19922473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:0.80, Z:-0.32 [[ 9.98601930e-01 1.72794916e-02 4.99560209e-02 1.38736072e+01] [-1.72510921e-02 9.99850689e-01 -9.99633274e-04 7.98202447e-01] [-4.99658351e-02 1.36439800e-04 9.98750918e-01 -3.22012767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:0.78, Z:-0.32 [[ 0.99938518 0.01502145 0.03167997 13.90595758] [-0.01570488 0.99964687 0.02143572 0.77686925] [-0.03134679 -0.02192007 0.99926818 -0.32080247] [ 0. 0. 0. 1. ]] SLAMing on 13.742791605 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:13.94, Y:0.81, Z:-0.32 [[ 0.99926319 0.01530799 0.03519569 13.93880791] [-0.01448712 0.99961978 -0.02346085 0.81491474] [-0.03554145 0.02293368 0.99910503 -0.31854243] [ 0. 0. 0. 1. ]] SLAMing on 13.772791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.98, Y:0.77, Z:-0.34 [[ 9.99474582e-01 2.26837717e-03 3.23328790e-02 1.39819199e+01] [-2.97471797e-03 9.99757609e-01 2.18145642e-02 7.68730385e-01] [-3.22755582e-02 -2.18992836e-02 9.99239065e-01 -3.35468781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.00, Y:0.81, Z:-0.33 [[ 9.99436480e-01 9.54890327e-03 3.21798210e-02 1.40000803e+01] [-8.71788959e-03 9.99627401e-01 -2.58661623e-02 8.13212368e-01] [-3.24148243e-02 2.55710461e-02 9.99147337e-01 -3.29983669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:0.72, Z:-0.34 [[ 9.99189378e-01 6.37374968e-04 4.02514647e-02 1.40381819e+01] [-3.62623330e-03 9.97234897e-01 7.42254040e-02 7.22231213e-01] [-4.00928559e-02 -7.43111965e-02 9.96428828e-01 -3.40874415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862791605000002 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:14.03, Y:0.86, Z:-0.34 [[ 0.99954192 0.02037728 0.02237687 14.03039421] [-0.01859492 0.99684534 -0.0771596 0.85689428] [-0.02387858 0.07670816 0.99676761 -0.33547137] [ 0. 0. 0. 1. ]] SLAMing on 13.892791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.09, Y:0.86, Z:-0.33 [[ 0.9991733 0.0205812 0.03505894 14.0897321 ] [-0.01791835 0.99704927 -0.07464378 0.85967215] [-0.03649175 0.07395387 0.99659379 -0.32539439] [ 0. 0. 0. 1. ]] SLAMing on 13.922791605000002 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:14.07, Y:0.73, Z:-0.35 [[ 0.99903744 0.03010865 0.03190074 14.07485902] [-0.03229272 0.99700165 0.07031987 0.72945956] [-0.02968785 -0.07128234 0.99701427 -0.34761995] [ 0. 0. 0. 1. ]] SLAMing on 13.952791605000002 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:14.11, Y:0.83, Z:-0.34 [[ 0.99891608 0.04167337 0.0207363 14.1090467 ] [-0.04055275 0.9978334 -0.05180722 0.83399643] [-0.02285036 0.05091015 0.9984418 -0.34380462] [ 0. 0. 0. 1. ]] SLAMing on 13.982791605000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.19, Y:0.84, Z:-0.34 [[ 9.99574757e-01 1.04183910e-02 2.72353096e-02 1.41943226e+01] [-8.52245070e-03 9.97592320e-01 -6.88253714e-02 8.39732679e-01] [-2.78867853e-02 6.85639923e-02 9.97256891e-01 -3.43112471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:0.78, Z:-0.34 [[ 0.999207 0.03321847 0.02195237 14.19465177] [-0.0335551 0.99932206 0.01514826 0.7810534 ] [-0.02143429 -0.01587287 0.99964425 -0.34191167] [ 0. 0. 0. 1. ]] SLAMing on 14.042791605000001 meters Centerline goodness : 0.859756 Centerline is valid? [True, False] Translation: X:14.20, Y:0.79, Z:-0.34 [[ 9.99436165e-01 2.55293876e-02 2.18083333e-02 1.41950477e+01] [-2.56454698e-02 9.99658296e-01 5.05980585e-03 7.88827564e-01] [-2.16717075e-02 -5.61623791e-03 9.99749366e-01 -3.42624913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072791605 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:14.22, Y:0.79, Z:-0.34 [[ 9.99754315e-01 1.31871944e-02 1.78159315e-02 1.42182453e+01] [-1.32443348e-02 9.99907506e-01 3.09308766e-03 7.88371153e-01] [-1.77734945e-02 -3.32828790e-03 9.99836499e-01 -3.39061629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:0.79, Z:-0.34 [[ 9.99818372e-01 1.32767935e-02 1.36729351e-02 1.42536071e+01] [-1.32857855e-02 9.99911579e-01 5.67023805e-04 7.89826262e-01] [-1.36641979e-02 -7.48576501e-04 9.99906360e-01 -3.40644417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132791605000001 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:14.31, Y:0.81, Z:-0.34 [[ 9.99796583e-01 1.36849913e-02 -1.48160207e-02 1.43116292e+01] [-1.40343402e-02 9.99619707e-01 -2.37377054e-02 8.13820882e-01] [ 1.44855360e-02 2.39408098e-02 9.99608427e-01 -3.44910460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162791605000002 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:14.34, Y:0.79, Z:-0.36 [[ 9.99969772e-01 -7.76465613e-03 -4.05893371e-04 1.43350747e+01] [ 7.76430297e-03 9.99969484e-01 -8.64540238e-04 7.89667902e-01] [ 4.12593842e-04 8.61362626e-04 9.99999544e-01 -3.61366325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.36, Y:0.78, Z:-0.35 [[ 9.99933624e-01 8.48271070e-03 -7.79681213e-03 1.43579787e+01] [-8.39655093e-03 9.99904049e-01 1.10177306e-02 7.82943332e-01] [ 7.88952424e-03 -1.09515330e-02 9.99908906e-01 -3.51123515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.39, Y:0.79, Z:-0.35 [[ 9.99956227e-01 6.38794286e-03 -6.83650635e-03 1.43887928e+01] [-6.34706201e-03 9.99961947e-01 5.98486935e-03 7.86722528e-01] [ 6.87447720e-03 -5.94121564e-03 9.99958721e-01 -3.48812187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252791605000002 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:14.43, Y:0.79, Z:-0.35 [[ 9.99896238e-01 -3.67481308e-03 -1.39287009e-02 1.44264120e+01] [ 3.66081036e-03 9.99992768e-01 -1.03067759e-03 7.93415280e-01] [ 1.39323877e-02 9.79580308e-04 9.99902460e-01 -3.53504414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282791605000002 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:14.46, Y:0.79, Z:-0.36 [[ 9.99896350e-01 -9.65263388e-03 -1.06825273e-02 1.44619814e+01] [ 9.71915047e-03 9.99933594e-01 6.19237309e-03 7.87228362e-01] [ 1.06220452e-02 -6.29555634e-03 9.99923766e-01 -3.64410264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312791605000001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:14.44, Y:0.78, Z:-0.34 [[ 9.99908181e-01 1.22061905e-02 -5.88548897e-03 1.44442231e+01] [-1.21277287e-02 9.99839488e-01 1.31877091e-02 7.78614450e-01] [ 6.04551597e-03 -1.31151206e-02 9.99895717e-01 -3.40823076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.45, Y:0.84, Z:-0.34 [[ 9.99867996e-01 1.62313568e-02 7.31001037e-04 1.44515319e+01] [-1.61620907e-02 9.98201218e-01 -5.77331298e-02 8.43063273e-01] [-1.66677316e-03 5.77136942e-02 9.98331784e-01 -3.44069129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.75, Z:-0.35 [[ 9.99773168e-01 2.02875087e-02 -6.48308041e-03 1.45098282e+01] [-1.99311678e-02 9.98501185e-01 5.09718756e-02 7.47859131e-01] [ 7.50745584e-03 -5.08310982e-02 9.98679046e-01 -3.45301007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:14.54, Y:0.74, Z:-0.34 [[ 9.99533468e-01 1.33367383e-02 2.74768722e-02 1.45434851e+01] [-1.50042092e-02 9.98000323e-01 6.14021865e-02 7.36425590e-01] [-2.66030224e-02 -6.17858092e-02 9.97734831e-01 -3.37448366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432791605000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.58, Y:0.79, Z:-0.33 [[ 9.99422210e-01 1.03831857e-02 3.23640952e-02 1.45779828e+01] [-1.03585243e-02 9.99945917e-01 -9.29575762e-04 7.89311829e-01] [-3.23719968e-02 5.93794396e-04 9.99475713e-01 -3.30044842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462791605000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:14.61, Y:0.79, Z:-0.33 [[ 9.99275811e-01 7.67845028e-03 3.72678907e-02 1.46107992e+01] [-7.64320486e-03 9.99970198e-01 -1.08811428e-03 7.85878381e-01] [-3.72751351e-02 8.02480154e-04 9.99304718e-01 -3.30025124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492791605000003 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:14.64, Y:0.78, Z:-0.33 [[ 9.99263392e-01 6.74439860e-03 3.77781173e-02 1.46440192e+01] [-6.70681654e-03 9.99976880e-01 -1.12145412e-03 7.84325062e-01] [-3.77848074e-02 8.67257149e-04 9.99285523e-01 -3.29120988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522791605000002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:14.68, Y:0.78, Z:-0.33 [[ 9.99205224e-01 6.71289167e-03 3.92919628e-02 1.46774699e+01] [-6.67145375e-03 9.99977043e-01 -1.18564005e-03 7.83176038e-01] [-3.92990198e-02 9.22563216e-04 9.99227069e-01 -3.28268808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552791605000001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:14.71, Y:0.78, Z:-0.33 [[ 9.99129457e-01 5.05003435e-03 4.14104558e-02 1.47107586e+01] [-5.00175097e-03 9.99986685e-01 -1.26949528e-03 7.81445247e-01] [-4.14163154e-02 1.06126534e-03 9.99141413e-01 -3.27846827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:14.74, Y:0.69, Z:-0.33 [[ 9.99857592e-01 6.09935940e-03 1.57351125e-02 1.47380793e+01] [-7.61116965e-03 9.95168867e-01 9.78825649e-02 6.91791060e-01] [-1.50620731e-02 -9.79883883e-02 9.95073570e-01 -3.30702375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612791605000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:14.78, Y:0.86, Z:-0.31 [[ 9.99131286e-01 1.52608244e-03 4.16454495e-02 1.47756095e+01] [ 2.54445512e-03 9.95230819e-01 -9.75148317e-02 8.58231025e-01] [-4.15956505e-02 9.75360842e-02 9.94362366e-01 -3.14185753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:0.68, Z:-0.33 [[ 9.99856410e-01 2.22148608e-03 1.67995291e-02 1.47987772e+01] [-3.87847237e-03 9.95054601e-01 9.92537058e-02 6.80144752e-01] [-1.64959580e-02 -9.93046105e-02 9.94920337e-01 -3.28490650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.83, Y:0.76, Z:-0.32 [[ 9.99792609e-01 2.27966172e-03 2.02371580e-02 1.48335655e+01] [-2.29910677e-03 9.99996917e-01 9.37644794e-04 7.64537316e-01] [-2.02349581e-02 -9.83977722e-04 9.99794768e-01 -3.22755027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702791605000002 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:14.87, Y:0.85, Z:-0.31 [[ 9.98781414e-01 -1.00256827e-03 4.93425006e-02 1.48667661e+01] [ 5.83281047e-03 9.95184483e-01 -9.78459185e-02 8.46010082e-01] [-4.90067937e-02 9.80144903e-02 9.93977612e-01 -3.10967528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732791605000001 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.90, Y:0.76, Z:-0.32 [[ 9.98631313e-01 -1.57258266e-04 5.23017707e-02 1.48973218e+01] [ 2.43660460e-04 9.99998616e-01 -1.64562147e-03 7.59152598e-01] [-5.23014396e-02 1.65611300e-03 9.98629970e-01 -3.23480469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762791605000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:14.93, Y:0.69, Z:-0.32 [[ 9.99499963e-01 3.42370937e-04 3.16181490e-02 1.49253160e+01] [-2.78577701e-03 9.97006549e-01 7.72669503e-02 6.87427820e-01] [-3.14970476e-02 -7.73163951e-02 9.96508962e-01 -3.24898569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792791605000001 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.96, Y:0.82, Z:-0.31 [[ 9.98567496e-01 9.54360635e-04 5.34980790e-02 1.49616203e+01] [ 3.22698189e-03 9.96946738e-01 -7.80178658e-02 8.18775031e-01] [-5.34091925e-02 7.80787422e-02 9.95515529e-01 -3.13321461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:0.64, Z:-0.32 [[ 9.99865923e-01 -2.37306915e-03 1.62019885e-02 1.49806815e+01] [ 2.93440733e-04 9.91880942e-01 1.27169617e-01 6.36697458e-01] [-1.63722260e-02 -1.27147812e-01 9.91748650e-01 -3.19107474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.02, Y:0.76, Z:-0.32 [[ 9.99838912e-01 3.35394688e-03 1.76323919e-02 1.50165064e+01] [-2.99319106e-03 9.99786467e-01 -2.04465630e-02 7.62535861e-01] [-1.76972035e-02 2.03904921e-02 9.99635452e-01 -3.15303901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882791605000001 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:15.05, Y:0.75, Z:-0.32 [[ 9.99703044e-01 6.09872250e-03 2.35929809e-02 1.50461262e+01] [-5.82010264e-03 9.99912728e-01 -1.18601345e-02 7.53282907e-01] [-2.36632536e-02 1.17192990e-02 9.99651293e-01 -3.15474820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:15.07, Y:0.74, Z:-0.32 [[ 9.99615725e-01 6.97327116e-03 2.68286387e-02 1.50737009e+01] [-7.02395103e-03 9.99973720e-01 1.79524566e-03 7.39892358e-01] [-2.68154149e-02 -1.98299884e-03 9.99638435e-01 -3.16904067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:15.11, Y:0.82, Z:-0.31 [[ 9.97711422e-01 1.35689665e-02 6.62404892e-02 1.51095619e+01] [-7.28226168e-03 9.95522709e-01 -9.42417346e-02 8.21287596e-01] [-6.72226742e-02 9.35436744e-02 9.93343190e-01 -3.08626418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:0.74, Z:-0.32 [[ 9.97554516e-01 1.46674407e-02 6.83363332e-02 1.51397899e+01] [-1.45429237e-02 9.99891556e-01 -2.31927704e-03 7.39406502e-01] [-6.83629404e-02 1.31979520e-03 9.97659645e-01 -3.19373903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002791605000002 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:15.16, Y:0.60, Z:-0.33 [[ 0.99798946 -0.04729807 0.04218911 15.16011607] [ 0.04194222 0.99190322 0.11987011 0.60143622] [-0.04751714 -0.1178596 0.99189275 -0.32557642] [ 0. 0. 0. 1. ]] SLAMing on 15.032791605000002 meters Centerline goodness : 0.982550 Centerline is valid? [True, True] Translation: X:15.19, Y:0.70, Z:-0.33 [[ 9.96352792e-01 -6.87177567e-02 5.05863919e-02 1.51945557e+01] [ 6.88026555e-02 9.97630288e-01 6.32060729e-05 6.96009621e-01] [-5.04708600e-02 3.41750255e-03 9.98719687e-01 -3.31350529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:15.23, Y:0.84, Z:-0.31 [[ 0.99736785 0.02905433 0.06643205 15.23204266] [-0.02131441 0.99320807 -0.11438283 0.83547892] [-0.06930416 0.1126658 0.99121307 -0.30961348] [ 0. 0. 0. 1. ]] SLAMing on 15.092791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:0.69, Z:-0.32 [[ 0.99883324 0.02495329 0.04134604 15.25560366] [-0.02723704 0.99808015 0.05562512 0.68521707] [-0.03987863 -0.05668636 0.99759528 -0.321126 ] [ 0. 0. 0. 1. ]] SLAMing on 15.122791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:0.74, Z:-0.32 [[ 9.98708692e-01 3.20444801e-02 3.94220816e-02 1.52878710e+01] [-3.18087282e-02 9.99472229e-01 -6.59312142e-03 7.42223449e-01] [-3.96125489e-02 5.33064139e-03 9.99200896e-01 -3.20006256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:15.32, Y:0.74, Z:-0.32 [[ 9.98497220e-01 3.50963176e-02 4.20897863e-02 1.53199887e+01] [-3.48945567e-02 9.99375761e-01 -5.51894499e-03 7.41334990e-01] [-4.22572069e-02 4.04194680e-03 9.99098589e-01 -3.21196016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.36, Y:0.74, Z:-0.33 [[ 9.98647462e-01 3.70717023e-02 3.64545544e-02 1.53565339e+01] [-3.67817743e-02 9.99286384e-01 -8.59211519e-03 7.42167379e-01] [-3.67470642e-02 7.23963084e-03 9.99298374e-01 -3.27938109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.73, Z:-0.34 [[ 9.97975873e-01 5.27886202e-02 3.54615132e-02 1.53794959e+01] [-5.32126174e-02 9.98521283e-01 1.11204358e-02 7.27542648e-01] [-3.48220432e-02 -1.29849266e-02 9.99309170e-01 -3.37939380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242791605000003 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:15.39, Y:0.75, Z:-0.35 [[ 9.97316796e-01 6.83031823e-02 2.63416551e-02 1.53863981e+01] [-6.79715492e-02 9.97598778e-01 -1.32870755e-02 7.52671467e-01] [-2.71859525e-02 1.14609405e-02 9.99564691e-01 -3.46098697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.43, Y:0.73, Z:-0.33 [[ 9.97880220e-01 5.79246571e-02 2.96614475e-02 1.54340594e+01] [-5.83589814e-02 9.98197604e-01 1.39918718e-02 7.32904816e-01] [-2.87975114e-02 -1.56932239e-02 9.99462068e-01 -3.26982698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.47, Y:0.75, Z:-0.33 [[ 9.97868680e-01 6.01776557e-02 2.52338531e-02 1.54670087e+01] [-6.01853981e-02 9.98187113e-01 -4.53226351e-04 7.45787841e-01] [-2.52153811e-02 -1.06644912e-03 9.99681473e-01 -3.27064816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.79, Z:-0.33 [[ 0.99705441 0.06531061 0.04021227 15.50298424] [-0.06314905 0.99660311 -0.05286252 0.79091887] [-0.04352816 0.05016744 0.99779183 -0.32579322] [ 0. 0. 0. 1. ]] SLAMing on 15.362791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:0.75, Z:-0.33 [[ 9.96786790e-01 6.63754058e-02 4.48374966e-02 1.55337858e+01] [-6.63351894e-02 9.97794543e-01 -2.38588696e-03 7.45219289e-01] [-4.48969737e-02 -5.96083233e-04 9.98991445e-01 -3.32568914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:0.74, Z:-0.33 [[ 9.96161310e-01 6.70994783e-02 5.62165788e-02 1.55663736e+01] [-6.70354818e-02 9.97746005e-01 -3.02549483e-03 7.43912001e-01] [-5.62928761e-02 -7.54624557e-04 9.98414014e-01 -3.33441773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:0.71, Z:-0.33 [[ 0.99756722 0.06562843 0.02350637 15.59279709] [-0.06658458 0.99687481 0.04251015 0.70719319] [-0.02064303 -0.04397189 0.99881947 -0.3334913 ] [ 0. 0. 0. 1. ]] SLAMing on 15.452791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:15.63, Y:0.78, Z:-0.33 [[ 0.9964855 0.06831631 0.04847193 15.63097688] [-0.06615359 0.99679861 -0.04490254 0.7819786 ] [-0.05138433 0.04153814 0.99781473 -0.32964738] [ 0. 0. 0. 1. ]] SLAMing on 15.482791605000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:15.65, Y:0.71, Z:-0.34 [[ 0.99769883 0.05970469 0.03213081 15.65422372] [-0.06089448 0.9974425 0.0374208 0.70923012] [-0.02981444 -0.03929128 0.99878291 -0.3368018 ] [ 0. 0. 0. 1. ]] SLAMing on 15.512791605000002 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:15.67, Y:0.77, Z:-0.34 [[ 9.98127529e-01 6.07195026e-02 7.38767284e-03 1.56657739e+01] [-6.04098405e-02 9.97499610e-01 -3.66766748e-02 7.72262221e-01] [-9.59619023e-03 3.61617107e-02 9.99299877e-01 -3.42872625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542791605000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:15.72, Y:0.76, Z:-0.34 [[ 9.97114126e-01 6.41126543e-02 4.06569455e-02 1.57165593e+01] [-6.34859974e-02 9.97845942e-01 -1.65228151e-02 7.60242368e-01] [-4.16286896e-02 1.38939856e-02 9.99036541e-01 -3.35958505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:0.74, Z:-0.34 [[ 9.97575375e-01 5.88104847e-02 3.72115255e-02 1.57487346e+01] [-5.87669448e-02 9.98269163e-01 -2.26371593e-03 7.44682032e-01] [-3.72802487e-02 7.14196058e-05 9.99304847e-01 -3.38912135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.73, Z:-0.34 [[ 9.98268105e-01 5.38810820e-02 2.36139706e-02 1.57796583e+01] [-5.40990617e-02 9.98497751e-01 8.69097993e-03 7.31754469e-01] [-2.31102172e-02 -9.95342172e-03 9.99683374e-01 -3.40672874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.75, Z:-0.34 [[ 9.98039108e-01 5.01971773e-02 3.73922823e-02 1.58147217e+01] [-4.97555125e-02 9.98681306e-01 -1.26506142e-02 7.47532601e-01] [-3.79779985e-02 1.07653356e-02 9.99220586e-01 -3.38815543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:0.74, Z:-0.34 [[ 9.98020054e-01 4.77055286e-02 4.09896870e-02 1.58472695e+01] [-4.76410210e-02 9.98861268e-01 -2.54967777e-03 7.36946983e-01] [-4.10646444e-02 5.91839006e-04 9.99156316e-01 -3.40925820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.73, Z:-0.34 [[ 9.98172218e-01 4.39199707e-02 4.15121494e-02 1.58805188e+01] [-4.38496238e-02 9.99034749e-01 -2.60407352e-03 7.33957080e-01] [-4.15864506e-02 7.79021704e-04 9.99134606e-01 -3.41191759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:15.91, Y:0.73, Z:-0.34 [[ 9.98222879e-01 4.28878170e-02 4.13729293e-02 1.59132625e+01] [-4.28161747e-02 9.99079541e-01 -2.61657221e-03 7.31105059e-01] [-4.14470663e-02 8.40491674e-04 9.99140348e-01 -3.42250603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:0.73, Z:-0.34 [[ 9.98209932e-01 4.17734741e-02 4.28007896e-02 1.59461139e+01] [-4.16948133e-02 9.99126665e-01 -2.72927460e-03 7.29102615e-01] [-4.28774214e-02 9.39818090e-04 9.99079898e-01 -3.42743658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:0.73, Z:-0.34 [[ 9.98054392e-01 4.13380914e-02 4.66754029e-02 1.59790610e+01] [-4.12428624e-02 9.99144642e-01 -3.00184993e-03 7.27031688e-01] [-4.67595694e-02 1.07098229e-03 9.98905599e-01 -3.43188681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:0.68, Z:-0.35 [[ 0.99845222 0.0409187 0.03766718 16.00809702] [-0.04256301 0.99812711 0.04393931 0.68298922] [-0.0357987 -0.04547453 0.99832386 -0.34623013] [ 0. 0. 0. 1. ]] SLAMing on 15.842791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:0.76, Z:-0.34 [[ 0.99771669 0.04493535 0.05042037 16.04536058] [-0.04247066 0.99789868 -0.04893325 0.76102611] [-0.05251326 0.04668014 0.99752861 -0.34052465] [ 0. 0. 0. 1. ]] SLAMing on 15.872791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:0.72, Z:-0.35 [[ 9.97436713e-01 4.46860241e-02 5.58852715e-02 1.60757691e+01] [-4.45518762e-02 9.99000424e-01 -3.64461107e-03 7.19119279e-01] [-5.59922731e-02 1.14547518e-03 9.98430545e-01 -3.45913082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:0.72, Z:-0.35 [[ 9.97297523e-01 4.60546748e-02 5.72417477e-02 1.61087462e+01] [-4.59144781e-02 9.98938288e-01 -3.76268585e-03 7.17699937e-01] [-5.73542627e-02 1.12429231e-03 9.98353256e-01 -3.46569231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:0.71, Z:-0.35 [[ 9.97080405e-01 4.84493490e-02 5.90197064e-02 1.61411691e+01] [-4.83026758e-02 9.98825091e-01 -3.91011403e-03 7.14550500e-01] [-5.91398061e-02 1.04788833e-03 9.98249160e-01 -3.47756939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.71, Z:-0.35 [[ 9.96831828e-01 4.95099109e-02 6.22501080e-02 1.61739018e+01] [-4.93467529e-02 9.98773057e-01 -4.15663865e-03 7.10796390e-01] [-6.23795255e-02 1.07162901e-03 9.98051926e-01 -3.49195457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:0.66, Z:-0.35 [[ 0.99776361 0.046051 0.04844662 16.20048197] [-0.04831005 0.99774751 0.04654069 0.66438603] [-0.04619425 -0.04877707 0.99774089 -0.3515849 ] [ 0. 0. 0. 1. ]] SLAMing on 16.022791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.24, Y:0.71, Z:-0.35 [[ 9.97722606e-01 4.86150242e-02 4.67566030e-02 1.62357051e+01] [-4.85610636e-02 9.98817591e-01 -2.28995204e-03 7.05929981e-01] [-4.68126436e-02 1.41865469e-05 9.98903687e-01 -3.49735842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.27, Y:0.75, Z:-0.35 [[ 0.9968175 0.05298347 0.05956195 16.27336077] [-0.0497899 0.99730527 -0.05388104 0.74789758] [-0.06225625 0.05074398 0.99676939 -0.34800303] [ 0. 0. 0. 1. ]] SLAMing on 16.082791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:0.70, Z:-0.36 [[ 9.96661382e-01 5.30383426e-02 6.20727239e-02 1.63024741e+01] [-5.28761714e-02 9.98592018e-01 -4.25351868e-03 6.99969814e-01] [-6.22109262e-02 9.57149823e-04 9.98062565e-01 -3.55452671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:16.34, Y:0.70, Z:-0.36 [[ 9.96593360e-01 5.47354851e-02 6.16903660e-02 1.63354087e+01] [-5.45766151e-02 9.98500504e-01 -4.25864256e-03 6.98172196e-01] [-6.18309604e-02 8.77283540e-04 9.98086250e-01 -3.57191122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:0.70, Z:-0.36 [[ 9.96341145e-01 5.75422154e-02 6.31919055e-02 1.63679648e+01] [-5.73790561e-02 9.98342790e-01 -4.39520498e-03 6.95553163e-01] [-6.33400931e-02 7.53231662e-04 9.97991716e-01 -3.57953159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.69, Z:-0.36 [[ 9.96215531e-01 5.92530565e-02 6.35900227e-02 1.64006283e+01] [-5.90892024e-02 9.98242761e-01 -4.45594504e-03 6.91734540e-01] [-6.37423082e-02 6.81597937e-04 9.97966159e-01 -3.59118238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:0.62, Z:-0.36 [[ 0.99759131 0.05451742 0.04288867 16.4232785 ] [-0.05746856 0.99582759 0.07088572 0.62212497] [-0.03884521 -0.07317972 0.99656198 -0.36144858] [ 0. 0. 0. 1. ]] SLAMing on 16.232791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:0.75, Z:-0.36 [[ 0.99594701 0.06664108 0.06040292 16.46792838] [-0.06198314 0.99518258 -0.07595868 0.74798161] [-0.0651739 0.07190685 0.99527974 -0.35503726] [ 0. 0. 0. 1. ]] SLAMing on 16.262791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:0.63, Z:-0.36 [[ 0.99686468 0.06406063 0.04644401 16.48915976] [-0.06672897 0.99606175 0.05838016 0.62678279] [-0.04252124 -0.06129628 0.99721347 -0.36359112] [ 0. 0. 0. 1. ]] SLAMing on 16.292791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:0.73, Z:-0.36 [[ 0.99525577 0.07280023 0.06454518 16.5307722 ] [-0.06862596 0.99554296 -0.06468916 0.73218762] [-0.06896688 0.05995278 0.99581586 -0.35734143] [ 0. 0. 0. 1. ]] SLAMing on 16.322791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:0.68, Z:-0.36 [[ 9.94899398e-01 7.30287417e-02 6.95844117e-02 1.65600637e+01] [-7.28561004e-02 9.97329834e-01 -5.01911738e-03 6.76320847e-01] [-6.97651496e-02 -7.61320297e-05 9.97563441e-01 -3.64007654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.67, Z:-0.37 [[ 9.94591940e-01 7.79811512e-02 6.85989231e-02 1.65925030e+01] [-7.78231778e-02 9.96954758e-01 -4.97637952e-03 6.72713241e-01] [-6.87780866e-02 -3.89119223e-04 9.97631908e-01 -3.66827225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.63, Y:0.67, Z:-0.37 [[ 9.94389213e-01 8.11996651e-02 6.77990286e-02 1.66252230e+01] [-8.10512510e-02 9.96697686e-01 -4.94149510e-03 6.70007491e-01] [-6.79763826e-02 -5.81426659e-04 9.97686761e-01 -3.68736667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:0.67, Z:-0.37 [[ 9.93962166e-01 8.63217948e-02 6.77330086e-02 1.66583254e+01] [-8.61830915e-02 9.96266906e-01 -4.97268767e-03 6.69486353e-01] [-6.79094062e-02 -8.94776676e-04 9.97691090e-01 -3.69619335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.69, Y:0.67, Z:-0.37 [[ 9.93816994e-01 8.83429990e-02 6.72554580e-02 1.66916656e+01] [-8.82084712e-02 9.96089622e-01 -4.97307925e-03 6.68934361e-01] [-6.74318005e-02 -9.90170464e-04 9.97723394e-01 -3.70911721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:0.67, Z:-0.37 [[ 9.93680265e-01 9.00336953e-02 6.70333132e-02 1.67252104e+01] [-8.99014945e-02 9.95938150e-01 -4.99231029e-03 6.68189207e-01] [-6.72105101e-02 -1.06563483e-03 9.97738248e-01 -3.72239211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.63, Z:-0.38 [[ 0.99488229 0.08768305 0.05020872 16.75065126] [-0.08962861 0.9952538 0.03790238 0.63098622] [-0.04664702 -0.04220855 0.99801929 -0.37645474] [ 0. 0. 0. 1. ]] SLAMing on 16.532791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.70, Z:-0.37 [[ 0.99353066 0.09293346 0.06527026 16.79020806] [-0.08997708 0.99484053 -0.04686631 0.70358818] [-0.06928895 0.04069029 0.99676644 -0.37348282] [ 0. 0. 0. 1. ]] SLAMing on 16.562791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:0.66, Z:-0.38 [[ 9.93572278e-01 8.90308131e-02 6.99116712e-02 1.68201051e+01] [-8.88777716e-02 9.96028424e-01 -5.30284017e-03 6.63705324e-01] [-7.01061279e-02 -9.44838563e-04 9.97539091e-01 -3.77757990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:0.66, Z:-0.38 [[ 9.93609470e-01 8.82361905e-02 7.03888877e-02 1.68531580e+01] [-8.80763893e-02 9.96099212e-01 -5.37677677e-03 6.61042381e-01] [-7.05887418e-02 -8.57182751e-04 9.97505135e-01 -3.78989323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:0.66, Z:-0.38 [[ 9.93873527e-01 8.55200075e-02 7.00124324e-02 1.68860053e+01] [-8.53525653e-02 9.96336258e-01 -5.38517425e-03 6.58526279e-01] [-7.02164650e-02 -6.23558586e-04 9.97531583e-01 -3.80909202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:0.63, Z:-0.38 [[ 0.99552351 0.08210494 0.0468158 16.91558728] [-0.08326549 0.99625263 0.02340009 0.63173503] [-0.0447191 -0.02719348 0.99862942 -0.38402731] [ 0. 0. 0. 1. ]] SLAMing on 16.682791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.95, Y:0.68, Z:-0.38 [[ 0.99413997 0.08274523 0.06956251 16.9513458 ] [-0.08070589 0.99623572 -0.03163767 0.67569545] [-0.07191852 0.02583817 0.99707578 -0.38341287] [ 0. 0. 0. 1. ]] SLAMing on 16.712791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.65, Z:-0.39 [[ 9.94405413e-01 7.70328071e-02 7.22760101e-02 1.69822975e+01] [-7.68255747e-02 9.97028557e-01 -5.64697925e-03 6.46940249e-01] [-7.24962487e-02 6.27407209e-05 9.97368683e-01 -3.85795135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.64, Z:-0.39 [[ 9.94590666e-01 7.55574250e-02 7.12775095e-02 1.70149621e+01] [-7.53494335e-02 9.97141431e-01 -5.60619577e-03 6.42938882e-01] [-7.14973475e-02 2.05150014e-04 9.97440769e-01 -3.86274160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.05, Y:0.64, Z:-0.39 [[ 9.94875167e-01 7.19305543e-02 7.10591152e-02 1.70471200e+01] [-7.17119394e-02 9.97409517e-01 -5.62618505e-03 6.37314224e-01] [-7.12797324e-02 5.01564825e-04 9.97456239e-01 -3.88305662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:0.63, Z:-0.39 [[ 9.95071117e-01 7.04832756e-02 6.97537057e-02 1.70800213e+01] [-7.02665415e-02 9.97512762e-01 -5.55900200e-03 6.34517058e-01] [-6.99720283e-02 6.30250672e-04 9.97548755e-01 -3.90350643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:0.63, Z:-0.39 [[ 9.95270615e-01 6.82063270e-02 6.91686355e-02 1.71130868e+01] [-6.79852190e-02 9.97670900e-01 -5.54842384e-03 6.30363174e-01] [-6.93859725e-02 8.19738372e-04 9.97589552e-01 -3.93548167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:0.63, Z:-0.39 [[ 9.95230950e-01 6.76071665e-02 7.03180381e-02 1.71462801e+01] [-6.73745264e-02 9.97711600e-01 -5.67763683e-03 6.26163017e-01] [-7.05409712e-02 9.12915379e-04 9.97508465e-01 -3.94927482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:0.62, Z:-0.40 [[ 9.95351121e-01 6.67047127e-02 6.94739334e-02 1.71789190e+01] [-6.64729478e-02 9.97772258e-01 -5.64511988e-03 6.22163571e-01] [-6.96957196e-02 1.00073925e-03 9.97567795e-01 -3.95244709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:0.62, Z:-0.40 [[ 9.95372509e-01 6.67784779e-02 6.90956093e-02 1.72118305e+01] [-6.65469532e-02 9.97767299e-01 -5.64976164e-03 6.19458425e-01] [-6.93186219e-02 1.02551514e-03 9.97594044e-01 -3.96163749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:0.62, Z:-0.40 [[ 9.95398481e-01 6.69465116e-02 6.85567497e-02 1.72447896e+01] [-6.67165722e-02 9.97756023e-01 -5.64073547e-03 6.15949263e-01] [-6.87805375e-02 1.04090819e-03 9.97631272e-01 -3.99313080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:0.61, Z:-0.40 [[ 9.95391725e-01 6.72454109e-02 6.83620365e-02 1.72773626e+01] [-6.70150730e-02 9.97735911e-01 -5.65975157e-03 6.09074865e-01] [-6.85878510e-02 1.05238302e-03 9.97644525e-01 -4.01527081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.61, Z:-0.40 [[ 9.95355962e-01 6.73857020e-02 6.87435466e-02 1.73101378e+01] [-6.71506669e-02 9.97726411e-01 -5.72676281e-03 6.05637297e-01] [-6.89731540e-02 1.08399251e-03 9.97617927e-01 -4.02912939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:0.60, Z:-0.41 [[ 9.95405276e-01 6.82056802e-02 6.72035776e-02 1.73434791e+01] [-6.79806487e-02 9.97670741e-01 -5.63236583e-03 6.03254810e-01] [-6.74312024e-02 1.03794387e-03 9.97723386e-01 -4.05004437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:0.58, Z:-0.41 [[ 0.99601745 0.06801403 0.05764841 17.37199938] [-0.06939528 0.99733987 0.0223044 0.57525163] [-0.05597805 -0.0262161 0.99808776 -0.40788884] [ 0. 0. 0. 1. ]] SLAMing on 17.102791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:0.62, Z:-0.41 [[ 0.99539449 0.07156118 0.06378722 17.40875061] [-0.06959884 0.99704632 -0.03247531 0.61898153] [-0.06592278 0.02788623 0.99743498 -0.40787721] [ 0. 0. 0. 1. ]] SLAMing on 17.132791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:0.59, Z:-0.41 [[ 9.95079321e-01 7.44876224e-02 6.53355831e-02 1.74397971e+01] [-7.42839955e-02 9.97221718e-01 -5.54379258e-03 5.89831959e-01] [-6.55670064e-02 6.63125197e-04 9.97847948e-01 -4.10045001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:0.59, Z:-0.41 [[ 9.94720467e-01 7.79421805e-02 6.67548423e-02 1.74731230e+01] [-7.77349893e-02 9.96957765e-01 -5.69961917e-03 5.88018873e-01] [-6.69959991e-02 4.80340896e-04 9.97753128e-01 -4.10802676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:0.58, Z:-0.41 [[ 9.94357496e-01 8.25138737e-02 6.66680709e-02 1.75055204e+01] [-8.23151290e-02 9.96589894e-01 -5.72728682e-03 5.84986876e-01] [-6.69133064e-02 2.07179723e-04 9.97758772e-01 -4.12290500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:0.58, Z:-0.41 [[ 9.94126247e-01 8.51325796e-02 6.68240108e-02 1.75381642e+01] [-8.49364230e-02 9.96369630e-01 -5.77620731e-03 5.81394796e-01] [-6.70731583e-02 6.64868422e-05 9.97748058e-01 -4.14532998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:0.58, Z:-0.42 [[ 9.93803565e-01 8.89955348e-02 6.65903022e-02 1.75709194e+01] [-8.88070282e-02 9.96032012e-01 -5.79153918e-03 5.78019980e-01] [-6.68414938e-02 -1.58034562e-04 9.97763594e-01 -4.16324504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:0.58, Z:-0.42 [[ 9.93509843e-01 9.18735640e-02 6.70629498e-02 1.76042700e+01] [-9.16864731e-02 9.95770630e-01 -5.86886072e-03 5.76614296e-01] [-6.73185089e-02 -3.17994442e-04 9.97731486e-01 -4.18235815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:0.57, Z:-0.42 [[ 9.93343528e-01 9.42391522e-02 6.62390941e-02 1.76374173e+01] [-9.40595448e-02 9.95549492e-01 -5.83190314e-03 5.74539073e-01] [-6.64938901e-02 -4.37335798e-04 9.97786736e-01 -4.19986086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:0.57, Z:-0.42 [[ 9.92879597e-01 9.84516668e-02 6.70624741e-02 1.76704946e+01] [-9.82747025e-02 9.95141593e-01 -5.94075284e-03 5.69830600e-01] [-6.73215344e-02 -6.92092409e-04 9.97731092e-01 -4.21602141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:0.57, Z:-0.42 [[ 9.92750865e-01 9.99009906e-02 6.68244847e-02 1.77036597e+01] [-9.97261472e-02 9.94997099e-01 -5.95555446e-03 5.66454039e-01] [-6.70851342e-02 -7.51766554e-04 9.97746972e-01 -4.22783035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:0.57, Z:-0.42 [[ 9.92557236e-01 9.98460373e-02 6.97201662e-02 1.77364442e+01] [-9.96528536e-02 9.95002622e-01 -6.25225103e-03 5.66130655e-01] [-6.99960107e-02 -7.42096515e-04 9.97546995e-01 -4.23509018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:0.56, Z:-0.43 [[ 9.92528544e-01 9.97299818e-02 7.02923907e-02 1.77695066e+01] [-9.95306138e-02 9.95014290e-01 -6.34182248e-03 5.64827014e-01] [-7.05744031e-02 -7.01804957e-04 9.97506271e-01 -4.25144775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:0.56, Z:-0.43 [[ 9.92406849e-01 1.00818560e-01 7.04575368e-02 1.78028502e+01] [-1.00618295e-01 9.94904551e-01 -6.39476306e-03 5.61475290e-01] [-7.07432349e-02 -7.43110562e-04 9.97494282e-01 -4.26433014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:0.56, Z:-0.43 [[ 9.92398532e-01 1.01446789e-01 6.96685216e-02 1.78361325e+01] [-1.01249928e-01 9.94840690e-01 -6.36031552e-03 5.58174977e-01] [-6.99543137e-02 -7.41965020e-04 9.97549920e-01 -4.27840238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:0.52, Z:-0.43 [[ 0.99360354 0.09774889 0.05654335 17.86402944] [-0.10000913 0.99423658 0.03862367 0.51740063] [-0.05244205 -0.04403146 0.99765278 -0.43002657] [ 0. 0. 0. 1. ]] SLAMing on 17.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:0.59, Z:-0.43 [[ 0.99264923 0.10126964 0.06627186 17.90363446] [-0.09808673 0.99393878 -0.04964565 0.59239863] [-0.07089776 0.04278033 0.99656578 -0.42890142] [ 0. 0. 0. 1. ]] SLAMing on 17.582791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:0.55, Z:-0.43 [[ 9.92621029e-01 9.84660920e-02 7.07666646e-02 1.79326457e+01] [-9.82488410e-02 9.95140306e-01 -6.55267725e-03 5.49820409e-01] [-7.10679767e-02 -4.48417537e-04 9.97471374e-01 -4.33615617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:0.54, Z:-0.43 [[ 9.92839460e-01 9.40301522e-02 7.36758971e-02 1.79655381e+01] [-9.37794200e-02 9.95569345e-01 -6.86287327e-03 5.44716232e-01] [-7.39947817e-02 -9.55515092e-05 9.97258624e-01 -4.33690472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:0.54, Z:-0.43 [[ 9.92995887e-01 9.26688202e-02 7.32915942e-02 1.79985096e+01] [-9.24140926e-02 9.95696986e-01 -6.86642310e-03 5.41883514e-01] [-7.36125227e-02 4.51537313e-05 9.97286917e-01 -4.34673807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:0.54, Z:-0.44 [[ 9.93412436e-01 8.94830573e-02 7.15857209e-02 1.80310843e+01] [-8.92290824e-02 9.95988296e-01 -6.74432952e-03 5.38133189e-01] [-7.19020434e-02 3.12372628e-04 9.97411650e-01 -4.36701862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:0.53, Z:-0.44 [[ 9.93479832e-01 8.85709332e-02 7.17844871e-02 1.80637513e+01] [-8.83104161e-02 9.96069784e-01 -6.80109260e-03 5.33559687e-01] [-7.21047377e-02 4.17430414e-04 9.97396978e-01 -4.38767203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:0.53, Z:-0.44 [[ 9.93887294e-01 8.56549224e-02 6.96511338e-02 1.80965106e+01] [-8.54000054e-02 9.96324654e-01 -6.63493257e-03 5.27052438e-01] [-6.99634564e-02 6.46167977e-04 9.97549346e-01 -4.41203891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:0.52, Z:-0.44 [[ 9.94013574e-01 8.50765877e-02 6.85491654e-02 1.81287547e+01] [-8.48258414e-02 9.96374161e-01 -6.56573682e-03 5.23145180e-01] [-6.88592076e-02 7.11690892e-04 9.97626134e-01 -4.43939426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:0.52, Z:-0.45 [[ 9.94065423e-01 8.44070783e-02 6.86249176e-02 1.81618953e+01] [-8.41517037e-02 9.96431038e-01 -6.60887844e-03 5.18765924e-01] [-6.89378340e-02 7.94753814e-04 9.97620641e-01 -4.45651248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:0.51, Z:-0.45 [[ 9.94034453e-01 8.42777477e-02 6.92298144e-02 1.81948093e+01] [-8.40149845e-02 9.96441942e-01 -6.70366333e-03 5.12499165e-01] [-6.95484603e-02 8.47330533e-04 9.97578214e-01 -4.46927588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:0.51, Z:-0.45 [[ 9.93916772e-01 8.56768111e-02 6.92021308e-02 1.82278984e+01] [-8.54151189e-02 9.96322672e-01 -6.73722317e-03 5.08120452e-01] [-6.95248757e-02 7.85330872e-04 9.97579909e-01 -4.48202573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:0.50, Z:-0.45 [[ 9.93897312e-01 8.59046213e-02 6.91992027e-02 1.82612212e+01] [-8.56413949e-02 9.96303045e-01 -6.76718113e-03 5.04969907e-01] [-6.95247085e-02 7.99566882e-04 9.97579909e-01 -4.49830915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.50, Z:-0.45 [[ 9.93784259e-01 8.78123854e-02 6.84239153e-02 1.82939538e+01] [-8.75580652e-02 9.96136799e-01 -6.71288096e-03 5.00863629e-01] [-6.87490541e-02 6.80089786e-04 9.97633753e-01 -4.52618068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:0.50, Z:-0.45 [[ 9.93657940e-01 8.94699549e-02 6.81103873e-02 1.83269130e+01] [-8.92194054e-02 9.95989342e-01 -6.71778394e-03 4.96243392e-01] [-6.84382596e-02 5.98411099e-04 9.97655174e-01 -4.54292195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:0.49, Z:-0.46 [[ 9.93360651e-01 9.16058204e-02 6.95915951e-02 1.83595614e+01] [-9.13468549e-02 9.95795223e-01 -6.90122155e-03 4.91794384e-01] [-6.99311700e-02 4.98428590e-04 9.97551694e-01 -4.56188285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.46, Z:-0.46 [[ 0.99477734 0.09069667 0.04682043 18.38761897] [-0.09207807 0.9953513 0.02823845 0.45867656] [-0.04404165 -0.0324021 0.9985041 -0.45579675] [ 0. 0. 0. 1. ]] SLAMing on 18.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:0.51, Z:-0.46 [[ 0.9930555 0.09572983 0.06838543 18.42673338] [-0.0932304 0.99488601 -0.03885777 0.51166842] [-0.07175555 0.03221232 0.99690195 -0.45694132] [ 0. 0. 0. 1. ]] SLAMing on 18.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:0.48, Z:-0.46 [[ 9.92922892e-01 9.44205325e-02 7.20339725e-02 1.84563496e+01] [-9.41435575e-02 9.95532319e-01 -7.23822831e-03 4.78304192e-01] [-7.23955850e-02 4.05468163e-04 9.97375915e-01 -4.59003428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:0.47, Z:-0.46 [[ 9.93021481e-01 9.25611290e-02 7.30806102e-02 1.84887003e+01] [-9.22681175e-02 9.95706830e-01 -7.38260994e-03 4.73443330e-01] [-7.34502055e-02 5.88079923e-04 9.97298712e-01 -4.60156162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:0.47, Z:-0.46 [[ 9.92993120e-01 9.19960637e-02 7.41713435e-02 1.85214023e+01] [-9.16896821e-02 9.95759139e-01 -7.53252790e-03 4.69369391e-01] [-7.45497560e-02 6.79001481e-04 9.97217064e-01 -4.62174454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:0.46, Z:-0.46 [[ 9.93201848e-01 8.94962525e-02 7.44346061e-02 1.85534998e+01] [-8.91777213e-02 9.95986744e-01 -7.59866498e-03 4.62689975e-01] [-7.48159330e-02 9.09099550e-04 9.97196946e-01 -4.64134466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:0.46, Z:-0.47 [[ 9.93203653e-01 8.89550310e-02 7.50566926e-02 1.85860843e+01] [-8.86266193e-02 9.96035144e-01 -7.70157927e-03 4.58331682e-01] [-7.54441978e-02 9.97215738e-04 9.97149527e-01 -4.65927963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:0.45, Z:-0.47 [[ 9.93158452e-01 8.93110270e-02 7.52318334e-02 1.86188034e+01] [-8.89791180e-02 9.96003272e-01 -7.75884230e-03 4.54144424e-01] [-7.56241023e-02 1.01169763e-03 9.97135884e-01 -4.67341386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:0.39, Z:-0.47 [[ 0.99435851 0.08646965 0.06143409 18.64181001] [-0.0897983 0.99451345 0.05365875 0.39487592] [-0.05645717 -0.05887271 0.99666774 -0.46660156] [ 0. 0. 0. 1. ]] SLAMing on 18.272791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:0.50, Z:-0.47 [[ 0.9928207 0.09562999 0.07184681 18.68585207] [-0.0909126 0.99365001 -0.06629142 0.49689887] [-0.07773003 0.05928372 0.99521027 -0.47002807] [ 0. 0. 0. 1. ]] SLAMing on 18.302791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.44, Z:-0.47 [[ 9.92100421e-01 9.73850665e-02 7.90752971e-02 1.87131121e+01] [-9.70365261e-02 9.95246648e-01 -8.24761446e-03 4.41167885e-01] [-7.95026188e-02 5.09269648e-04 9.96834527e-01 -4.73289873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:0.44, Z:-0.47 [[ 9.91848845e-01 9.92456958e-02 7.99134573e-02 1.87459314e+01] [-9.88922887e-02 9.95062876e-01 -8.37787785e-03 4.38117555e-01] [-8.03503829e-02 4.06763788e-04 9.96766598e-01 -4.74903086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:0.43, Z:-0.48 [[ 9.91410367e-01 1.01821520e-01 8.20844803e-02 1.87786889e+01] [-1.01453729e-01 9.94802652e-01 -8.65010578e-03 4.34841061e-01] [-8.25386256e-02 2.48027896e-04 9.96587835e-01 -4.75605235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:0.43, Z:-0.48 [[ 9.91309194e-01 1.02734873e-01 8.21682906e-02 1.88120470e+01] [-1.02365814e-01 9.94708751e-01 -8.70293854e-03 4.32497644e-01] [-8.26276130e-02 2.16079076e-04 9.96580469e-01 -4.78000407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:0.43, Z:-0.48 [[ 9.91299337e-01 1.04125087e-01 8.05207487e-02 1.88450755e+01] [-1.03771830e-01 9.94564199e-01 -8.57092719e-03 4.31186781e-01] [-8.09755025e-02 1.40569017e-04 9.96716082e-01 -4.81971027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:0.43, Z:-0.49 [[ 9.91380714e-01 1.04414974e-01 7.91314923e-02 1.88774721e+01] [-1.04071395e-01 9.94533805e-01 -8.46498257e-03 4.28022768e-01] [-7.95828151e-02 1.56695634e-04 9.96828245e-01 -4.85397133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:0.43, Z:-0.49 [[ 9.91372004e-01 1.04990479e-01 7.84764270e-02 1.89105159e+01] [-1.04651055e-01 9.94473216e-01 -8.43683539e-03 4.25404810e-01] [-7.89284921e-02 1.51401510e-04 9.96880269e-01 -4.87416688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:0.43, Z:-0.49 [[ 9.91378276e-01 1.04549385e-01 7.89844308e-02 1.89434082e+01] [-1.04200743e-01 9.94519669e-01 -8.53417996e-03 4.25113833e-01] [-7.94438133e-02 2.30364267e-04 9.96839319e-01 -4.88372153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:0.42, Z:-0.49 [[ 9.91449800e-01 1.03895491e-01 7.89494879e-02 1.89764851e+01] [-1.03541704e-01 9.94588167e-01 -8.57287526e-03 4.22548864e-01] [-7.94129095e-02 3.25010911e-04 9.96841755e-01 -4.89421209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:0.42, Z:-0.49 [[ 9.91572146e-01 1.02810523e-01 7.88332080e-02 1.90094649e+01] [-1.02450987e-01 9.94700855e-01 -8.60259726e-03 4.19180857e-01] [-7.92998969e-02 4.53555874e-04 9.96850701e-01 -4.91861761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:0.42, Z:-0.49 [[ 9.91706916e-01 1.02197713e-01 7.79295911e-02 1.90419668e+01] [-1.01841249e-01 9.94763961e-01 -8.54528593e-03 4.15625618e-01] [-7.83948574e-02 5.37972262e-04 9.96922242e-01 -4.94971193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:0.41, Z:-0.50 [[ 9.92005453e-01 9.99121697e-02 7.70891628e-02 1.90749794e+01] [-9.95533229e-02 9.94995977e-01 -8.49364118e-03 4.11145205e-01] [-7.75520250e-02 7.51256041e-04 9.96988024e-01 -4.97662353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:0.41, Z:-0.50 [[ 9.92270479e-01 9.77061183e-02 7.65036653e-02 1.91077788e+01] [-9.73430642e-02 9.95214851e-01 -8.46928021e-03 4.06556856e-01] [-7.69650843e-02 9.56715530e-04 9.97033330e-01 -4.99652542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:0.40, Z:-0.50 [[ 9.92644326e-01 9.38663840e-02 7.64613838e-02 1.91403100e+01] [-9.34892607e-02 9.95583963e-01 -8.50471630e-03 3.99216950e-01] [-7.69220345e-02 1.29384014e-03 9.97036271e-01 -5.01410518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:0.32, Z:-0.50 [[ 0.99450809 0.08656024 0.05883006 19.1583439 ] [-0.09110277 0.99266264 0.07950578 0.31748242] [-0.05151636 -0.08442872 0.99509691 -0.49645409] [ 0. 0. 0. 1. ]] SLAMing on 18.752791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:0.47, Z:-0.50 [[ 0.99292798 0.09576452 0.07016538 19.2087811 ] [-0.08916664 0.99177742 -0.09179795 0.46591086] [-0.07837943 0.08489234 0.99330255 -0.50035434] [ 0. 0. 0. 1. ]] SLAMing on 18.782791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:0.38, Z:-0.50 [[ 9.92571852e-01 9.11789738e-02 8.05450965e-02 1.92325610e+01] [-9.07443538e-02 9.95833119e-01 -9.04773304e-03 3.84273547e-01] [-8.10344377e-02 1.67151241e-03 9.96709901e-01 -5.03688975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:0.38, Z:-0.51 [[ 9.92811539e-01 9.05343374e-02 7.82865423e-02 1.92644417e+01] [-9.01186856e-02 9.95891858e-01 -8.83342947e-03 3.77402438e-01] [-7.87646588e-02 1.71485041e-03 9.96891763e-01 -5.06797840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:0.37, Z:-0.51 [[ 9.92803083e-01 9.10029934e-02 7.78491748e-02 1.92965868e+01] [-9.05902879e-02 9.95849154e-01 -8.82394572e-03 3.72050137e-01] [-7.83290403e-02 1.70806136e-03 9.96926098e-01 -5.09518184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:0.30, Z:-0.51 [[ 0.99417853 0.08760274 0.0627281 19.31731745] [-0.09199444 0.99323017 0.07092851 0.29613036] [-0.05608991 -0.07628624 0.99550707 -0.50527099] [ 0. 0. 0. 1. ]] SLAMing on 18.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.37, Y:0.43, Z:-0.51 [[ 0.99267752 0.09735166 0.07151222 19.36542355] [-0.09124783 0.99226496 -0.08416701 0.42858685] [-0.07915287 0.07702536 0.99388224 -0.51013098] [ 0. 0. 0. 1. ]] SLAMing on 18.932791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:0.36, Z:-0.51 [[ 9.92278913e-01 9.51072049e-02 7.96064008e-02 1.93903870e+01] [-9.46825337e-02 9.95465916e-01 -9.10101738e-03 3.56022984e-01] [-8.01110310e-02 1.49341190e-03 9.96784828e-01 -5.12757422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:0.35, Z:-0.51 [[ 9.91792914e-01 9.91911308e-02 8.06717804e-02 1.94230844e+01] [-9.87650097e-02 9.95067649e-01 -9.26530463e-03 3.49832166e-01] [-8.11929150e-02 1.22171430e-03 9.96697656e-01 -5.14397822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:0.35, Z:-0.52 [[ 9.91525197e-01 1.01481585e-01 8.11127153e-02 1.94558318e+01] [-1.01054929e-01 9.94836829e-01 -9.35870136e-03 3.45711160e-01] [-8.16436524e-02 1.08254850e-03 9.96660997e-01 -5.17222826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:0.34, Z:-0.52 [[ 9.90966672e-01 1.06560968e-01 8.14236796e-02 1.94892775e+01] [-1.06144586e-01 9.94305917e-01 -9.43771379e-03 3.44948792e-01] [-8.19657384e-02 7.09777042e-04 9.96634895e-01 -5.20270704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:0.34, Z:-0.52 [[ 9.90707361e-01 1.08859229e-01 8.15389090e-02 1.95216452e+01] [-1.08445868e-01 9.94057016e-01 -9.49437372e-03 3.42394694e-01] [-8.20878748e-02 5.63588158e-04 9.96624936e-01 -5.22428785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:0.34, Z:-0.52 [[ 9.90555092e-01 1.09818813e-01 8.21001673e-02 1.95540524e+01] [-1.09399373e-01 9.93951481e-01 -9.60370326e-03 3.39437894e-01] [-8.26582501e-02 5.31290375e-04 9.96577810e-01 -5.23863294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:0.34, Z:-0.52 [[ 9.90380616e-01 1.10860088e-01 8.28026360e-02 1.95873776e+01] [-1.10433328e-01 9.93835901e-01 -9.73046408e-03 3.37411932e-01] [-8.33709525e-02 4.92692330e-04 9.96518460e-01 -5.24062775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.62, Y:0.34, Z:-0.53 [[ 9.90334385e-01 1.11607540e-01 8.23502433e-02 1.96199876e+01] [-1.11184367e-01 9.93752250e-01 -9.72118780e-03 3.36067345e-01] [-8.29206974e-02 4.71166861e-04 9.96556038e-01 -5.25636399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.65, Y:0.34, Z:-0.53 [[ 9.90179784e-01 1.14139215e-01 8.07231942e-02 1.96528785e+01] [-1.13737552e-01 9.93464721e-01 -9.57170445e-03 3.38036321e-01] [-8.12881524e-02 2.96449752e-04 9.96690598e-01 -5.28816315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:0.34, Z:-0.53 [[ 9.90076255e-01 1.15246592e-01 8.04191032e-02 1.96864580e+01] [-1.14848083e-01 9.93336882e-01 -9.57894872e-03 3.37230405e-01] [-8.09872024e-02 2.47909849e-04 9.96715111e-01 -5.30404345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:0.34, Z:-0.53 [[ 9.89723323e-01 1.16913978e-01 8.23338695e-02 1.97196368e+01] [-1.16498247e-01 9.93142032e-01 -9.85201043e-03 3.40218675e-01] [-8.29210642e-02 1.59013074e-04 9.96556106e-01 -5.31730802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:0.34, Z:-0.53 [[ 9.89649244e-01 1.16933062e-01 8.31927478e-02 1.97527260e+01] [-1.16504867e-01 9.93139777e-01 -9.99992363e-03 3.39357278e-01] [-8.37913487e-02 2.04056805e-04 9.96483301e-01 -5.32409665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:0.34, Z:-0.53 [[ 9.89751283e-01 1.16478002e-01 8.26152124e-02 1.97857911e+01] [-1.16050446e-01 9.93193231e-01 -9.97497864e-03 3.39549528e-01] [-8.32147353e-02 2.85215646e-04 9.96531598e-01 -5.33880076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:0.34, Z:-0.54 [[ 9.89827647e-01 1.16445761e-01 8.17411437e-02 1.98192735e+01] [-1.16023486e-01 9.93196998e-01 -9.91332567e-03 3.38158301e-01] [-8.23394233e-02 3.28591413e-04 9.96604290e-01 -5.36549295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.34, Z:-0.54 [[ 9.89762792e-01 1.17016300e-01 8.17116892e-02 1.98525228e+01] [-1.16592645e-01 9.93129941e-01 -9.95364360e-03 3.37820499e-01] [-8.23150636e-02 3.24764101e-04 9.96606304e-01 -5.38980199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:0.34, Z:-0.54 [[ 9.89695408e-01 1.17697215e-01 8.15497638e-02 1.98858080e+01] [-1.17273951e-01 9.93049480e-01 -9.97755647e-03 3.40847561e-01] [-8.21572811e-02 3.11078819e-04 9.96619328e-01 -5.41254895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:0.34, Z:-0.54 [[ 9.89455758e-01 1.18478205e-01 8.33079720e-02 1.99186546e+01] [-1.18035413e-01 9.92956609e-01 -1.02378833e-02 3.39088229e-01] [-8.39341674e-02 2.96641695e-04 9.96471258e-01 -5.43190381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:0.34, Z:-0.54 [[ 9.89358780e-01 1.19165397e-01 8.34794103e-02 1.99520916e+01] [-1.18719472e-01 9.92874377e-01 -1.03033465e-02 3.39151850e-01] [-8.41123699e-02 2.83074776e-04 9.96456235e-01 -5.44837497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:0.34, Z:-0.55 [[ 9.89277747e-01 1.20374951e-01 8.27007307e-02 1.99846106e+01] [-1.19937898e-01 9.92728473e-01 -1.02507902e-02 3.37211896e-01] [-8.33333085e-02 2.21926854e-04 9.96521706e-01 -5.47175299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:0.34, Z:-0.55 [[ 9.89040836e-01 1.21544122e-01 8.38167693e-02 2.00173226e+01] [-1.21095552e-01 9.92586015e-01 -1.04340663e-02 3.35637890e-01] [-8.44635525e-02 1.69879752e-04 9.96426555e-01 -5.48895145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:0.33, Z:-0.55 [[ 9.88868433e-01 1.21954705e-01 8.52424356e-02 2.00499806e+01] [-1.21488289e-01 9.92535650e-01 -1.06573544e-02 3.32179642e-01] [-8.59058707e-02 1.82763703e-04 9.96303241e-01 -5.50849476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:0.33, Z:-0.55 [[ 9.88862437e-01 1.21629124e-01 8.57754972e-02 2.00823195e+01] [-1.21151646e-01 9.92575584e-01 -1.07698255e-02 3.28087576e-01] [-8.64485887e-02 2.58033291e-04 9.96256280e-01 -5.52939904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:0.32, Z:-0.56 [[ 9.88864404e-01 1.21707370e-01 8.56417333e-02 2.01148102e+01] [-1.21227743e-01 9.92565982e-01 -1.07984236e-02 3.24599480e-01] [-8.63193188e-02 2.96022690e-04 9.96267478e-01 -5.55932598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:0.32, Z:-0.56 [[ 9.88963500e-01 1.21373368e-01 8.49688238e-02 2.01480784e+01] [-1.20896185e-01 9.92606856e-01 -1.07583379e-02 3.22036284e-01] [-8.56464128e-02 3.67196850e-04 9.96325528e-01 -5.59165792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:0.32, Z:-0.56 [[ 9.90341090e-01 1.23868686e-01 6.22982654e-02 2.01815792e+01] [-1.23615756e-01 9.92298609e-01 -7.91293933e-03 3.20345973e-01] [-6.27986475e-02 1.35461788e-04 9.98026208e-01 -5.58678770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:0.32, Z:-0.56 [[ 9.88647259e-01 1.23340536e-01 8.58120535e-02 2.02140066e+01] [-1.22853289e-01 9.92364363e-01 -1.09563305e-02 3.17087771e-01] [-8.65081835e-02 2.89653110e-04 9.96251098e-01 -5.63365665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:0.31, Z:-0.57 [[ 9.88560513e-01 1.23885469e-01 8.60261738e-02 2.02474085e+01] [-1.23393838e-01 9.92296482e-01 -1.10296572e-02 3.14978345e-01] [-8.67298838e-02 2.88383834e-04 9.96231822e-01 -5.65174623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.31, Z:-0.57 [[ 9.88473372e-01 1.24828184e-01 8.56639834e-02 2.02800834e+01] [-1.24340269e-01 9.92178342e-01 -1.10288646e-02 3.12416565e-01] [-8.63706622e-02 2.50256231e-04 9.96263041e-01 -5.67620889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:20.30, Y:0.29, Z:-0.57 [[ 9.92093966e-01 1.16370478e-01 4.69837733e-02 2.03041173e+01] [-1.17226095e-01 9.92978338e-01 1.58764894e-02 2.87767003e-01] [-4.48063145e-02 -2.12586936e-02 9.98769474e-01 -5.66379855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:20.34, Y:0.30, Z:-0.57 [[ 9.91862593e-01 1.19027163e-01 4.51788852e-02 2.03391357e+01] [-1.18949185e-01 9.92890505e-01 -4.42005960e-03 3.02550813e-01] [-4.53837933e-02 -9.89899779e-04 9.98969134e-01 -5.67564982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:0.32, Z:-0.57 [[ 0.98829672 0.12575846 0.0863389 20.37842617] [-0.12339078 0.99183385 -0.03225425 0.32071376] [-0.08969009 0.02122335 0.99574357 -0.57008762] [ 0. 0. 0. 1. ]] SLAMing on 19.862791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:20.41, Y:0.30, Z:-0.57 [[ 9.90201109e-01 1.23875611e-01 6.44716795e-02 2.04084691e+01] [-1.23582310e-01 9.92297637e-01 -8.53299267e-03 2.98290947e-01] [-6.50321249e-02 4.81819750e-04 9.97883055e-01 -5.70042797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:0.30, Z:-0.57 [[ 9.88562913e-01 1.20231665e-01 9.10368772e-02 2.04412793e+01] [-1.19625230e-01 9.92745275e-01 -1.21088510e-02 2.98328361e-01] [-9.18322970e-02 1.08005372e-03 9.95773901e-01 -5.72897391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:0.29, Z:-0.58 [[ 9.88615691e-01 1.19271655e-01 9.17239775e-02 2.04740941e+01] [-1.18647425e-01 9.92860901e-01 -1.22482386e-02 2.94257024e-01] [-9.25300186e-02 1.22598715e-03 9.95709141e-01 -5.75448515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:0.29, Z:-0.58 [[ 9.88885956e-01 1.17915359e-01 9.05568020e-02 2.05061988e+01] [-1.17297022e-01 9.93022688e-01 -1.21387752e-02 2.88726642e-01] [-9.13563069e-02 1.38182108e-03 9.95817310e-01 -5.78270465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:0.29, Z:-0.58 [[ 9.88894211e-01 1.17177017e-01 9.14209262e-02 2.05388718e+01] [-1.16539271e-01 9.93109895e-01 -1.23018225e-02 2.85280754e-01] [-9.22325173e-02 1.51107291e-03 9.95736350e-01 -5.79687614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:0.28, Z:-0.58 [[ 9.88824035e-01 1.17183921e-01 9.21680902e-02 2.05715495e+01] [-1.16531279e-01 9.93108989e-01 -1.24498154e-02 2.81748699e-01] [-9.29918770e-02 1.57021127e-03 9.95665629e-01 -5.80816905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:0.28, Z:-0.58 [[ 9.88652349e-01 1.17196800e-01 9.39757574e-02 2.06039513e+01] [-1.16513641e-01 9.93107341e-01 -1.27428369e-02 2.75971630e-01] [-9.48214343e-02 1.64877790e-03 9.95492932e-01 -5.82171445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:0.27, Z:-0.58 [[ 9.88398944e-01 1.17667716e-01 9.60303911e-02 2.06367675e+01] [-1.16951613e-01 9.93051588e-01 -1.30715046e-02 2.70283556e-01] [-9.69012264e-02 1.68895219e-03 9.95292570e-01 -5.83925052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:0.19, Z:-0.58 [[ 0.99080695 0.11052506 0.07801157 20.65280604] [-0.11646151 0.99027112 0.0761566 0.18773824] [-0.0688354 -0.08454183 0.99403942 -0.58387257] [ 0. 0. 0. 1. ]] SLAMing on 20.132791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:0.34, Z:-0.58 [[ 0.98859767 0.12292515 0.08697161 20.70812738] [-0.11456158 0.98882574 -0.09539026 0.33623843] [-0.09772563 0.08433898 0.99163332 -0.58173719] [ 0. 0. 0. 1. ]] SLAMing on 20.162791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:0.26, Z:-0.59 [[ 9.87791688e-01 1.21404086e-01 9.76147009e-02 2.07299007e+01] [-1.20672030e-01 9.92602112e-01 -1.33906412e-02 2.56578576e-01] [-9.85182368e-02 1.44779992e-03 9.95134192e-01 -5.90140878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:0.25, Z:-0.59 [[ 9.87508328e-01 1.22929993e-01 9.85673293e-02 2.07629235e+01] [-1.22186030e-01 9.92414414e-01 -1.35721942e-02 2.51878687e-01] [-9.94880681e-02 1.35910420e-03 9.95037827e-01 -5.91797459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:0.25, Z:-0.59 [[ 9.87121791e-01 1.24785028e-01 1.00096285e-01 2.07959510e+01] [-1.24021960e-01 9.92183024e-01 -1.38347581e-02 2.47685471e-01] [-1.01040205e-01 1.24245388e-03 9.94881567e-01 -5.93020816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:0.24, Z:-0.59 [[ 9.86980947e-01 1.25479093e-01 1.00616138e-01 2.08284368e+01] [-1.24706322e-01 9.92095502e-01 -1.39587956e-02 2.43381972e-01] [-1.01572355e-01 1.22959684e-03 9.94827395e-01 -5.94370808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.24, Z:-0.60 [[ 9.86849172e-01 1.25821708e-01 1.01477141e-01 2.08610452e+01] [-1.25031972e-01 9.92052074e-01 -1.41311469e-02 2.39278316e-01] [-1.02448613e-01 1.25742349e-03 9.94737503e-01 -5.96323094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:0.14, Z:-0.60 [[ 0.99000717 0.11620674 0.07988619 20.87349634] [-0.12373197 0.98758478 0.09678174 0.13873837] [-0.06764769 -0.10569909 0.9920945 -0.59545928] [ 0. 0. 0. 1. ]] SLAMing on 20.342791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:20.93, Y:0.32, Z:-0.59 [[ 0.98739824 0.13235973 0.08675032 20.93478547] [-0.12196939 0.98575973 -0.11576361 0.32408651] [-0.10083741 0.1037239 0.98948126 -0.59258024] [ 0. 0. 0. 1. ]] SLAMing on 20.372791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:20.94, Y:0.18, Z:-0.60 [[ 0.99041748 0.12263749 0.063508 20.94184799] [-0.12524962 0.99136185 0.03891293 0.18198041] [-0.05818722 -0.0464944 0.9972224 -0.6019879 ] [ 0. 0. 0. 1. ]] SLAMing on 20.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:0.26, Z:-0.60 [[ 0.98681353 0.12980967 0.09668765 20.9878465 ] [-0.12444637 0.99043469 -0.05960056 0.26104813] [-0.10349954 0.04678221 0.9935287 -0.60193061] [ 0. 0. 0. 1. ]] SLAMing on 20.432791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:21.01, Y:0.21, Z:-0.61 [[ 9.86602240e-01 1.25428344e-01 1.04325216e-01 2.10145677e+01] [-1.24569214e-01 9.92101481e-01 -1.47364195e-02 2.12885120e-01] [-1.05349566e-01 1.54327429e-03 9.94434054e-01 -6.06113028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:0.21, Z:-0.61 [[ 9.86614359e-01 1.24782846e-01 1.04982606e-01 2.10470392e+01] [-1.23903380e-01 9.92182660e-01 -1.48836270e-02 2.07353608e-01] [-1.06019143e-01 1.67670034e-03 9.94362675e-01 -6.07649121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:21.08, Y:0.20, Z:-0.61 [[ 9.86439826e-01 1.25751660e-01 1.05465582e-01 2.10792747e+01] [-1.24863742e-01 9.92060406e-01 -1.50065512e-02 2.02679228e-01] [-1.06515326e-01 1.63423258e-03 9.94309718e-01 -6.09805895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:21.10, Y:0.15, Z:-0.61 [[ 0.99000537 0.12124091 0.07204174 21.09937484] [-0.12466148 0.99117679 0.04503439 0.14981119] [-0.06594609 -0.05356512 0.99638441 -0.61003893] [ 0. 0. 0. 1. ]] SLAMing on 20.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.15, Y:0.24, Z:-0.61 [[ 0.98615116 0.12876368 0.10452656 21.14723639] [-0.12207593 0.99018424 -0.0680635 0.24259491] [-0.11226466 0.05436072 0.99219028 -0.61161282] [ 0. 0. 0. 1. ]] SLAMing on 20.582791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:0.19, Z:-0.62 [[ 9.85724929e-01 1.24899438e-01 1.12900371e-01 2.11725144e+01] [-1.23858238e-01 9.92167385e-01 -1.62178040e-02 1.89597859e-01] [-1.14041661e-01 2.00265270e-03 9.93473950e-01 -6.16164127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.14, Z:-0.62 [[ 0.9898593 0.11890701 0.07771542 21.19249355] [-0.12237924 0.99161365 0.04154149 0.1366589 ] [-0.0721241 -0.05063098 0.99610974 -0.61536371] [ 0. 0. 0. 1. ]] SLAMing on 20.642791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:0.22, Z:-0.62 [[ 0.98634271 0.1261406 0.10590853 21.23909771] [-0.1196312 0.99063947 -0.06574059 0.2207561 ] [-0.11320973 0.05217279 0.99220036 -0.61883869] [ 0. 0. 0. 1. ]] SLAMing on 20.672791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:0.17, Z:-0.62 [[ 9.85983602e-01 1.22872143e-01 1.12866176e-01 2.12645373e+01] [-1.21801504e-01 9.92419648e-01 -1.63595826e-02 1.70734887e-01] [-1.14020748e-01 2.38301016e-03 9.93475511e-01 -6.23418529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:0.17, Z:-0.63 [[ 9.85874986e-01 1.23705360e-01 1.12904812e-01 2.12977742e+01] [-1.22632859e-01 9.92316223e-01 -1.64223945e-02 1.67100890e-01] [-1.14068814e-01 2.34458817e-03 9.93470084e-01 -6.25102166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:21.32, Y:0.11, Z:-0.62 [[ 0.99000177 0.11837167 0.07671149 21.31683119] [-0.12237188 0.99123831 0.04971665 0.10842237] [-0.07015432 -0.0586069 0.99581304 -0.6239237 ] [ 0. 0. 0. 1. ]] SLAMing on 20.762791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:0.15, Z:-0.63 [[ 9.89924674e-01 1.24392919e-01 6.76427414e-02 2.13548266e+01] [-1.24301494e-01 9.92228832e-01 -5.57524803e-03 1.54930694e-01] [-6.78105997e-02 -2.88901822e-03 9.97694029e-01 -6.26307805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:0.21, Z:-0.63 [[ 0.98577211 0.13217283 0.1038446 21.39675911] [-0.12456687 0.989248 -0.07662567 0.20873847] [-0.11285589 0.06259986 0.99163744 -0.62935105] [ 0. 0. 0. 1. ]] SLAMing on 20.822791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:0.15, Z:-0.63 [[ 9.85200643e-01 1.28843256e-01 1.13044723e-01 2.14209615e+01] [-1.27775143e-01 9.91662988e-01 -1.66742407e-02 1.48847036e-01] [-1.14250632e-01 1.98316701e-03 9.93449979e-01 -6.34058450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:21.45, Y:0.14, Z:-0.64 [[ 9.85284940e-01 1.28449326e-01 1.12757962e-01 2.14533229e+01] [-1.27377467e-01 9.91713890e-01 -1.66895579e-02 1.44511257e-01] [-1.13967399e-01 2.08114648e-03 9.93482310e-01 -6.36547990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:0.14, Z:-0.64 [[ 9.85628153e-01 1.27548350e-01 1.10763544e-01 2.14861548e+01] [-1.26503514e-01 9.91829934e-01 -1.64390391e-02 1.39625978e-01] [-1.11955371e-01 2.19080223e-03 9.93710821e-01 -6.39331948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:0.13, Z:-0.64 [[ 9.86026054e-01 1.26054876e-01 1.08916435e-01 2.15179164e+01] [-1.25031763e-01 9.92020473e-01 -1.61999629e-02 1.33031902e-01] [-1.10089418e-01 2.35557161e-03 9.93918896e-01 -6.42806887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:0.13, Z:-0.65 [[ 9.86379679e-01 1.24928035e-01 1.06995863e-01 2.15502601e+01] [-1.23928313e-01 9.92162678e-01 -1.59685020e-02 1.26183656e-01] [-1.08152216e-01 2.49118899e-03 9.94131225e-01 -6.45237258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:0.12, Z:-0.65 [[ 9.86794512e-01 1.22634901e-01 1.05817162e-01 2.15825305e+01] [-1.21638282e-01 9.92448001e-01 -1.58459416e-02 1.18446320e-01] [-1.06961296e-01 2.76527040e-03 9.94259340e-01 -6.48783802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:0.07, Z:-0.65 [[ 0.99017163 0.11782912 0.0753421 21.60411427] [-0.12100088 0.99188584 0.03900339 0.06838758] [-0.07013503 -0.04773651 0.99639465 -0.64827822] [ 0. 0. 0. 1. ]] SLAMing on 21.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:0.15, Z:-0.65 [[ 0.98750944 0.12494954 0.09598285 21.65040036] [-0.1192382 0.99085734 -0.06311886 0.15284144] [-0.10299199 0.05088565 0.99337974 -0.65257717] [ 0. 0. 0. 1. ]] SLAMing on 21.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:0.10, Z:-0.66 [[ 9.87184628e-01 1.23698386e-01 1.00822713e-01 2.16753917e+01] [-1.22787989e-01 9.92316363e-01 -1.52100361e-02 1.01765730e-01] [-1.01929485e-01 2.63529559e-03 9.94788136e-01 -6.57092594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:0.10, Z:-0.66 [[ 9.87134803e-01 1.25727270e-01 9.87802329e-02 2.17075620e+01] [-1.24858662e-01 9.92061878e-01 -1.49513812e-02 9.55107855e-02] [-9.98758997e-02 2.42546099e-03 9.94996946e-01 -6.59175589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:0.09, Z:-0.66 [[ 9.86934465e-01 1.28563152e-01 9.71178539e-02 2.17398549e+01] [-1.27732474e-01 9.91698991e-01 -1.47487540e-02 9.03686922e-02] [-9.82078241e-02 2.15094984e-03 9.95163603e-01 -6.63464362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:0.09, Z:-0.67 [[ 9.86835718e-01 1.29718421e-01 9.65836220e-02 2.17724723e+01] [-1.28897552e-01 9.91548703e-01 -1.47170257e-02 8.64823490e-02] [-9.76764344e-02 2.07389416e-03 9.95216064e-01 -6.66082724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:21.79, Y:0.02, Z:-0.66 [[ 9.88693560e-01 1.25464096e-01 8.21206690e-02 2.17899593e+01] [-1.30660502e-01 9.89531364e-01 6.12822433e-02 1.60793942e-02] [-7.35722563e-02 -7.13192872e-02 9.94736489e-01 -6.64520424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:0.14, Z:-0.67 [[ 0.98635053 0.13652122 0.09205757 21.84291723] [-0.12853789 0.98781796 -0.08771365 0.14460485] [-0.1029109 0.07468352 0.99188292 -0.66663395] [ 0. 0. 0. 1. ]] SLAMing on 21.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:0.07, Z:-0.67 [[ 9.85915851e-01 1.31740821e-01 1.03025683e-01 2.18653409e+01] [-1.30805382e-01 9.91281940e-01 -1.58135111e-02 7.32733284e-02] [-1.04210784e-01 2.11447754e-03 9.94552986e-01 -6.73019032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:0.02, Z:-0.67 [[ 9.89245563e-01 1.28260774e-01 7.03021321e-02 2.18868137e+01] [-1.31789778e-01 9.90111044e-01 4.80788371e-02 1.70198244e-02] [-6.34402886e-02 -5.68268787e-02 9.96366416e-01 -6.69750044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:0.03, Z:-0.67 [[ 0.98833643 0.12885284 0.08116673 21.91773161] [-0.13118822 0.99106434 0.0241065 0.0338321 ] [-0.07733526 -0.03447345 0.99640897 -0.67423967] [ 0. 0. 0. 1. ]] SLAMing on 21.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:0.15, Z:-0.67 [[ 0.98580442 0.13847302 0.0949467 21.96798613] [-0.12810514 0.98588793 -0.10776854 0.14685091] [-0.10852984 0.09407554 0.98963178 -0.67247054] [ 0. 0. 0. 1. ]] SLAMing on 21.362791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.99, Y:0.06, Z:-0.68 [[ 9.85422848e-01 1.28341890e-01 1.11669911e-01 2.19869597e+01] [-1.27206757e-01 9.91726018e-01 -1.72611061e-02 5.67632483e-02] [-1.12961279e-01 2.80432102e-03 9.93595433e-01 -6.78444526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.04, Z:-0.68 [[ 0.98928612 0.114875 0.0900928 21.99909698] [-0.12306876 0.98818192 0.09138145 -0.04274078] [-0.07853063 -0.10149001 0.99173218 -0.67525732] [ 0. 0. 0. 1. ]] SLAMing on 21.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:0.14, Z:-0.68 [[ 0.98674098 0.132212 0.09413943 22.06266423] [-0.12097624 0.98580126 -0.11645008 0.13984741] [-0.10819887 0.10351743 0.98872501 -0.6792005 ] [ 0. 0. 0. 1. ]] SLAMing on 21.452791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:0.04, Z:-0.69 [[ 9.86006898e-01 1.24860871e-01 1.10454330e-01 2.20804429e+01] [-1.23715254e-01 9.92168816e-01 -1.71923446e-02 4.24414091e-02] [-1.11735993e-01 3.28688489e-03 9.93732491e-01 -6.88749882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.06, Z:-0.68 [[ 0.98899011 0.11542549 0.09260414 22.09340368] [-0.12384606 0.98811854 0.091016 -0.05553983] [-0.0809983 -0.10148258 0.99153445 -0.68247605] [ 0. 0. 0. 1. ]] SLAMing on 21.512791605 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:22.15, Y:0.09, Z:-0.69 [[ 0.9894411 0.12986663 0.0643504 22.14727329] [-0.1256474 0.98989156 -0.0657832 0.0875599 ] [-0.07224296 0.05700314 0.9957568 -0.6867828 ] [ 0. 0. 0. 1. ]] SLAMing on 21.542791605 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:22.17, Y:0.05, Z:-0.69 [[ 9.88737487e-01 1.28793567e-01 7.62259772e-02 2.21717505e+01] [-1.27144578e-01 9.91540095e-01 -2.61246256e-02 4.68067041e-02] [-7.89457964e-02 1.61386770e-02 9.96748265e-01 -6.93866722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572791605 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.03, Z:-0.70 [[ 0.98798505 0.12302319 0.09354586 22.19044006] [-0.12813993 0.99045457 0.05079275 -0.03018976] [-0.08640423 -0.06216944 0.99431849 -0.69513147] [ 0. 0. 0. 1. ]] SLAMing on 21.602791605 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:22.25, Y:0.11, Z:-0.69 [[ 0.98557126 0.13586208 0.10094947 22.24532933] [-0.12440322 0.98586054 -0.11226232 0.11167762] [-0.11477429 0.09808407 0.98853749 -0.69444555] [ 0. 0. 0. 1. ]] SLAMing on 21.632791605 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:22.26, Y:0.02, Z:-0.70 [[ 9.84874611e-01 1.27654998e-01 1.17158874e-01 2.22641999e+01] [-1.26357156e-01 9.91812851e-01 -1.84698982e-02 1.98364758e-02] [-1.18557452e-01 3.38667155e-03 9.92941419e-01 -7.01373818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662791605 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:22.30, Y:0.01, Z:-0.70 [[ 9.84988036e-01 1.27031017e-01 1.16883229e-01 2.22967592e+01] [-1.25727857e-01 9.91892525e-01 -1.84858141e-02 1.43795489e-02] [-1.18283873e-01 3.51282777e-03 9.92973608e-01 -7.04481800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692791605 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:22.33, Y:0.01, Z:-0.71 [[ 9.84945007e-01 1.27372079e-01 1.16874663e-01 2.23297535e+01] [-1.26064905e-01 9.91848736e-01 -1.85398312e-02 9.37850960e-03] [-1.18283444e-01 3.52692080e-03 9.92973609e-01 -7.07579533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722791605 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:22.36, Y:0.00, Z:-0.71 [[ 9.85451244e-01 1.24906737e-01 1.15256900e-01 2.23614854e+01] [-1.23613736e-01 9.92161161e-01 -1.83269161e-02 2.44462619e-03] [-1.16642575e-01 3.81294631e-03 9.93166638e-01 -7.12901240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752791605 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.08, Z:-0.71 [[ 0.98791355 0.11653425 0.10220858 22.37807543] [-0.12374524 0.99003018 0.06728565 -0.07803338] [-0.0933485 -0.07912023 0.99248478 -0.71091135] [ 0. 0. 0. 1. ]] SLAMing on 21.782791605 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:22.43, Y:0.04, Z:-0.71 [[ 0.98874273 0.1295052 0.07494137 22.42822902] [-0.12511696 0.99029123 -0.06057242 0.03687697] [-0.08205822 0.05051411 0.99534656 -0.71421847] [ 0. 0. 0. 1. ]] SLAMing on 21.812791605 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:22.46, Y:0.02, Z:-0.72 [[ 9.85293555e-01 1.29221078e-01 1.11796796e-01 2.24586530e+01] [-1.24134598e-01 9.90935806e-01 -5.13500732e-02 1.68101542e-02] [-1.17418960e-01 3.67170458e-02 9.92403470e-01 -7.19826037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842791605000002 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.05, Z:-0.72 [[ 9.88262977e-01 1.23064119e-01 9.05069651e-02 2.24773840e+01] [-1.24987240e-01 9.92031337e-01 1.58750133e-02 -4.95648659e-02] [-8.78321011e-02 -2.70009036e-02 9.95769287e-01 -7.21122258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872791605 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.00, Z:-0.73 [[ 9.84736158e-01 1.29694862e-01 1.16077310e-01 2.25179558e+01] [-1.24893059e-01 9.91020174e-01 -4.77570831e-02 -4.21967825e-03] [-1.21228804e-01 3.25308762e-02 9.92091386e-01 -7.25211620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902791605 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.04, Z:-0.73 [[ 9.84649402e-01 1.27226243e-01 1.19494929e-01 2.25459736e+01] [-1.25823304e-01 9.91866004e-01 -1.92438618e-02 -3.72474305e-02] [-1.20971282e-01 3.91321028e-03 9.92648294e-01 -7.28465506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932791605000002 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.05, Z:-0.73 [[ 9.84434789e-01 1.27775803e-01 1.20671002e-01 2.25779370e+01] [-1.26341426e-01 9.91795226e-01 -1.94954537e-02 -4.60676229e-02] [-1.22171971e-01 3.94625634e-03 9.92501102e-01 -7.32454799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962791605 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.05, Z:-0.74 [[ 9.84566193e-01 1.27983260e-01 1.19372096e-01 2.26098653e+01] [-1.26573881e-01 9.91768509e-01 -1.93462539e-02 -5.35220079e-02] [-1.20865482e-01 3.93827817e-03 9.92661083e-01 -7.35967922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992791605 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.06, Z:-0.74 [[ 9.84542398e-01 1.28719864e-01 1.18774845e-01 2.26415588e+01] [-1.27322649e-01 9.91673371e-01 -1.93097701e-02 -6.16798227e-02] [-1.20271402e-01 3.88855935e-03 9.92733433e-01 -7.39315650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022791605000002 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.17, Z:-0.73 [[ 0.98804131 0.11818593 0.09902751 22.65239999] [-0.1273148 0.98762555 0.09157896 -0.16892939] [-0.08697875 -0.10309146 0.99086167 -0.7320234 ] [ 0. 0. 0. 1. ]] SLAMing on 22.052791605 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:22.72, Y:0.02, Z:-0.74 [[ 9.84546261e-01 1.39357170e-01 1.06057719e-01 2.27152218e+01] [-1.26336211e-01 9.84588692e-01 -1.20930844e-01 1.51249959e-02] [-1.21275811e-01 1.05663080e-01 9.86978972e-01 -7.40919720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082791605 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.09, Z:-0.75 [[ 9.83557358e-01 1.32179540e-01 1.23058895e-01 2.27315106e+01] [-1.30689791e-01 9.91218801e-01 -2.01362109e-02 -8.61142486e-02] [-1.24639886e-01 3.72257711e-03 9.92195062e-01 -7.47082069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112791605 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.09, Z:-0.75 [[ 9.83284474e-01 1.33868178e-01 1.23413749e-01 2.27634422e+01] [-1.32375026e-01 9.90992674e-01 -2.02576713e-02 -9.33796834e-02] [-1.25013978e-01 3.58215545e-03 9.92148514e-01 -7.49569930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142791605 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.13, Z:-0.75 [[ 9.86591180e-01 1.33702410e-01 9.36029323e-02 2.27875795e+01] [-1.35515372e-01 9.90686519e-01 1.32591537e-02 -1.27083205e-01] [-9.09583824e-02 -2.57660003e-02 9.95521314e-01 -7.50414628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172791605 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.11, Z:-0.75 [[ 9.86508132e-01 1.38553915e-01 8.72038845e-02 2.28236966e+01] [-1.37745197e-01 9.90350240e-01 -1.52532816e-02 -1.05458413e-01] [-8.84757898e-02 3.03557007e-03 9.96073702e-01 -7.53999466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202791605 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.09, Z:-0.76 [[ 0.98257863 0.14516752 0.11604144 22.85995949] [-0.14078681 0.98901036 -0.04513968 -0.08875951] [-0.12131901 0.02801618 0.99221812 -0.7592386 ] [ 0. 0. 0. 1. ]] SLAMing on 22.232791605 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.15, Z:-0.76 [[ 9.86254196e-01 1.38019446e-01 9.08476374e-02 2.28792659e+01] [-1.40119160e-01 9.89986553e-01 1.71244292e-02 -1.47800939e-01] [-8.75744351e-02 -2.96185348e-02 9.95717561e-01 -7.60635485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262791605 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.13, Z:-0.77 [[ 9.86038331e-01 1.42018654e-01 8.69431546e-02 2.29146519e+01] [-1.41544288e-01 9.89863625e-01 -1.16283599e-02 -1.26865786e-01] [-8.77133101e-02 -8.40298336e-04 9.96145406e-01 -7.65436046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292791605 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.10, Z:-0.77 [[ 0.98245077 0.14595485 0.11613644 22.95331258] [-0.14072506 0.9886786 -0.05206809 -0.09990112] [-0.1224212 0.03481103 0.99186755 -0.76886441] [ 0. 0. 0. 1. ]] SLAMing on 22.322791605 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.14, Z:-0.77 [[ 9.82239462e-01 1.42735738e-01 1.21787311e-01 2.29806599e+01] [-1.41304737e-01 9.89756927e-01 -2.03518486e-02 -1.35149475e-01] [-1.23444770e-01 2.78126493e-03 9.92347547e-01 -7.71441205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352791605 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.14, Z:-0.77 [[ 9.82023964e-01 1.42599956e-01 1.23669664e-01 2.30131999e+01] [-1.41114782e-01 9.89776135e-01 -2.07321313e-02 -1.42731846e-01] [-1.25361683e-01 2.90783198e-03 9.92106845e-01 -7.73485820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382791605 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.15, Z:-0.78 [[ 9.81946364e-01 1.42848440e-01 1.23998638e-01 2.30453578e+01] [-1.41349008e-01 9.89740181e-01 -2.08526169e-02 -1.48423460e-01] [-1.25705198e-01 2.94906690e-03 9.92063257e-01 -7.76337632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412791605 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.18, Z:-0.78 [[ 9.85740154e-01 1.38679343e-01 9.53120597e-02 2.30690543e+01] [-1.40740474e-01 9.89929510e-01 1.52211842e-02 -1.82042229e-01] [-9.22413567e-02 -2.84183969e-02 9.95331064e-01 -7.77758098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442791605 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.27, Z:-0.77 [[ 0.98722932 0.12810116 0.09470143 23.08471034] [-0.13798451 0.98469654 0.10645654 -0.26997559] [-0.07961497 -0.11816434 0.98979727 -0.76736378] [ 0. 0. 0. 1. ]] SLAMing on 22.472791605 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.07, Z:-0.78 [[ 0.98534767 0.15427625 0.07272419 23.14923007] [-0.14516755 0.98243647 -0.1172389 -0.06828385] [-0.08953407 0.10496389 0.99043739 -0.78216127] [ 0. 0. 0. 1. ]] SLAMing on 22.502791605 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.13, Z:-0.79 [[ 0.98110653 0.15181164 0.11993 23.17142134] [-0.1455507 0.98756628 -0.05939557 -0.13474028] [-0.12745577 0.04081749 0.99100402 -0.78826119] [ 0. 0. 0. 1. ]] SLAMing on 22.532791605 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.18, Z:-0.79 [[ 9.80471621e-01 1.48988422e-01 1.28366081e-01 2.31982908e+01] [-1.47392108e-01 9.88835645e-01 -2.19005156e-02 -1.75073797e-01] [-1.30195880e-01 2.55268667e-03 9.91485006e-01 -7.90349351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562791605 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.18, Z:-0.79 [[ 9.80134455e-01 1.50263834e-01 1.29449724e-01 2.32311786e+01] [-1.48642156e-01 9.88642839e-01 -2.21550494e-02 -1.79880823e-01] [-1.31308645e-01 2.47324130e-03 9.91338450e-01 -7.92893841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592791605000002 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.19, Z:-0.80 [[ 9.80339059e-01 1.49524191e-01 1.28754986e-01 2.32636190e+01] [-1.47904609e-01 9.88754579e-01 -2.21044967e-02 -1.85311334e-01] [-1.30612239e-01 2.62644574e-03 9.91430050e-01 -7.95998745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622791605 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.27, Z:-0.79 [[ 0.98387275 0.13890847 0.11268915 23.27507451] [-0.14765561 0.98631439 0.07336034 -0.27314136] [-0.10095655 -0.08881642 0.99091847 -0.78916417] [ 0. 0. 0. 1. ]] SLAMing on 22.652791605 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.19, Z:-0.80 [[ 9.84311378e-01 1.46362597e-01 9.85347683e-02 2.33192175e+01] [-1.45754217e-01 9.89230296e-01 -1.33839141e-02 -1.94654987e-01] [-9.94324824e-02 -1.18791904e-03 9.95043602e-01 -7.99991086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682791605000002 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.18, Z:-0.80 [[ 9.84848195e-01 1.44275693e-01 9.62213950e-02 2.33523179e+01] [-1.41687548e-01 9.89353030e-01 -3.32448710e-02 -1.82969700e-01] [-9.99933555e-02 1.91077777e-02 9.94804615e-01 -8.03990313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712791605 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.20, Z:-0.81 [[ 9.83821980e-01 1.41007072e-01 1.10504834e-01 2.33800199e+01] [-1.38904931e-01 9.89950157e-01 -2.65350219e-02 -1.98435214e-01] [-1.13135903e-01 1.07560713e-02 9.93521300e-01 -8.07150419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742791605 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.15, Z:-0.81 [[ 0.98087533 0.14551945 0.12925818 23.42148995] [-0.1338936 0.98647694 -0.09452905 -0.14638471] [-0.14126603 0.07541437 0.98709502 -0.8114296 ] [ 0. 0. 0. 1. ]] SLAMing on 22.772791605000002 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.28, Z:-0.80 [[ 0.98420331 0.12446193 0.12590899 23.42669934] [-0.13151574 0.9900863 0.04932268 -0.28207683] [-0.11852197 -0.06510256 0.99081492 -0.80444446] [ 0. 0. 0. 1. ]] SLAMing on 22.802791605 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.22, Z:-0.83 [[ 9.71447724e-01 2.00034005e-01 1.27576313e-01 2.34908248e+01] [-2.01739776e-01 9.79439050e-01 4.58785755e-04 -2.17822268e-01] [-1.24861450e-01 -2.61829031e-02 9.91828652e-01 -8.26868941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832791605 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.23, Z:-0.82 [[ 9.85346672e-01 1.28496118e-01 1.12163650e-01 2.34976782e+01] [-1.26594928e-01 9.91665551e-01 -2.39407576e-02 -2.29130040e-01] [-1.14305122e-01 9.39059668e-03 9.93401307e-01 -8.16249903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862791605 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.15, Z:-0.82 [[ 0.98268025 0.13464543 0.12731901 23.54250352] [-0.11872344 0.98498606 -0.1253284 -0.1466963 ] [-0.14228235 0.108042 0.98391192 -0.8226144 ] [ 0. 0. 0. 1. ]] SLAMing on 22.892791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.34, Z:-0.81 [[ 0.98667583 0.10590313 0.12351246 23.53581134] [-0.11666397 0.98966348 0.08340096 -0.34423447] [-0.11340335 -0.09669916 0.98883212 -0.81322741] [ 0. 0. 0. 1. ]] SLAMing on 22.922791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.21, Z:-0.83 [[ 0.98756455 0.12528032 0.09497943 23.59050919] [-0.11926039 0.99062477 -0.06662972 -0.21132024] [-0.10243637 0.05447387 0.99324689 -0.82849233] [ 0. 0. 0. 1. ]] SLAMing on 22.952791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.22, Z:-0.84 [[ 0.98242164 0.12557402 0.13812633 23.62247436] [-0.11585037 0.99032812 -0.07634729 -0.21954919] [-0.14637763 0.05900324 0.98746757 -0.8356805 ] [ 0. 0. 0. 1. ]] SLAMing on 22.982791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.27, Z:-0.84 [[ 9.81712650e-01 1.19622682e-01 1.48090128e-01 2.36467842e+01] [-1.17051817e-01 9.92785747e-01 -2.59871778e-02 -2.74461170e-01] [-1.50130425e-01 8.17772263e-03 9.88632379e-01 -8.37623796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.28, Z:-0.84 [[ 9.81624153e-01 1.20139215e-01 1.48258531e-01 2.36783778e+01] [-1.17557188e-01 9.92723341e-01 -2.60897480e-02 -2.81295666e-01] [-1.50314106e-01 8.18147069e-03 9.88604437e-01 -8.41374879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.29, Z:-0.85 [[ 9.81776374e-01 1.20705977e-01 1.46782894e-01 2.37094622e+01] [-1.18171017e-01 9.92655385e-01 -2.59016884e-02 -2.91866118e-01] [-1.48831319e-01 8.08418180e-03 9.88829553e-01 -8.45764983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.32, Z:-0.85 [[ 9.85165795e-01 1.17856964e-01 1.24732081e-01 2.37343841e+01] [-1.18228751e-01 9.92976443e-01 -4.44366457e-03 -3.18054537e-01] [-1.24379735e-01 -1.03691717e-02 9.92180509e-01 -8.46825064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.30, Z:-0.86 [[ 9.82019595e-01 1.25376116e-01 1.41132367e-01 2.37718873e+01] [-1.20692766e-01 9.91830293e-01 -4.13028522e-02 -3.00543282e-01] [-1.45157748e-01 2.35265546e-02 9.89128773e-01 -8.57257681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.32, Z:-0.86 [[ 9.81459896e-01 1.25480569e-01 1.44883057e-01 2.38011782e+01] [-1.23027249e-01 9.92067702e-01 -2.58063918e-02 -3.21677107e-01] [-1.46972002e-01 7.50337474e-03 9.89112193e-01 -8.61226363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162791605 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.39, Z:-0.86 [[ 0.97407236 0.18359125 0.13220169 23.84413747] [-0.19381207 0.97860858 0.06900822 -0.38849456] [-0.1167044 -0.09284129 0.98881777 -0.8624919 ] [ 0. 0. 0. 1. ]] SLAMing on 23.192791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.30, Z:-0.86 [[ 0.9857997 0.13910393 0.09406942 23.86706651] [-0.1336867 0.98910385 -0.06165581 -0.29578659] [-0.10162099 0.04820445 0.99365462 -0.863982 ] [ 0. 0. 0. 1. ]] SLAMing on 23.222791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.30, Z:-0.87 [[ 0.98351572 0.14216457 0.11174103 23.89680356] [-0.13453518 0.98820728 -0.07312081 -0.29549886] [-0.12081848 0.05688236 0.99104354 -0.86981379] [ 0. 0. 0. 1. ]] SLAMing on 23.252791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.42, Z:-0.86 [[ 0.98262134 0.13222799 0.13027305 23.90776266] [-0.13937626 0.98910754 0.04733427 -0.41797653] [-0.12259514 -0.06466863 0.99034762 -0.85967402] [ 0. 0. 0. 1. ]] SLAMing on 23.282791605 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.28, Z:-0.88 [[ 0.978434 0.15537608 0.13610724 23.96324011] [-0.13957867 0.98305419 -0.11883706 -0.27758879] [-0.15226523 0.09727655 0.98354083 -0.8825447 ] [ 0. 0. 0. 1. ]] SLAMing on 23.312791605 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.45, Z:-0.87 [[ 0.98222726 0.13282119 0.13262027 23.96260612] [-0.14275687 0.98739038 0.06841579 -0.45464515] [-0.12186091 -0.08613231 0.98880288 -0.86511639] [ 0. 0. 0. 1. ]] SLAMing on 23.342791605000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.30, Z:-0.89 [[ 0.97755511 0.15780499 0.13958364 24.02149964] [-0.14243107 0.98321058 -0.1140629 -0.29507224] [-0.1552398 0.09162173 0.98361886 -0.88914287] [ 0. 0. 0. 1. ]] SLAMing on 23.372791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.38, Z:-0.89 [[ 9.75559086e-01 1.50923757e-01 1.59707510e-01 2.40397638e+01] [-1.48210880e-01 9.88535350e-01 -2.88339518e-02 -3.81412145e-01] [-1.62228248e-01 4.45883302e-03 9.86743186e-01 -8.85622678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402791605 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.39, Z:-0.89 [[ 9.75184125e-01 1.53941692e-01 1.59115925e-01 2.40721142e+01] [-1.51281735e-01 9.88071895e-01 -2.87709262e-02 -3.85676144e-01] [-1.61647018e-01 3.98561728e-03 9.86840593e-01 -8.90013601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432791605000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.43, Z:-0.89 [[ 9.79524243e-01 1.53431589e-01 1.30349553e-01 2.40958289e+01] [-1.57359520e-01 9.87332175e-01 2.03262676e-02 -4.29194080e-01] [-1.25579616e-01 -4.04218149e-02 9.91259722e-01 -8.88472568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.36, Z:-0.90 [[ 0.97499586 0.16591609 0.1478341 24.14000462] [-0.15716258 0.98515039 -0.06912769 -0.35682457] [-0.15710822 0.04416522 0.98659335 -0.9036137 ] [ 0. 0. 0. 1. ]] SLAMing on 23.492791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.40, Z:-0.91 [[ 9.75106143e-01 1.59375624e-01 1.54166859e-01 2.41651334e+01] [-1.56917918e-01 9.87212924e-01 -2.80608308e-02 -4.00918958e-01] [-1.56667728e-01 3.17074607e-03 9.87646278e-01 -9.05659527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522791605000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.40, Z:-0.91 [[ 9.75115951e-01 1.58000226e-01 1.55514662e-01 2.41973633e+01] [-1.55467886e-01 9.87432844e-01 -2.83921609e-02 -4.04735647e-01] [-1.58046253e-01 3.50811327e-03 9.87425478e-01 -9.09574611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.41, Z:-0.91 [[ 9.74944189e-01 1.57132194e-01 1.57458891e-01 2.42302446e+01] [-1.54510417e-01 9.87570337e-01 -2.88333117e-02 -4.09528826e-01] [-1.60032371e-01 3.78183092e-03 9.87104522e-01 -9.13634474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582791605 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.42, Z:-0.92 [[ 9.75287873e-01 1.53738373e-01 1.58676015e-01 2.42623959e+01] [-1.51016881e-01 9.88101526e-01 -2.91423236e-02 -4.16549025e-01] [-1.61268306e-01 4.45939791e-03 9.86900526e-01 -9.18631932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612791605 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.42, Z:-0.92 [[ 9.75447400e-01 1.53551217e-01 1.57874612e-01 2.42946516e+01] [-1.50841349e-01 9.88130211e-01 -2.90787363e-02 -4.21607489e-01] [-1.60465749e-01 4.55075833e-03 9.87030919e-01 -9.23740264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642791605 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.43, Z:-0.93 [[ 9.75413399e-01 1.53781488e-01 1.57860555e-01 2.43272776e+01] [-1.51062305e-01 9.88094213e-01 -2.91548575e-02 -4.27486020e-01] [-1.60464578e-01 4.59125934e-03 9.87030921e-01 -9.28454472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672791605 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.43, Z:-0.93 [[ 9.75703717e-01 1.53216363e-01 1.56610988e-01 2.43603686e+01] [-1.50526400e-01 9.88181545e-01 -2.89661315e-02 -4.30801731e-01] [-1.59198174e-01 4.68827392e-03 9.87235515e-01 -9.32694191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.44, Z:-0.94 [[ 9.75478531e-01 1.54039035e-01 1.57205635e-01 2.43927262e+01] [-1.51325411e-01 9.88053792e-01 -2.91602986e-02 -4.35889128e-01] [-1.59819448e-01 4.65603778e-03 9.87135282e-01 -9.38640693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732791605 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.44, Z:-0.94 [[ 9.75596587e-01 1.55222364e-01 1.55297513e-01 2.44243561e+01] [-1.52576511e-01 9.87869359e-01 -2.88883803e-02 -4.43749121e-01] [-1.57897778e-01 4.48865238e-03 9.87445261e-01 -9.43752404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762791605 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.45, Z:-0.95 [[ 9.75614358e-01 1.55360583e-01 1.55047459e-01 2.44564932e+01] [-1.52711893e-01 9.87847390e-01 -2.89242432e-02 -4.49429212e-01] [-1.57656915e-01 4.54131606e-03 9.87483506e-01 -9.47984538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792791605 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.55, Z:-0.93 [[ 0.98003124 0.14140527 0.1397974 24.46822873] [-0.15392105 0.98457912 0.08314004 -0.55236836] [-0.12588516 -0.1029976 0.98668355 -0.93267465] [ 0. 0. 0. 1. ]] SLAMing on 23.822791605 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.36, Z:-0.96 [[ 0.9752806 0.17147581 0.13936925 24.53473077] [-0.15342051 0.9793858 -0.13139861 -0.35921513] [-0.15902795 0.10676842 0.98148389 -0.95813627] [ 0. 0. 0. 1. ]] SLAMing on 23.852791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.46, Z:-0.96 [[ 9.74468623e-01 1.58847330e-01 1.58677121e-01 2.45493303e+01] [-1.56089717e-01 9.87294027e-01 -2.97742242e-02 -4.60840099e-01] [-1.61390530e-01 4.24618037e-03 9.86881486e-01 -9.58626054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.47, Z:-0.96 [[ 9.74315659e-01 1.58935996e-01 1.59525374e-01 2.45810954e+01] [-1.56135521e-01 9.87279343e-01 -3.00199415e-02 -4.65651824e-01] [-1.62267356e-01 4.34132160e-03 9.86737279e-01 -9.63515461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.47, Z:-0.97 [[ 9.74536513e-01 1.58652260e-01 1.58455186e-01 2.46128484e+01] [-1.55871979e-01 9.87324526e-01 -2.99032960e-02 -4.70448433e-01] [-1.61190917e-01 4.44313040e-03 9.86913242e-01 -9.68517037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.48, Z:-0.97 [[ 9.74854705e-01 1.57207915e-01 1.57936619e-01 2.46454668e+01] [-1.54413440e-01 9.87554102e-01 -2.98895400e-02 -4.75030967e-01] [-1.60669828e-01 4.75042203e-03 9.86996778e-01 -9.73448558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.48, Z:-0.98 [[ 9.74975693e-01 1.56823101e-01 1.57571932e-01 2.46782189e+01] [-1.54023102e-01 9.87614623e-01 -2.99038498e-02 -4.79216697e-01] [-1.60309958e-01 4.88580897e-03 9.87054632e-01 -9.76896583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.48, Z:-0.98 [[ 9.74571681e-01 1.57201718e-01 1.59679862e-01 2.47101114e+01] [-1.54316529e-01 9.87553978e-01 -3.03899459e-02 -4.84251392e-01] [-1.62469834e-01 4.97593863e-03 9.86700964e-01 -9.80946902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032791605 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.60, Z:-0.96 [[ 0.98168452 0.13997433 0.12923886 24.71949277] [-0.15306514 0.98338517 0.09759446 -0.59968447] [-0.11343086 -0.11558894 0.98679919 -0.96252922] [ 0. 0. 0. 1. ]] SLAMing on 24.062791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.39, Z:-0.99 [[ 0.97443458 0.1739395 0.14220515 24.78953947] [-0.15341991 0.97755084 -0.14441841 -0.38565424] [-0.16413283 0.11890919 0.97924513 -0.99110451] [ 0. 0. 0. 1. ]] SLAMing on 24.092791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.56, Z:-0.98 [[ 0.97928321 0.15261808 0.13308686 24.78989483] [-0.15933861 0.98635814 0.04133799 -0.55695086] [-0.12496238 -0.06168748 0.99024192 -0.98122041] [ 0. 0. 0. 1. ]] SLAMing on 24.122791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.53, Z:-0.99 [[ 9.77424011e-01 1.60331115e-01 1.37608996e-01 2.48232743e+01] [-1.63046668e-01 9.86580704e-01 8.61966640e-03 -5.29850698e-01] [-1.34380380e-01 -3.08617573e-02 9.90449123e-01 -9.87532741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.41, Z:-1.00 [[ 0.9717413 0.17980684 0.15293249 24.87594512] [-0.16050447 0.97837679 -0.13044987 -0.41144817] [-0.17308138 0.10221718 0.97958894 -0.99941241] [ 0. 0. 0. 1. ]] SLAMing on 24.182791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.51, Z:-1.00 [[ 9.70518266e-01 1.68660671e-01 1.72185581e-01 2.48908232e+01] [-1.65432694e-01 9.85667692e-01 -3.30336797e-02 -5.08709902e-01] [-1.75289246e-01 3.57466500e-03 9.84510488e-01 -1.00051823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.55, Z:-1.00 [[ 9.75177071e-01 1.67028594e-01 1.45365502e-01 2.49150882e+01] [-1.70736285e-01 9.85226648e-01 1.33256400e-02 -5.46572121e-01] [-1.40992203e-01 -3.78140244e-02 9.89288279e-01 -9.99373783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.51, Z:-1.01 [[ 9.74242845e-01 1.77037851e-01 1.39672756e-01 2.49537541e+01] [-1.74650291e-01 9.84195416e-01 -2.92687362e-02 -5.09193556e-01] [-1.42646960e-01 4.12096938e-03 9.89765054e-01 -1.00988857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.48, Z:-1.02 [[ 0.96862822 0.18068161 0.17062686 24.99098864] [-0.17100758 0.98278629 -0.0699107 -0.48392265] [-0.18032131 0.03853899 0.98285247 -1.01756647] [ 0. 0. 0. 1. ]] SLAMing on 24.302791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.52, Z:-1.02 [[ 9.68631823e-01 1.74723042e-01 1.76703850e-01 2.50173826e+01] [-1.71379020e-01 9.84613697e-01 -3.41335391e-02 -5.22422739e-01] [-1.79948947e-01 2.77949950e-03 9.83672024e-01 -1.02057759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.52, Z:-1.03 [[ 9.69317598e-01 1.72275128e-01 1.75341594e-01 2.50507263e+01] [-1.68925976e-01 9.85043333e-01 -3.39653831e-02 -5.22985906e-01] [-1.78570459e-01 3.30349359e-03 9.83921581e-01 -1.02685045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:-0.57, Z:-1.03 [[ 9.75520089e-01 1.63903071e-01 1.46616300e-01 2.50725061e+01] [-1.68501079e-01 9.85510043e-01 1.94252934e-02 -5.70266084e-01] [-1.41307971e-01 -4.36547688e-02 9.89002689e-01 -1.02545702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.49, Z:-1.04 [[ 0.97003367 0.17432944 0.16924517 25.12001574] [-0.16288195 0.98344356 -0.07942438 -0.49057117] [-0.18028908 0.04947734 0.98236849 -1.03698344] [ 0. 0. 0. 1. ]] SLAMing on 24.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.63, Z:-1.03 [[ 0.97492219 0.14964159 0.16472439 25.12401355] [-0.16243284 0.98443815 0.06706039 -0.62690323] [-0.15212595 -0.09213531 0.9840573 -1.02616849] [ 0. 0. 0. 1. ]] SLAMing on 24.452791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.45, Z:-1.04 [[ 0.97048574 0.17815353 0.16253844 25.18974822] [-0.15841419 0.9791279 -0.12733221 -0.45345517] [-0.1818306 0.0978257 0.97845172 -1.04359757] [ 0. 0. 0. 1. ]] SLAMing on 24.482791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.54, Z:-1.05 [[ 9.70308330e-01 1.62717526e-01 1.78954607e-01 2.52057971e+01] [-1.59014481e-01 9.86657642e-01 -3.49441391e-02 -5.42642090e-01] [-1.82252955e-01 5.45021526e-03 9.83236572e-01 -1.04994984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.55, Z:-1.06 [[ 9.70450919e-01 1.63213260e-01 1.77725758e-01 2.52381121e+01] [-1.59552462e-01 9.86575964e-01 -3.47976942e-02 -5.48158581e-01] [-1.81019406e-01 5.41287215e-03 9.83464629e-01 -1.05575797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.55, Z:-1.06 [[ 9.70505487e-01 1.62845653e-01 1.77764994e-01 2.52706483e+01] [-1.59159992e-01 9.86635800e-01 -3.48983540e-02 -5.50144835e-01] [-1.81072352e-01 5.57596912e-03 9.83453970e-01 -1.05996662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.55, Z:-1.06 [[ 9.70008489e-01 1.64913935e-01 1.78569105e-01 2.53031900e+01] [-1.61211864e-01 9.86293676e-01 -3.51499475e-02 -5.52362297e-01] [-1.81918295e-01 5.30828923e-03 9.83299322e-01 -1.06371852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.55, Z:-1.07 [[ 9.69267117e-01 1.67660483e-01 1.80031162e-01 2.53359366e+01] [-1.63926000e-01 9.85832473e-01 -3.55331083e-02 -5.52365857e-01] [-1.83438063e-01 4.92928525e-03 9.83018911e-01 -1.06873601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.56, Z:-1.07 [[ 9.69065098e-01 1.69456702e-01 1.79435953e-01 2.53679476e+01] [-1.65760051e-01 9.85526576e-01 -3.55101849e-02 -5.55589487e-01] [-1.82856339e-01 4.66836815e-03 9.83128560e-01 -1.07427444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.60, Z:-1.07 [[ 9.76486883e-01 1.50226622e-01 1.54613486e-01 2.53810412e+01] [-1.53500782e-01 9.88103900e-01 9.39109260e-03 -5.95327958e-01] [-1.51363396e-01 -3.29035697e-02 9.87930401e-01 -1.07267247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.53, Z:-1.09 [[ 0.96904094 0.17807243 0.17102593 25.43638341] [-0.16924814 0.98342905 -0.06497971 -0.52711974] [-0.17976296 0.03402218 0.98312144 -1.08594725] [ 0. 0. 0. 1. ]] SLAMing on 24.722791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.56, Z:-1.09 [[ 9.68550669e-01 1.73803963e-01 1.78049949e-01 2.54630032e+01] [-1.70145474e-01 9.84770811e-01 -3.57346742e-02 -5.58062554e-01] [-1.81549221e-01 4.31644953e-03 9.83372386e-01 -1.09112011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.56, Z:-1.09 [[ 9.68030593e-01 1.75360500e-01 1.79347332e-01 2.54961039e+01] [-1.71656503e-01 9.84495536e-01 -3.60913283e-02 -5.59224260e-01] [-1.82895641e-01 4.15137416e-03 9.83123568e-01 -1.09487414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.64, Z:-1.09 [[ 0.97299844 0.16066706 0.16571099 25.50911936] [-0.17139746 0.98380043 0.05253206 -0.63942289] [-0.15458637 -0.07951605 0.98477421 -1.09165344] [ 0. 0. 0. 1. ]] SLAMing on 24.812791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.53, Z:-1.10 [[ 0.97415839 0.18061484 0.1356234 25.56254313] [-0.17341715 0.98281658 -0.06323014 -0.52964891] [-0.14471323 0.03807675 0.98874074 -1.09861191] [ 0. 0. 0. 1. ]] SLAMing on 24.842791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.52, Z:-1.11 [[ 0.96757191 0.18258475 0.17454918 25.59669834] [-0.17036123 0.9819012 -0.08274711 -0.52234963] [-0.18649841 0.05032737 0.98116538 -1.10527074] [ 0. 0. 0. 1. ]] SLAMing on 24.872791605 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.63, Z:-1.11 [[ 0.97229412 0.16376766 0.1668062 25.60500627] [-0.17236834 0.98428537 0.03835958 -0.62924127] [-0.15790284 -0.0660489 0.98524324 -1.10636553] [ 0. 0. 0. 1. ]] SLAMing on 24.902791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.59, Z:-1.11 [[ 9.72137534e-01 1.72000975e-01 1.59261668e-01 2.56419701e+01] [-1.72891957e-01 9.84905396e-01 -8.35057853e-03 -5.88536579e-01] [-1.58293984e-01 -1.94171507e-02 9.87201088e-01 -1.11264523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.49, Z:-1.11 [[ 0.96672329 0.19174959 0.1693463 25.69711836] [-0.17159084 0.97698716 -0.12669913 -0.48726135] [-0.18974367 0.09342473 0.97737872 -1.11491388] [ 0. 0. 0. 1. ]] SLAMing on 24.962791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:-0.66, Z:-1.12 [[ 0.97120092 0.15993759 0.17660333 25.68994319] [-0.17404773 0.98242581 0.0674308 -0.66251622] [-0.16271495 -0.09622626 0.98196963 -1.11743147] [ 0. 0. 0. 1. ]] SLAMing on 24.992791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.48, Z:-1.12 [[ 0.96565569 0.19440172 0.17238635 25.76200245] [-0.1725592 0.97586061 -0.13386331 -0.48350228] [-0.19424831 0.09951901 0.97589116 -1.12168384] [ 0. 0. 0. 1. ]] SLAMing on 25.022791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.57, Z:-1.13 [[ 9.65454352e-01 1.76788182e-01 1.91425787e-01 2.57753218e+01] [-1.72463500e-01 9.84237258e-01 -3.91581470e-02 -5.74536480e-01] [-1.95331090e-01 4.79144217e-03 9.80725654e-01 -1.13343417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.63, Z:-1.14 [[ 9.69113326e-01 1.66196179e-01 1.82203706e-01 2.57944840e+01] [-1.72513475e-01 9.84818544e-01 1.92752832e-02 -6.29685643e-01] [-1.76234110e-01 -5.01125283e-02 9.83071855e-01 -1.13741229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.53, Z:-1.14 [[ 0.96601578 0.18229673 0.18325231 25.84873418] [-0.16757184 0.98146444 -0.09299044 -0.52993018] [-0.19680748 0.05912231 0.97865794 -1.14151157] [ 0. 0. 0. 1. ]] SLAMing on 25.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.64, Z:-1.15 [[ 0.97051944 0.1603978 0.17990156 25.85527402] [-0.16845681 0.98524169 0.03034996 -0.64475139] [-0.17237845 -0.05976087 0.98321631 -1.14750604] [ 0. 0. 0. 1. ]] SLAMing on 25.142791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.53, Z:-1.15 [[ 0.96709489 0.18000277 0.17979564 25.91299635] [-0.16357879 0.98119527 -0.10245885 -0.530968 ] [-0.19485751 0.06967668 0.97835357 -1.15124983] [ 0. 0. 0. 1. ]] SLAMing on 25.172791605 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.60, Z:-1.16 [[ 9.67272252e-01 1.63778853e-01 1.93806287e-01 2.59322326e+01] [-1.59023369e-01 9.86466029e-01 -3.99542358e-02 -5.95642418e-01] [-1.97726977e-01 7.82689488e-03 9.80225883e-01 -1.16053031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.60, Z:-1.17 [[ 9.67523402e-01 1.60849463e-01 1.95002350e-01 2.59647646e+01] [-1.55954979e-01 9.86941645e-01 -4.03017806e-02 -6.01391007e-01] [-1.98938460e-01 8.58132849e-03 9.79974413e-01 -1.16588436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.61, Z:-1.17 [[ 9.68558536e-01 1.55371565e-01 1.94303986e-01 2.59966856e+01] [-1.50383692e-01 9.87807789e-01 -4.02556532e-02 -6.06407108e-01] [-1.98189574e-01 9.76980578e-03 9.80115015e-01 -1.17277094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.61, Z:-1.18 [[ 9.69090998e-01 1.53555882e-01 1.93088655e-01 2.60288571e+01] [-1.48576131e-01 9.88087606e-01 -4.01000879e-02 -6.12824406e-01] [-1.96946111e-01 1.01722688e-02 9.80361543e-01 -1.17904144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:26.06, Y:-0.62, Z:-1.18 [[ 9.69601195e-01 1.52022397e-01 1.91736052e-01 2.60611543e+01] [-1.47064609e-01 9.88321242e-01 -3.99139535e-02 -6.19444456e-01] [-1.95564628e-01 1.05030294e-02 9.80634571e-01 -1.18488892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.67, Z:-1.19 [[ 9.74699550e-01 1.43515403e-01 1.71359613e-01 2.60809088e+01] [-1.48229686e-01 9.88839614e-01 1.49725574e-02 -6.70132236e-01] [-1.67298381e-01 -3.99943266e-02 9.85094770e-01 -1.18641864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.59, Z:-1.19 [[ 0.96991467 0.16137864 0.1822703 26.13375345] [-0.14772502 0.98526116 -0.08624249 -0.58658382] [-0.19350155 0.05672198 0.97945892 -1.19184609] [ 0. 0. 0. 1. ]] SLAMing on 25.382791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.67, Z:-1.20 [[ 9.74890478e-01 1.42746649e-01 1.70915039e-01 2.61418862e+01] [-1.45730949e-01 9.89311737e-01 4.97779014e-03 -6.72659562e-01] [-1.68377691e-01 -2.97604111e-02 9.85273196e-01 -1.19811073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.61, Z:-1.21 [[ 0.96964413 0.1606759 0.18431905 26.19288667] [-0.14912044 0.98596907 -0.07502052 -0.6063461 ] [-0.19378688 0.04525747 0.97999919 -1.20540134] [ 0. 0. 0. 1. ]] SLAMing on 25.442791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.64, Z:-1.21 [[ 9.69492444e-01 1.53260196e-01 1.91300063e-01 2.62179772e+01] [-1.48262313e-01 9.88128282e-01 -4.02589642e-02 -6.42939924e-01] [-1.95199100e-01 1.06681718e-02 9.80705614e-01 -1.21249526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.65, Z:-1.22 [[ 9.69820760e-01 1.51838415e-01 1.90768943e-01 2.62505141e+01] [-1.46822891e-01 9.88343928e-01 -4.02407625e-02 -6.47783017e-01] [-1.94655420e-01 1.10170791e-02 9.80809814e-01 -1.21857623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.65, Z:-1.22 [[ 9.69694581e-01 1.50351014e-01 1.92579833e-01 2.62832555e+01] [-1.45190293e-01 9.88565512e-01 -4.07186329e-02 -6.53827966e-01] [-1.96499869e-01 1.15239154e-02 9.80436128e-01 -1.22288601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.66, Z:-1.23 [[ 9.69647808e-01 1.50676066e-01 1.92561293e-01 2.63155783e+01] [-1.45504356e-01 9.88515727e-01 -4.08061295e-02 -6.60415234e-01] [-1.96498374e-01 1.15490671e-02 9.80436132e-01 -1.22886603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.67, Z:-1.24 [[ 9.69571985e-01 1.50700127e-01 1.92923915e-01 2.63477543e+01] [-1.45495406e-01 9.88511044e-01 -4.09512192e-02 -6.65940278e-01] [-1.96878775e-01 1.16356115e-02 9.80358792e-01 -1.23510088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.67, Z:-1.24 [[ 9.69445293e-01 1.50931626e-01 1.93379081e-01 2.63803125e+01] [-1.45687447e-01 9.88474816e-01 -4.11425110e-02 -6.71182265e-01] [-1.97360058e-01 1.17125090e-02 9.80261100e-01 -1.24032695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.68, Z:-1.25 [[ 9.69538792e-01 1.52797872e-01 1.91434955e-01 2.64127929e+01] [-1.47677560e-01 9.88192773e-01 -4.08213304e-02 -6.75822734e-01] [-1.95412051e-01 1.13072162e-02 9.80656044e-01 -1.24743531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.68, Z:-1.25 [[ 9.69436217e-01 1.54060254e-01 1.90942032e-01 2.64447981e+01] [-1.48972377e-01 9.87998917e-01 -4.08089614e-02 -6.81470133e-01] [-1.94937560e-01 1.11165967e-02 9.80752654e-01 -1.25432196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:-0.69, Z:-1.26 [[ 9.69705587e-01 1.52254786e-01 1.91022391e-01 2.64770962e+01] [-1.47109257e-01 9.88273442e-01 -4.09202954e-02 -6.86449144e-01] [-1.95012667e-01 1.15794770e-02 9.80732367e-01 -1.25959875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.69, Z:-1.26 [[ 9.69752155e-01 1.51932058e-01 1.91042948e-01 2.65091327e+01] [-1.46760420e-01 9.88321203e-01 -4.10192578e-02 -6.92488482e-01] [-1.95043937e-01 1.17409703e-02 9.80724229e-01 -1.26496316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742791605 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.70, Z:-1.27 [[ 9.69941756e-01 1.49718367e-01 1.91826485e-01 2.65406324e+01] [-1.44442052e-01 9.88651761e-01 -4.12818357e-02 -7.00438233e-01] [-1.95830241e-01 1.23331651e-02 9.80560253e-01 -1.27015761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.77, Z:-1.27 [[ 0.97480833 0.14273662 0.1713913 26.56093084] [-0.14944912 0.98840466 0.02685496 -0.76762487] [-0.16557078 -0.05179272 0.98483696 -1.27440279] [ 0. 0. 0. 1. ]] SLAMing on 25.802791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.66, Z:-1.28 [[ 0.97103439 0.15798073 0.17926044 26.61408179] [-0.14094208 0.98452091 -0.10418208 -0.65831669] [-0.19294441 0.07589904 0.97826979 -1.27567922] [ 0. 0. 0. 1. ]] SLAMing on 25.832791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.72, Z:-1.29 [[ 9.70729453e-01 1.44211379e-01 1.92060948e-01 2.66317361e+01] [-1.38798635e-01 9.89454170e-01 -4.14172040e-02 -7.24820305e-01] [-1.96008338e-01 1.35471024e-02 9.80508647e-01 -1.28716097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.73, Z:-1.29 [[ 9.70696708e-01 1.44192919e-01 1.92240223e-01 2.66632341e+01] [-1.38751167e-01 9.89455353e-01 -4.15477771e-02 -7.31993948e-01] [-1.96204013e-01 1.36567351e-02 9.80467990e-01 -1.29284307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.85, Z:-1.29 [[ 0.97532436 0.12347788 0.18301802 26.66682732] [-0.13949909 0.98719495 0.07737008 -0.84672677] [-0.17112097 -0.10099177 0.98006034 -1.29151645] [ 0. 0. 0. 1. ]] SLAMing on 25.922791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.75, Z:-1.30 [[ 9.75163882e-01 1.52093062e-01 1.61006533e-01 2.67224369e+01] [-1.48206116e-01 9.88302736e-01 -3.59534344e-02 -7.48444616e-01] [-1.64591465e-01 1.11983376e-02 9.86298254e-01 -1.29918298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.73, Z:-1.30 [[ 0.97395375 0.16495979 0.15557105 26.75915448] [-0.15623703 0.98545766 -0.0668071 -0.72763286] [-0.16432917 0.04076107 0.98556302 -1.30441824] [ 0. 0. 0. 1. ]] SLAMing on 25.982791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.70, Z:-1.31 [[ 0.96777813 0.17049908 0.18529853 26.79489087] [-0.151908 0.98221205 -0.1103787 -0.6990344 ] [-0.20082192 0.07867376 0.97646352 -1.3080665 ] [ 0. 0. 0. 1. ]] SLAMing on 26.012791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.79, Z:-1.32 [[ 9.70746655e-01 1.57981886e-01 1.80811104e-01 2.68070083e+01] [-1.58515188e-01 9.87288512e-01 -1.15900631e-02 -7.94637523e-01] [-1.80343746e-01 -1.74102912e-02 9.83449549e-01 -1.31872943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.78, Z:-1.32 [[ 9.70628489e-01 1.65381860e-01 1.74726006e-01 2.68446437e+01] [-1.61003975e-01 9.86181288e-01 -3.90408436e-02 -7.75660686e-01] [-1.78768165e-01 9.76257358e-03 9.83842790e-01 -1.32389163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.81, Z:-1.33 [[ 9.72692570e-01 1.57729567e-01 1.70266108e-01 2.68664966e+01] [-1.58529117e-01 9.87313495e-01 -8.97674399e-03 -8.06540943e-01] [-1.69521924e-01 -1.82605236e-02 9.85357230e-01 -1.32729159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.73, Z:-1.33 [[ 0.9665686 0.17259853 0.18961773 26.91506382] [-0.15559629 0.98261549 -0.10127485 -0.73006875] [-0.20380121 0.06838528 0.97662097 -1.32934923] [ 0. 0. 0. 1. ]] SLAMing on 26.132791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.82, Z:-1.34 [[ 9.69613438e-01 1.60842769e-01 1.84334980e-01 2.69286164e+01] [-1.62175168e-01 9.86730146e-01 -7.92680404e-03 -8.19612623e-01] [-1.83163851e-01 -2.22086205e-02 9.82831512e-01 -1.33907314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.82, Z:-1.35 [[ 9.65874509e-01 1.81304440e-01 1.84973328e-01 2.69671893e+01] [-1.83465825e-01 9.83010646e-01 -5.51015316e-03 -8.20307112e-01] [-1.82829766e-01 -2.86141676e-02 9.82728094e-01 -1.34664186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.73, Z:-1.34 [[ 0.9650024 0.17678602 0.19369326 27.00944645] [-0.15631611 0.9808217 -0.11642191 -0.73377396] [-0.21056032 0.08207005 0.9741298 -1.34135509] [ 0. 0. 0. 1. ]] SLAMing on 26.222791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.81, Z:-1.35 [[ 9.64074677e-01 1.63836261e-01 2.09087771e-01 2.70262222e+01] [-1.57844460e-01 9.86431448e-01 -4.51456027e-02 -8.05526923e-01] [-2.13647239e-01 1.05203861e-02 9.76854226e-01 -1.35476688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.81, Z:-1.36 [[ 9.64862673e-01 1.62904407e-01 2.06160559e-01 2.70575265e+01] [-1.57038738e-01 9.86584125e-01 -4.46161248e-02 -8.09993081e-01] [-2.10662898e-01 1.06732396e-02 9.77500499e-01 -1.36398665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.82, Z:-1.37 [[ 9.64937274e-01 1.62964271e-01 2.05763710e-01 2.70896776e+01] [-1.57100648e-01 9.86573482e-01 -4.46335143e-02 -8.15307365e-01] [-2.10274688e-01 1.07429295e-02 9.77583319e-01 -1.37002178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.82, Z:-1.38 [[ 9.64410235e-01 1.65168231e-01 2.06476039e-01 2.71219831e+01] [-1.59290534e-01 9.86210520e-01 -4.48924969e-02 -8.20343023e-01] [-2.11043656e-01 1.04051050e-02 9.77421255e-01 -1.37565484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.83, Z:-1.38 [[ 9.63930801e-01 1.66809454e-01 2.07393388e-01 2.71546041e+01] [-1.60893355e-01 9.85936410e-01 -4.51964930e-02 -8.25235231e-01] [-2.12015895e-01 1.01980736e-02 9.77213006e-01 -1.38036731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.90, Z:-1.39 [[ 0.96846599 0.15999192 0.19098745 27.17374895] [-0.17031148 0.98462646 0.03879102 -0.90402184] [-0.18184504 -0.07009514 0.9808257 -1.38567461] [ 0. 0. 0. 1. ]] SLAMing on 26.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.76, Z:-1.39 [[ 0.96435865 0.18420836 0.1899465 27.23346528] [-0.16234696 0.97878644 -0.12498229 -0.76135707] [-0.20893984 0.08969052 0.97380684 -1.38516487] [ 0. 0. 0. 1. ]] SLAMing on 26.432791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.84, Z:-1.40 [[ 9.63064571e-01 1.72007634e-01 2.07171440e-01 2.72480921e+01] [-1.66219919e-01 9.85053972e-01 -4.51620559e-02 -8.36626678e-01] [-2.11843268e-01 9.05795607e-03 9.77261676e-01 -1.40009907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.84, Z:-1.41 [[ 9.62757276e-01 1.73600487e-01 2.07271074e-01 2.72802248e+01] [-1.67820301e-01 9.84776666e-01 -4.52909003e-02 -8.40674846e-01] [-2.11978239e-01 8.81984989e-03 9.77234586e-01 -1.40702869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.91, Z:-1.41 [[ 0.96726857 0.16920727 0.18910423 27.30271549] [-0.17828439 0.98346044 0.03194131 -0.91313052] [-0.18057183 -0.06461015 0.98143739 -1.41322958] [ 0. 0. 0. 1. ]] SLAMing on 26.522791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.78, Z:-1.41 [[ 0.96339805 0.18890934 0.19020374 27.35774835] [-0.16815879 0.9784252 -0.12002815 -0.78083687] [-0.20877457 0.08365045 0.97437969 -1.41041354] [ 0. 0. 0. 1. ]] SLAMing on 26.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.86, Z:-1.42 [[ 9.62648259e-01 1.75341386e-01 2.06309785e-01 2.73731954e+01] [-1.69669365e-01 9.84472467e-01 -4.50140908e-02 -8.56645247e-01] [-2.10999136e-01 8.32828597e-03 9.77450768e-01 -1.42440080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.86, Z:-1.43 [[ 9.63150121e-01 1.74037774e-01 2.05067545e-01 2.74057383e+01] [-1.68383083e-01 9.84700846e-01 -4.48484245e-02 -8.60001466e-01] [-2.09735505e-01 8.66585984e-03 9.77719756e-01 -1.43030323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.90, Z:-1.44 [[ 9.65207609e-01 1.74662077e-01 1.94595555e-01 2.74366279e+01] [-1.77425711e-01 9.84128747e-01 -3.27512336e-03 -9.03564692e-01] [-1.92079119e-01 -3.13650807e-02 9.80878098e-01 -1.43906239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.86, Z:-1.44 [[ 9.65102787e-01 1.85072995e-01 1.85268984e-01 2.74795454e+01] [-1.78329346e-01 9.82565373e-01 -5.25731153e-02 -8.59220058e-01] [-1.91768752e-01 1.76995635e-02 9.81280526e-01 -1.44317594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:-0.86, Z:-1.45 [[ 9.64616330e-01 1.86006412e-01 1.86860781e-01 2.75115457e+01] [-1.78879027e-01 9.82362752e-01 -5.44584068e-02 -8.61724616e-01] [-1.93694684e-01 1.91059938e-02 9.80875798e-01 -1.45001052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.87, Z:-1.46 [[ 9.64361224e-01 1.84510174e-01 1.89640252e-01 2.75405572e+01] [-1.78603922e-01 9.82753005e-01 -4.79288045e-02 -8.72389425e-01] [-1.95212879e-01 1.23501878e-02 9.80683132e-01 -1.45655469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:-0.87, Z:-1.46 [[ 9.64052730e-01 1.86265483e-01 1.89492754e-01 2.75728243e+01] [-1.79063266e-01 9.82321375e-01 -5.45991037e-02 -8.71187205e-01] [-1.96312711e-01 1.87052235e-02 9.80362909e-01 -1.46228464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.85, Z:-1.46 [[ 0.96201773 0.18283198 0.2027174 27.5985369 ] [-0.16848799 0.98194138 -0.08604027 -0.84622905] [-0.21478752 0.04861682 0.97545001 -1.4612159 ] [ 0. 0. 0. 1. ]] SLAMing on 26.792791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.89, Z:-1.47 [[ 9.61274143e-01 1.76223492e-01 2.11889837e-01 2.76224104e+01] [-1.70557731e-01 9.84325310e-01 -4.48747679e-02 -8.87622321e-01] [-2.16476518e-01 6.99750434e-03 9.76262748e-01 -1.47127656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.89, Z:-1.48 [[ 9.60567152e-01 1.79131699e-01 2.12656017e-01 2.76557299e+01] [-1.73469570e-01 9.83803766e-01 -4.51492976e-02 -8.89759555e-01] [-2.17299461e-01 6.47958438e-03 9.76083480e-01 -1.47709871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.89, Z:-1.48 [[ 9.59655867e-01 1.84872176e-01 2.11855837e-01 2.76896441e+01] [-1.79366725e-01 9.82748441e-01 -4.50896880e-02 -8.87615861e-01] [-2.16536822e-01 5.27069607e-03 9.76260224e-01 -1.48307790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.88, Z:-1.49 [[ 9.58943748e-01 1.90342035e-01 2.10230347e-01 2.77232650e+01] [-1.85027339e-01 9.81709215e-01 -4.48542275e-02 -8.84265389e-01] [-2.14922714e-01 4.11431932e-03 9.76622393e-01 -1.49027349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:-0.89, Z:-1.50 [[ 9.58551258e-01 1.92905360e-01 2.09683111e-01 2.77560273e+01] [-1.87654612e-01 9.81210606e-01 -4.48496825e-02 -8.85864320e-01] [-2.14395037e-01 3.64271671e-03 9.76740241e-01 -1.49775061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.89, Z:-1.50 [[ 9.58810506e-01 1.94594300e-01 2.06919001e-01 2.77891384e+01] [-1.89498019e-01 9.80878163e-01 -4.43681239e-02 -8.87829475e-01] [-2.11596113e-01 3.32988260e-03 9.77351522e-01 -1.50459767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:-0.89, Z:-1.51 [[ 9.58106126e-01 1.99275955e-01 2.05722496e-01 2.78222693e+01] [-1.94321984e-01 9.79940491e-01 -4.42221666e-02 -8.85769412e-01] [-2.10408219e-01 2.39312506e-03 9.77610687e-01 -1.51168863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.89, Z:-1.52 [[ 9.57363871e-01 2.00817223e-01 2.07670078e-01 2.78548976e+01] [-1.95778698e-01 9.79626279e-01 -4.47554900e-02 -8.87190155e-01] [-2.12426739e-01 2.18991158e-03 9.77174542e-01 -1.51731227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.88, Z:-1.52 [[ 9.55587259e-01 2.04341148e-01 2.12362155e-01 2.78899043e+01] [-1.99128635e-01 9.78898493e-01 -4.58860280e-02 -8.82198652e-01] [-2.17257397e-01 1.56071783e-03 9.76113102e-01 -1.52170850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.88, Z:-1.53 [[ 9.55133886e-01 2.05834283e-01 2.12958934e-01 2.79231673e+01] [-2.00602501e-01 9.78585942e-01 -4.61323191e-02 -8.83031488e-01] [-2.17894232e-01 1.34244635e-03 9.75971466e-01 -1.52821561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.88, Z:-1.54 [[ 9.55034031e-01 2.06259272e-01 2.12995570e-01 2.79558725e+01] [-2.01010229e-01 9.78496427e-01 -4.62561340e-02 -8.83896291e-01] [-2.17956161e-01 1.36189377e-03 9.75957610e-01 -1.53605708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.88, Z:-1.54 [[ 9.56094396e-01 2.06146398e-01 2.08295870e-01 2.79898753e+01] [-2.01102427e-01 9.78520062e-01 -4.53464679e-02 -8.78889442e-01] [-2.13169699e-01 1.46669870e-03 9.77014088e-01 -1.54388994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.88, Z:-1.55 [[ 9.56492756e-01 2.05510343e-01 2.07092024e-01 2.80220439e+01] [-2.00486132e-01 9.78653448e-01 -4.51966826e-02 -8.80724735e-01] [-2.11959709e-01 1.71122063e-03 9.77276907e-01 -1.55114529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.05, Y:-0.88, Z:-1.56 [[ 9.57106223e-01 2.02643781e-01 2.07082536e-01 2.80546677e+01] [-1.97529212e-01 9.79249432e-01 -4.53073883e-02 -8.81364502e-01] [-2.11966716e-01 2.45913308e-03 9.77273792e-01 -1.55848721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.88, Z:-1.57 [[ 9.57156598e-01 2.02238786e-01 2.07245557e-01 2.80872757e+01] [-1.97082326e-01 9.79332620e-01 -4.54552152e-02 -8.84846529e-01] [-2.12155142e-01 2.66332260e-03 9.77232369e-01 -1.56501873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.89, Z:-1.57 [[ 9.56859113e-01 2.02295103e-01 2.08560134e-01 2.81194188e+01] [-1.97048870e-01 9.79320660e-01 -4.58561619e-02 -8.87262307e-01] [-2.13523725e-01 2.78134765e-03 9.76933919e-01 -1.57179502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.88, Z:-1.58 [[ 9.56764075e-01 2.03045940e-01 2.08266298e-01 2.81541538e+01] [-1.97808038e-01 9.79165431e-01 -4.59024898e-02 -8.83666027e-01] [-2.13247474e-01 2.72110554e-03 9.76994427e-01 -1.57666008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.87, Z:-1.58 [[ 9.55455192e-01 2.16578886e-01 2.00496787e-01 2.82025465e+01] [-2.08227318e-01 9.76106618e-01 -6.21067924e-02 -8.73849027e-01] [-2.09157261e-01 1.75913491e-02 9.77723777e-01 -1.58442971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.89, Z:-1.59 [[ 9.56744378e-01 2.02568680e-01 2.08820797e-01 2.82157513e+01] [-1.98306749e-01 9.79266356e-01 -4.13743548e-02 -8.94172862e-01] [-2.12872330e-01 -1.82589207e-03 9.77078317e-01 -1.59118063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.89, Z:-1.60 [[ 9.55388192e-01 2.04842403e-01 2.12774511e-01 2.82502569e+01] [-1.99449896e-01 9.78792447e-01 -4.67448922e-02 -8.89682920e-01] [-2.17837420e-01 2.22166398e-03 9.75982542e-01 -1.59649613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.89, Z:-1.60 [[ 9.55080497e-01 2.06095353e-01 2.12945885e-01 2.82837961e+01] [-2.00699346e-01 9.78529762e-01 -4.68964452e-02 -8.88416552e-01] [-2.18039026e-01 2.05178025e-03 9.75937894e-01 -1.60323214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.90, Z:-1.61 [[ 9.55036141e-01 2.06324486e-01 2.12922933e-01 2.83159366e+01] [-2.00910921e-01 9.78481354e-01 -4.70004389e-02 -8.95320515e-01] [-2.18038461e-01 2.10857522e-03 9.75937899e-01 -1.60997080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.90, Z:-1.62 [[ 9.54536425e-01 2.08215769e-01 2.13322305e-01 2.83489194e+01] [-2.02815965e-01 9.78081379e-01 -4.71434071e-02 -8.98147175e-01] [-2.18462575e-01 1.73492997e-03 9.75843785e-01 -1.61715543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.90, Z:-1.62 [[ 9.54756701e-01 2.08407950e-01 2.12145631e-01 2.83820258e+01] [-2.03048056e-01 9.78040342e-01 -4.69954995e-02 -9.00738795e-01] [-2.17281221e-01 1.79350994e-03 9.76107399e-01 -1.62306476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.90, Z:-1.63 [[ 9.54252755e-01 2.10320180e-01 2.12525533e-01 2.84165964e+01] [-2.04962349e-01 9.77631448e-01 -4.71930870e-02 -8.97061051e-01] [-2.17697303e-01 1.47440085e-03 9.76015220e-01 -1.62918300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.90, Z:-1.64 [[ 9.53646887e-01 2.12244214e-01 2.13330750e-01 2.84490881e+01] [-2.06867180e-01 9.77215975e-01 -4.74858627e-02 -8.98095565e-01] [-2.18548816e-01 1.15361455e-03 9.75825335e-01 -1.63618216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.90, Z:-1.65 [[ 9.53282322e-01 2.14222900e-01 2.12982073e-01 2.84818590e+01] [-2.08887003e-01 9.76784464e-01 -4.75219043e-02 -8.97530746e-01] [-2.18217860e-01 8.12604367e-04 9.75899741e-01 -1.64539614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.90, Z:-1.65 [[ 9.52695178e-01 2.15207285e-01 2.14610629e-01 2.85135904e+01] [-2.09787015e-01 9.76568136e-01 -4.80008824e-02 -9.01651531e-01] [-2.19912041e-01 7.07685962e-04 9.75519448e-01 -1.65261184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.95, Z:-1.67 [[ 9.57154310e-01 2.09707099e-01 1.99696171e-01 2.85372427e+01] [-2.14857682e-01 9.76636215e-01 4.22846957e-03 -9.47236232e-01] [-1.94143772e-01 -4.69535542e-02 9.79848743e-01 -1.67070727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.85, Z:-1.65 [[ 0.95438015 0.22782133 0.19301806 28.59827994] [-0.21029953 0.9717488 -0.10713716 -0.85038317] [-0.2119732 0.06165798 0.97532849 -1.64736147] [ 0. 0. 0. 1. ]] SLAMing on 27.692791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:-0.91, Z:-1.67 [[ 9.53753026e-01 2.08101390e-01 2.16907763e-01 2.86079805e+01] [-2.04772349e-01 9.78072867e-01 -3.79704027e-02 -9.13740330e-01] [-2.20053292e-01 -8.20232590e-03 9.75453367e-01 -1.67174680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.95, Z:-1.69 [[ 9.58657498e-01 2.04013149e-01 1.98379528e-01 2.86303067e+01] [-2.09263728e-01 9.77842958e-01 5.64282395e-03 -9.53898689e-01] [-1.92832814e-01 -4.69231751e-02 9.80109035e-01 -1.68933339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.91, Z:-1.68 [[ 9.58715815e-01 2.13923841e-01 1.87351480e-01 2.86753527e+01] [-2.08229177e-01 9.76811290e-01 -4.98027469e-02 -9.06388437e-01] [-1.93661036e-01 8.73463660e-03 9.81029617e-01 -1.68220843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.86, Z:-1.67 [[ 0.95377247 0.22431094 0.20000667 28.72359068] [-0.20569092 0.9724451 -0.10973504 -0.85711921] [-0.21911028 0.0635227 0.97363009 -1.67489175] [ 0. 0. 0. 1. ]] SLAMing on 27.812791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.97, Z:-1.71 [[ 9.57488161e-01 2.05009268e-01 2.02947339e-01 2.87242999e+01] [-2.11266479e-01 9.77383069e-01 9.42394652e-03 -9.67236988e-01] [-1.96425297e-01 -5.18992869e-02 9.79144303e-01 -1.71280292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.92, Z:-1.70 [[ 9.58174304e-01 2.15105654e-01 1.88763241e-01 2.87678934e+01] [-2.11053393e-01 9.76590783e-01 -4.15560845e-02 -9.18587419e-01] [-1.93283390e-01 -2.11502298e-05 9.81142972e-01 -1.70141583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.88, Z:-1.69 [[ 0.95547634 0.22160357 0.19482513 28.80928482] [-0.20779011 0.97412054 -0.08895187 -0.88057947] [-0.20949521 0.04450867 0.97679616 -1.69080481] [ 0. 0. 0. 1. ]] SLAMing on 27.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.96, Z:-1.72 [[ 9.57647248e-01 2.05246511e-01 2.01954495e-01 2.88183045e+01] [-2.09388420e-01 9.77832157e-01 -8.73437099e-04 -9.57527500e-01] [-1.97656869e-01 -4.14504879e-02 9.79394517e-01 -1.71999170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.88, Z:-1.70 [[ 0.9503818 0.22193757 0.2179866 28.87377592] [-0.20455158 0.97377378 -0.09961568 -0.87573734] [-0.23437809 0.05008343 0.97085455 -1.69534017] [ 0. 0. 0. 1. ]] SLAMing on 27.962791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.92, Z:-1.72 [[ 9.53005235e-01 2.13999210e-01 2.14441972e-01 2.88947649e+01] [-2.08562772e-01 9.76833360e-01 -4.79390909e-02 -9.18172389e-01] [-2.19733000e-01 9.61592482e-04 9.75559575e-01 -1.71945257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.96, Z:-1.74 [[ 9.55950685e-01 2.04745519e-01 2.10327270e-01 2.89144689e+01] [-2.08915585e-01 9.77930625e-01 -2.44341921e-03 -9.59099375e-01] [-2.06185758e-01 -4.16048563e-02 9.77627981e-01 -1.73757205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.87, Z:-1.72 [[ 0.95249463 0.22312855 0.20728637 28.97547916] [-0.20560967 0.97321892 -0.10280859 -0.86914591] [-0.22467455 0.05530455 0.97286317 -1.71595889] [ 0. 0. 0. 1. ]] SLAMing on 28.052791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.93, Z:-1.74 [[ 9.53398577e-01 2.10644004e-01 2.16009853e-01 2.89900791e+01] [-2.06384385e-01 9.77553820e-01 -4.23558070e-02 -9.25995898e-01] [-2.20083254e-01 -4.19909456e-03 9.75472054e-01 -1.74393908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.00, Z:-1.77 [[ 0.96166108 0.18693598 0.20065617 28.99633267] [-0.19904642 0.9790984 0.04179529 -0.99718624] [-0.18864909 -0.0801328 0.97876977 -1.77317651] [ 0. 0. 0. 1. ]] SLAMing on 28.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.91, Z:-1.74 [[ 9.59142503e-01 2.08804411e-01 1.90909343e-01 2.90536231e+01] [-2.01598438e-01 9.77829127e-01 -5.66415690e-02 -9.09927335e-01] [-1.98503725e-01 1.58403111e-02 9.79972120e-01 -1.74420496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.97, Z:-1.77 [[ 9.61148950e-01 1.93157089e-01 1.97187817e-01 2.90653799e+01] [-1.97397427e-01 9.80321729e-01 1.88773815e-03 -9.65052673e-01] [-1.92942872e-01 -4.07387653e-02 9.80363913e-01 -1.76800666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.85, Z:-1.73 [[ 0.9580775 0.21700673 0.18707108 29.13761691] [-0.19436067 0.97199166 -0.13212171 -0.84655631] [-0.21050283 0.09022357 0.97342091 -1.72628817] [ 0. 0. 0. 1. ]] SLAMing on 28.202791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.93, Z:-1.77 [[ 9.58241457e-01 1.96942383e-01 2.07333083e-01 2.91447020e+01] [-1.91541284e-01 9.80405275e-01 -4.60155784e-02 -9.25951597e-01] [-2.12332866e-01 4.38118995e-03 9.77187576e-01 -1.76870456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.93, Z:-1.77 [[ 9.58291471e-01 1.96884860e-01 2.07156483e-01 2.91768381e+01] [-1.90489182e-01 9.80385185e-01 -5.05841827e-02 -9.27885038e-01] [-2.13052407e-01 9.01332179e-03 9.76999198e-01 -1.77337806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.97, Z:-1.79 [[ 9.59557775e-01 1.88606496e-01 2.08989153e-01 2.91953897e+01] [-1.90107063e-01 9.81676340e-01 -1.30716090e-02 -9.66168682e-01] [-2.07625097e-01 -2.71873501e-02 9.77830592e-01 -1.79028733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.91, Z:-1.77 [[ 0.95757569 0.2035681 0.20398243 29.24517103] [-0.19149783 0.97843047 -0.07747514 -0.91465526] [-0.2153541 0.03512612 0.97590408 -1.77312613] [ 0. 0. 0. 1. ]] SLAMing on 28.322791605000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.27, Y:-0.95, Z:-1.79 [[ 9.57093309e-01 1.97957767e-01 2.11624952e-01 2.92669631e+01] [-1.92430989e-01 9.80202834e-01 -4.66124250e-02 -9.48516032e-01] [-2.16662669e-01 3.88924132e-03 9.76238783e-01 -1.79131019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.94, Z:-1.79 [[ 9.55722398e-01 2.04066529e-01 2.12017808e-01 2.93022154e+01] [-1.97340634e-01 9.78920330e-01 -5.26465666e-02 -9.44776575e-01] [-2.18291944e-01 8.47577420e-03 9.75846703e-01 -1.79428983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.94, Z:-1.80 [[ 9.54587881e-01 2.06017306e-01 2.15218140e-01 2.93355282e+01] [-1.97409558e-01 9.78421780e-01 -6.09941513e-02 -9.42349231e-01] [-2.23139967e-01 1.57381598e-02 9.74659359e-01 -1.79917991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.96, Z:-1.81 [[ 9.54582976e-01 2.03920896e-01 2.17227093e-01 2.93615745e+01] [-1.99150970e-01 9.78986391e-01 -4.38695563e-02 -9.62215187e-01] [-2.21608287e-01 -1.38385470e-03 9.75134787e-01 -1.81055853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:-0.95, Z:-1.81 [[ 9.52897309e-01 2.11215173e-01 2.17657687e-01 2.93998421e+01] [-2.04188489e-01 9.77410526e-01 -5.45502069e-02 -9.54592547e-01] [-2.24262746e-01 7.53755117e-03 9.74499567e-01 -1.81269807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.94, Z:-1.81 [[ 9.51866309e-01 2.14828918e-01 2.18629972e-01 2.94349866e+01] [-2.04482032e-01 9.76422835e-01 -6.91776348e-02 -9.44604073e-01] [-2.28336654e-01 2.11419589e-02 9.73352654e-01 -1.81496677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.96, Z:-1.83 [[ 9.52085957e-01 2.15254775e-01 2.17250343e-01 2.94640282e+01] [-2.08329476e-01 9.76534944e-01 -5.45740933e-02 -9.57730951e-01] [-2.23899886e-01 6.69957768e-03 9.74589122e-01 -1.83117993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.96, Z:-1.83 [[ 9.51368108e-01 2.17297857e-01 2.18358339e-01 2.94971846e+01] [-2.08480308e-01 9.75999919e-01 -6.29294725e-02 -9.55930647e-01] [-2.26792160e-01 1.43456796e-02 9.73837521e-01 -1.83491928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.95, Z:-1.84 [[ 9.50350000e-01 2.21143948e-01 2.18929742e-01 2.95321837e+01] [-2.11140657e-01 9.75060656e-01 -6.83837634e-02 -9.51833193e-01] [-2.28592433e-01 1.87635400e-02 9.73341373e-01 -1.84005215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.00, Z:-1.86 [[ 9.53216323e-01 2.10114891e-01 2.17325503e-01 2.95512964e+01] [-2.11874159e-01 9.77174868e-01 -1.54472589e-02 -1.00179330e+00] [-2.15610718e-01 -3.13210788e-02 9.75976951e-01 -1.86471928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.93, Z:-1.83 [[ 0.95075674 0.22506365 0.21309148 29.60173807] [-0.20773581 0.97297923 -0.10078317 -0.92997725] [-0.23001621 0.05155354 0.97182034 -1.83466517] [ 0. 0. 0. 1. ]] SLAMing on 28.652791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:-0.96, Z:-1.86 [[ 9.50638421e-01 2.16616287e-01 2.22180053e-01 2.96230367e+01] [-2.05854231e-01 9.76018702e-01 -7.07921588e-02 -9.57389101e-01] [-2.32186622e-01 2.15610421e-02 9.72432257e-01 -1.85534387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.96, Z:-1.87 [[ 9.51224007e-01 2.15470293e-01 2.20783696e-01 2.96571281e+01] [-2.04845936e-01 9.76272190e-01 -7.02193256e-02 -9.62109977e-01] [-2.30675161e-01 2.15676653e-02 9.72791759e-01 -1.86521768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:-0.97, Z:-1.87 [[ 9.50861053e-01 2.12759510e-01 2.24936991e-01 2.96829244e+01] [-2.02889242e-01 9.76947898e-01 -6.63984955e-02 -9.66588477e-01] [-2.33878631e-01 1.74984479e-02 9.72108322e-01 -1.87356969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:-0.97, Z:-1.88 [[ 9.51460061e-01 2.11161140e-01 2.23907851e-01 2.97120811e+01] [-2.02030444e-01 9.77337695e-01 -6.32038726e-02 -9.72766727e-01] [-2.32179785e-01 1.48997579e-02 9.72558762e-01 -1.88177632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.96, Z:-1.87 [[ 0.95403181 0.19471522 0.22783611 29.72814611] [-0.1808246 0.98021215 -0.08053951 -0.95926024] [-0.23900999 0.03563888 0.97036287 -1.87460393] [ 0. 0. 0. 1. ]] SLAMing on 28.802791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.99, Z:-1.90 [[ 9.53418818e-01 1.87227921e-01 2.36512713e-01 2.97518485e+01] [-1.81247873e-01 9.82314613e-01 -4.69809393e-02 -9.90138616e-01] [-2.41126038e-01 1.92508533e-03 9.70491900e-01 -1.89669151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832791605 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.99, Z:-1.93 [[ 9.54863725e-01 2.05101925e-01 2.14868487e-01 2.98355694e+01] [-1.99474014e-01 9.78736672e-01 -4.77979611e-02 -9.94995157e-01] [-2.20103122e-01 2.77985950e-03 9.75472649e-01 -1.92926477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.96, Z:-1.90 [[ 0.95183176 0.21452571 0.21907766 29.83632162] [-0.20107794 0.97611946 -0.08220987 -0.96009123] [-0.23148209 0.03419828 0.97223789 -1.89645553] [ 0. 0. 0. 1. ]] SLAMing on 28.892791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.97, Z:-1.91 [[ 0.95126941 0.21244138 0.22350654 29.87122019] [-0.19922222 0.97665158 -0.08038784 -0.96585854] [-0.23536571 0.03194303 0.97138181 -1.90948258] [ 0. 0. 0. 1. ]] SLAMing on 28.922791605 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.98, Z:-1.96 [[ 9.59107950e-01 1.95009598e-01 2.05141893e-01 2.99521789e+01] [-1.84576365e-01 9.80392228e-01 -6.90119165e-02 -9.79400366e-01] [-2.14577504e-01 2.83255328e-02 9.76296143e-01 -1.95884103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:-0.94, Z:-1.91 [[ 0.95407276 0.21434873 0.20928401 29.92959319] [-0.19560722 0.97485766 -0.10672566 -0.94439825] [-0.22689863 0.06088658 0.97201329 -1.91167449] [ 0. 0. 0. 1. ]] SLAMing on 28.982791605000003 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.98, Z:-1.96 [[ 9.60469826e-01 1.89329051e-01 2.04088764e-01 2.99842736e+01] [-1.79307237e-01 9.81529392e-01 -6.67005733e-02 -9.81538808e-01] [-2.12947477e-01 2.74692957e-02 9.76677434e-01 -1.96240053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012791605 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.96, Z:-1.97 [[ 0.96477079 0.18139113 0.19056385 30.04021105] [-0.16621293 0.98169875 -0.09295608 -0.96284323] [-0.20393771 0.05800713 0.97726383 -1.96940967] [ 0. 0. 0. 1. ]] SLAMing on 29.042791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.96, Z:-1.94 [[ 0.95847942 0.19576341 0.20734968 30.0138919 ] [-0.17781267 0.97875162 -0.10211719 -0.95763929] [-0.22293464 0.06100783 0.9729225 -1.93866154] [ 0. 0. 0. 1. ]] SLAMing on 29.072791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.97, Z:-1.96 [[ 0.95788085 0.18070883 0.22317839 30.04441141] [-0.16529779 0.98248142 -0.08606335 -0.97215404] [-0.23482103 0.04554755 0.97097091 -1.96339221] [ 0. 0. 0. 1. ]] SLAMing on 29.102791605 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.97, Z:-1.98 [[ 0.96574417 0.16855991 0.19729609 30.11795692] [-0.15205849 0.98368816 -0.09610319 -0.9679054 ] [-0.21027697 0.06281055 0.97562207 -1.9821401 ] [ 0. 0. 0. 1. ]] SLAMing on 29.132791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.99, Z:-1.96 [[ 0.95968869 0.17034564 0.22356203 30.06426862] [-0.15607041 0.9844867 -0.08017463 -0.99043098] [-0.23375124 0.04205127 0.97138666 -1.95525484] [ 0. 0. 0. 1. ]] SLAMing on 29.162791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.03, Z:-2.01 [[ 9.64794243e-01 1.60911541e-01 2.08037364e-01 3.01293248e+01] [-1.58067919e-01 9.86962201e-01 -3.03339287e-02 -1.03246713e+00] [-2.10206094e-01 -3.61803336e-03 9.77650402e-01 -2.00801147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192791605 meters Centerline goodness : 0.968064 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.01, Z:-2.03 [[ 9.68511515e-01 1.37534727e-01 2.07532273e-01 3.01862338e+01] [-1.28521691e-01 9.90103259e-01 -5.63712016e-02 -1.00685832e+00] [-2.13231377e-01 2.79237593e-02 9.76602603e-01 -2.03073947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222791605 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.98, Z:-2.01 [[ 0.96428082 0.16652175 0.20599273 30.24381939] [-0.15085842 0.98448169 -0.08965232 -0.97887179] [-0.21772513 0.05537428 0.97443802 -2.01456031] [ 0. 0. 0. 1. ]] SLAMing on 29.252791605000002 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:30.23, Y:-0.96, Z:-1.99 [[ 0.96348686 0.18326175 0.19521321 30.22567447] [-0.16798871 0.98146248 -0.09225616 -0.95783165] [-0.20850147 0.05609398 0.97641211 -1.99237662] [ 0. 0. 0. 1. ]] SLAMing on 29.282791605 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.98, Z:-2.03 [[ 0.96551255 0.16956596 0.19756748 30.26152107] [-0.15950352 0.98499555 -0.06589679 -0.98107563] [-0.20577694 0.03211147 0.97807193 -2.02661871] [ 0. 0. 0. 1. ]] SLAMing on 29.312791605 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.97, Z:-2.03 [[ 0.96655615 0.16613972 0.19536328 30.29156875] [-0.15337062 0.98501596 -0.07887335 -0.97442676] [-0.20553994 0.04627254 0.97755418 -2.02516752] [ 0. 0. 0. 1. ]] SLAMing on 29.342791605000002 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.98, Z:-2.02 [[ 0.96249719 0.17492379 0.2073664 30.28235757] [-0.16300622 0.98389359 -0.07336465 -0.97709422] [-0.2168597 0.03681125 0.97550848 -2.01595835] [ 0. 0. 0. 1. ]] SLAMing on 29.372791605 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.99, Z:-2.03 [[ 9.61290853e-01 1.75614439e-01 2.12319253e-01 3.02962219e+01] [-1.69496702e-01 9.84417635e-01 -4.68272243e-02 -9.86227727e-01] [-2.17234353e-01 9.02716933e-03 9.76077736e-01 -2.03188733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.00, Z:-2.04 [[ 9.61763264e-01 1.72812283e-01 2.12479031e-01 3.03170340e+01] [-1.70149930e-01 9.84933731e-01 -3.08957285e-02 -9.95341615e-01] [-2.14616926e-01 -6.43891555e-03 9.76677078e-01 -2.04447376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432791605000002 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.95, Z:-2.06 [[ 9.60591755e-01 1.70819806e-01 2.19280813e-01 3.04100504e+01] [-1.60161322e-01 9.84906474e-01 -6.56322262e-02 -9.49473699e-01] [-2.27182376e-01 2.79254705e-02 9.73451764e-01 -2.06023165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.96, Z:-2.05 [[ 9.53228461e-01 1.86931424e-01 2.37512408e-01 3.03701769e+01] [-1.81129605e-01 9.82372415e-01 -4.62223439e-02 -9.62593555e-01] [-2.41966047e-01 1.03992505e-03 9.70284160e-01 -2.04930595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.97, Z:-2.07 [[ 9.56547061e-01 1.86697322e-01 2.23968368e-01 3.04050094e+01] [-1.87660085e-01 9.82083857e-01 -1.71752983e-02 -9.71885654e-01] [-2.23162301e-01 -2.56009417e-02 9.74445062e-01 -2.07286343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.93, Z:-2.06 [[ 9.53322308e-01 1.94448971e-01 2.31011199e-01 3.04472435e+01] [-1.86351397e-01 9.80852089e-01 -5.65891842e-02 -9.31360146e-01] [-2.37591526e-01 1.08984720e-02 9.71304015e-01 -2.05866472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.93, Z:-2.08 [[ 9.53794367e-01 1.86341435e-01 2.35697211e-01 3.04759836e+01] [-1.81917230e-01 9.82476185e-01 -4.05791545e-02 -9.31419464e-01] [-2.39128475e-01 -4.17321471e-03 9.70978968e-01 -2.07783572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582791605 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.97, Z:-2.13 [[ 9.66291990e-01 1.64350354e-01 1.98163444e-01 3.05381206e+01] [-1.69908030e-01 9.85395631e-01 1.12566072e-02 -9.67307043e-01] [-1.93419365e-01 -4.45467298e-02 9.80104351e-01 -2.13383226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612791605 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.90, Z:-2.09 [[ 9.68553436e-01 1.66992165e-01 1.84439310e-01 3.05898611e+01] [-1.58167455e-01 9.85484521e-01 -6.16710248e-02 -8.97098691e-01] [-1.92060663e-01 3.05593867e-02 9.80907144e-01 -2.09475044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.88, Z:-2.06 [[ 0.96070173 0.16529604 0.22300093 30.56678545] [-0.14937864 0.98498297 -0.08657121 -0.87672298] [-0.23396199 0.04985753 0.97096654 -2.06408361] [ 0. 0. 0. 1. ]] SLAMing on 29.672791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.93, Z:-2.12 [[ 9.62798038e-01 1.47194327e-01 2.26613697e-01 3.05814021e+01] [-1.46968470e-01 9.88978031e-01 -1.79644978e-02 -9.33721381e-01] [-2.26760240e-01 -1.60088851e-02 9.73819033e-01 -2.12007231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702791605 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.90, Z:-2.14 [[ 9.68628741e-01 1.39816152e-01 2.05450249e-01 3.06732849e+01] [-1.34747810e-01 9.90130596e-01 -3.85282973e-02 -8.95172589e-01] [-2.08809456e-01 9.63564496e-03 9.77908874e-01 -2.14007136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732791605000003 meters Centerline goodness : 0.980580 Centerline is valid? [True, True] Translation: X:30.76, Y:-0.87, Z:-2.14 [[ 0.97018352 0.13672914 0.20012268 30.76084741] [-0.12429746 0.98952053 -0.07347962 -0.87496517] [-0.20807231 0.04641397 0.9770116 -2.13796262] [ 0. 0. 0. 1. ]] SLAMing on 29.762791605 meters Centerline goodness : 0.943189 Centerline is valid? [True, False] Translation: X:30.81, Y:-0.87, Z:-2.15 [[ 0.97577579 0.13604684 0.17132677 30.81359822] [-0.12631814 0.98975752 -0.0665115 -0.87254441] [-0.17862064 0.04325863 0.98296661 -2.14786894] [ 0. 0. 0. 1. ]] SLAMing on 29.792791605 meters Centerline goodness : 0.930749 Centerline is valid? [False, False] Translation: X:30.84, Y:-0.88, Z:-2.15 [[ 0.9797041 0.14400807 0.13943297 30.84397678] [-0.13759297 0.98897979 -0.05465478 -0.87615344] [-0.14576712 0.03436051 0.98872206 -2.15378031] [ 0. 0. 0. 1. ]] SLAMing on 29.822791605000003 meters Centerline goodness : 0.974070 Centerline is valid? [False, True] Translation: X:30.87, Y:-0.88, Z:-2.16 [[ 9.82144660e-01 1.50363573e-01 1.13060441e-01 3.08650543e+01] [-1.46025467e-01 9.88221622e-01 -4.57666800e-02 -8.75993227e-01] [-1.18610413e-01 2.84397967e-02 9.92533500e-01 -2.15767830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.91, Z:-2.15 [[ 9.80041280e-01 1.39909750e-01 1.41224471e-01 3.08012928e+01] [-1.38754276e-01 9.90162417e-01 -1.80454400e-02 -9.06977617e-01] [-1.42359897e-01 -1.91022324e-03 9.89813119e-01 -2.15112692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.91, Z:-2.16 [[ 9.80019663e-01 1.39379828e-01 1.41896880e-01 3.08343788e+01] [-1.38452915e-01 9.90232663e-01 -1.64336139e-02 -9.06238722e-01] [-1.42801440e-01 -3.54077202e-03 9.89745024e-01 -2.15711062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.90, Z:-2.16 [[ 9.80676395e-01 1.37287027e-01 1.39377472e-01 3.08690781e+01] [-1.36363630e-01 9.90526395e-01 -1.61993997e-02 -8.96883626e-01] [-1.40281033e-01 -3.11964909e-03 9.90106812e-01 -2.16164366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.89, Z:-2.17 [[ 9.81204726e-01 1.34392028e-01 1.38477681e-01 3.09025807e+01] [-1.33443683e-01 9.90924754e-01 -1.61528872e-02 -8.93761582e-01] [-1.39391782e-01 -2.62968257e-03 9.90233819e-01 -2.16524092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:-0.89, Z:-2.17 [[ 9.82708814e-01 1.24747429e-01 1.36826410e-01 3.09373054e+01] [-1.23720505e-01 9.92187819e-01 -1.60177367e-02 -8.87019411e-01] [-1.37755669e-01 -1.18746150e-03 9.90465530e-01 -2.16822875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.89, Z:-2.17 [[ 9.83494202e-01 1.18643623e-01 1.36612025e-01 3.09705294e+01] [-1.17553096e-01 9.92936864e-01 -1.60515784e-02 -8.87411102e-01] [-1.37551533e-01 -2.72532167e-04 9.90494574e-01 -2.17166832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.89, Z:-2.18 [[ 9.84518136e-01 1.12128298e-01 1.34726707e-01 3.10036802e+01] [-1.10999680e-01 9.93693503e-01 -1.58837327e-02 -8.88035372e-01] [-1.35658069e-01 6.83201557e-04 9.90755480e-01 -2.17510214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.88, Z:-2.18 [[ 9.86230165e-01 1.01577155e-01 1.30507254e-01 3.10372716e+01] [-1.00422606e-01 9.94825455e-01 -1.54147462e-02 -8.84006671e-01] [-1.31397725e-01 2.09660918e-03 9.91327515e-01 -2.17920302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.88, Z:-2.18 [[ 9.87019095e-01 9.84729053e-02 1.26871564e-01 3.10709132e+01] [-9.73494587e-02 9.95136606e-01 -1.50405500e-02 -8.84297532e-01] [-1.27735625e-01 2.49443194e-03 9.91805116e-01 -2.18367918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.88, Z:-2.19 [[ 9.88326463e-01 9.18484272e-02 1.21551093e-01 3.11037976e+01] [-9.07613250e-02 9.95767660e-01 -1.44620172e-02 -8.84057457e-01] [-1.22364961e-01 3.26105605e-03 9.92479814e-01 -2.19065829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152791605 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.89, Z:-2.19 [[ 9.88611958e-01 8.92751830e-02 1.21145942e-01 3.11372638e+01] [-8.81696683e-02 9.96000420e-01 -1.44662822e-02 -8.86500542e-01] [-1.21952889e-01 3.62014204e-03 9.92529288e-01 -2.19442377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182791605000002 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.89, Z:-2.20 [[ 9.89392679e-01 8.54508907e-02 1.17474562e-01 3.11701167e+01] [-8.43789398e-02 9.96334291e-01 -1.40774932e-02 -8.89698747e-01] [-1.18246869e-01 4.01578975e-03 9.92976108e-01 -2.19787686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212791605 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.90, Z:-2.20 [[ 9.89848039e-01 8.21822442e-02 1.15960935e-01 3.12020597e+01] [-8.11096890e-02 9.96607610e-01 -1.39459330e-02 -8.97097797e-01] [-1.16713659e-01 4.39879901e-03 9.93155865e-01 -2.20243192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.91, Z:-2.21 [[ 9.90772610e-01 7.49506870e-02 1.12924884e-01 3.12339155e+01] [-7.38816022e-02 9.97173893e-01 -1.36285329e-02 -9.05534656e-01] [-1.13627214e-01 5.15970582e-03 9.93510057e-01 -2.20681922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272791605000002 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.91, Z:-2.21 [[ 9.91121858e-01 7.21113054e-02 1.11702386e-01 3.12668110e+01] [-7.10420105e-02 9.97381574e-01 -1.35287881e-02 -9.11566535e-01] [-1.12385480e-01 5.47311552e-03 9.93649611e-01 -2.21055155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.92, Z:-2.21 [[ 9.91415060e-01 6.95732936e-02 1.10705627e-01 3.12996414e+01] [-6.85020334e-02 9.97560234e-01 -1.34555354e-02 -9.16839955e-01] [-1.11371677e-01 5.75645989e-03 9.93762151e-01 -2.21441469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.93, Z:-2.22 [[ 9.91801897e-01 6.52310212e-02 1.09881347e-01 3.13317752e+01] [-6.41439390e-02 9.97850648e-01 -1.34029698e-02 -9.25312084e-01] [-1.10519462e-01 6.24486843e-03 9.93854340e-01 -2.21799370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.93, Z:-2.22 [[ 9.91682710e-01 6.49845820e-02 1.11096382e-01 3.13647863e+01] [-6.38694248e-02 9.97865984e-01 -1.35710954e-02 -9.31216425e-01] [-1.11741213e-01 6.36255861e-03 9.93716971e-01 -2.22191683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392791605000003 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.94, Z:-2.22 [[ 9.91723793e-01 6.65696309e-02 1.09783432e-01 3.13976559e+01] [-6.54852490e-02 9.97762785e-01 -1.34575934e-02 -9.37903351e-01] [-1.10433690e-01 6.15702020e-03 9.93864423e-01 -2.22340575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.94, Z:-2.23 [[ 9.91885064e-01 6.57497923e-02 1.08816292e-01 3.14301546e+01] [-6.46745900e-02 9.97816640e-01 -1.33847331e-02 -9.42903805e-01] [-1.09458750e-01 6.23846774e-03 9.93971762e-01 -2.22687343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.95, Z:-2.23 [[ 9.91984090e-01 6.46677486e-02 1.08561719e-01 3.14620082e+01] [-6.35860894e-02 9.97886397e-01 -1.33995453e-02 -9.52055401e-01] [-1.09198781e-01 6.38912057e-03 9.93999399e-01 -2.23219428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482791605000003 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.96, Z:-2.24 [[ 9.91895591e-01 6.45160563e-02 1.09456912e-01 3.14941322e+01] [-6.34102435e-02 9.97895456e-01 -1.35572846e-02 -9.58051284e-01] [-1.10101218e-01 6.50672137e-03 9.93899082e-01 -2.23724716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.96, Z:-2.24 [[ 9.92042299e-01 6.36645023e-02 1.08622775e-01 3.15270518e+01] [-6.25654085e-02 9.97949555e-01 -1.35002077e-02 -9.62752378e-01] [-1.09259534e-01 6.59674884e-03 9.93991367e-01 -2.24112372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542791605 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.97, Z:-2.25 [[ 9.92507549e-01 6.13150142e-02 1.05684594e-01 3.15598064e+01] [-6.02569950e-02 9.98095901e-01 -1.31782872e-02 -9.69335891e-01] [-1.06291387e-01 6.71131344e-03 9.94312375e-01 -2.24646710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572791605000003 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.98, Z:-2.25 [[ 9.92630517e-01 6.05690445e-02 1.04957363e-01 3.15913766e+01] [-5.95165155e-02 9.98140910e-01 -1.31342063e-02 -9.78199767e-01] [-1.05557764e-01 6.79071750e-03 9.94389986e-01 -2.25090389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.62, Y:-0.99, Z:-2.26 [[ 9.92547714e-01 6.08234772e-02 1.05591386e-01 3.16236212e+01] [-5.97577053e-02 9.98125222e-01 -1.32309369e-02 -9.85074480e-01] [-1.06198177e-01 6.82243721e-03 9.94321579e-01 -2.25508369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.99, Z:-2.26 [[ 9.92459880e-01 6.06794803e-02 1.06495948e-01 3.16568594e+01] [-5.95894662e-02 9.98133151e-01 -1.33906167e-02 -9.90734504e-01] [-1.07109672e-01 6.94361312e-03 9.94222965e-01 -2.25732392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.02, Z:-2.28 [[ 9.92037663e-01 7.43283750e-02 1.01668911e-01 3.17095776e+01] [-7.45983476e-02 9.97212999e-01 -1.14933153e-03 -1.01800531e+00] [-1.01470988e-01 -6.44415261e-03 9.94817627e-01 -2.27951402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692791605 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:31.74, Y:-1.01, Z:-2.26 [[ 9.92171485e-01 7.58817574e-02 9.91851963e-02 3.17391831e+01] [-7.40343835e-02 9.97008992e-01 -2.21806308e-02 -1.00810227e+00] [-1.00571638e-01 1.46638746e-02 9.94821751e-01 -2.26307466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.01, Z:-2.27 [[ 9.92434684e-01 6.91736941e-02 1.01431740e-01 3.17679142e+01] [-6.73961686e-02 9.97508373e-01 -2.08518929e-02 -1.01455184e+00] [-1.02621413e-01 1.38580311e-02 9.94623949e-01 -2.26776212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752791605000002 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.03, Z:-2.29 [[ 9.94712083e-01 4.65018825e-02 9.15720814e-02 3.18285031e+01] [-4.36963793e-02 9.98519066e-01 -3.24083465e-02 -1.02760584e+00] [-9.29435183e-02 2.82356054e-02 9.95270945e-01 -2.28605355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.03, Z:-2.28 [[ 9.91997501e-01 7.82940343e-02 9.90505044e-02 3.18289000e+01] [-7.67275031e-02 9.96860748e-01 -1.95330479e-02 -1.03347979e+00] [-1.00268881e-01 1.17768368e-02 9.94890676e-01 -2.27754990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:-1.04, Z:-2.28 [[ 9.92842670e-01 7.38961604e-02 9.38231875e-02 3.18668639e+01] [-7.23007486e-02 9.97176351e-01 -2.02959984e-02 -1.04189485e+00] [-9.50580600e-02 1.33672465e-02 9.95381978e-01 -2.28344214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.06, Z:-2.30 [[ 9.93834581e-01 6.23072540e-02 9.17094937e-02 3.18925029e+01] [-6.15644204e-02 9.98043489e-01 -1.09094399e-02 -1.05600240e+00] [-9.22098003e-02 5.19613682e-03 9.95726043e-01 -2.29560974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872791605 meters Centerline goodness : 0.989308 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.09, Z:-2.33 [[ 9.96120047e-01 3.90982154e-02 7.88427673e-02 3.19551664e+01] [-3.88953954e-02 9.99234847e-01 -4.10711340e-03 -1.08523413e+00] [-7.89430213e-02 1.02455739e-03 9.96878603e-01 -2.33359914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.04, Z:-2.28 [[ 0.99324425 0.0718927 0.09108948 31.96287532] [-0.06810971 0.99670784 -0.04398362 -1.04126133] [-0.0939517 0.0374824 0.99487092 -2.28491362] [ 0. 0. 0. 1. ]] SLAMing on 30.932791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.07, Z:-2.30 [[ 9.91647833e-01 7.46508257e-02 1.05175236e-01 3.19454657e+01] [-7.34769673e-02 9.97184144e-01 -1.49972978e-02 -1.07061985e+00] [-1.05998638e-01 7.14408046e-03 9.94340611e-01 -2.29737086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962791605 meters Centerline goodness : 0.920339 Centerline is valid? [True, False] Translation: X:31.99, Y:-1.08, Z:-2.31 [[ 9.94774851e-01 6.14015919e-02 8.15649449e-02 3.19900285e+01] [-6.10551345e-02 9.98111656e-01 -6.73735835e-03 -1.08133515e+00] [-8.18246068e-02 1.72219597e-03 9.96645257e-01 -2.30629120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992791605 meters Centerline goodness : 0.999952 Centerline is valid? [False, True] Translation: X:32.03, Y:-1.08, Z:-2.31 [[ 9.96277554e-01 5.53620162e-02 6.60763320e-02 3.20321430e+01] [-5.50930749e-02 9.98463869e-01 -5.88681254e-03 -1.08149536e+00] [-6.63007359e-02 2.22455089e-03 9.97797206e-01 -2.30685962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:-1.08, Z:-2.31 [[ 9.95999179e-01 6.02176086e-02 6.60263253e-02 3.20654379e+01] [-5.99895002e-02 9.98184218e-01 -5.43379627e-03 -1.07980263e+00] [-6.62336461e-02 1.45117037e-03 9.97803086e-01 -2.30708445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.08, Z:-2.31 [[ 9.95271762e-01 6.77755317e-02 6.95744016e-02 3.20993451e+01] [-6.75384110e-02 9.97700062e-01 -5.75756152e-03 -1.07537808e+00] [-6.98046065e-02 1.03139387e-03 9.97560150e-01 -2.30859779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082791605 meters Centerline goodness : 0.896379 Centerline is valid? [True, False] Translation: X:32.12, Y:-1.08, Z:-2.31 [[ 9.96357957e-01 5.75047070e-02 6.29605396e-02 3.21241536e+01] [-5.74209653e-02 9.98345117e-01 -3.14018576e-03 -1.07740881e+00] [-6.30369227e-02 -4.86505890e-04 9.98011077e-01 -2.30882734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112791605 meters Centerline goodness : 0.999952 Centerline is valid? [False, True] Translation: X:32.17, Y:-1.07, Z:-2.30 [[ 9.97743583e-01 4.97963422e-02 4.50340689e-02 3.21730701e+01] [-4.94172842e-02 9.98733111e-01 -9.49231776e-03 -1.06601224e+00] [-4.54496985e-02 7.24543775e-03 9.98940353e-01 -2.30394758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142791605000003 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:32.20, Y:-1.08, Z:-2.32 [[ 9.97785258e-01 4.99351141e-02 4.39438620e-02 3.21990023e+01] [-5.05879668e-02 9.98623274e-01 1.38713433e-02 -1.08320264e+00] [-4.31906963e-02 -1.60636525e-02 9.98937697e-01 -2.32260622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172791605 meters Centerline goodness : 0.852669 Centerline is valid? [True, False] Translation: X:32.23, Y:-1.08, Z:-2.32 [[ 9.98823051e-01 3.71590884e-02 3.11723548e-02 3.22334000e+01] [-3.74274992e-02 9.99266748e-01 8.07149471e-03 -1.07528565e+00] [-3.08495682e-02 -9.22869825e-03 9.99481433e-01 -2.31509229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202791605 meters Centerline goodness : 0.990937 Centerline is valid? [False, True] Translation: X:32.28, Y:-1.06, Z:-2.31 [[ 9.99435516e-01 3.03205435e-02 1.44676929e-02 3.22774488e+01] [-3.03215351e-02 9.99540185e-01 -1.50854175e-04 -1.06238532e+00] [-1.44656144e-02 -2.87913638e-04 9.99895326e-01 -2.30724460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232791605000003 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.07, Z:-2.27 [[ 9.98962580e-01 2.88961025e-02 3.51962993e-02 3.22111596e+01] [-2.84641463e-02 9.99513971e-01 -1.27127307e-02 -1.06646350e+00] [-3.55465413e-02 1.16977096e-02 9.99299558e-01 -2.26831426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262791605 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:32.24, Y:-1.08, Z:-2.28 [[ 9.98944975e-01 2.80830576e-02 3.63356275e-02 3.22420400e+01] [-2.80606368e-02 9.99605588e-01 -1.12697005e-03 -1.07797524e+00] [-3.63529451e-02 1.06180226e-04 9.99339008e-01 -2.27916781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292791605 meters Centerline goodness : 0.972562 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.07, Z:-2.33 [[ 9.99181557e-01 3.64929890e-02 1.74492826e-02 3.23623915e+01] [-3.68573251e-02 9.99099127e-01 2.10350231e-02 -1.07290612e+00] [-1.66659321e-02 -2.16609410e-02 9.99626455e-01 -2.33108120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322791605000003 meters Centerline goodness : 0.953704 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.05, Z:-2.32 [[ 9.99539607e-01 2.74494180e-02 1.29268729e-02 3.23865665e+01] [-2.74273332e-02 9.99622027e-01 -1.88267025e-03 -1.04600209e+00] [-1.29736651e-02 1.52725383e-03 9.99914672e-01 -2.31637116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352791605 meters Centerline goodness : 0.949988 Centerline is valid? [True, False] Translation: X:32.40, Y:-1.04, Z:-2.31 [[ 9.99771876e-01 1.56568564e-02 1.45278878e-02 3.24022975e+01] [-1.56310674e-02 9.99876047e-01 -1.88700093e-03 -1.04128800e+00] [-1.45556315e-02 1.65948407e-03 9.99892684e-01 -2.31321565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382791605 meters Centerline goodness : 0.999857 Centerline is valid? [False, True] Translation: X:32.42, Y:-1.04, Z:-2.31 [[ 9.99923304e-01 4.33227886e-03 1.16024836e-02 3.24219904e+01] [-4.33242207e-03 9.99990615e-01 -1.27914341e-05 -1.04162620e+00] [-1.16024301e-02 -3.74764031e-05 9.99932689e-01 -2.31165096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.05, Z:-2.32 [[ 9.99911578e-01 7.41021286e-03 1.10420007e-02 3.24472446e+01] [-7.56929304e-03 9.99867154e-01 1.44353642e-02 -1.05230192e+00] [-1.09335647e-02 -1.45176679e-02 9.99834834e-01 -2.32330440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442791605 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:32.50, Y:-1.03, Z:-2.31 [[ 9.99984399e-01 -1.71295480e-03 5.31665019e-03 3.24969700e+01] [ 1.72783638e-03 9.99994599e-01 -2.79572121e-03 -1.02520483e+00] [-5.31183253e-03 2.80486390e-03 9.99981958e-01 -2.31453053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:32.50, Y:-1.03, Z:-2.32 [[ 9.99924727e-01 1.25804805e-04 1.22688509e-02 3.24965073e+01] [-1.99128225e-04 9.99982128e-01 5.97535008e-03 -1.03433605e+00] [-1.22678799e-02 -5.97734337e-03 9.99906881e-01 -2.31584229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502791605000002 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:32.53, Y:-1.03, Z:-2.32 [[ 9.99842128e-01 -1.47350083e-02 9.92965586e-03 3.25253320e+01] [ 1.46628664e-02 9.99865851e-01 7.29935407e-03 -1.03434019e+00] [-1.00358799e-02 -7.15260449e-03 9.99924058e-01 -2.31718061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:-1.03, Z:-2.32 [[ 9.99692122e-01 -2.17458865e-02 1.19489284e-02 3.25537562e+01] [ 2.16841395e-02 9.99750965e-01 5.27307612e-03 -1.03116122e+00] [-1.20606205e-02 -5.01235043e-03 9.99914705e-01 -2.31606257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.97, Z:-2.26 [[ 9.98631442e-01 -2.35599257e-02 4.66923151e-02 3.25898188e+01] [ 2.62714401e-02 9.97951281e-01 -5.83356818e-02 -9.68225484e-01] [-4.52222713e-02 5.94825204e-02 9.97204481e-01 -2.25762455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:-1.09, Z:-2.37 [[ 9.99615522e-01 -2.65669914e-02 7.93739315e-03 3.26158213e+01] [ 2.59125545e-02 9.96957042e-01 7.35200382e-02 -1.09246604e+00] [-9.86644621e-03 -7.32860933e-02 9.97262153e-01 -2.37311612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.95, Z:-2.24 [[ 9.98447358e-01 -2.75568096e-02 4.84096723e-02 3.26498948e+01] [ 3.10290519e-02 9.96885332e-01 -7.25040158e-02 -9.51830510e-01] [-4.62609129e-02 7.38935492e-02 9.96192587e-01 -2.24271687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.68, Y:-1.02, Z:-2.31 [[ 9.98366697e-01 -3.27874936e-02 4.67858821e-02 3.26817938e+01] [ 3.27794234e-02 9.99462168e-01 9.39915980e-04 -1.01728765e+00] [-4.67915366e-02 5.95233426e-04 9.98904499e-01 -2.31100403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682791605000002 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.02, Z:-2.31 [[ 9.98473020e-01 -3.27821230e-02 4.44630271e-02 3.27154334e+01] [ 3.27752258e-02 9.99462357e-01 8.84312193e-04 -1.01633986e+00] [-4.44681115e-02 5.74323887e-04 9.99010639e-01 -2.31341206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.10, Z:-2.39 [[ 9.99503080e-01 -3.12418197e-02 4.18823028e-03 3.27469671e+01] [ 3.07602867e-02 9.95744121e-01 8.68760622e-02 -1.09747340e+00] [-6.88457194e-03 -8.67040606e-02 9.96210323e-01 -2.38887656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:-0.93, Z:-2.23 [[ 9.98491612e-01 -2.86168811e-02 4.68569669e-02 3.27791800e+01] [ 3.26337925e-02 9.95644174e-01 -8.73367910e-02 -9.29669984e-01] [-4.41535595e-02 8.87341738e-02 9.95076233e-01 -2.23121701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772791605000002 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.01, Z:-2.31 [[ 9.98510532e-01 -3.44916753e-02 4.22734224e-02 3.28102785e+01] [ 3.44865052e-02 9.99404801e-01 8.51768331e-04 -1.00746868e+00] [-4.22776402e-02 6.07362954e-04 9.99105716e-01 -2.31364088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802791605000003 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:32.84, Y:-1.01, Z:-2.32 [[ 9.98489922e-01 -3.58901765e-02 4.15905249e-02 3.28437711e+01] [ 3.58866798e-02 9.99355520e-01 8.30907266e-04 -1.00733989e+00] [-4.15935421e-02 6.62893322e-04 9.99134394e-01 -2.31580091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832791605 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.00, Z:-2.32 [[ 9.98498062e-01 -3.90957283e-02 3.83815735e-02 3.28770395e+01] [ 3.90957010e-02 9.99235188e-01 7.51552753e-04 -1.00443588e+00] [-3.83816014e-02 7.50130556e-04 9.99262873e-01 -2.31512612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:32.91, Y:-1.09, Z:-2.40 [[ 9.99501840e-01 -3.11152812e-02 5.28300909e-03 3.29108629e+01] [ 3.04675429e-02 9.94943743e-01 9.57009770e-02 -1.09179357e+00] [-8.23405965e-03 -9.54923424e-02 9.95396108e-01 -2.39885347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892791605000003 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.92, Z:-2.23 [[ 0.99820851 -0.04528054 0.03910806 32.93496055] [ 0.04893116 0.99397472 -0.09808159 -0.91862451] [-0.03443124 0.09981948 0.99440965 -2.22576187] [ 0. 0. 0. 1. ]] SLAMing on 31.922791605 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:32.97, Y:-1.01, Z:-2.32 [[ 9.97856950e-01 -5.43366174e-02 3.64560008e-02 3.29657348e+01] [ 5.43428774e-02 9.98521997e-01 8.19887120e-04 -1.00933761e+00] [-3.64466687e-02 1.16299392e-03 9.99334923e-01 -2.31878168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952791605 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.01, Z:-2.32 [[ 9.97795987e-01 -5.64497555e-02 3.48796946e-02 3.29990352e+01] [ 5.64572600e-02 9.98404720e-01 7.70500792e-04 -1.01026920e+00] [-3.48675462e-02 1.20040939e-03 9.99391221e-01 -2.31883005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982791605000003 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:33.03, Y:-1.01, Z:-2.32 [[ 9.97565728e-01 -6.07285269e-02 3.42733771e-02 3.30328681e+01] [ 6.07387797e-02 9.98153419e-01 7.42903351e-04 -1.01323742e+00] [-3.42552040e-02 1.34062818e-03 9.99412219e-01 -2.31925123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012791605000004 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.01, Z:-2.32 [[ 9.97605242e-01 -6.03520024e-02 3.37848620e-02 3.30659369e+01] [ 6.03622220e-02 9.98176280e-01 7.18314254e-04 -1.01362631e+00] [-3.37665996e-02 1.32273528e-03 9.99428870e-01 -2.32026330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042791605 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:33.10, Y:-1.02, Z:-2.32 [[ 9.97449738e-01 -6.19616776e-02 3.54227318e-02 3.30997758e+01] [ 6.19744940e-02 9.98077461e-01 7.37127141e-04 -1.01779606e+00] [-3.54003038e-02 1.46005860e-03 9.99372146e-01 -2.32259012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072791605 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:33.13, Y:-1.02, Z:-2.32 [[ 9.97470438e-01 -6.18404890e-02 3.50496728e-02 3.31328182e+01] [ 6.18534754e-02 9.98084985e-01 7.14709495e-04 -1.02028506e+00] [-3.50267501e-02 1.45504248e-03 9.99385316e-01 -2.32411971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102791605 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.02, Z:-2.33 [[ 9.97465383e-01 -6.18264651e-02 3.52178628e-02 3.31663088e+01] [ 6.18401011e-02 9.98085822e-01 7.02999503e-04 -1.02496198e+00] [-3.51939135e-02 1.47665853e-03 9.99379411e-01 -2.32622402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.03, Z:-2.33 [[ 9.97522095e-01 -6.19733980e-02 3.33011833e-02 3.31997305e+01] [ 6.19861051e-02 9.98076800e-01 6.51667974e-04 -1.02614984e+00] [-3.32775245e-02 1.41415744e-03 9.99445149e-01 -2.32842813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:33.23, Y:-1.03, Z:-2.33 [[ 9.97589713e-01 -6.05270507e-02 3.39299369e-02 3.32330652e+01] [ 6.05399086e-02 9.98165566e-01 6.49214880e-04 -1.02941408e+00] [-3.39069897e-02 1.40646519e-03 9.99424003e-01 -2.32935520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192791605000004 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.03, Z:-2.33 [[ 9.97694404e-01 -6.02174210e-02 3.13007653e-02 3.32667213e+01] [ 6.02285755e-02 9.98184439e-01 5.87200829e-04 -1.02911791e+00] [-3.12792966e-02 1.29935352e-03 9.99509839e-01 -2.33029329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222791605000005 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.07, Z:-2.37 [[ 9.99185650e-01 -3.41774541e-02 2.14461921e-02 3.33100731e+01] [ 3.31894806e-02 9.98442450e-01 4.48456466e-02 -1.07065431e+00] [-2.29454986e-02 -4.40973385e-02 9.98763700e-01 -2.37013964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.99, Z:-2.29 [[ 9.98060767e-01 -5.30732680e-02 3.25258861e-02 3.33291881e+01] [ 5.45360349e-02 9.97457685e-01 -4.58692445e-02 -9.90736883e-01] [-3.00087643e-02 4.75541263e-02 9.98417788e-01 -2.29201390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282791605 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:33.36, Y:-1.03, Z:-2.33 [[ 9.98168157e-01 -5.10318975e-02 3.24973109e-02 3.33612233e+01] [ 5.10382494e-02 9.98696498e-01 6.34573998e-04 -1.03434044e+00] [-3.24873341e-02 1.02519430e-03 9.99471621e-01 -2.33462925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.39, Y:-1.03, Z:-2.34 [[ 9.98655214e-01 -4.03648587e-02 3.25336910e-02 3.33946608e+01] [ 4.03660267e-02 9.99184767e-01 6.21165806e-04 -1.03285186e+00] [-3.25322417e-02 6.92925368e-04 9.99470446e-01 -2.33525076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342791605 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.07, Z:-2.38 [[ 9.99615823e-01 -1.59763293e-02 2.26486784e-02 3.34340384e+01] [ 1.48660287e-02 9.98718795e-01 4.83711608e-02 -1.07429319e+00] [-2.33924544e-02 -4.80158818e-02 9.98572615e-01 -2.37663994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372791605 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.99, Z:-2.29 [[ 9.98833975e-01 -3.18904574e-02 3.62448489e-02 3.34492282e+01] [ 3.37099785e-02 9.98142266e-01 -5.07508934e-02 -9.85460299e-01] [-3.45590464e-02 5.19135297e-02 9.98053434e-01 -2.29168599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402791605000004 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.03, Z:-2.34 [[ 9.99030903e-01 -2.57117097e-02 3.57234320e-02 3.34808266e+01] [ 2.56973984e-02 9.99669398e-01 8.59778627e-04 -1.02960754e+00] [-3.57337281e-02 5.90538462e-05 9.99361345e-01 -2.33827608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432791605 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.02, Z:-2.34 [[ 9.99093785e-01 -1.75971673e-02 3.87549828e-02 3.35142831e+01] [ 1.75749380e-02 9.99845131e-01 9.14225385e-04 -1.02422343e+00] [-3.87650686e-02 -2.32280482e-04 9.99248325e-01 -2.33921326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462791605 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.02, Z:-2.34 [[ 9.99079085e-01 -1.48327005e-02 4.02613082e-02 3.35471988e+01] [ 1.48071895e-02 9.99889933e-01 9.31777780e-04 -1.02228194e+00] [-4.02706976e-02 -3.34762871e-04 9.99188750e-01 -2.34226113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492791605 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.02, Z:-2.35 [[ 9.99057763e-01 -1.16254853e-02 4.18142949e-02 3.35801904e+01] [ 1.15959304e-02 9.99932314e-01 9.49296215e-04 -1.02071857e+00] [-4.18225007e-02 -4.63526097e-04 9.99124949e-01 -2.34517871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522791605 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.02, Z:-2.35 [[ 9.99065691e-01 -6.93969595e-03 4.26565979e-02 3.36138270e+01] [ 6.90545919e-03 9.99975706e-01 9.49911679e-04 -1.01601015e+00] [-4.26621537e-02 -6.54460772e-04 9.99089342e-01 -2.34648777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552791605 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.01, Z:-2.35 [[ 9.99062699e-01 -4.38332608e-03 4.30640229e-02 3.36473014e+01] [ 4.34684252e-03 9.99990110e-01 9.40797203e-04 -1.01039756e+00] [-4.30677208e-02 -7.52722867e-04 9.99071872e-01 -2.34626639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582791605000004 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.00, Z:-2.35 [[ 9.99075345e-01 1.64889677e-03 4.29620375e-02 3.36807715e+01] [-1.69001476e-03 9.99998148e-01 9.20774836e-04 -1.00213807e+00] [-4.29604397e-02 -9.92529915e-04 9.99076281e-01 -2.34607075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612791605 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.00, Z:-2.35 [[ 9.99037692e-01 4.43679983e-03 4.36349123e-02 3.37138676e+01] [-4.48107342e-03 9.99989540e-01 9.16876361e-04 -9.99870968e-01] [-4.36303879e-02 -1.11152529e-03 9.99047123e-01 -2.34903627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642791605 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.99, Z:-2.35 [[ 9.99019816e-01 8.29077055e-03 4.34818372e-02 3.37473319e+01] [-8.33760680e-03 9.99964840e-01 8.95899740e-04 -9.92954385e-01] [-4.34728806e-02 -1.25755605e-03 9.99053816e-01 -2.35183589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672791605 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.99, Z:-2.35 [[ 9.99036264e-01 1.06632674e-02 4.25774238e-02 3.37805066e+01] [-1.07096075e-02 9.99942280e-01 8.60417023e-04 -9.86232507e-01] [-4.25657914e-02 -1.31557531e-03 9.99092800e-01 -2.35248211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702791605 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.99, Z:-2.36 [[ 9.99074739e-01 5.33135172e-03 4.26760285e-02 3.38138622e+01] [-5.37230396e-03 9.99985212e-01 8.44977802e-04 -9.85623442e-01] [-4.26708925e-02 -1.07346457e-03 9.99088606e-01 -2.35505136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732791605 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.98, Z:-2.36 [[ 9.99122873e-01 1.19865555e-03 4.18574767e-02 3.38471951e+01] [-1.23372897e-03 9.99998909e-01 8.12103147e-04 -9.84753779e-01] [-4.18564576e-02 -8.63031611e-04 9.99123262e-01 -2.35541216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762791605000004 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.98, Z:-2.36 [[ 9.99121836e-01 -6.11582780e-04 4.18948982e-02 3.38808888e+01] [ 5.78755907e-04 9.99999516e-01 7.95677285e-04 -9.81560465e-01] [-4.18953646e-02 -7.70731630e-04 9.99121707e-01 -2.35556258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.98, Z:-2.36 [[ 9.99145220e-01 -5.46026768e-03 4.09757937e-02 3.39143176e+01] [ 5.43361784e-03 9.99984948e-01 7.61723093e-04 -9.81530899e-01] [-4.09793361e-02 -5.38425184e-04 9.99159849e-01 -2.35607207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.03, Z:-2.40 [[ 9.99908746e-01 9.92561151e-04 1.34727120e-02 3.39483898e+01] [-1.74138038e-03 9.98446976e-01 5.56830574e-02 -1.03384092e+00] [-1.33965197e-02 -5.57014372e-02 9.98357593e-01 -2.40438906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852791605 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.93, Z:-2.31 [[ 9.99063517e-01 -1.94549918e-03 4.32238854e-02 3.39790305e+01] [ 4.30619037e-03 9.98499587e-01 -5.45896683e-02 -9.30820651e-01] [-4.30528275e-02 5.47246763e-02 9.97572886e-01 -2.30976045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882791605 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.98, Z:-2.36 [[ 9.99160647e-01 -4.14958886e-03 4.07526897e-02 3.40108227e+01] [ 4.12269319e-03 9.99991225e-01 7.43991513e-04 -9.81829220e-01] [-4.07554193e-02 -5.75356206e-04 9.99168987e-01 -2.36207367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.98, Z:-2.36 [[ 9.99230539e-01 -3.51114140e-03 3.90640710e-02 3.40436716e+01] [ 3.48656161e-03 9.99993679e-01 6.97325190e-04 -9.83083416e-01] [-3.90662725e-02 -5.60589335e-04 9.99236465e-01 -2.36477682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942791605000004 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:34.07, Y:-1.04, Z:-2.42 [[ 9.99971630e-01 -3.67076566e-03 6.57757373e-03 3.40734532e+01] [ 3.27812294e-03 9.98267838e-01 5.87416229e-02 -1.04033532e+00] [-6.78180703e-03 -5.87183943e-02 9.98251550e-01 -2.41542115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972791605000005 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:34.11, Y:-0.93, Z:-2.32 [[ 9.99163076e-01 2.65074428e-04 4.09032563e-02 3.41092639e+01] [ 2.07555823e-03 9.98362269e-01 -5.71705451e-02 -9.31371833e-01] [-4.08514222e-02 5.72075948e-02 9.97526166e-01 -2.31529945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002791605 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:34.14, Y:-0.99, Z:-2.37 [[ 9.99113724e-01 -1.99070753e-03 4.20452684e-02 3.41409464e+01] [ 1.96210221e-03 9.99997815e-01 7.21601506e-04 -9.85201978e-01] [-4.20466130e-02 -6.38464854e-04 9.99115446e-01 -2.36982129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032791605 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.99, Z:-2.37 [[ 9.99048697e-01 -3.55355659e-04 4.36070511e-02 3.41741196e+01] [ 3.23872738e-04 9.99999682e-01 7.29031384e-04 -9.87576155e-01] [-4.36072962e-02 -7.14214720e-04 9.99048494e-01 -2.37133834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062791605 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.99, Z:-2.37 [[ 9.99020153e-01 -1.45596585e-04 4.42573415e-02 3.42077166e+01] [ 1.13891038e-04 9.99999735e-01 7.18911328e-04 -9.87062288e-01] [-4.42574344e-02 -7.13166391e-04 9.99019905e-01 -2.37218612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092791605 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:34.24, Y:-0.99, Z:-2.37 [[ 9.99023079e-01 -1.77088333e-04 4.41911419e-02 3.42406276e+01] [ 1.45769170e-04 9.99999736e-01 7.11941811e-04 -9.85327861e-01] [-4.41912563e-02 -7.04804594e-04 9.99022841e-01 -2.37278977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122791605 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:34.27, Y:-0.98, Z:-2.37 [[ 9.99006711e-01 7.80809792e-04 4.45531425e-02 3.42734593e+01] [-8.12745132e-04 9.99999426e-01 6.98682409e-04 -9.84708747e-01] [-4.45525713e-02 -7.34198764e-04 9.99006771e-01 -2.37455947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152791605000004 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.98, Z:-2.38 [[ 9.99006536e-01 9.64594351e-04 4.45534580e-02 3.43070728e+01] [-9.95785945e-04 9.99999274e-01 6.77905116e-04 -9.84076533e-01] [-4.45527718e-02 -7.21597349e-04 9.99006772e-01 -2.37633783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182791605 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.98, Z:-2.38 [[ 9.98981804e-01 1.51436381e-03 4.50894922e-02 3.43400744e+01] [-1.54658062e-03 9.99998573e-01 6.79631651e-04 -9.84160331e-01] [-4.50883986e-02 -7.48674187e-04 9.98982720e-01 -2.37861336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212791605 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.98, Z:-2.38 [[ 9.98892661e-01 2.35479641e-03 4.69883594e-02 3.43737926e+01] [-2.38974967e-03 9.99996908e-01 6.87708265e-04 -9.84827138e-01] [-4.69865947e-02 -7.99237155e-04 9.98895200e-01 -2.38027788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242791605 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.99, Z:-2.38 [[ 9.98847164e-01 2.14420794e-03 4.79556586e-02 3.44073816e+01] [-2.17938670e-03 9.99997393e-01 6.81293310e-04 -9.86301750e-01] [-4.79540728e-02 -7.85021815e-04 9.98849233e-01 -2.38309654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272791605 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:34.44, Y:-0.99, Z:-2.39 [[ 9.98765404e-01 2.45989307e-03 4.96146736e-02 3.44407236e+01] [-2.49687417e-03 9.99996649e-01 6.83400892e-04 -9.87724052e-01] [-4.96128263e-02 -8.06438765e-04 9.98768200e-01 -2.38513187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302791605 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.99, Z:-2.39 [[ 9.98759290e-01 2.70583957e-03 4.97248299e-02 3.44737625e+01] [-2.74225043e-03 9.99996020e-01 6.64040524e-04 -9.88586479e-01] [-4.97228352e-02 -7.99574579e-04 9.98762735e-01 -2.38682242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332791605000004 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.99, Z:-2.39 [[ 9.98621500e-01 4.44505069e-03 5.23004913e-02 3.45076472e+01] [-4.48650639e-03 9.99989708e-01 6.75267134e-04 -9.87764620e-01] [-5.22969514e-02 -9.08982767e-04 9.98631164e-01 -2.38582860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362791605 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.99, Z:-2.39 [[ 9.98648683e-01 5.12585474e-03 5.17158861e-02 3.45414407e+01] [-5.16619873e-03 9.99986446e-01 6.46460676e-04 -9.87087294e-01] [-5.17118715e-02 -9.12761648e-04 9.98661629e-01 -2.38671331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392791605 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.99, Z:-2.39 [[ 9.98690379e-01 6.88056197e-03 5.06969964e-02 3.45750497e+01] [-6.92053228e-03 9.99975865e-01 6.12917881e-04 -9.90257701e-01] [-5.06915556e-02 -9.62965391e-04 9.98713892e-01 -2.39008167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422791605 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.99, Z:-2.39 [[ 9.98691769e-01 7.32741905e-03 5.06069123e-02 3.46079710e+01] [-7.36675398e-03 9.99972691e-01 5.90781339e-04 -9.91689607e-01] [-5.06012014e-02 -9.62817133e-04 9.98718475e-01 -2.39266867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452791605 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.99, Z:-2.39 [[ 9.98618591e-01 9.70994634e-03 5.16393857e-02 3.46416234e+01] [-9.75295408e-03 9.99952270e-01 5.80920466e-04 -9.91740013e-01] [-5.16312803e-02 -1.08375453e-03 9.98665628e-01 -2.39166134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482791605 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.99, Z:-2.39 [[ 9.98682707e-01 1.06060009e-02 5.02032193e-02 3.46744203e+01] [-1.06467554e-02 9.99943173e-01 5.44431567e-04 -9.91928052e-01] [-5.01945922e-02 -1.07821579e-03 9.98738875e-01 -2.39408905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512791605000004 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:34.71, Y:-1.00, Z:-2.40 [[ 9.98868733e-01 1.07435298e-02 4.63231151e-02 3.47080131e+01] [-1.07775584e-02 9.99941803e-01 4.84888762e-04 -9.96348168e-01] [-4.63152098e-02 -9.83590304e-04 9.98926391e-01 -2.39854664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542791605 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.00, Z:-2.40 [[ 9.98930851e-01 9.55143323e-03 4.52319054e-02 3.47410642e+01] [-9.58182964e-03 9.99953990e-01 4.55242241e-04 -9.98705649e-01] [-4.52254760e-02 -8.88159931e-04 9.98976410e-01 -2.39971997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572791605 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.00, Z:-2.40 [[ 9.98935480e-01 7.97782401e-03 4.54341443e-02 3.47745242e+01] [-8.00600244e-03 9.99967855e-01 4.38267719e-04 -1.00074777e+00] [-4.54291874e-02 -8.01547044e-04 9.98967240e-01 -2.40035363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602791605 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.01, Z:-2.40 [[ 9.98877283e-01 5.36322919e-03 4.70681239e-02 3.48083637e+01] [-5.38961735e-03 9.99985382e-01 4.33744737e-04 -1.00607370e+00] [-4.70651095e-02 -6.86936942e-04 9.98891588e-01 -2.39995136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632791605 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.01, Z:-2.41 [[ 9.98986132e-01 2.91772767e-02 3.42840197e-02 3.48571033e+01] [-2.94528575e-02 9.99537575e-01 7.56071903e-03 -1.01244781e+00] [-3.40475647e-02 -8.56281581e-03 9.99383531e-01 -2.40678919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662791605 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:34.89, Y:-1.02, Z:-2.40 [[ 9.99133377e-01 2.70228456e-02 3.16584991e-02 3.48861235e+01] [-2.71865411e-02 9.99619085e-01 4.75159570e-03 -1.01702163e+00] [-3.15180383e-02 -5.60816294e-03 9.99487450e-01 -2.40435094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692791605000004 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.00, Z:-2.39 [[ 9.98880958e-01 2.70448170e-02 3.87996157e-02 3.49195836e+01] [-2.65074302e-02 9.99546350e-01 -1.42986171e-02 -1.00217541e+00] [-3.91687177e-02 1.32541382e-02 9.99144704e-01 -2.38942089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722791605000005 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.04, Z:-2.42 [[ 9.99324070e-01 2.50822029e-02 2.68753930e-02 3.49441198e+01] [-2.56470222e-02 9.99452942e-01 2.08817448e-02 -1.04319960e+00] [-2.63369305e-02 -2.15569040e-02 9.99420665e-01 -2.41864680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752791605 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:34.96, Y:-1.00, Z:-2.37 [[ 9.98906101e-01 -1.66807781e-03 4.67313585e-02 3.49581848e+01] [ 3.30214102e-03 9.99384941e-01 -3.49118240e-02 -9.99637048e-01] [-4.66443803e-02 3.50279475e-02 9.98297223e-01 -2.37358423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782791605 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:34.99, Y:-1.03, Z:-2.40 [[ 9.99014267e-01 -5.22301777e-04 4.43871722e-02 3.49905907e+01] [ 4.87388740e-04 9.99999563e-01 7.97375509e-04 -1.03371114e+00] [-4.43875693e-02 -7.74955702e-04 9.99014086e-01 -2.40272017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812791605 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:35.02, Y:-1.03, Z:-2.40 [[ 9.98987933e-01 2.54535916e-03 4.49069202e-02 3.50238009e+01] [-2.58388898e-03 9.99996342e-01 7.99967069e-04 -1.03281841e+00] [-4.49047197e-02 -9.15191944e-04 9.98990855e-01 -2.40251070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842791605 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.03, Z:-2.40 [[ 9.98857015e-01 9.26520229e-03 4.68915762e-02 3.50571122e+01] [-9.31352746e-03 9.99956298e-01 8.12189545e-04 -1.03471483e+00] [-4.68820018e-02 -1.24798721e-03 9.98899655e-01 -2.40409968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872791605 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.04, Z:-2.41 [[ 9.98722258e-01 1.38987938e-02 4.85867697e-02 3.50906226e+01] [-1.39550083e-02 9.99902290e-01 8.17950718e-04 -1.03582516e+00] [-4.85706537e-02 -1.49493436e-03 9.98818631e-01 -2.40657244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902791605000004 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.04, Z:-2.41 [[ 9.98653081e-01 1.65827002e-02 4.91633847e-02 3.51239051e+01] [-1.66423625e-02 9.99861183e-01 8.04427393e-04 -1.03544433e+00] [-4.91432204e-02 -1.62153876e-03 9.98790426e-01 -2.40712128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932791605 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:35.16, Y:-1.03, Z:-2.41 [[ 9.98553864e-01 2.34902509e-02 4.83568902e-02 3.51566772e+01] [-2.35549667e-02 9.99722248e-01 7.68796346e-04 -1.03299104e+00] [-4.83253998e-02 -1.90672950e-03 9.98829825e-01 -2.40802318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962791605 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:35.19, Y:-1.03, Z:-2.41 [[ 9.98501842e-01 2.62734739e-02 4.79976598e-02 3.51896110e+01] [-2.63394508e-02 9.99652781e-01 7.42513506e-04 -1.03163310e+00] [-4.79614857e-02 -2.00563310e-03 9.98847172e-01 -2.40962994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992791605 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:35.22, Y:-1.03, Z:-2.41 [[ 9.98500204e-01 2.86985783e-02 4.66233265e-02 3.52225322e+01] [-2.87624884e-02 9.99586029e-01 7.00351244e-04 -1.03139710e+00] [-4.65839267e-02 -2.04030375e-03 9.98912296e-01 -2.41192904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022791605 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.03, Z:-2.41 [[ 9.98400969e-01 3.04628929e-02 4.76184507e-02 3.52555994e+01] [-3.05304850e-02 9.99533596e-01 6.92607329e-04 -1.03032926e+00] [-4.75751425e-02 -2.14531422e-03 9.98865358e-01 -2.41248149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052791605 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:35.29, Y:-1.03, Z:-2.41 [[ 9.98375923e-01 3.16269927e-02 4.73840746e-02 3.52887604e+01] [-3.16941792e-02 9.99497391e-01 6.67073140e-04 -1.02723246e+00] [-4.73391614e-02 -2.16778911e-03 9.98876521e-01 -2.41260199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082791605000004 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.03, Z:-2.41 [[ 9.98256859e-01 3.23311336e-02 4.93755126e-02 3.53223253e+01] [-3.24037573e-02 9.99474635e-01 6.70879553e-04 -1.02615280e+00] [-4.93278821e-02 -2.26966224e-03 9.98780060e-01 -2.41412270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112791605 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.03, Z:-2.42 [[ 9.98161705e-01 3.36702038e-02 5.03937398e-02 3.53559116e+01] [-3.37463456e-02 9.99430212e-01 6.60617021e-04 -1.02581052e+00] [-5.03427829e-02 -2.36000717e-03 9.98729210e-01 -2.41740859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142791605 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.03, Z:-2.42 [[ 9.98173568e-01 3.51459960e-02 4.91353935e-02 3.53891040e+01] [-3.52190674e-02 9.99379423e-01 6.21893947e-04 -1.02561555e+00] [-4.90830441e-02 -2.35126084e-03 9.98791933e-01 -2.41990735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172791605 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:35.42, Y:-1.02, Z:-2.42 [[ 9.98118452e-01 3.70565560e-02 4.88504540e-02 3.54224181e+01] [-3.71299529e-02 9.99310268e-01 5.95577912e-04 -1.02496961e+00] [-4.87946902e-02 -2.40827236e-03 9.98805926e-01 -2.42107136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202791605 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:35.46, Y:-1.02, Z:-2.42 [[ 9.98141935e-01 3.81088940e-02 4.75435505e-02 3.54555582e+01] [-3.81785834e-02 9.99270776e-01 5.58245830e-04 -1.02430895e+00] [-4.74876065e-02 -2.37235398e-03 9.98869010e-01 -2.42216121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232791605 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:35.49, Y:-1.02, Z:-2.42 [[ 9.98107679e-01 3.96321565e-02 4.70143844e-02 3.54885007e+01] [-3.97008648e-02 9.99211470e-01 5.28191932e-04 -1.02401492e+00] [-4.69563788e-02 -2.39370414e-03 9.98894073e-01 -2.42223736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262791605000004 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:35.52, Y:-1.02, Z:-2.42 [[ 9.97967102e-01 4.16741670e-02 4.82174995e-02 3.55214809e+01] [-4.17483943e-02 9.99128014e-01 5.32926419e-04 -1.02352988e+00] [-4.81532453e-02 -2.54484622e-03 9.98836718e-01 -2.42108377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292791605 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.02, Z:-2.42 [[ 9.97874804e-01 4.23259845e-02 4.95417673e-02 3.55545260e+01] [-4.24047028e-02 9.99100371e-01 5.38488754e-04 -1.02283610e+00] [-4.94744060e-02 -2.63814828e-03 9.98771908e-01 -2.42201617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322791605 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:35.59, Y:-1.03, Z:-2.42 [[ 9.97738430e-01 4.43116557e-02 5.05420797e-02 3.55880991e+01] [-4.43956662e-02 9.99013880e-01 5.40206570e-04 -1.02518604e+00] [-5.04683017e-02 -2.78283415e-03 9.98721786e-01 -2.42344031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352791605 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:35.62, Y:-1.03, Z:-2.43 [[ 9.97610084e-01 4.53760644e-02 5.21069373e-02 3.56214707e+01] [-4.54663190e-02 9.98965722e-01 5.47439287e-04 -1.02746562e+00] [-5.20282036e-02 -2.91524159e-03 9.98641361e-01 -2.42546509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382791605 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:35.65, Y:-1.03, Z:-2.42 [[ 9.97407530e-01 4.83883910e-02 5.32614593e-02 3.56547455e+01] [-4.84864628e-02 9.98823688e-01 5.49965599e-04 -1.02908105e+00] [-5.31721953e-02 -3.13099960e-03 9.98580450e-01 -2.42476013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412791605 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.03, Z:-2.43 [[ 9.97317967e-01 4.98770992e-02 5.35644331e-02 3.56879499e+01] [-4.99779219e-02 9.98750175e-01 5.43605356e-04 -1.02884597e+00] [-5.34703734e-02 -3.21918644e-03 9.98564247e-01 -2.42575432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442791605000004 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:35.72, Y:-1.03, Z:-2.42 [[ 9.97029409e-01 5.35213997e-02 5.53878851e-02 3.57211046e+01] [-5.36342535e-02 9.98560495e-01 5.51973770e-04 -1.03010001e+00] [-5.52786116e-02 -3.52102195e-03 9.98464760e-01 -2.42490057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472791605000005 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.03, Z:-2.43 [[ 9.96802108e-01 5.50260670e-02 5.79455662e-02 3.57538154e+01] [-5.51515197e-02 9.98477836e-01 5.66786710e-04 -1.03164665e+00] [-5.78261755e-02 -3.76076022e-03 9.98319583e-01 -2.42659039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502791605 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.03, Z:-2.43 [[ 9.96614509e-01 5.62547208e-02 5.99577024e-02 3.57865714e+01] [-5.63906172e-02 9.98408617e-01 5.75559184e-04 -1.03291943e+00] [-5.98299088e-02 -3.95466247e-03 9.98200753e-01 -2.42638321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532791605 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.03, Z:-2.43 [[ 9.96099285e-01 6.13307150e-02 6.34409771e-02 3.58199905e+01] [-6.14923965e-02 9.98107373e-01 5.97301305e-04 -1.03496598e+00] [-6.32842741e-02 -4.49610912e-03 9.97985414e-01 -2.42654156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562791605 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.04, Z:-2.43 [[ 9.95823995e-01 6.49971616e-02 6.41088198e-02 3.58529213e+01] [-6.51691033e-02 9.97874059e-01 5.92358323e-04 -1.03594992e+00] [-6.39340266e-02 -4.76779893e-03 9.97942738e-01 -2.42899032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592791605 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:35.89, Y:-1.04, Z:-2.43 [[ 9.95247255e-01 7.28734036e-02 6.45938782e-02 3.58855041e+01] [-7.30637123e-02 9.97327103e-01 5.85792733e-04 -1.03585685e+00] [-6.43785367e-02 -5.30247714e-03 9.97911463e-01 -2.43032941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622791605 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:35.92, Y:-1.03, Z:-2.43 [[ 9.94990719e-01 7.71173369e-02 6.36112100e-02 3.59166942e+01] [-7.73099570e-02 9.97006944e-01 5.68599228e-04 -1.03287481e+00] [-6.33769693e-02 -5.48353087e-03 9.97974594e-01 -2.43055736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652791605000004 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.03, Z:-2.43 [[ 9.94746071e-01 8.09428269e-02 6.26778514e-02 3.59445883e+01] [-8.11373857e-02 9.96702769e-01 5.60898598e-04 -1.02982335e+00] [-6.24257873e-02 -5.64346868e-03 9.98033653e-01 -2.42952173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682791605 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.03, Z:-2.43 [[ 9.93732998e-01 9.04867568e-02 6.56267888e-02 3.59716649e+01] [-9.07227571e-02 9.95875996e-01 6.18778178e-04 -1.02504595e+00] [-6.53001524e-02 -6.56874352e-03 9.97844047e-01 -2.43047971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712791605 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.08, Z:-2.48 [[ 9.94959128e-01 9.26848748e-02 3.82863869e-02 3.59956751e+01] [-9.50177995e-02 9.93388417e-01 6.44287983e-02 -1.07710044e+00] [-3.20616782e-02 -6.77419092e-02 9.97187586e-01 -2.47619089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742791605 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.96, Z:-2.38 [[ 0.9920922 0.10602376 0.06717169 36.03133685] [-0.10185944 0.99282348 -0.06265929 -0.95696297] [-0.073333 0.05532172 0.99577195 -2.38084516] [ 0. 0. 0. 1. ]] SLAMing on 34.772791605 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.01, Z:-2.44 [[ 9.92076886e-01 1.06125898e-01 6.72364931e-02 3.60559955e+01] [-1.06413153e-01 9.94321758e-01 6.95169283e-04 -1.00730233e+00] [-6.67809325e-02 -7.84450862e-03 9.97736824e-01 -2.43634557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802791605 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:36.08, Y:-1.00, Z:-2.44 [[ 9.91684735e-01 1.09963745e-01 6.68532867e-02 3.60838043e+01] [-1.10258341e-01 9.93902700e-01 7.21737749e-04 -9.99330915e-01] [-6.63662972e-02 -8.08686881e-03 9.97762555e-01 -2.43860115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832791605000004 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:36.11, Y:-1.00, Z:-2.44 [[ 9.91732483e-01 1.09993687e-01 6.60913832e-02 3.61111656e+01] [-1.10283631e-01 9.93899878e-01 7.43630159e-04 -9.95213513e-01] [-6.56064231e-02 -8.02627992e-03 9.97813297e-01 -2.44056620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862791605 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.99, Z:-2.44 [[ 9.91705323e-01 1.10447038e-01 6.57419514e-02 3.61384253e+01] [-1.10736863e-01 9.93849463e-01 7.69780731e-04 -9.90952455e-01] [-6.52525831e-02 -8.04345311e-03 9.97836361e-01 -2.44329945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892791605 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:36.17, Y:-0.98, Z:-2.45 [[ 9.92002850e-01 1.08482577e-01 6.45126086e-02 3.61662783e+01] [-1.08759423e-01 9.94067791e-01 7.84689611e-04 -9.81470213e-01] [-6.40447811e-02 -7.79476842e-03 9.97916583e-01 -2.44602621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922791605 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.97, Z:-2.45 [[ 9.92454401e-01 1.03949495e-01 6.50289483e-02 3.61937154e+01] [-1.04223157e-01 9.94553598e-01 8.20972218e-04 -9.74064650e-01] [-6.45894349e-02 -7.59229978e-03 9.97883040e-01 -2.44584407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952791605 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.97, Z:-2.45 [[ 9.92702866e-01 1.01112030e-01 6.57067527e-02 3.62217650e+01] [-1.01387324e-01 9.94846657e-01 8.60217962e-04 -9.71144906e-01] [-6.52811649e-02 -7.51577267e-03 9.97838606e-01 -2.44574358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982791605 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.97, Z:-2.45 [[ 9.93003733e-01 9.74430879e-02 6.66965510e-02 3.62494172e+01] [-9.77206897e-02 9.95213469e-01 9.04636742e-04 -9.68599415e-01] [-6.62891553e-02 -7.41594063e-03 9.97772896e-01 -2.44706904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012791605000004 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.96, Z:-2.45 [[ 9.93850314e-01 9.02830259e-02 6.41134000e-02 3.62766747e+01] [-9.05265924e-02 9.95893633e-01 8.98276416e-04 -9.63082969e-01] [-6.37690278e-02 -6.69671992e-03 9.97942215e-01 -2.45001412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042791605000005 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.96, Z:-2.45 [[ 9.94074680e-01 8.77262935e-02 6.41843243e-02 3.63042995e+01] [-8.79670379e-02 9.96122953e-01 9.29051443e-04 -9.60454749e-01] [-6.38539764e-02 -6.56965140e-03 9.97937628e-01 -2.45237139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072791605 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.96, Z:-2.45 [[ 9.94112848e-01 8.72930406e-02 6.41838881e-02 3.63323636e+01] [-8.75347628e-02 9.96161005e-01 9.58330557e-04 -9.60253095e-01] [-6.38538309e-02 -6.57101014e-03 9.97937628e-01 -2.45393367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102791605 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.96, Z:-2.46 [[ 9.94546223e-01 8.21776509e-02 6.42233840e-02 3.63599297e+01] [-8.24109274e-02 9.96597945e-01 9.87156594e-04 -9.56228000e-01] [-6.39237704e-02 -6.27448150e-03 9.97935059e-01 -2.45563448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132791605 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.95, Z:-2.46 [[ 9.94638850e-01 8.01842350e-02 6.52996710e-02 3.63877334e+01] [-8.04231748e-02 9.96760273e-01 1.03452405e-03 -9.54207714e-01] [-6.50051654e-02 -6.28058467e-03 9.97865163e-01 -2.45657416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162791605 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.95, Z:-2.46 [[ 9.94975977e-01 7.62148113e-02 6.49161648e-02 3.64154107e+01] [-7.64445212e-02 9.97073275e-01 1.05845342e-03 -9.50477189e-01] [-6.46455032e-02 -6.01562086e-03 9.97890160e-01 -2.45598139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192791605000004 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:36.44, Y:-0.95, Z:-2.46 [[ 9.95013296e-01 7.44158222e-02 6.64140449e-02 3.64428977e+01] [-7.46543721e-02 9.97208847e-01 1.11387107e-03 -9.48575956e-01] [-6.61457834e-02 -6.06641534e-03 9.97791528e-01 -2.45704147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222791605000005 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.94, Z:-2.46 [[ 9.95409724e-01 6.84638078e-02 6.68744190e-02 3.64700583e+01] [-6.86944402e-02 9.97637081e-01 1.15261446e-03 -9.44406248e-01] [-6.66374878e-02 -5.74122442e-03 9.97760735e-01 -2.45673770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252791605 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:36.50, Y:-0.94, Z:-2.46 [[ 9.95741327e-01 6.49851043e-02 6.53922400e-02 3.65014371e+01] [-6.51997181e-02 9.97871571e-01 1.15098978e-03 -9.41689491e-01] [-6.51782600e-02 -5.40964371e-03 9.97858973e-01 -2.45789178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282791605 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.94, Z:-2.46 [[ 9.96289921e-01 5.80662569e-02 6.35193151e-02 3.65324432e+01] [-5.82545275e-02 9.98301141e-01 1.11443505e-03 -9.38326766e-01] [-6.33466937e-02 -4.81058810e-03 9.97979987e-01 -2.45878108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312791605 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.94, Z:-2.46 [[ 9.96521032e-01 5.47489160e-02 6.28362080e-02 3.65647149e+01] [-5.49263256e-02 9.98489806e-01 1.09815852e-03 -9.36958849e-01] [-6.26811902e-02 -4.54570009e-03 9.98023249e-01 -2.46195060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342791605 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.94, Z:-2.46 [[ 9.96762950e-01 5.22583382e-02 6.10957233e-02 3.65975864e+01] [-5.24208420e-02 9.98624521e-01 1.05891478e-03 -9.35304416e-01] [-6.09563503e-02 -4.25817628e-03 9.98131350e-01 -2.46344504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372791605 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.93, Z:-2.46 [[ 9.97000416e-01 4.86439393e-02 6.01991489e-02 3.66311844e+01] [-4.87945081e-02 9.98808305e-01 1.03281013e-03 -9.30479353e-01] [-6.00771699e-02 -3.96709998e-03 9.98185852e-01 -2.46354097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402791605000004 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.93, Z:-2.47 [[ 9.97186456e-01 4.48932168e-02 6.00314254e-02 3.66639821e+01] [-4.50355404e-02 9.98984865e-01 1.01924522e-03 -9.28449031e-01] [-5.99247282e-02 -3.71992521e-03 9.98195967e-01 -2.46554214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432791605 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.93, Z:-2.47 [[ 9.97232879e-01 4.29798010e-02 6.06574179e-02 3.66971297e+01] [-4.31209351e-02 9.99069340e-01 1.01904815e-03 -9.28628790e-01] [-6.05571680e-02 -3.63183290e-03 9.98158123e-01 -2.46796795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462791605 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:36.73, Y:-0.93, Z:-2.47 [[ 9.97326970e-01 4.05653800e-02 6.07730539e-02 3.67308435e+01] [-4.07018430e-02 9.99170827e-01 1.00869392e-03 -9.29106044e-01] [-6.06817445e-02 -3.47957295e-03 9.98151100e-01 -2.46994411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492791605 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.93, Z:-2.47 [[ 9.97608256e-01 3.59152044e-02 5.90581493e-02 3.67638536e+01] [-3.60343715e-02 9.99350096e-01 9.53696993e-04 -9.28817703e-01] [-5.89855149e-02 -3.07953929e-03 9.98254089e-01 -2.47094754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522791605 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.93, Z:-2.47 [[ 9.97700497e-01 3.34782321e-02 5.89315379e-02 3.67970316e+01] [-3.35910471e-02 9.99435234e-01 9.24457148e-04 -9.27500971e-01] [-5.88673062e-02 -2.90190342e-03 9.98261599e-01 -2.47136228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552791605 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.93, Z:-2.47 [[ 9.97693188e-01 3.15603397e-02 6.01019843e-02 3.68309412e+01] [-3.16725211e-02 9.99497881e-01 9.14542694e-04 -9.26840481e-01] [-6.00429427e-02 -2.81601438e-03 9.98191823e-01 -2.47077958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582791605000004 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.93, Z:-2.47 [[ 9.97584910e-01 3.23349560e-02 6.14719273e-02 3.68648052e+01] [-3.24519825e-02 9.99472885e-01 9.06044953e-04 -9.26808005e-01] [-6.14102276e-02 -2.89874268e-03 9.98108402e-01 -2.47232964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612791605 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.93, Z:-2.47 [[ 9.97418099e-01 3.63194369e-02 6.19518726e-02 3.68976553e+01] [-3.64441866e-02 9.99335299e-01 8.84492247e-04 -9.25343535e-01] [-6.18785688e-02 -3.13999418e-03 9.98078746e-01 -2.47497980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642791605 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:36.93, Y:-0.92, Z:-2.48 [[ 9.97223928e-01 4.00637937e-02 6.27640795e-02 3.69309451e+01] [-4.01974165e-02 9.99191381e-01 8.67187993e-04 -9.23125054e-01] [-6.26785844e-02 -3.38773446e-03 9.98028015e-01 -2.47710499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672791605 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.92, Z:-2.48 [[ 9.97108561e-01 4.25750372e-02 6.29434954e-02 3.69638790e+01] [-4.27127274e-02 9.99087039e-01 8.42951282e-04 -9.20695157e-01] [-6.28501418e-02 -3.52900230e-03 9.98016736e-01 -2.47881827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702791605 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.92, Z:-2.48 [[ 9.96862558e-01 4.72888003e-02 6.34729093e-02 3.69972367e+01] [-4.74373822e-02 9.98873865e-01 8.35055589e-04 -9.17076104e-01] [-6.33619415e-02 -3.84342431e-03 9.97983213e-01 -2.47940893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732791605 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.92, Z:-2.48 [[ 9.96679953e-01 4.81887132e-02 6.56271278e-02 3.70298439e+01] [-4.83477000e-02 9.98830217e-01 8.35638459e-04 -9.16194884e-01] [-6.55100899e-02 -4.00578479e-03 9.97843866e-01 -2.48169246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762791605000004 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.92, Z:-2.48 [[ 9.96698908e-01 4.69551834e-02 6.62306321e-02 3.70629998e+01] [-4.71134208e-02 9.98889203e-01 8.28458865e-04 -9.15270210e-01] [-6.61181629e-02 -3.94607568e-03 9.97803997e-01 -2.48331426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792791605000005 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.91, Z:-2.48 [[ 9.96959800e-01 4.37091918e-02 6.45032065e-02 3.70968818e+01] [-4.38506199e-02 9.99037796e-01 7.77801225e-04 -9.14450566e-01] [-6.44071442e-02 -3.60394215e-03 9.97917197e-01 -2.48345715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822791605 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.91, Z:-2.49 [[ 9.97409841e-01 3.72899817e-02 6.15066396e-02 3.71300971e+01] [-3.74047325e-02 9.99299942e-01 7.14911420e-04 -9.13495749e-01] [-6.14369224e-02 -3.01369909e-03 9.98106418e-01 -2.48558911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852791605 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.92, Z:-2.49 [[ 9.97683999e-01 3.25772949e-02 5.97106127e-02 3.71636679e+01] [-3.26756437e-02 9.99465783e-01 6.71159716e-04 -9.16232465e-01] [-5.96568497e-02 -2.62068802e-03 9.98215504e-01 -2.49071428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882791605 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:37.20, Y:-0.97, Z:-2.54 [[ 9.98655082e-01 4.35384223e-02 2.81501959e-02 3.72026658e+01] [-4.50503074e-02 9.97441105e-01 5.55131616e-02 -9.69129123e-01] [-2.56612070e-02 -5.67066759e-02 9.98061048e-01 -2.53637543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912791605 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.87, Z:-2.44 [[ 9.97719429e-01 2.57108644e-02 6.24090786e-02 3.72261140e+01] [-2.22843327e-02 9.98238047e-01 -5.49928218e-02 -8.73001432e-01] [-6.37130297e-02 5.34766621e-02 9.96534443e-01 -2.44009340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942791605000004 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.93, Z:-2.49 [[ 9.98066247e-01 1.47256401e-02 6.03897474e-02 3.72571700e+01] [-1.47987670e-02 9.99890201e-01 7.63814522e-04 -9.26178214e-01] [-6.03718690e-02 -1.65603129e-03 9.98174581e-01 -2.49231239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972791605000005 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.93, Z:-2.50 [[ 9.98170016e-01 1.16500163e-02 5.93371483e-02 3.72903161e+01] [-1.17145134e-02 9.99931110e-01 7.39204716e-04 -9.29076631e-01] [-5.93244488e-02 -1.43295780e-03 9.98237725e-01 -2.49504602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002791605 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.93, Z:-2.50 [[ 9.98182289e-01 8.46373922e-03 5.96697880e-02 3.73238914e+01] [-8.52175480e-03 9.99963432e-01 7.17867477e-04 -9.32339801e-01] [-5.96615302e-02 -1.22505390e-03 9.98217913e-01 -2.49869468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032791605 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:37.36, Y:-0.94, Z:-2.50 [[ 9.98262697e-01 9.22241177e-04 5.89129557e-02 3.73573299e+01] [-9.64236643e-04 9.99999301e-01 6.84415490e-04 -9.38763572e-01] [-5.89122833e-02 -7.40032484e-04 9.98262889e-01 -2.50024742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062791605 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:37.39, Y:-0.99, Z:-2.55 [[ 9.99185423e-01 6.56129407e-03 3.98175760e-02 3.73900575e+01] [-8.68866835e-03 9.98530454e-01 5.34924281e-02 -9.89821304e-01] [-3.94080827e-02 -5.37948161e-02 9.97774083e-01 -2.54575618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092791605 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.91, Z:-2.45 [[ 9.97790149e-01 -5.82250828e-03 6.61885019e-02 3.74198632e+01] [ 9.40310520e-03 9.98501262e-01 -5.39148608e-02 -9.05396605e-01] [-6.57753829e-02 5.44180944e-02 9.96349472e-01 -2.45248979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122791605 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.00, Z:-2.54 [[ 9.98859994e-01 -6.61885216e-03 4.72747540e-02 3.74494400e+01] [ 4.34226750e-03 9.98833192e-01 4.80978059e-02 -1.00217321e+00] [-4.75379457e-02 -4.78376945e-02 9.97723258e-01 -2.54406936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152791605000004 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:37.48, Y:-0.92, Z:-2.46 [[ 9.97687326e-01 -1.27481459e-02 6.67643966e-02 3.74781405e+01] [ 1.60476938e-02 9.98663956e-01 -4.91199964e-02 -9.21557075e-01] [-6.60490076e-02 5.00778125e-02 9.96558950e-01 -2.46150536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182791605 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:37.51, Y:-0.97, Z:-2.51 [[ 9.97754784e-01 -1.93697019e-02 6.41108818e-02 3.75092236e+01] [ 1.93478279e-02 9.99812350e-01 9.62072304e-04 -9.71918567e-01] [-6.41174865e-02 2.80494063e-04 9.97942318e-01 -2.50586646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212791605 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:37.54, Y:-0.98, Z:-2.51 [[ 9.97502252e-01 -2.13247889e-02 6.73387735e-02 3.75429203e+01] [ 2.13071879e-02 9.99772496e-01 9.79665538e-04 -9.79918781e-01] [-6.73443448e-02 4.57581321e-04 9.97729688e-01 -2.50720481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242791605 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.99, Z:-2.51 [[ 9.97412376e-01 -2.12317840e-02 6.86859744e-02 3.75766138e+01] [ 2.12153635e-02 9.99774460e-01 9.68599885e-04 -9.85092254e-01] [-6.86910480e-02 4.91104399e-04 9.97637860e-01 -2.50995910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272791605 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:37.61, Y:-0.99, Z:-2.51 [[ 9.97350492e-01 -2.17150415e-02 6.94294892e-02 3.76104302e+01] [ 2.17015587e-02 9.99764043e-01 9.48551180e-04 -9.89853348e-01] [-6.94337047e-02 5.60690151e-04 9.97586410e-01 -2.51248278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302791605 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:37.64, Y:-1.00, Z:-2.52 [[ 9.97220107e-01 -2.29594408e-02 7.08866895e-02 3.76437553e+01] [ 2.29507493e-02 9.99736158e-01 9.37192411e-04 -9.99291644e-01] [-7.08895040e-02 6.92315525e-04 9.97483934e-01 -2.51609096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332791605000004 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:37.68, Y:-1.01, Z:-2.52 [[ 9.97202422e-01 -2.16628377e-02 7.15405502e-02 3.76768493e+01] [ 2.16528943e-02 9.99765130e-01 9.14602165e-04 -1.00876683e+00] [-7.15435604e-02 6.37016474e-04 9.97437273e-01 -2.51933602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362791605 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:37.71, Y:-1.05, Z:-2.55 [[ 9.98425558e-01 -2.08013158e-02 5.20932884e-02 3.77100424e+01] [ 1.87704711e-02 9.99056043e-01 3.91751460e-02 -1.04792077e+00] [-5.28590092e-02 -3.81356515e-02 9.97873538e-01 -2.55125040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392791605 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.98, Z:-2.49 [[ 9.97141688e-01 -1.82469399e-02 7.33178254e-02 3.77426802e+01] [ 2.10686612e-02 9.99059451e-01 -3.78988685e-02 -9.83723544e-01] [-7.25573281e-02 3.93352502e-02 9.96588266e-01 -2.49088931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422791605 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:37.77, Y:-1.08, Z:-2.57 [[ 9.98465862e-01 -2.36400866e-02 5.00706456e-02 3.77699426e+01] [ 2.08507764e-02 9.98240092e-01 5.55154359e-02 -1.07957194e+00] [-5.12949156e-02 -5.43862557e-02 9.97201568e-01 -2.56559262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452791605 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:37.81, Y:-0.99, Z:-2.48 [[ 9.96788530e-01 -1.39902378e-02 7.88473194e-02 3.78065997e+01] [ 1.82264325e-02 9.98414029e-01 -5.32655925e-02 -9.85918968e-01] [-7.79770716e-02 5.45316370e-02 9.95462645e-01 -2.48219381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.84, Y:-1.04, Z:-2.53 [[ 9.96586712e-01 -1.31190025e-02 8.15034787e-02 3.78376385e+01] [ 1.30831686e-02 9.99913938e-01 9.73719402e-04 -1.04147453e+00] [-8.15092386e-02 9.59279338e-05 9.96672582e-01 -2.52679047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512791605000004 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:37.87, Y:-1.04, Z:-2.53 [[ 9.96585663e-01 -9.98977853e-03 8.19586549e-02 3.78708153e+01] [ 9.94589170e-03 9.99950093e-01 9.43730697e-04 -1.04438239e+00] [-8.19639922e-02 -1.25356577e-04 9.96635283e-01 -2.52901167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542791605000005 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:37.90, Y:-1.12, Z:-2.58 [[ 9.98547057e-01 -8.82230380e-03 5.31595871e-02 3.78965394e+01] [ 4.88978801e-03 9.97271681e-01 7.36565224e-02 -1.12247511e+00] [-5.36643710e-02 -7.32895646e-02 9.95865842e-01 -2.58366315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572791605 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.00, Z:-2.48 [[ 9.96394474e-01 5.11098408e-03 8.46872511e-02 3.79364557e+01] [ 8.94456606e-04 9.97495527e-01 -7.07239318e-02 -9.96292070e-01] [-8.48366230e-02 7.05446839e-02 9.93894459e-01 -2.47929505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.97, Y:-1.06, Z:-2.54 [[ 9.96442172e-01 4.35573513e-03 8.41666507e-02 3.79669994e+01] [-4.44701419e-03 9.99989710e-01 8.97055725e-04 -1.06351800e+00] [-8.41618772e-02 -1.26815444e-03 9.96451288e-01 -2.53685531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.07, Z:-2.54 [[ 9.96107388e-01 1.10315747e-02 8.74549964e-02 3.80007304e+01] [-1.11522147e-02 9.99937415e-01 8.90962823e-04 -1.07251290e+00] [-8.74396943e-02 -1.86281155e-03 9.96168073e-01 -2.53822845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:-1.16, Z:-2.60 [[ 9.98530349e-01 5.53440880e-03 5.39120895e-02 3.80223169e+01] [-1.02024672e-02 9.96182197e-01 8.67002865e-02 -1.16337497e+00] [-5.32264290e-02 -8.71229036e-02 9.94774621e-01 -2.59760647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692791605000004 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:38.07, Y:-1.01, Z:-2.48 [[ 9.95710682e-01 2.74254290e-02 8.83633578e-02 3.80665621e+01] [-2.01163071e-02 9.96382197e-01 -8.25702810e-02 -1.01376059e+00] [-9.03082020e-02 8.04385663e-02 9.92660096e-01 -2.48137498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722791605000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.10, Y:-1.10, Z:-2.55 [[ 9.95474500e-01 2.92193958e-02 9.04253617e-02 3.80958963e+01] [-2.94141394e-02 9.99566973e-01 8.21480584e-04 -1.09711566e+00] [-9.03622019e-02 -3.47754716e-03 9.95902896e-01 -2.54707277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752791605 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:38.13, Y:-1.10, Z:-2.55 [[ 9.95310066e-01 3.26039949e-02 9.10760741e-02 3.81287718e+01] [-3.28134311e-02 9.99461172e-01 8.02750719e-04 -1.10197931e+00] [-9.10008268e-02 -3.78750435e-03 9.95843614e-01 -2.54965884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782791605 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:38.16, Y:-1.11, Z:-2.55 [[ 9.95015951e-01 3.57049382e-02 9.31043208e-02 3.81625781e+01] [-3.59332561e-02 9.99353890e-01 7.76485267e-04 -1.10647199e+00] [-9.30164408e-02 -4.11815663e-03 9.95656056e-01 -2.55128294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812791605 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:38.20, Y:-1.11, Z:-2.55 [[ 9.94737519e-01 4.21463391e-02 9.33860467e-02 3.81959054e+01] [-4.24002262e-02 9.99100435e-01 7.35336008e-04 -1.11332219e+00] [-9.32710482e-02 -4.69105582e-03 9.95629703e-01 -2.55334467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842791605 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.23, Y:-1.12, Z:-2.56 [[ 9.94670385e-01 4.46493067e-02 9.29368817e-02 3.82290189e+01] [-4.49075924e-02 9.98990908e-01 6.88647917e-04 -1.11601140e+00] [-9.28123521e-02 -4.85854929e-03 9.95671764e-01 -2.55548331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872791605 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.26, Y:-1.12, Z:-2.56 [[ 9.94238034e-01 5.13009028e-02 9.41219866e-02 3.82619028e+01] [-5.15912949e-02 9.98668069e-01 6.52919960e-04 -1.12415095e+00] [-9.39631272e-02 -5.50503302e-03 9.95560458e-01 -2.55959368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902791605000004 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:38.29, Y:-1.13, Z:-2.56 [[ 9.93780607e-01 5.50587181e-02 9.67917532e-02 3.82949573e+01] [-5.53791690e-02 9.98465200e-01 6.25365053e-04 -1.12758685e+00] [-9.66087654e-02 -5.98172252e-03 9.95304459e-01 -2.56156504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932791605 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:38.33, Y:-1.13, Z:-2.56 [[ 9.93769055e-01 5.52664199e-02 9.67919851e-02 3.83285241e+01] [-5.55841700e-02 9.98453832e-01 5.87439501e-04 -1.12728770e+00] [-9.66098627e-02 -5.96388135e-03 9.95304459e-01 -2.56384147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962791605 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:38.36, Y:-1.13, Z:-2.56 [[ 9.92921061e-01 6.29463955e-02 1.00724966e-01 3.83618720e+01] [-6.33268920e-02 9.97992669e-01 5.81420412e-04 -1.13142350e+00] [-1.00486179e-01 -6.95590363e-03 9.94914139e-01 -2.56489426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992791605 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:38.40, Y:-1.13, Z:-2.57 [[ 9.92657525e-01 6.67263428e-02 1.00889216e-01 3.83955222e+01] [-6.71226787e-02 9.97744586e-01 5.35090144e-04 -1.13367747e+00] [-1.00625965e-01 -7.30311570e-03 9.94897522e-01 -2.56730098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022791605 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:38.43, Y:-1.14, Z:-2.57 [[ 9.92376712e-01 7.34669963e-02 9.89497975e-02 3.84285474e+01] [-7.38776180e-02 9.97267196e-01 4.87138473e-04 -1.13933781e+00] [-9.86435985e-02 -7.79360022e-03 9.95092307e-01 -2.57036037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052791605 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:38.46, Y:-1.14, Z:-2.57 [[ 9.92150370e-01 7.68101677e-02 9.86805065e-02 3.84619486e+01] [-7.72321124e-02 9.97013035e-01 4.57338737e-04 -1.14071645e+00] [-9.83506230e-02 -8.07505277e-03 9.95119062e-01 -2.57354393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082791605000004 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:38.49, Y:-1.14, Z:-2.58 [[ 9.91792723e-01 8.22931314e-02 9.78521091e-02 3.84948765e+01] [-8.27298808e-02 9.96571925e-01 4.07445543e-04 -1.14156617e+00] [-9.74831347e-02 -8.49939484e-03 9.95200884e-01 -2.57611441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112791605 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:38.53, Y:-1.14, Z:-2.58 [[ 9.91441021e-01 8.53223620e-02 9.88169893e-02 3.85280778e+01] [-8.57780822e-02 9.96314201e-01 3.64597514e-04 -1.14192916e+00] [-9.84216614e-02 -8.83780876e-03 9.95105557e-01 -2.57750350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142791605 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:38.56, Y:-1.14, Z:-2.58 [[ 9.91053085e-01 8.89047533e-02 9.95476154e-02 3.85613300e+01] [-8.93804496e-02 9.95997506e-01 3.20024782e-04 -1.14281584e+00] [-9.91207250e-02 -9.21477216e-03 9.95032748e-01 -2.58005448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172791605 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:38.59, Y:-1.14, Z:-2.58 [[ 9.90391973e-01 9.52341442e-02 1.00270626e-01 3.85948826e+01] [-9.57440910e-02 9.95405944e-01 2.74715902e-04 -1.14410807e+00] [-9.97838145e-02 -9.87239633e-03 9.94960163e-01 -2.58257696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202791605 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.14, Z:-2.58 [[ 9.89976363e-01 9.92124082e-02 1.00517158e-01 3.86279033e+01] [-9.97403691e-02 9.95013471e-01 2.28072402e-04 -1.14307189e+00] [-9.99932982e-02 -1.02514047e-02 9.94935299e-01 -2.58499848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232791605 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:38.66, Y:-1.14, Z:-2.59 [[ 9.89337985e-01 1.04891141e-01 1.01035640e-01 3.86611518e+01] [-1.05449872e-01 9.94424602e-01 1.90347665e-04 -1.14015672e+00] [-1.00452361e-01 -1.08425135e-02 9.94882789e-01 -2.58652571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262791605000004 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.14, Z:-2.59 [[ 9.89146548e-01 1.08065153e-01 9.95541511e-02 3.86946080e+01] [-1.08620477e-01 9.94083280e-01 1.58796038e-04 -1.13837488e+00] [-9.89479567e-02 -1.09706920e-02 9.95032133e-01 -2.58912150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292791605000005 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:38.73, Y:-1.13, Z:-2.59 [[ 9.88781403e-01 1.12615413e-01 9.81280036e-02 3.87278928e+01] [-1.13172375e-01 9.93575363e-01 1.10462139e-04 -1.13399432e+00] [-9.74851270e-02 -1.12146021e-02 9.95173795e-01 -2.59219592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322791605 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:38.76, Y:-1.13, Z:-2.60 [[ 9.88278247e-01 1.15255977e-01 1.00110774e-01 3.87608905e+01] [-1.15845309e-01 9.93267265e-01 7.40226957e-05 -1.13026543e+00] [-9.94282227e-02 -1.16705186e-02 9.94976295e-01 -2.59512773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352791605 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:38.79, Y:-1.12, Z:-2.60 [[ 9.87281249e-01 1.20085957e-01 1.04187799e-01 3.87942126e+01] [-1.20749119e-01 9.92683055e-01 5.80357443e-05 -1.12300272e+00] [-1.03418493e-01 -1.26378825e-02 9.94557640e-01 -2.59616400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382791605 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:38.83, Y:-1.12, Z:-2.60 [[ 9.87000413e-01 1.22266721e-01 1.04312194e-01 3.88269833e+01] [-1.22941519e-01 9.92413916e-01 3.96355223e-05 -1.11923351e+00] [-1.03516027e-01 -1.28634199e-02 9.94544602e-01 -2.59881860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412791605 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:38.86, Y:-1.11, Z:-2.60 [[ 9.86705154e-01 1.25318066e-01 1.03481017e-01 3.88601157e+01] [-1.25996656e-01 9.92030666e-01 2.11217672e-05 -1.10928330e+00] [-1.02653695e-01 -1.30591031e-02 9.94631429e-01 -2.60108806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442791605000004 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:38.89, Y:-1.10, Z:-2.60 [[ 9.86746012e-01 1.26373821e-01 1.01793739e-01 3.88934481e+01] [-1.27034002e-01 9.91898363e-01 3.03111000e-06 -1.10319280e+00] [-1.00968660e-01 -1.29342569e-02 9.94805526e-01 -2.60364782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472791605000005 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:38.93, Y:-1.09, Z:-2.61 [[ 9.86335859e-01 1.28864000e-01 1.02643279e-01 3.89259288e+01] [-1.29546902e-01 9.91573295e-01 -1.31214433e-05 -1.09185069e+00] [-1.01780025e-01 -1.32841767e-02 9.94718230e-01 -2.60674628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502791605 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:38.96, Y:-1.09, Z:-2.61 [[ 9.86221162e-01 1.29791675e-01 1.02576514e-01 3.89585522e+01] [-1.30477370e-01 9.91451287e-01 -2.51427197e-05 -1.08563711e+00] [-1.01702880e-01 -1.33591175e-02 9.94725117e-01 -2.60918175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532791605 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:38.99, Y:-1.08, Z:-2.61 [[ 9.86075105e-01 1.31035751e-01 1.02398827e-01 3.89901922e+01] [-1.31724611e-01 9.91286349e-01 -3.50698130e-05 -1.07846090e+00] [-1.01511155e-01 -1.34538642e-02 9.94743424e-01 -2.61141285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562791605 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:39.02, Y:-1.06, Z:-2.61 [[ 9.85994643e-01 1.32089675e-01 1.01817882e-01 3.90199473e+01] [-1.32775986e-01 9.91146072e-01 -3.68513705e-05 -1.06386404e+00] [-1.00921262e-01 -1.34826345e-02 9.94803055e-01 -2.61367616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592791605 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:39.05, Y:-1.06, Z:-2.62 [[ 9.86287531e-01 1.30673311e-01 1.00803725e-01 3.90481344e+01] [-1.31340395e-01 9.91337329e-01 -1.92161324e-05 -1.05747681e+00] [-9.99330066e-02 -1.32206485e-02 9.94906332e-01 -2.61565821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622791605 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:39.08, Y:-1.05, Z:-2.62 [[ 9.86892209e-01 1.26893173e-01 9.97090255e-02 3.90760165e+01] [-1.27531029e-01 9.91834581e-01 2.34910202e-05 -1.04601816e+00] [-9.88918787e-02 -1.27391778e-02 9.95016638e-01 -2.61963959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652791605000004 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:39.10, Y:-1.04, Z:-2.62 [[ 9.87215033e-01 1.25089077e-01 9.87886679e-02 3.91042462e+01] [-1.25710617e-01 9.92066952e-01 6.75306921e-05 -1.04048496e+00] [-9.79965252e-02 -1.24854517e-02 9.95108434e-01 -2.62215737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682791605 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:39.13, Y:-1.03, Z:-2.62 [[ 9.87647142e-01 1.21595020e-01 9.88320529e-02 3.91315396e+01] [-1.22204070e-01 9.92504989e-01 1.09645034e-04 -1.02837396e+00] [-9.80779732e-02 -1.21859698e-02 9.95104122e-01 -2.62370563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712791605 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:39.16, Y:-1.02, Z:-2.63 [[ 9.87940041e-01 1.19579815e-01 9.83623107e-02 3.91613137e+01] [-1.20176524e-01 9.92752528e-01 1.42705105e-04 -1.02288610e+00] [-9.76323680e-02 -1.19618247e-02 9.95150660e-01 -2.62523406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742791605 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:39.19, Y:-1.02, Z:-2.63 [[ 9.88485322e-01 1.16978075e-01 9.59838469e-02 3.91911944e+01] [-1.17534538e-01 9.93068785e-01 1.44714138e-04 -1.01810754e+00] [-9.53016338e-02 -1.14244649e-02 9.95382881e-01 -2.62718645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772791605 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:39.22, Y:-1.01, Z:-2.63 [[ 9.89072075e-01 1.12738481e-01 9.50077132e-02 3.92198613e+01] [-1.13265755e-01 9.93564715e-01 1.58077422e-04 -1.00929330e+00] [-9.43784901e-02 -1.09174703e-02 9.95476524e-01 -2.62977678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802791605 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:39.25, Y:-1.01, Z:-2.63 [[ 9.89673302e-01 1.09318351e-01 9.27159782e-02 3.92499847e+01] [-1.09808062e-01 9.93952794e-01 1.81496932e-04 -1.00532384e+00] [-9.21354646e-02 -1.03605846e-02 9.95692580e-01 -2.63207591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832791605000004 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:39.28, Y:-1.00, Z:-2.63 [[ 9.90511323e-01 1.03274237e-01 9.06738681e-02 3.92806416e+01] [-1.03717493e-01 9.94606782e-01 1.77499382e-04 -9.98851028e-01] [-9.01665130e-02 -9.58028141e-03 9.95880624e-01 -2.63376708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862791605 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:39.31, Y:-1.00, Z:-2.64 [[ 9.90888088e-01 1.00186831e-01 9.00188590e-02 3.93126659e+01] [-1.00610859e-01 9.94925839e-01 1.73679835e-04 -9.96985128e-01] [-8.95446884e-02 -9.22897201e-03 9.95940046e-01 -2.63656412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892791605 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:39.35, Y:-1.00, Z:-2.64 [[ 9.91801242e-01 9.38289268e-02 8.67549957e-02 3.93452025e+01] [-9.41976883e-02 9.95553500e-01 1.57545560e-04 -9.95639687e-01] [-8.63544573e-02 -8.32837393e-03 9.96229665e-01 -2.64091273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922791605 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:39.38, Y:-1.00, Z:-2.64 [[ 9.92127471e-01 9.09321181e-02 8.61070884e-02 3.93778837e+01] [-9.12837084e-02 9.95824916e-01 1.46398769e-04 -9.95669009e-01] [-8.57342717e-02 -8.00542059e-03 9.96285877e-01 -2.64301850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952791605 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:39.41, Y:-1.00, Z:-2.64 [[ 9.92848940e-01 8.38587590e-02 8.49628752e-02 3.94110767e+01] [-8.41744425e-02 9.96451025e-01 1.33702426e-04 -9.96725714e-01] [-8.46501320e-02 -7.28444897e-03 9.96384109e-01 -2.64374605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982791605 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:39.44, Y:-1.00, Z:-2.65 [[ 9.93214846e-01 7.96488612e-02 8.47368189e-02 3.94440079e+01] [-7.99463937e-02 9.96799157e-01 1.18335358e-04 -9.98868931e-01] [-8.44561644e-02 -6.89193552e-03 9.96403361e-01 -2.64602294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012791605000004 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:39.48, Y:-1.00, Z:-2.65 [[ 9.93598734e-01 7.62440459e-02 8.33570740e-02 3.94767235e+01] [-7.65188230e-02 9.97068132e-01 1.01938128e-04 -1.00146581e+00] [-8.31049099e-02 -6.47967079e-03 9.96519738e-01 -2.64771117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042791605000005 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:39.51, Y:-1.01, Z:-2.65 [[ 9.94130505e-01 7.13301843e-02 8.13421359e-02 3.95097250e+01] [-7.15743032e-02 9.97435267e-01 8.55256477e-05 -1.00776386e+00] [-8.11274145e-02 -5.90703036e-03 9.96686234e-01 -2.64932412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072791605 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:39.54, Y:-1.01, Z:-2.65 [[ 9.94293865e-01 6.98765679e-02 8.06038200e-02 3.95427438e+01] [-7.01100855e-02 9.97539258e-01 6.70962089e-05 -1.01102533e+00] [-8.04007864e-02 -5.71785406e-03 9.96746216e-01 -2.65202893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102791605 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:39.58, Y:-1.02, Z:-2.65 [[ 9.94595763e-01 6.72684057e-02 7.90836833e-02 3.95763766e+01] [-6.74820628e-02 9.97720487e-01 2.91752930e-05 -1.01922782e+00] [-7.89014485e-02 -5.36574771e-03 9.96867980e-01 -2.65432898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132791605 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:39.61, Y:-1.02, Z:-2.66 [[ 9.94624282e-01 6.64519987e-02 7.94145404e-02 3.96098210e+01] [-6.66618911e-02 9.97775622e-01 -8.16954448e-06 -1.02310909e+00] [-7.92384353e-02 -5.28579781e-03 9.96841678e-01 -2.65609894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162791605 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:39.64, Y:-1.03, Z:-2.66 [[ 9.94653733e-01 6.59409429e-02 7.94716563e-02 3.96427853e+01] [-6.61465713e-02 9.97809916e-01 -4.52076756e-05 -1.03134554e+00] [-7.93005877e-02 -5.21181159e-03 9.96837125e-01 -2.65682111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192791605000004 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:39.68, Y:-1.04, Z:-2.66 [[ 9.94518250e-01 6.68393252e-02 8.04111643e-02 3.96754534e+01] [-6.70499848e-02 9.97749614e-01 -8.05537345e-05 -1.03627380e+00] [-8.02355923e-02 -5.31145519e-03 9.96761776e-01 -2.65917983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222791605000005 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:39.71, Y:-1.05, Z:-2.66 [[ 9.94073486e-01 6.87654404e-02 8.41975037e-02 3.97090407e+01] [-6.90014804e-02 9.97616552e-01 -1.06885476e-04 -1.04570648e+00] [-8.40041733e-02 -5.70350038e-03 9.96449080e-01 -2.66022302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252791605 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:39.74, Y:-1.05, Z:-2.66 [[ 9.93946607e-01 6.90512828e-02 8.54521092e-02 3.97426171e+01] [-6.92919412e-02 9.97596414e-01 -1.50051252e-04 -1.05004681e+00] [-8.52570789e-02 -5.77199960e-03 9.96342268e-01 -2.66159823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282791605 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:39.78, Y:-1.05, Z:-2.66 [[ 9.93804521e-01 6.97892267e-02 8.64987690e-02 3.97755777e+01] [-7.00349602e-02 9.97544519e-01 -1.94228578e-04 -1.05436128e+00] [-8.62999279e-02 -5.86491260e-03 9.96251939e-01 -2.66300909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312791605 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:39.81, Y:-1.07, Z:-2.67 [[ 9.93806098e-01 6.95031886e-02 8.67107032e-02 3.98082514e+01] [-6.97458048e-02 9.97564769e-01 -2.32107253e-04 -1.06650977e+00] [-8.65156748e-02 -5.81703817e-03 9.96233507e-01 -2.66654565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342791605 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:39.84, Y:-1.08, Z:-2.67 [[ 9.93461985e-01 6.97823138e-02 9.03532732e-02 3.98416265e+01] [-7.00446673e-02 9.97543820e-01 -2.67855595e-04 -1.08120261e+00] [-9.01500409e-02 -6.06266062e-03 9.95909742e-01 -2.66969536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372791605 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:39.87, Y:-1.09, Z:-2.67 [[ 9.93237671e-01 7.04945835e-02 9.22466377e-02 3.98747780e+01] [-7.07670506e-02 9.97492819e-01 -3.18062522e-04 -1.08777054e+00] [-9.20377803e-02 -6.21211080e-03 9.95736138e-01 -2.67098265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402791605000004 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:39.91, Y:-1.09, Z:-2.67 [[ 9.93070283e-01 7.01634935e-02 9.42788250e-02 3.99081500e+01] [-7.04433702e-02 9.97515715e-01 -3.60311478e-04 -1.09450420e+00] [-9.40698903e-02 -6.28350355e-03 9.95545767e-01 -2.67139445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432791605 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.92, Z:-2.50 [[ 0.98825525 0.09920599 0.11623135 39.9883868 ] [-0.07032492 0.97054158 -0.23044183 -0.92062811] [-0.13566857 0.21956139 0.96611947 -2.49649238] [ 0. 0. 0. 1. ]] SLAMing on 38.462791605 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:39.97, Y:-1.35, Z:-2.81 [[ 0.99406027 0.05264372 0.09525133 39.97472558] [-0.07386513 0.96912336 0.23525277 -1.35103663] [-0.07992571 -0.24089118 0.96725556 -2.81019152] [ 0. 0. 0. 1. ]] SLAMing on 38.492791605 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:40.02, Y:-1.13, Z:-2.68 [[ 9.92812893e-01 6.60385495e-02 9.98071592e-02 4.00168107e+01] [-6.63437340e-02 9.97796793e-01 -2.61889468e-04 -1.13425336e+00] [-9.96045581e-02 -6.36157238e-03 9.95006765e-01 -2.67888151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522791605 meters Centerline goodness : 0.973560 Centerline is valid? [True, True] Translation: X:40.14, Y:-0.84, Z:-2.34 [[ 0.99012254 0.09510465 0.10301683 40.1417331 ] [-0.04656603 0.9161174 -0.39819657 -0.84403614] [-0.13224586 0.38946632 0.91149713 -2.34200693] [ 0. 0. 0. 1. ]] SLAMing on 38.552791605 meters Centerline goodness : 0.983577 Centerline is valid? [True, True] Translation: X:40.17, Y:-1.10, Z:-2.64 [[ 0.98775307 0.0958257 0.12313127 40.17274059] [-0.08797819 0.9938209 -0.06767456 -1.0984471 ] [-0.12885539 0.05601289 0.99008022 -2.63647756] [ 0. 0. 0. 1. ]] SLAMing on 38.582791605000004 meters Centerline goodness : 0.263148 Centerline is valid? [True, False] Translation: X:40.18, Y:-1.12, Z:-2.64 [[ 0.9890503 0.10086904 0.10772619 40.1805221 ] [-0.09518519 0.99384499 -0.0566738 -1.11609247] [-0.11277977 0.04579931 0.99256393 -2.64121824] [ 0. 0. 0. 1. ]] SLAMing on 38.612791605000005 meters Centerline goodness : 0.256398 Centerline is valid? [False, False] Translation: X:40.16, Y:-1.14, Z:-2.65 [[ 9.88185114e-01 1.13186363e-01 1.03339386e-01 4.01643557e+01] [-1.08586916e-01 9.92872818e-01 -4.91166885e-02 -1.14051461e+00] [-1.08162207e-01 3.73150751e-02 9.93432696e-01 -2.64540626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642791605 meters Centerline goodness : 0.227348 Centerline is valid? [False, False] Translation: X:40.17, Y:-1.15, Z:-2.65 [[ 9.88202348e-01 1.13809359e-01 1.02486823e-01 4.01670045e+01] [-1.09807575e-01 9.92983139e-01 -4.38951213e-02 -1.15421479e+00] [-1.06763363e-01 3.21234325e-02 9.93765400e-01 -2.64895556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672791605 meters Centerline goodness : 0.236165 Centerline is valid? [False, False] Translation: X:40.18, Y:-1.18, Z:-2.65 [[ 9.88863872e-01 1.21780352e-01 8.55440693e-02 4.01834610e+01] [-1.19271338e-01 9.92283748e-01 -3.38719772e-02 -1.17944884e+00] [-8.90089311e-02 2.32918188e-02 9.95758455e-01 -2.65266941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702791605 meters Centerline goodness : 0.264455 Centerline is valid? [False, False] Translation: X:40.18, Y:-1.19, Z:-2.65 [[ 9.88881700e-01 1.21721439e-01 8.54217473e-02 4.01830800e+01] [-1.19514775e-01 9.92363617e-01 -3.05069023e-02 -1.19132110e+00] [-8.84827782e-02 1.99585565e-02 9.95877730e-01 -2.65421135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732791605 meters Centerline goodness : 0.990117 Centerline is valid? [False, True] Translation: X:40.19, Y:-1.21, Z:-2.66 [[ 9.88964654e-01 1.21847000e-01 8.42746744e-02 4.01860733e+01] [-1.20053397e-01 9.92425555e-01 -2.60518475e-02 -1.20522931e+00] [-8.68106800e-02 1.56468954e-02 9.96101943e-01 -2.65818378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762791605000004 meters Centerline goodness : 0.309709 Centerline is valid? [True, False] Translation: X:40.17, Y:-1.23, Z:-2.66 [[ 9.88350026e-01 1.24433782e-01 8.76382277e-02 4.01746186e+01] [-1.23140257e-01 9.92187000e-01 -2.00358373e-02 -1.22738474e+00] [-8.94466453e-02 9.01062646e-03 9.95950855e-01 -2.66101725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792791605000005 meters Centerline goodness : 0.279769 Centerline is valid? [False, False] Translation: X:40.17, Y:-1.24, Z:-2.66 [[ 9.88095320e-01 1.25548048e-01 8.89118993e-02 4.01699644e+01] [-1.24468215e-01 9.92067328e-01 -1.76090694e-02 -1.23675188e+00] [-9.04173747e-02 6.33273361e-03 9.95883826e-01 -2.66160379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822791605 meters Centerline goodness : 0.986271 Centerline is valid? [False, True] Translation: X:40.16, Y:-1.26, Z:-2.66 [[ 9.87278807e-01 1.28995370e-01 9.29556408e-02 4.01564259e+01] [-1.28387653e-01 9.91645107e-01 -1.25136899e-02 -1.25551386e+00] [-9.37932145e-02 4.20144257e-04 9.95591611e-01 -2.66191399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852791605 meters Centerline goodness : 0.986271 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.27, Z:-2.67 [[ 9.87225892e-01 1.29206913e-01 9.32234497e-02 4.01897928e+01] [-1.29538099e-01 9.91571255e-01 -2.51541780e-03 -1.26541435e+00] [-9.27627024e-02 -9.59270288e-03 9.95642035e-01 -2.66711977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882791605 meters Centerline goodness : 0.280353 Centerline is valid? [True, False] Translation: X:40.18, Y:-1.27, Z:-2.67 [[ 9.87220376e-01 1.27869579e-01 9.51067870e-02 4.01818496e+01] [-1.27955351e-01 9.91766184e-01 -5.22144538e-03 -1.27061046e+00] [-9.49913593e-02 -7.01470504e-03 9.95453382e-01 -2.66620255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912791605 meters Centerline goodness : 0.894933 Centerline is valid? [False, False] Translation: X:40.18, Y:-1.28, Z:-2.67 [[ 9.85612262e-01 1.36477171e-01 9.97118362e-02 4.01786359e+01] [-1.35791680e-01 9.90643213e-01 -1.36617534e-02 -1.27733223e+00] [-1.00643371e-01 -7.48460556e-05 9.94922563e-01 -2.66557290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942791605000004 meters Centerline goodness : 0.321485 Centerline is valid? [False, False] Translation: X:40.17, Y:-1.29, Z:-2.67 [[ 9.85354673e-01 1.37431352e-01 1.00939544e-01 4.01741517e+01] [-1.36943247e-01 9.90508821e-01 -1.17822784e-02 -1.28554948e+00] [-1.01600763e-01 -2.21326585e-03 9.94822791e-01 -2.66684451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972791605000005 meters Centerline goodness : 0.970284 Centerline is valid? [False, True] Translation: X:40.17, Y:-1.29, Z:-2.67 [[ 9.85598721e-01 1.35714820e-01 1.00879381e-01 4.01723789e+01] [-1.35080664e-01 9.90747701e-01 -1.31227578e-02 -1.29328859e+00] [-1.01726968e-01 -6.93080576e-04 9.94812115e-01 -2.66932211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002791605 meters Centerline goodness : 0.335288 Centerline is valid? [True, False] Translation: X:40.16, Y:-1.31, Z:-2.67 [[ 9.85415341e-01 1.35484921e-01 1.02958452e-01 4.01635253e+01] [-1.34846749e-01 9.90778991e-01 -1.31660646e-02 -1.30927782e+00] [-1.03792875e-01 -9.09570625e-04 9.94598518e-01 -2.67289525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032791605 meters Centerline goodness : 0.359165 Centerline is valid? [False, False] Translation: X:40.16, Y:-1.31, Z:-2.67 [[ 9.85431499e-01 1.33986239e-01 1.04749459e-01 4.01557801e+01] [-1.33011406e-01 9.90980969e-01 -1.62691370e-02 -1.31444866e+00] [-1.05984561e-01 2.09924726e-03 9.94365560e-01 -2.67314731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062791605 meters Centerline goodness : 0.189734 Centerline is valid? [False, False] Translation: X:40.18, Y:-1.33, Z:-2.68 [[ 9.86931743e-01 1.30101011e-01 9.50760863e-02 4.01806645e+01] [-1.28750456e-01 9.91470652e-01 -2.02303526e-02 -1.32642840e+00] [-9.68971386e-02 7.72488775e-03 9.95264422e-01 -2.68197982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092791605 meters Centerline goodness : 0.258570 Centerline is valid? [False, False] Translation: X:40.18, Y:-1.33, Z:-2.69 [[ 9.86931561e-01 1.29670462e-01 9.56643325e-02 4.01783504e+01] [-1.28189297e-01 9.91516737e-01 -2.14956847e-02 -1.33262482e+00] [-9.76401422e-02 8.95162615e-03 9.95181527e-01 -2.68779863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122791605 meters Centerline goodness : 0.441847 Centerline is valid? [False, False] Translation: X:40.16, Y:-1.35, Z:-2.70 [[ 9.85855238e-01 1.32868275e-01 1.02154150e-01 4.01589832e+01] [-1.31293374e-01 9.91098988e-01 -2.20191952e-02 -1.34717640e+00] [-1.04170527e-01 8.29557591e-03 9.94524854e-01 -2.69782745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152791605000004 meters Centerline goodness : 0.597192 Centerline is valid? [False, False] Translation: X:40.15, Y:-1.35, Z:-2.70 [[ 9.85854633e-01 1.31394870e-01 1.04048211e-01 4.01512083e+01] [-1.29330459e-01 9.91250732e-01 -2.63745919e-02 -1.35087172e+00] [-1.06603351e-01 1.25449108e-02 9.94222486e-01 -2.70081249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182791605 meters Centerline goodness : 0.310082 Centerline is valid? [False, False] Translation: X:40.15, Y:-1.35, Z:-2.70 [[ 9.84032574e-01 1.37551150e-01 1.12958288e-01 4.01511701e+01] [-1.34308886e-01 9.90290274e-01 -3.58649800e-02 -1.35035213e+00] [-1.16794763e-01 2.01210066e-02 9.92952229e-01 -2.70117621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212791605 meters Centerline goodness : 0.359449 Centerline is valid? [False, False] Translation: X:40.16, Y:-1.34, Z:-2.70 [[ 9.82778935e-01 1.43808099e-01 1.16037903e-01 4.01573482e+01] [-1.39147178e-01 9.89138691e-01 -4.73572834e-02 -1.34125908e+00] [-1.21587941e-01 3.03953938e-02 9.92115161e-01 -2.70007858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242791605 meters Centerline goodness : 0.459367 Centerline is valid? [False, False] Translation: X:40.16, Y:-1.34, Z:-2.71 [[ 9.82840669e-01 1.43188081e-01 1.16281524e-01 4.01563374e+01] [-1.38179872e-01 9.89139818e-01 -5.00873566e-02 -1.34447075e+00] [-1.22190598e-01 3.31601249e-02 9.91952551e-01 -2.70774832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272791605 meters Centerline goodness : 0.547344 Centerline is valid? [False, False] Translation: X:40.19, Y:-1.35, Z:-2.71 [[ 9.82378517e-01 1.42881186e-01 1.20488242e-01 4.01855252e+01] [-1.37341586e-01 9.89097606e-01 -5.31339395e-02 -1.34780590e+00] [-1.26766472e-01 3.56495944e-02 9.91291767e-01 -2.71305110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302791605 meters Centerline goodness : 0.390330 Centerline is valid? [False, False] Translation: X:40.19, Y:-1.35, Z:-2.72 [[ 9.82519256e-01 1.42206747e-01 1.20138057e-01 4.01873893e+01] [-1.36291220e-01 9.89076799e-01 -5.61407922e-02 -1.34586997e+00] [-1.26809365e-01 3.87856470e-02 9.91168532e-01 -2.72195782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332791605000004 meters Centerline goodness : 0.135403 Centerline is valid? [False, False] Translation: X:40.20, Y:-1.35, Z:-2.73 [[ 9.81957900e-01 1.37713058e-01 1.29590882e-01 4.01956306e+01] [-1.31601876e-01 9.89795870e-01 -5.46358997e-02 -1.35095721e+00] [-1.35792596e-01 3.65957503e-02 9.90061171e-01 -2.72724138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362791605000005 meters Centerline goodness : 0.127408 Centerline is valid? [False, False] Translation: X:40.20, Y:-1.35, Z:-2.74 [[ 9.82179544e-01 1.36716413e-01 1.28964980e-01 4.01983667e+01] [-1.30237060e-01 9.89817471e-01 -5.74428658e-02 -1.35093281e+00] [-1.35505173e-01 3.96231879e-02 9.89984016e-01 -2.73691830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392791605 meters Centerline goodness : 0.579307 Centerline is valid? [False, False] Translation: X:40.20, Y:-1.36, Z:-2.75 [[ 9.80275046e-01 1.36596733e-01 1.42836152e-01 4.01999539e+01] [-1.29722125e-01 9.89943564e-01 -5.64261512e-02 -1.35607815e+00] [-1.49107357e-01 3.67841387e-02 9.88136591e-01 -2.74536955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422791605 meters Centerline goodness : 0.563494 Centerline is valid? [False, False] Translation: X:40.24, Y:-1.34, Z:-2.75 [[ 0.9821706 0.13475436 0.13108082 40.24108467] [-0.12679781 0.98964294 -0.0672991 -1.34422576] [-0.13879205 0.04947844 0.98908475 -2.75027452] [ 0. 0. 0. 1. ]] SLAMing on 39.452791605 meters Centerline goodness : 0.385394 Centerline is valid? [False, False] Translation: X:40.25, Y:-1.34, Z:-2.77 [[ 0.98200044 0.13768156 0.12930169 40.25169843] [-0.13019212 0.98937352 -0.06473059 -1.34449495] [-0.13683988 0.0467314 0.98949028 -2.76837202] [ 0. 0. 0. 1. ]] SLAMing on 39.482791605 meters Centerline goodness : 0.726728 Centerline is valid? [False, False] Translation: X:40.25, Y:-1.34, Z:-2.78 [[ 0.97936331 0.14195744 0.14385965 40.253995 ] [-0.13413756 0.98897581 -0.06272134 -1.3428928 ] [-0.15117748 0.04213 0.98760844 -2.7763407 ] [ 0. 0. 0. 1. ]] SLAMing on 39.512791605000004 meters Centerline goodness : 0.732107 Centerline is valid? [False, False] Translation: X:40.31, Y:-1.34, Z:-2.78 [[ 0.98058397 0.13938657 0.13793643 40.3118256 ] [-0.13163734 0.98924038 -0.06383637 -1.33600783] [-0.14535022 0.04443934 0.98838174 -2.78047122] [ 0. 0. 0. 1. ]] SLAMing on 39.542791605000005 meters Centerline goodness : 0.730759 Centerline is valid? [False, False] Translation: X:40.33, Y:-1.34, Z:-2.80 [[ 0.98084362 0.14087945 0.13453167 40.32893099] [-0.13375357 0.98915647 -0.06065849 -1.33559686] [-0.1416184 0.04150241 0.98905095 -2.80072029] [ 0. 0. 0. 1. ]] SLAMing on 39.572791605 meters Centerline goodness : 0.727635 Centerline is valid? [False, False] Translation: X:40.35, Y:-1.33, Z:-2.82 [[ 0.98136422 0.14099738 0.13055268 40.3474769 ] [-0.13408213 0.98912972 -0.0603687 -1.3335512 ] [-0.13764536 0.0417389 0.98960175 -2.82455037] [ 0. 0. 0. 1. ]] SLAMing on 39.602791605 meters Centerline goodness : 0.740297 Centerline is valid? [False, False] Translation: X:40.40, Y:-1.33, Z:-2.82 [[ 0.98338463 0.13244128 0.12415301 40.40183225] [-0.12506726 0.98998705 -0.06545088 -1.32544989] [-0.13157827 0.04883591 0.99010212 -2.81894025] [ 0. 0. 0. 1. ]] SLAMing on 39.632791605 meters Centerline goodness : 0.719777 Centerline is valid? [False, False] Translation: X:40.42, Y:-1.32, Z:-2.84 [[ 0.98340719 0.13460569 0.12162071 40.42000166] [-0.12777307 0.98984054 -0.06236781 -1.32271452] [-0.12878017 0.0457931 0.99061529 -2.84158765] [ 0. 0. 0. 1. ]] SLAMing on 39.662791605 meters Centerline goodness : 0.244630 Centerline is valid? [False, False] Translation: X:40.48, Y:-1.31, Z:-2.84 [[ 0.98556117 0.12543279 0.11373561 40.4785934 ] [-0.11825639 0.99066473 -0.06781462 -1.30881834] [-0.12118003 0.05338549 0.99119392 -2.83775294] [ 0. 0. 0. 1. ]] SLAMing on 39.692791605000004 meters Centerline goodness : 0.217852 Centerline is valid? [False, False] Translation: X:40.50, Y:-1.30, Z:-2.86 [[ 0.98618904 0.12381909 0.11000008 40.50083763] [-0.11684796 0.99083755 -0.06773105 -1.30473167] [-0.11737861 0.05394233 0.99162114 -2.85986536] [ 0. 0. 0. 1. ]] SLAMing on 39.722791605000005 meters Centerline goodness : 0.521817 Centerline is valid? [False, False] Translation: X:40.52, Y:-1.30, Z:-2.87 [[ 0.98686667 0.12088122 0.10715369 40.51914649] [-0.11399855 0.9911369 -0.06820546 -1.30110065] [-0.11444873 0.05509433 0.99190025 -2.87427064] [ 0. 0. 0. 1. ]] SLAMing on 39.752791605 meters Centerline goodness : 0.360717 Centerline is valid? [False, False] Translation: X:40.58, Y:-1.29, Z:-2.87 [[ 0.98843043 0.1145904 0.09936963 40.5764802 ] [-0.10753688 0.99146828 -0.07366456 -1.28776631] [-0.10696309 0.06212639 0.99232011 -2.87172875] [ 0. 0. 0. 1. ]] SLAMing on 39.782791605 meters Centerline goodness : 0.637208 Centerline is valid? [False, False] Translation: X:40.61, Y:-1.29, Z:-2.88 [[ 0.98953154 0.10733627 0.09646893 40.61155463] [-0.10088255 0.99247006 -0.06946866 -1.28599449] [-0.10319904 0.0590094 0.99290878 -2.88336268] [ 0. 0. 0. 1. ]] SLAMing on 39.812791605 meters Centerline goodness : 0.257889 Centerline is valid? [False, False] Translation: X:40.63, Y:-1.29, Z:-2.90 [[ 0.99002963 0.10540161 0.0934443 40.63326945] [-0.09948181 0.99285437 -0.06590572 -1.28634172] [-0.09972315 0.05595261 0.99344079 -2.8967256 ] [ 0. 0. 0. 1. ]] SLAMing on 39.842791605 meters Centerline goodness : 0.549200 Centerline is valid? [False, False] Translation: X:40.65, Y:-1.28, Z:-2.91 [[ 0.99064198 0.10191063 0.09078927 40.65140005] [-0.09615729 0.99319897 -0.06564737 -1.28432151] [-0.09686197 0.05630299 0.99370405 -2.90772052] [ 0. 0. 0. 1. ]] SLAMing on 39.872791605 meters Centerline goodness : 0.729679 Centerline is valid? [False, False] Translation: X:40.68, Y:-1.28, Z:-2.92 [[ 0.99133147 0.09589881 0.08980726 40.68050351] [-0.09056169 0.99397543 -0.06173674 -1.28481389] [-0.09518669 0.05306847 0.99404388 -2.91795731] [ 0. 0. 0. 1. ]] SLAMing on 39.902791605000004 meters Centerline goodness : 0.310082 Centerline is valid? [False, False] Translation: X:40.73, Y:-1.28, Z:-2.93 [[ 0.99273858 0.09703796 0.07108966 40.73488833] [-0.09257975 0.99367603 -0.06353686 -1.27795734] [-0.07680557 0.05649403 0.99544429 -2.9332983 ] [ 0. 0. 0. 1. ]] SLAMing on 39.932791605 meters Centerline goodness : 0.591897 Centerline is valid? [False, False] Translation: X:40.78, Y:-1.26, Z:-2.93 [[ 0.99290314 0.0993028 0.06543938 40.77811313] [-0.09477399 0.99310336 -0.06901888 -1.26312114] [-0.07184184 0.06232711 0.99546677 -2.93279361] [ 0. 0. 0. 1. ]] SLAMing on 39.962791605 meters Centerline goodness : 0.363081 Centerline is valid? [False, False] Translation: X:40.78, Y:-1.27, Z:-2.95 [[ 0.99342091 0.09024001 0.07050979 40.78279333] [-0.08577756 0.99426009 -0.06394601 -1.26895571] [-0.07587556 0.05747715 0.99545933 -2.94613364] [ 0. 0. 0. 1. ]] SLAMing on 39.992791605 meters Centerline goodness : 0.595443 Centerline is valid? [False, False] Translation: X:40.84, Y:-1.26, Z:-2.95 [[ 0.99456736 0.0898634 0.05253898 40.83753949] [-0.08632073 0.99406525 -0.06620432 -1.26019267] [-0.05817652 0.06130946 0.99642192 -2.94826304] [ 0. 0. 0. 1. ]] SLAMing on 40.022791605 meters Centerline goodness : 0.537236 Centerline is valid? [False, False] Translation: X:40.86, Y:-1.26, Z:-2.96 [[ 0.99508612 0.08579015 0.0494334 40.86277769] [-0.08268435 0.99465911 -0.06177824 -1.26279231] [-0.05446935 0.0573873 0.99686498 -2.95790137] [ 0. 0. 0. 1. ]] SLAMing on 40.052791605 meters SLAMing on 40.082791605000004 meters Centerline goodness : 0.631178 Centerline is valid? [False, False] Translation: X:40.91, Y:-1.27, Z:-2.97 [[ 0.99613069 0.07591043 0.04428614 40.91020095] [-0.07336749 0.99570502 -0.05646888 -1.26659135] [-0.04838251 0.05300122 0.99742168 -2.97489145] [ 0. 0. 0. 1. ]] SLAMing on 40.112791605000005 meters Centerline goodness : 0.627601 Centerline is valid? [False, False] Translation: X:40.93, Y:-1.27, Z:-2.98 [[ 0.99651672 0.07187731 0.04228568 40.92711822] [-0.06949206 0.99604269 -0.05540593 -1.26757559] [-0.04610077 0.05227442 0.99756809 -2.98223913] [ 0. 0. 0. 1. ]] SLAMing on 40.142791605 meters Centerline goodness : 0.636364 Centerline is valid? [False, False] Translation: X:40.96, Y:-1.27, Z:-2.99 [[ 9.97025361e-01 6.64191591e-02 3.91014751e-02 4.09559310e+01] [-6.44261149e-02 9.96659167e-01 -5.01974258e-02 -1.27019702e+00] [-4.23049144e-02 4.75289504e-02 9.97973593e-01 -2.98971540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172791605 meters Centerline goodness : 0.674140 Centerline is valid? [False, False] Translation: X:40.95, Y:-1.28, Z:-3.00 [[ 0.99725283 0.06096058 0.04207859 40.95352706] [-0.0590949 0.99727144 -0.04424335 -1.27670927] [-0.04466087 0.04163517 0.99813422 -3.00156246] [ 0. 0. 0. 1. ]] SLAMing on 40.202791605 meters Centerline goodness : 0.679876 Centerline is valid? [False, False] Translation: X:40.98, Y:-1.28, Z:-3.01 [[ 9.97734817e-01 5.50223025e-02 3.87011774e-02 4.09824178e+01] [-5.35178249e-02 9.97809230e-01 -3.88919431e-02 -1.28356024e+00] [-4.07563162e-02 3.67326429e-02 9.98493683e-01 -3.01071694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232791605 meters Centerline goodness : 0.695019 Centerline is valid? [False, False] Translation: X:41.00, Y:-1.28, Z:-3.00 [[ 9.97664534e-01 5.85071239e-02 3.52476037e-02 4.10022538e+01] [-5.69362393e-02 9.97406257e-01 -4.40343362e-02 -1.27674814e+00] [-3.77325028e-02 4.19246295e-02 9.98408025e-01 -3.00462897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262791605000004 meters Centerline goodness : 0.710412 Centerline is valid? [False, False] Translation: X:41.04, Y:-1.28, Z:-3.01 [[ 9.98008826e-01 5.45555242e-02 3.16556010e-02 4.10356058e+01] [-5.34526165e-02 9.97967301e-01 -3.46998987e-02 -1.28450311e+00] [-3.34843259e-02 3.29387305e-02 9.98896311e-01 -3.01421114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292791605000005 meters Centerline goodness : 0.688211 Centerline is valid? [False, False] Translation: X:41.04, Y:-1.29, Z:-3.02 [[ 9.98040691e-01 5.44069074e-02 3.08976986e-02 4.10441648e+01] [-5.34745251e-02 9.98111182e-01 -3.02414325e-02 -1.28800253e+00] [-3.24846813e-02 2.85299404e-02 9.99064957e-01 -3.01506335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322791605 meters Centerline goodness : 0.588423 Centerline is valid? [False, False] Translation: X:41.07, Y:-1.30, Z:-3.02 [[ 9.98299556e-01 5.07341374e-02 2.87061579e-02 4.10746643e+01] [-5.01511676e-02 9.98527584e-01 -2.06766543e-02 -1.29796733e+00] [-2.97129027e-02 1.92018475e-02 9.99374020e-01 -3.02444442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352791605 meters Centerline goodness : 0.736389 Centerline is valid? [False, False] Translation: X:41.08, Y:-1.30, Z:-3.03 [[ 9.98107917e-01 5.85551814e-02 1.87583534e-02 4.10780753e+01] [-5.82420189e-02 9.98160658e-01 -1.68276044e-02 -1.30024064e+00] [-1.97091938e-02 1.57032409e-02 9.99682428e-01 -3.02654427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382791605 meters Centerline goodness : 0.600479 Centerline is valid? [False, False] Translation: X:41.09, Y:-1.30, Z:-3.03 [[ 9.98087340e-01 5.91015216e-02 1.81293311e-02 4.10856769e+01] [-5.88870878e-02 9.98190797e-01 -1.21426511e-02 -1.30377351e+00] [-1.88141806e-02 1.10518428e-02 9.99761913e-01 -3.02729421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412791605 meters Centerline goodness : 0.593427 Centerline is valid? [False, False] Translation: X:41.08, Y:-1.30, Z:-3.03 [[ 9.97909484e-01 6.16850296e-02 1.92774279e-02 4.10807683e+01] [-6.14624246e-02 9.98038042e-01 -1.19346732e-02 -1.30163095e+00] [-1.99757971e-02 1.07248861e-02 9.99742939e-01 -3.02591250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442791605000004 meters Centerline goodness : 0.411149 Centerline is valid? [False, False] Translation: X:41.07, Y:-1.30, Z:-3.02 [[ 9.97598160e-01 6.59639496e-02 2.11345342e-02 4.10727673e+01] [-6.58030251e-02 9.97798757e-01 -8.22209408e-03 -1.30349400e+00] [-2.16303737e-02 6.81162965e-03 9.99742831e-01 -3.01978649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472791605000005 meters Centerline goodness : 0.179372 Centerline is valid? [False, False] Translation: X:41.08, Y:-1.31, Z:-3.02 [[ 9.97534806e-01 6.70228734e-02 2.07905217e-02 4.10787698e+01] [-6.69668794e-02 9.97749478e-01 -3.37865493e-03 -1.30791825e+00] [-2.09701793e-02 1.97804953e-03 9.99778145e-01 -3.02037581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502791605 meters Centerline goodness : 0.322009 Centerline is valid? [False, False] Translation: X:41.08, Y:-1.30, Z:-3.01 [[ 9.96859131e-01 7.62381908e-02 2.14385308e-02 4.10798924e+01] [-7.59623810e-02 9.97020652e-01 -1.33991257e-02 -1.29585034e+00] [-2.23961830e-02 1.17285190e-02 9.99680375e-01 -3.01470950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532791605 meters Centerline goodness : 0.263497 Centerline is valid? [False, False] Translation: X:41.09, Y:-1.31, Z:-3.02 [[ 9.96748986e-01 7.79095132e-02 2.05320652e-02 4.10935692e+01] [-7.78526064e-02 9.96958532e-01 -3.55772182e-03 -1.30590881e+00] [-2.07467979e-02 1.94768083e-03 9.99782865e-01 -3.01656498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562791605 meters Centerline goodness : 0.295391 Centerline is valid? [False, False] Translation: X:41.09, Y:-1.29, Z:-3.01 [[ 9.95941529e-01 8.74014015e-02 2.14817445e-02 4.10933030e+01] [-8.71149492e-02 9.96100884e-01 -1.39289230e-02 -1.29363401e+00] [-2.26153920e-02 1.20010118e-02 9.99672206e-01 -3.01117495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592791605 meters Centerline goodness : 0.250294 Centerline is valid? [False, False] Translation: X:41.09, Y:-1.30, Z:-3.01 [[ 9.95447373e-01 9.24991373e-02 2.29877565e-02 4.10909995e+01] [-9.23365114e-02 9.95695397e-01 -8.04025837e-03 -1.29932223e+00] [-2.36325203e-02 5.88104483e-03 9.99703415e-01 -3.01077810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622791605 meters Centerline goodness : 0.241375 Centerline is valid? [False, False] Translation: X:41.08, Y:-1.30, Z:-3.01 [[ 9.95103230e-01 9.57381670e-02 2.45716273e-02 4.10836829e+01] [-9.55954251e-02 9.95396201e-01 -6.92227048e-03 -1.30074049e+00] [-2.51212300e-02 4.53943855e-03 9.99674106e-01 -3.00923715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652791605000004 meters Centerline goodness : 0.217409 Centerline is valid? [False, False] Translation: X:41.08, Y:-1.30, Z:-3.01 [[ 9.94703221e-01 9.90842409e-02 2.73462199e-02 4.10750670e+01] [-9.89762263e-02 9.95075796e-01 -5.27892776e-03 -1.30408914e+00] [-2.77346201e-02 2.54434079e-03 9.99612083e-01 -3.00680641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682791605 meters Centerline goodness : 0.417142 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.30, Z:-3.00 [[ 9.94384722e-01 1.01474623e-01 3.00320880e-02 4.10612300e+01] [-1.01327703e-01 9.94832657e-01 -6.37813479e-03 -1.30397403e+00] [-3.05241207e-02 3.29923729e-03 9.99528585e-01 -3.00062840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712791605 meters Centerline goodness : 0.193005 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.31, Z:-3.00 [[ 9.94205144e-01 1.02866672e-01 3.12182487e-02 4.10574503e+01] [-1.02758252e-01 9.94693480e-01 -5.06193353e-03 -1.30568105e+00] [-3.15732927e-02 1.82466769e-03 9.99499774e-01 -2.99826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742791605 meters Centerline goodness : 0.035350 Centerline is valid? [False, False] Translation: X:41.05, Y:-1.31, Z:-2.99 [[ 9.94130442e-01 1.02687167e-01 3.40589261e-02 4.10546645e+01] [-1.02677676e-01 9.94712604e-01 -2.03226632e-03 -1.31209989e+00] [-3.40875308e-02 -1.47675355e-03 9.99417760e-01 -2.99343728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772791605 meters Centerline goodness : 0.035350 Centerline is valid? [False, False] Translation: X:41.05, Y:-1.31, Z:-2.99 [[ 9.94130442e-01 1.02687167e-01 3.40589261e-02 4.10546645e+01] [-1.02677676e-01 9.94712604e-01 -2.03226632e-03 -1.31209989e+00] [-3.40875308e-02 -1.47675355e-03 9.99417760e-01 -2.99343728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802791605 meters Centerline goodness : 0.458314 Centerline is valid? [False, False] Translation: X:41.04, Y:-1.32, Z:-2.99 [[ 9.93252950e-01 1.07373605e-01 4.38119483e-02 4.10373393e+01] [-1.07822872e-01 9.94137798e-01 8.01669326e-03 -1.32280208e+00] [-4.26943325e-02 -1.26865343e-02 9.99007631e-01 -2.99165169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832791605000004 meters Centerline goodness : 0.111150 Centerline is valid? [False, False] Translation: X:41.04, Y:-1.33, Z:-2.99 [[ 9.93421283e-01 1.05367255e-01 4.48541740e-02 4.10392568e+01] [-1.05950381e-01 9.94312534e-01 1.08213208e-02 -1.33267530e+00] [-4.34588545e-02 -1.55024473e-02 9.98934934e-01 -2.98998947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862791605000005 meters Centerline goodness : 0.221002 Centerline is valid? [False, False] Translation: X:41.04, Y:-1.34, Z:-2.99 [[ 9.93413335e-01 1.05256090e-01 4.52890774e-02 4.10389357e+01] [-1.05949274e-01 9.94284170e-01 1.31810527e-02 -1.33838036e+00] [-4.36428267e-02 -1.78925784e-02 9.98886960e-01 -2.98758479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892791605 meters Centerline goodness : 0.228547 Centerline is valid? [False, False] Translation: X:41.04, Y:-1.35, Z:-2.99 [[ 9.93207238e-01 1.07268909e-01 4.50861898e-02 4.10426745e+01] [-1.08251759e-01 9.93923365e-01 1.99474769e-02 -1.34701385e+00] [-4.26724733e-02 -2.46926378e-02 9.98783927e-01 -2.98604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922791605 meters Centerline goodness : 0.138928 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.37, Z:-2.99 [[ 9.93837869e-01 1.01817970e-01 4.38108517e-02 4.10644631e+01] [-1.03192586e-01 9.94198409e-01 3.03449159e-02 -1.36834068e+00] [-4.04670214e-02 -3.46788816e-02 9.98578888e-01 -2.98712782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952791605 meters Centerline goodness : 0.891348 Centerline is valid? [False, False] Translation: X:41.07, Y:-1.39, Z:-2.99 [[ 9.93567711e-01 1.04225130e-01 4.42755608e-02 4.10667790e+01] [-1.05984805e-01 9.93584986e-01 3.94473875e-02 -1.38633112e+00] [-3.98801234e-02 -4.38861872e-02 9.98240241e-01 -2.98562263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982791605 meters Centerline goodness : 0.899307 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.39, Z:-2.98 [[ 9.93710046e-01 1.02082971e-01 4.60370655e-02 4.10607231e+01] [-1.03830325e-01 9.93895119e-01 3.73062395e-02 -1.39005712e+00] [-4.19476830e-02 -4.18516285e-02 9.98242873e-01 -2.98188148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012791605000004 meters Centerline goodness : 0.868620 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.39, Z:-2.98 [[ 9.93856484e-01 9.98830427e-02 4.76724913e-02 4.10550860e+01] [-1.01583312e-01 9.94222377e-01 3.46799048e-02 -1.39278560e+00] [-4.39331232e-02 -3.93095779e-02 9.98260806e-01 -2.97894881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042791605000005 meters Centerline goodness : 0.873244 Centerline is valid? [False, False] Translation: X:41.05, Y:-1.41, Z:-2.97 [[ 9.93612593e-01 1.01015379e-01 5.02981910e-02 4.10496850e+01] [-1.03032768e-01 9.93902458e-01 3.92702458e-02 -1.40693637e+00] [-4.60245969e-02 -4.42017726e-02 9.97961893e-01 -2.97492623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072791605 meters Centerline goodness : 0.906625 Centerline is valid? [False, False] Translation: X:41.04, Y:-1.41, Z:-2.97 [[ 9.93699408e-01 9.91063548e-02 5.23394449e-02 4.10425951e+01] [-1.01106820e-01 9.94185055e-01 3.70605871e-02 -1.41206165e+00] [-4.83621543e-02 -4.21189583e-02 9.97941429e-01 -2.97200538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102791605 meters Centerline goodness : 0.848118 Centerline is valid? [False, False] Translation: X:41.03, Y:-1.42, Z:-2.97 [[ 9.93628311e-01 9.77714683e-02 5.60670999e-02 4.10322478e+01] [-9.98971014e-02 9.94330015e-01 3.64470875e-02 -1.42289245e+00] [-5.21857150e-02 -4.18157987e-02 9.97761540e-01 -2.96772878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132791605 meters Centerline goodness : 0.834850 Centerline is valid? [False, False] Translation: X:41.03, Y:-1.43, Z:-2.97 [[ 9.93729689e-01 9.56541210e-02 5.78929509e-02 4.10260699e+01] [-9.76859074e-02 9.94658669e-01 3.33406005e-02 -1.42510811e+00] [-5.43945597e-02 -3.87868701e-02 9.97765910e-01 -2.96558825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162791605 meters Centerline goodness : 0.879715 Centerline is valid? [False, False] Translation: X:41.02, Y:-1.42, Z:-2.96 [[ 9.94105821e-01 9.03277653e-02 5.99542421e-02 4.10179860e+01] [-9.19832149e-02 9.95435376e-01 2.54460116e-02 -1.42408600e+00] [-5.73820922e-02 -3.08108122e-02 9.97876741e-01 -2.96254039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192791605000004 meters Centerline goodness : 0.894854 Centerline is valid? [False, False] Translation: X:41.01, Y:-1.43, Z:-2.96 [[ 9.94106019e-01 8.85551003e-02 6.25397314e-02 4.10104388e+01] [-9.01331661e-02 9.95667010e-01 2.28739547e-02 -1.42930647e+00] [-6.02431420e-02 -2.83760400e-02 9.97780319e-01 -2.96054508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222791605000005 meters Centerline goodness : 0.885282 Centerline is valid? [False, False] Translation: X:41.01, Y:-1.43, Z:-2.96 [[ 9.93907578e-01 8.93985386e-02 6.44641599e-02 4.10063909e+01] [-9.11346437e-02 9.95536967e-01 2.45076179e-02 -1.43438153e+00] [-6.19855091e-02 -3.02332254e-02 9.97619040e-01 -2.95839445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252791605 meters Centerline goodness : 0.893527 Centerline is valid? [False, False] Translation: X:41.00, Y:-1.43, Z:-2.96 [[ 9.94037011e-01 8.69387816e-02 6.58184623e-02 4.10018310e+01] [-8.84715990e-02 9.95862797e-01 2.07380352e-02 -1.43422971e+00] [-6.37432184e-02 -2.64374391e-02 9.97616090e-01 -2.95638686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282791605 meters Centerline goodness : 0.547366 Centerline is valid? [False, False] Translation: X:41.00, Y:-1.43, Z:-2.95 [[ 9.94220996e-01 8.40654399e-02 6.67653519e-02 4.09985144e+01] [-8.53785461e-02 9.96202540e-01 1.70588250e-02 -1.43481130e+00] [-6.50777555e-02 -2.26605707e-02 9.97622867e-01 -2.95466745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312791605 meters Centerline goodness : 0.535037 Centerline is valid? [False, False] Translation: X:41.00, Y:-1.44, Z:-2.95 [[ 9.94210589e-01 8.39041800e-02 6.71222334e-02 4.09984912e+01] [-8.52886634e-02 9.96193160e-01 1.80286318e-02 -1.43923159e+00] [-6.53540322e-02 -2.36490222e-02 9.97581863e-01 -2.95494777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342791605 meters Centerline goodness : 0.762769 Centerline is valid? [False, False] Translation: X:41.00, Y:-1.44, Z:-2.95 [[ 9.94429906e-01 8.08910373e-02 6.75707133e-02 4.09965092e+01] [-8.19886986e-02 9.96540080e-01 1.36279923e-02 -1.43736181e+00] [-6.62345416e-02 -1.90921180e-02 9.97621409e-01 -2.95470526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372791605 meters Centerline goodness : 0.369303 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.44, Z:-2.95 [[ 9.94646215e-01 7.76754263e-02 6.81574292e-02 4.09948017e+01] [-7.85291441e-02 9.96862332e-01 9.93302365e-03 -1.43749267e+00] [-6.71720219e-02 -1.52321890e-02 9.97625130e-01 -2.95303085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402791605000004 meters Centerline goodness : 0.323460 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.44, Z:-2.95 [[ 9.94983021e-01 7.18362456e-02 6.96300390e-02 4.09893779e+01] [-7.21202535e-02 9.97394708e-01 1.57024872e-03 -1.43502687e+00] [-6.93358317e-02 -6.58410688e-03 9.97571648e-01 -2.95089189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432791605 meters Centerline goodness : 0.274423 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.44, Z:-2.95 [[ 9.94970747e-01 7.18905872e-02 6.97492311e-02 4.09892528e+01] [-7.22511087e-02 9.97382935e-01 2.65658520e-03 -1.43854600e+00] [-6.93757094e-02 -7.68268385e-03 9.97561019e-01 -2.95059935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462791605 meters Centerline goodness : 0.268130 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.44, Z:-2.95 [[ 9.94972945e-01 7.18713511e-02 6.97376992e-02 4.09898012e+01] [-7.23182625e-02 9.97373975e-01 3.90175592e-03 -1.44341814e+00] [-6.92741417e-02 -8.92545082e-03 9.97557732e-01 -2.95106802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492791605 meters Centerline goodness : 0.240073 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.45, Z:-2.95 [[ 9.94943341e-01 7.20415371e-02 6.99840327e-02 4.09897802e+01] [-7.25730325e-02 9.97350171e-01 5.07853125e-03 -1.44674912e+00] [-6.94327217e-02 -1.01318043e-02 9.97535184e-01 -2.95008485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522791605 meters Centerline goodness : 0.898377 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.45, Z:-2.95 [[ 9.94946848e-01 7.20060396e-02 6.99707044e-02 4.09899841e+01] [-7.26086955e-02 9.97341821e-01 6.10481357e-03 -1.44990252e+00] [-6.93451263e-02 -1.11544466e-02 9.97530366e-01 -2.94930552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552791605 meters Centerline goodness : 0.426848 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.45, Z:-2.95 [[ 9.95100946e-01 6.90565936e-02 7.07481031e-02 4.09873260e+01] [-6.94227478e-02 9.97583604e-01 2.72680742e-03 -1.45150287e+00] [-7.03888436e-02 -7.62497636e-03 9.97490486e-01 -2.94760530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582791605000004 meters Centerline goodness : 0.410051 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.46, Z:-2.95 [[ 9.95126975e-01 6.87751499e-02 7.06560870e-02 4.09882092e+01] [-6.92719609e-02 9.97587196e-01 4.60240557e-03 -1.45920095e+00] [-7.01690765e-02 -9.47446363e-03 9.97490118e-01 -2.94743266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612791605000005 meters Centerline goodness : 0.279350 Centerline is valid? [False, False] Translation: X:40.99, Y:-1.46, Z:-2.95 [[ 9.95379807e-01 6.51818186e-02 7.05008477e-02 4.09882618e+01] [-6.54062535e-02 9.97858333e-01 8.77197585e-04 -1.45987826e+00] [-7.02926810e-02 -5.48434108e-03 9.97511334e-01 -2.94756880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642791605 meters Centerline goodness : 0.339570 Centerline is valid? [False, False] Translation: X:41.02, Y:-1.47, Z:-2.95 [[ 9.96530874e-01 5.30931164e-02 6.40885192e-02 4.10207220e+01] [-5.34510895e-02 9.98562920e-01 3.88281027e-03 -1.46835528e+00] [-6.37902683e-02 -7.29494148e-03 9.97936664e-01 -2.94973284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672791605 meters Centerline goodness : 0.287377 Centerline is valid? [False, False] Translation: X:41.02, Y:-1.47, Z:-2.95 [[ 9.96574274e-01 5.27742097e-02 6.36757325e-02 4.10220776e+01] [-5.31775201e-02 9.98574227e-01 4.65456475e-03 -1.47082232e+00] [-6.33393044e-02 -8.02473703e-03 9.97959787e-01 -2.94956768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702791605 meters Centerline goodness : 0.806286 Centerline is valid? [False, False] Translation: X:41.02, Y:-1.47, Z:-2.95 [[ 9.96726427e-01 4.93684794e-02 6.40248656e-02 4.10207702e+01] [-4.95550536e-02 9.98770510e-01 1.32839234e-03 -1.47241621e+00] [-6.38805670e-02 -4.49679939e-03 9.97947419e-01 -2.94806463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732791605 meters Centerline goodness : 0.238151 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.48, Z:-2.95 [[ 9.97487431e-01 4.79860657e-02 5.21168132e-02 4.10571584e+01] [-4.79552992e-02 9.98847785e-01 -1.84138799e-03 -1.47634955e+00] [-5.21451244e-02 -6.62515991e-04 9.98639298e-01 -2.94783829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762791605000004 meters Centerline goodness : 0.249808 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.48, Z:-2.95 [[ 9.97508699e-01 4.78019874e-02 5.18783766e-02 4.10580167e+01] [-4.78178962e-02 9.98855632e-01 -9.35204785e-04 -1.48018353e+00] [-5.18637133e-02 -1.54783992e-03 9.98652972e-01 -2.94853500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792791605000005 meters Centerline goodness : 0.286767 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.49, Z:-2.95 [[ 9.97507211e-01 4.78917381e-02 5.18241841e-02 4.10586017e+01] [-4.79850564e-02 9.98847898e-01 5.57227073e-04 -1.48681152e+00] [-5.17377908e-02 -3.04262442e-03 9.98656069e-01 -2.94931300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822791605 meters Centerline goodness : 0.240106 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.49, Z:-2.95 [[ 9.97603922e-01 4.48527866e-02 5.26748808e-02 4.10559719e+01] [-4.47550961e-02 9.98993384e-01 -3.03328038e-03 -1.48890611e+00] [-5.27579085e-02 6.68543048e-04 9.98607108e-01 -2.94913902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852791605 meters Centerline goodness : 0.191801 Centerline is valid? [False, False] Translation: X:41.05, Y:-1.49, Z:-2.95 [[ 9.97547178e-01 4.53943859e-02 5.32820613e-02 4.10543772e+01] [-4.53618637e-02 9.98968963e-01 -1.82019016e-03 -1.49449555e+00] [-5.33097519e-02 -6.01248043e-04 9.98577843e-01 -2.94973530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882791605 meters Centerline goodness : 0.191990 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.49, Z:-2.95 [[ 9.96557315e-01 5.82714564e-02 5.89741969e-02 4.10601223e+01] [-5.81481164e-02 9.98300708e-01 -3.80684134e-03 -1.49075291e+00] [-5.90958127e-02 3.64497118e-04 9.98252249e-01 -2.95032752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912791605 meters Centerline goodness : 0.477965 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.49, Z:-2.95 [[ 9.96468017e-01 5.89948582e-02 5.97586575e-02 4.10581929e+01] [-5.88863204e-02 9.98258286e-01 -3.57724092e-03 -1.49203628e+00] [-5.98656138e-02 4.56387144e-05 9.98206445e-01 -2.95101760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942791605000004 meters Centerline goodness : 0.467715 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.49, Z:-2.95 [[ 9.95249701e-01 7.16811338e-02 6.58775189e-02 4.10632009e+01] [-7.14378346e-02 9.97426739e-01 -6.04449033e-03 -1.48910438e+00] [-6.61412748e-02 1.30962990e-03 9.97809409e-01 -2.95200652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972791605000005 meters Centerline goodness : 0.466125 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.49, Z:-2.95 [[ 9.95355785e-01 6.91488609e-02 6.69723595e-02 4.10598587e+01] [-6.86199559e-02 9.97591049e-01 -1.01685919e-02 -1.48983010e+00] [-6.75141730e-02 5.52572646e-03 9.97703013e-01 -2.95331622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002791605 meters Centerline goodness : 0.510528 Centerline is valid? [False, False] Translation: X:41.06, Y:-1.49, Z:-2.95 [[ 9.95436992e-01 6.67496861e-02 6.81885272e-02 4.10564471e+01] [-6.59125600e-02 9.97720680e-01 -1.44561234e-02 -1.48937988e+00] [-6.89980454e-02 9.89567958e-03 9.97567715e-01 -2.95447767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032791605 meters Centerline goodness : 0.181187 Centerline is valid? [False, False] Translation: X:41.09, Y:-1.48, Z:-2.96 [[ 9.95921756e-01 6.86192202e-02 5.85769383e-02 4.10897080e+01] [-6.76043744e-02 9.97528663e-01 -1.91367411e-02 -1.48289396e+00] [-5.97453232e-02 1.50986396e-02 9.98099458e-01 -2.95733139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062791605 meters Centerline goodness : 0.527040 Centerline is valid? [False, False] Translation: X:41.09, Y:-1.48, Z:-2.96 [[ 9.95891695e-01 6.89413880e-02 5.87095894e-02 4.10896753e+01] [-6.79180467e-02 9.97505108e-01 -1.92535498e-02 -1.48375942e+00] [-5.98904817e-02 1.51870097e-02 9.98089417e-01 -2.95958529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092791605 meters Centerline goodness : 0.152199 Centerline is valid? [False, False] Translation: X:41.10, Y:-1.49, Z:-2.96 [[ 9.95874999e-01 6.13517471e-02 6.68502000e-02 4.11010415e+01] [-6.01580489e-02 9.97993909e-01 -1.97272857e-02 -1.48705936e+00] [-6.79263959e-02 1.56243330e-02 9.97567985e-01 -2.96303487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122791605 meters Centerline goodness : 0.143895 Centerline is valid? [False, False] Translation: X:41.10, Y:-1.50, Z:-2.98 [[ 9.95178257e-01 5.84222455e-02 7.87850133e-02 4.10955992e+01] [-5.80857788e-02 9.98290058e-01 -6.55762679e-03 -1.50497018e+00] [-7.90334067e-02 1.94971875e-03 9.96870061e-01 -2.97607074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152791605000004 meters Centerline goodness : 0.146040 Centerline is valid? [False, False] Translation: X:41.12, Y:-1.50, Z:-2.98 [[ 9.95870503e-01 5.77214732e-02 7.00726265e-02 4.11239581e+01] [-5.69757350e-02 9.98296096e-01 -1.25964659e-02 -1.49664121e+00] [-7.06803160e-02 8.55200942e-03 9.97462358e-01 -2.97590018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182791605000006 meters Centerline goodness : 0.137135 Centerline is valid? [False, False] Translation: X:41.12, Y:-1.50, Z:-2.98 [[ 9.95811392e-01 5.70207276e-02 7.14724349e-02 4.11249645e+01] [-5.60167369e-02 9.98302014e-01 -1.59754244e-02 -1.49610993e+00] [-7.22620060e-02 1.19048570e-02 9.97314633e-01 -2.98336653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212791605 meters Centerline goodness : 0.137914 Centerline is valid? [False, False] Translation: X:41.13, Y:-1.50, Z:-2.99 [[ 9.95962066e-01 5.52509753e-02 7.07593960e-02 4.11295378e+01] [-5.41477327e-02 9.98381020e-01 -1.74172952e-02 -1.49741189e+00] [-7.16071605e-02 1.35155045e-02 9.97341339e-01 -2.98869757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242791605 meters Centerline goodness : 0.139681 Centerline is valid? [False, False] Translation: X:41.15, Y:-1.50, Z:-2.99 [[ 9.96410733e-01 4.24615145e-02 7.32302663e-02 4.11502706e+01] [-4.10757466e-02 9.98949237e-01 -2.03274247e-02 -1.50065800e+00] [-7.40164519e-02 1.72464763e-02 9.97107880e-01 -2.99152482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272791605 meters Centerline goodness : 0.137471 Centerline is valid? [False, False] Translation: X:41.17, Y:-1.51, Z:-3.00 [[ 9.96673311e-01 3.42843927e-02 7.39384278e-02 4.11737959e+01] [-3.30765472e-02 9.99299613e-01 -1.74992715e-02 -1.50590799e+00] [-7.44865942e-02 1.49954290e-02 9.97109264e-01 -2.99667435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302791605 meters Centerline goodness : 0.716023 Centerline is valid? [False, False] Translation: X:41.38, Y:-1.44, Z:-3.03 [[ 9.99000333e-01 -1.25830137e-02 4.28952568e-02 4.13824986e+01] [ 1.47586908e-02 9.98600436e-01 -5.07872945e-02 -1.44047178e+00] [-4.21961649e-02 5.13696019e-02 9.97787877e-01 -3.03103716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332791605000004 meters Centerline goodness : 0.717852 Centerline is valid? [False, False] Translation: X:41.38, Y:-1.45, Z:-3.03 [[ 9.99034189e-01 -9.38043072e-03 4.29266485e-02 4.13849765e+01] [ 1.13439246e-02 9.98889511e-01 -4.57281144e-02 -1.45025797e+00] [-4.24500295e-02 4.61709064e-02 9.98031183e-01 -3.03424520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362791605000005 meters Centerline goodness : 0.724548 Centerline is valid? [False, False] Translation: X:41.39, Y:-1.46, Z:-3.04 [[ 9.99072691e-01 -5.81646368e-03 4.26606086e-02 4.13862757e+01] [ 7.55650021e-03 9.99141177e-01 -4.07407370e-02 -1.45681659e+00] [-4.23870037e-02 4.10253226e-02 9.98258616e-01 -3.03615329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392791605 meters Centerline goodness : 0.720949 Centerline is valid? [False, False] Translation: X:41.39, Y:-1.46, Z:-3.04 [[ 9.99064822e-01 -4.36304434e-03 4.30167955e-02 4.13913916e+01] [ 5.99090272e-03 9.99267880e-01 -3.77864059e-02 -1.46449176e+00] [-4.28204383e-02 3.80087784e-02 9.98359526e-01 -3.04353701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422791605 meters Centerline goodness : 0.146871 Centerline is valid? [False, False] Translation: X:41.39, Y:-1.47, Z:-3.05 [[ 9.99083697e-01 -1.15818115e-03 4.27834568e-02 4.13927856e+01] [ 2.55981175e-03 9.99461253e-01 -3.27208018e-02 -1.47359739e+00] [-4.27225107e-02 3.28003372e-02 9.98548409e-01 -3.04607039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452791605 meters Centerline goodness : 0.145759 Centerline is valid? [False, False] Translation: X:41.40, Y:-1.48, Z:-3.05 [[ 9.99117238e-01 -3.98349601e-05 4.20088555e-02 4.13980251e+01] [ 1.33330201e-03 9.99525825e-01 -3.07627745e-02 -1.47949019e+00] [-4.19877105e-02 3.07916288e-02 9.98643534e-01 -3.05269392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482791605 meters Centerline goodness : 0.157000 Centerline is valid? [False, False] Translation: X:41.40, Y:-1.49, Z:-3.06 [[ 9.99107849e-01 3.38719427e-03 4.20955249e-02 4.13993312e+01] [-2.31362016e-03 9.99671484e-01 -2.55258836e-02 -1.48801041e+00] [-4.21681570e-02 2.54057176e-02 9.98787463e-01 -3.05514434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 959.40 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%| | 0/1416 [00:00