+ python -m lidar_slam --no-model /working/3ccff880-fefc-452c-b418-efcd68683228 Lidar SLAM 0.0.15 ===================================================== 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: True 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 : 0.985323 Centerline is valid? [0, True] SLAMing on 0.032791605 meters Centerline goodness : 0.983817 Centerline is valid? [True, True] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99976505e-01 -6.85482757e-03 0.00000000e+00 2.19820704e-02] [ 6.85482757e-03 9.99976505e-01 0.00000000e+00 6.88207956e-05] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88901452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062791605 meters Centerline goodness : 0.989426 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:0.02 [[ 0.99957947 0.02899812 0. 0.0623444 ] [-0.02899812 0.99957947 0. 0.00534562] [ 0. 0. 1. 0.01548911] [ 0. 0. 0. 1. ]] SLAMing on 0.09279160500000001 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:0.09, Y:0.00, Z:0.03 [[ 0.99919767 0.04005009 0. 0.09248901] [-0.04005009 0.99919767 0. 0.00455876] [ 0. 0. 1. 0.02584225] [ 0. 0. 0. 1. ]] SLAMing on 0.12279160500000001 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:0.11, Y:0.00, Z:0.02 [[ 0.99824581 0.05920554 0. 0.11376719] [-0.05920554 0.99824581 0. 0.0044422 ] [ 0. 0. 1. 0.02331898] [ 0. 0. 0. 1. ]] SLAMing on 0.15279160500000002 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.00, Z:-0.01 [[ 0.99998133 0.00611044 0. 0.15100388] [-0.00611044 0.99998133 0. -0.00486344] [ 0. 0. 1. -0.00901403] [ 0. 0. 0. 1. ]] SLAMing on 0.18279160500000002 meters Centerline goodness : 0.981269 Centerline is valid? [True, True] Translation: X:0.16, Y:0.00, Z:0.02 [[ 0.99698056 0.0776516 0. 0.16196119] [-0.0776516 0.99698056 0. 0.00491839] [ 0. 0. 1. 0.01870261] [ 0. 0. 0. 1. ]] SLAMing on 0.21279160500000002 meters Centerline goodness : 0.988887 Centerline is valid? [True, True] Translation: X:0.20, Y:0.00, Z:0.02 [[ 0.99722994 0.07438036 0. 0.19627583] [-0.07438036 0.99722994 0. 0.00213332] [ 0. 0. 1. 0.0201406 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24279160500000002 meters Centerline goodness : 0.987668 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.03, Z:0.01 [[ 0.999925 0.01224735 0. 0.31318117] [-0.01224735 0.999925 0. -0.02976663] [ 0. 0. 1. 0.00962608] [ 0. 0. 0. 1. ]] SLAMing on 0.272791605 meters Centerline goodness : 0.980931 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.04, Z:-0.01 [[ 0.99938016 -0.03520368 0. 0.34322934] [ 0.03520368 0.99938016 0. -0.03849512] [ 0. 0. 1. -0.01167773] [ 0. 0. 0. 1. ]] SLAMing on 0.302791605 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.04, Z:0.02 [[ 0.99995386 0.0096061 0. 0.32807245] [-0.0096061 0.99995386 0. -0.04261823] [ 0. 0. 1. 0.02283216] [ 0. 0. 0. 1. ]] SLAMing on 0.332791605 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.05, Z:-0.01 [[ 0.99968179 -0.02522521 0. 0.38033044] [ 0.02522521 0.99968179 0. -0.04588787] [ 0. 0. 1. -0.0056561 ] [ 0. 0. 0. 1. ]] SLAMing on 0.362791605 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.05, Z:0.00 [[ 0.99961707 -0.02767137 0. 0.43026124] [ 0.02767137 0.99961707 0. -0.04764565] [ 0. 0. 1. 0.00389826] [ 0. 0. 0. 1. ]] SLAMing on 0.392791605 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.04, Z:0.02 [[ 9.99999854e-01 5.40040578e-04 0.00000000e+00 4.21813122e-01] [-5.40040578e-04 9.99999854e-01 0.00000000e+00 -3.92538090e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47407633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422791605 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.05, Z:0.00 [[ 0.99977118 -0.02139139 0. 0.45806217] [ 0.02139139 0.99977118 0. -0.04675868] [ 0. 0. 1. 0.00431827] [ 0. 0. 0. 1. ]] SLAMing on 0.452791605 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.06, Z:0.02 [[ 0.99972577 -0.02341772 0. 0.49485209] [ 0.02341772 0.99972577 0. -0.05705861] [ 0. 0. 1. 0.02159126] [ 0. 0. 0. 1. ]] SLAMing on 0.482791605 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.03, Z:-0.02 [[ 0.9999906 -0.00433669 0. 0.47906801] [ 0.00433669 0.9999906 0. -0.02877138] [ 0. 0. 1. -0.01843031] [ 0. 0. 0. 1. ]] SLAMing on 0.512791605 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.04, Z:0.01 [[ 0.99996826 -0.00796768 0. 0.52222142] [ 0.00796768 0.99996826 0. -0.03838645] [ 0. 0. 1. 0.009678 ] [ 0. 0. 0. 1. ]] SLAMing on 0.542791605 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.04, Z:-0.00 [[ 0.99984806 -0.01743142 0. 0.5698044 ] [ 0.01743142 0.99984806 0. -0.04364992] [ 0. 0. 1. -0.0010093 ] [ 0. 0. 0. 1. ]] SLAMing on 0.572791605 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.04, Z:-0.00 [[ 0.99988459 -0.01519212 0. 0.59795408] [ 0.01519212 0.99988459 0. -0.04169891] [ 0. 0. 1. -0.0021276 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6027916050000001 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.05, Z:0.01 [[ 0.99943838 -0.03351008 0. 0.65588512] [ 0.03351008 0.99943838 0. -0.05260291] [ 0. 0. 1. 0.006285 ] [ 0. 0. 0. 1. ]] SLAMing on 0.632791605 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.05, Z:0.01 [[ 0.99921144 -0.03970502 0. 0.69702445] [ 0.03970502 0.99921144 0. -0.04888616] [ 0. 0. 1. 0.0134308 ] [ 0. 0. 0. 1. ]] SLAMing on 0.662791605 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.05, Z:0.00 [[ 0.99926837 -0.03824565 0. 0.7217868 ] [ 0.03824565 0.99926837 0. -0.04882279] [ 0. 0. 1. 0.00337073] [ 0. 0. 0. 1. ]] SLAMing on 0.692791605 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.05, Z:0.02 [[ 0.99837499 -0.05698584 0. 0.7647018 ] [ 0.05698584 0.99837499 0. -0.04777802] [ 0. 0. 1. 0.01576911] [ 0. 0. 0. 1. ]] SLAMing on 0.7227916050000001 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.05, Z:0.00 [[ 9.98817924e-01 -4.86081776e-02 0.00000000e+00 7.92061991e-01] [ 4.86081776e-02 9.98817924e-01 0.00000000e+00 -4.73397867e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18757872e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7527916050000001 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.04, Z:-0.00 [[ 0.99861547 -0.05260369 0. 0.8199026 ] [ 0.05260369 0.99861547 0. -0.03926465] [ 0. 0. 1. -0.00481556] [ 0. 0. 0. 1. ]] SLAMing on 0.782791605 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.04, Z:-0.00 [[ 0.99828115 -0.05860666 0. 0.85148517] [ 0.05860666 0.99828115 0. -0.03879401] [ 0. 0. 1. -0.00481556] [ 0. 0. 0. 1. ]] SLAMing on 0.812791605 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.04, Z:0.01 [[ 0.99986731 -0.01629022 0. 0.79428553] [ 0.01629022 0.99986731 0. -0.03905465] [ 0. 0. 1. 0.01252071] [ 0. 0. 0. 1. ]] SLAMing on 0.842791605 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.04, Z:0.01 [[ 0.99996351 -0.00854235 0. 0.81245336] [ 0.00854235 0.99996351 0. -0.03585976] [ 0. 0. 1. 0.00588404] [ 0. 0. 0. 1. ]] SLAMing on 0.8727916050000001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.03, Z:0.02 [[ 0.99992015 -0.0126372 0. 0.85828005] [ 0.0126372 0.99992015 0. -0.02924661] [ 0. 0. 1. 0.02368316] [ 0. 0. 0. 1. ]] SLAMing on 0.902791605 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.03, Z:0.03 [[ 0.999906 -0.01371133 0. 0.89292703] [ 0.01371133 0.999906 0. -0.02728946] [ 0. 0. 1. 0.0257336 ] [ 0. 0. 0. 1. ]] SLAMing on 0.932791605 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.03, Z:0.03 [[ 0.99987567 -0.01576833 0. 0.92717206] [ 0.01576833 0.99987567 0. -0.02668885] [ 0. 0. 1. 0.02584563] [ 0. 0. 0. 1. ]] SLAMing on 0.962791605 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.03, Z:0.02 [[ 0.99968666 -0.02503173 0. 0.95782498] [ 0.02503173 0.99968666 0. -0.02697746] [ 0. 0. 1. 0.02289032] [ 0. 0. 0. 1. ]] SLAMing on 0.9927916050000001 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.03, Z:0.02 [[ 0.9995451 -0.03015943 0. 0.98924366] [ 0.03015943 0.9995451 0. -0.02723979] [ 0. 0. 1. 0.02047175] [ 0. 0. 0. 1. ]] SLAMing on 1.022791605 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.03, Z:0.02 [[ 0.99933844 -0.0363688 0. 1.02074994] [ 0.0363688 0.99933844 0. -0.026589 ] [ 0. 0. 1. 0.01720186] [ 0. 0. 0. 1. ]] SLAMing on 1.0527916050000001 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.01, Z:0.01 [[ 9.99999476e-01 1.02324782e-03 0.00000000e+00 1.10775521e+00] [-1.02324782e-03 9.99999476e-01 0.00000000e+00 -1.38203356e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67068345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0827916050000002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.03, Z:0.02 [[ 0.99923081 -0.03921465 0. 1.06392487] [ 0.03921465 0.99923081 0. -0.02824992] [ 0. 0. 1. 0.01563578] [ 0. 0. 0. 1. ]] SLAMing on 1.1127916050000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.03, Z:0.01 [[ 0.99920394 -0.03989351 0. 1.09559519] [ 0.03989351 0.99920394 0. -0.02612239] [ 0. 0. 1. 0.01442396] [ 0. 0. 0. 1. ]] SLAMing on 1.1427916050000002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.03, Z:0.01 [[ 0.99917089 -0.04071276 0. 1.12698018] [ 0.04071276 0.99917089 0. -0.02521779] [ 0. 0. 1. 0.01447002] [ 0. 0. 0. 1. ]] SLAMing on 1.1727916050000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.02, Z:0.03 [[ 0.99903321 -0.04396177 0. 1.15709263] [ 0.04396177 0.99903321 0. -0.02483189] [ 0. 0. 1. 0.02516145] [ 0. 0. 0. 1. ]] SLAMing on 1.2027916050000003 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.02, Z:0.01 [[ 0.99905816 -0.04339108 0. 1.18852833] [ 0.04339108 0.99905816 0. -0.02307381] [ 0. 0. 1. 0.01252753] [ 0. 0. 0. 1. ]] SLAMing on 1.2327916050000003 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.02, Z:0.01 [[ 0.99939203 -0.03486513 0. 1.229875 ] [ 0.03486513 0.99939203 0. -0.02036071] [ 0. 0. 1. 0.01164757] [ 0. 0. 0. 1. ]] SLAMing on 1.262791605 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.02, Z:0.01 [[ 0.99893646 -0.046108 0. 1.24838459] [ 0.046108 0.99893646 0. -0.02155967] [ 0. 0. 1. 0.0126087 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2927916050000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.01, Z:0.01 [[ 0.99975612 -0.02208383 0. 1.27242039] [ 0.02208383 0.99975612 0. -0.01061598] [ 0. 0. 1. 0.01399975] [ 0. 0. 0. 1. ]] SLAMing on 1.3227916050000001 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.01, Z:0.01 [[ 0.99968665 -0.02503201 0. 1.30352269] [ 0.02503201 0.99968665 0. -0.01097805] [ 0. 0. 1. 0.01408613] [ 0. 0. 0. 1. ]] SLAMing on 1.3527916050000002 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.02, Z:0.01 [[ 0.99948531 -0.03207976 0. 1.34150203] [ 0.03207976 0.99948531 0. -0.0162888 ] [ 0. 0. 1. 0.00698101] [ 0. 0. 0. 1. ]] SLAMing on 1.3827916050000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.02, Z:0.01 [[ 0.99923549 -0.03909514 0. 1.36510632] [ 0.03909514 0.99923549 0. -0.01781706] [ 0. 0. 1. 0.0142204 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4127916050000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.02, Z:0.01 [[ 0.99932654 -0.03669421 0. 1.39672806] [ 0.03669421 0.99932654 0. -0.01652853] [ 0. 0. 1. 0.01359394] [ 0. 0. 0. 1. ]] SLAMing on 1.4427916050000003 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.02, Z:0.01 [[ 0.9990831 -0.04281301 0. 1.44396432] [ 0.04281301 0.9990831 0. -0.02066297] [ 0. 0. 1. 0.00647323] [ 0. 0. 0. 1. ]] SLAMing on 1.4727916050000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.02, Z:0.01 [[ 0.99935209 -0.0359916 0. 1.45084222] [ 0.0359916 0.99935209 0. -0.01919517] [ 0. 0. 1. 0.00997713] [ 0. 0. 0. 1. ]] SLAMing on 1.5027916050000003 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.02, Z:0.00 [[ 0.99901542 -0.04436436 0. 1.49312643] [ 0.04436436 0.99901542 0. -0.02334445] [ 0. 0. 1. 0.0041348 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5327916050000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.02, Z:-0.00 [[ 0.99983515 -0.01815685 0. 1.48975173] [ 0.01815685 0.99983515 0. -0.01675927] [ 0. 0. 1. -0.00268949] [ 0. 0. 0. 1. ]] SLAMing on 1.5627916050000001 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.02, Z:-0.01 [[ 0.99990797 -0.01356666 0. 1.51982041] [ 0.01356666 0.99990797 0. -0.01685027] [ 0. 0. 1. -0.00645996] [ 0. 0. 0. 1. ]] SLAMing on 1.5927916050000002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.02, Z:-0.01 [[ 0.99994429 -0.01055579 0. 1.55168996] [ 0.01055579 0.99994429 0. -0.01629067] [ 0. 0. 1. -0.00593917] [ 0. 0. 0. 1. ]] SLAMing on 1.6227916050000002 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.02, Z:-0.00 [[ 9.99834993e-01 -1.81655192e-02 0.00000000e+00 1.56929124e+00] [ 1.81655192e-02 9.99834993e-01 0.00000000e+00 -1.68781828e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28464044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6527916050000002 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.02, Z:-0.00 [[ 0.99995198 -0.00980009 0. 1.59899473] [ 0.00980009 0.99995198 0. -0.01670804] [ 0. 0. 1. -0.00362914] [ 0. 0. 0. 1. ]] SLAMing on 1.6827916050000002 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.02, Z:0.00 [[ 0.99999566 0.0029462 0. 1.64223567] [-0.0029462 0.99999566 0. -0.01524623] [ 0. 0. 1. 0.00256686] [ 0. 0. 0. 1. ]] SLAMing on 1.7127916050000003 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.02, Z:-0.00 [[ 0.99991335 -0.01316391 0. 1.66696295] [ 0.01316391 0.99991335 0. -0.01925446] [ 0. 0. 1. -0.00191783] [ 0. 0. 0. 1. ]] SLAMing on 1.7427916050000003 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.02, Z:0.02 [[ 0.99996408 -0.00847565 0. 1.70721742] [ 0.00847565 0.99996408 0. -0.02468408] [ 0. 0. 1. 0.02165243] [ 0. 0. 0. 1. ]] SLAMing on 1.7727916050000003 meters Centerline goodness : 0.934802 Centerline is valid? [True, False] Translation: X:1.71, Y:-0.03, Z:0.02 [[ 9.99979248e-01 -6.43332804e-03 -3.40037610e-04 1.71272346e+00] [ 6.43410984e-03 9.99976539e-01 2.35037258e-03 -2.66502666e-02] [ 3.24908914e-04 -2.35251165e-03 9.99997180e-01 1.69124099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8027916050000001 meters Centerline goodness : 0.999406 Centerline is valid? [False, True] Translation: X:1.71, Y:-0.03, Z:0.02 [[ 9.99979250e-01 -6.42722093e-03 -4.36626279e-04 1.71334121e+00] [ 6.42836873e-03 9.99975746e-01 2.68031479e-03 -2.79885025e-02] [ 4.19388713e-04 -2.68306597e-03 9.99996313e-01 1.62755987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8327916050000002 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.03, Z:-0.00 [[ 9.99908933e-01 -1.34879543e-02 -4.49023513e-04 1.66940560e+00] [ 1.34878589e-02 9.99909012e-01 -2.14850606e-04 -2.93139416e-02] [ 4.51880553e-04 2.08774674e-04 9.99999876e-01 -8.04069315e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8627916050000002 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.01, Z:0.02 [[ 9.99991429e-01 4.11666647e-03 -4.42612315e-04 1.68674141e+00] [-4.11670785e-03 9.99991522e-01 -9.26111810e-05 -1.48344460e-02] [ 4.42227313e-04 9.44324928e-05 9.99999898e-01 1.69850972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8927916050000002 meters Centerline goodness : 0.951418 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.02, Z:-0.01 [[ 9.99961345e-01 -8.78139478e-03 -4.42791792e-04 1.70132102e+00] [ 8.78135310e-03 9.99961439e-01 -9.59800636e-05 -2.19873341e-02] [ 4.43617556e-04 9.20880424e-05 9.99999897e-01 -8.43213905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9227916050000002 meters Centerline goodness : 0.909329 Centerline is valid? [True, False] Translation: X:1.71, Y:-0.02, Z:-0.01 [[ 9.99977985e-01 -6.62075031e-03 -4.42006552e-04 1.70669623e+00] [ 6.62180922e-03 9.99975102e-01 2.43881194e-03 -2.42185036e-02] [ 4.25848782e-04 -2.44168513e-03 9.99996928e-01 -1.28850199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9527916050000003 meters Centerline goodness : 0.909239 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.01 [[ 9.99978152e-01 -6.58916861e-03 -5.27501527e-04 1.70737196e+00] [ 6.59047584e-03 9.99975117e-01 2.51600168e-03 -2.44374739e-02] [ 5.10910042e-04 -2.51942319e-03 9.99996696e-01 -1.33643393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9827916050000003 meters Centerline goodness : 0.926280 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.01 [[ 9.99978294e-01 -6.56755398e-03 -5.28563154e-04 1.70776664e+00] [ 6.56893782e-03 9.99974885e-01 2.66041695e-03 -2.49789877e-02] [ 5.11077447e-04 -2.66383130e-03 9.99996321e-01 -1.35295503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0127916050000003 meters Centerline goodness : 0.965227 Centerline is valid? [False, True] Translation: X:1.71, Y:-0.02, Z:-0.01 [[ 9.99979847e-01 -6.34724899e-03 -1.33470764e-04 1.70839793e+00] [ 6.34756063e-03 9.99976777e-01 2.48090059e-03 -2.42230937e-02] [ 1.17720771e-04 -2.48169781e-03 9.99996914e-01 -1.38886232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042791605 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.03, Z:-0.01 [[ 9.99191906e-01 4.01935807e-02 -1.07462176e-04 1.76006319e+00] [-4.01934312e-02 9.99191258e-01 1.14793755e-03 -2.80696837e-02] [ 1.53514988e-04 -1.14269064e-03 9.99999335e-01 -1.28152119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0727916050000004 meters Centerline goodness : 0.985904 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.03, Z:-0.02 [[ 9.99343717e-01 3.62232197e-02 -1.12458883e-04 1.78619138e+00] [-3.62231794e-02 9.99343667e-01 3.42431949e-04 -3.45358978e-02] [ 1.24789060e-04 -3.38133599e-04 9.99999935e-01 -2.15042302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102791605 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.04, Z:0.00 [[ 9.99820042e-01 -1.89702338e-02 -1.13682066e-04 1.88330455e+00] [ 1.89702410e-02 9.99820047e-01 6.20497772e-05 -4.05320890e-02] [ 1.12484509e-04 -6.41951871e-05 9.99999992e-01 4.69704542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1327916050000004 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.04, Z:0.01 [[ 9.99134772e-01 -4.15895982e-02 -1.14929330e-04 1.92391369e+00] [ 4.15895999e-02 9.99134778e-01 1.22184789e-05 -3.88739003e-02] [ 1.14321729e-04 -1.69877720e-05 9.99999993e-01 1.13004492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1627916050000002 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.05, Z:0.02 [[ 9.99152595e-01 -4.11591868e-02 -1.14964432e-04 1.91391888e+00] [ 4.11591889e-02 9.99152601e-01 1.57861546e-05 -4.57330850e-02] [ 1.14217266e-04 -2.05046202e-05 9.99999993e-01 1.50213252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1927916050000005 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.05, Z:0.01 [[ 9.97779886e-01 -6.65979392e-02 -1.14672306e-04 1.95599072e+00] [ 6.65979394e-02 9.97779893e-01 -1.89464094e-06 -5.44439287e-02] [ 1.14543900e-04 -5.74650467e-06 9.99999993e-01 1.04350811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2227916050000003 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.04, Z:0.02 [[ 9.99432886e-01 -3.36733316e-02 -1.14820269e-04 1.96985587e+00] [ 3.36733325e-02 9.99432893e-01 6.26826463e-06 -4.19071493e-02] [ 1.14544080e-04 -1.01310909e-05 9.99999993e-01 1.95426969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252791605 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.04, Z:0.02 [[ 9.99411238e-01 -3.43098252e-02 -1.14639457e-04 1.99662597e+00] [ 3.43098252e-02 9.99411245e-01 -2.41560112e-06 -4.06776542e-02] [ 1.14654841e-04 -1.51908082e-06 9.99999993e-01 1.64531597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2827916050000003 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.01, Z:0.01 [[ 9.99533219e-01 3.05504530e-02 -1.14575708e-04 2.02578964e+00] [-3.05504539e-02 9.99533226e-01 -5.48964318e-06 -1.34687180e-02] [ 1.14354516e-04 8.98742061e-06 9.99999993e-01 7.36326902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.312791605 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.06, Z:0.01 [[ 9.97450984e-01 -7.13549039e-02 -1.14571498e-04 2.07645091e+00] [ 7.13549037e-02 9.97450990e-01 -5.76533219e-06 -6.06423161e-02] [ 1.14690839e-04 -2.42460198e-06 9.99999993e-01 1.12141023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3427916050000004 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.04, Z:0.02 [[ 9.99738630e-01 -2.28617095e-02 -1.14745921e-04 2.09060990e+00] [ 2.28617104e-02 9.99738637e-01 6.32570821e-06 -3.78849894e-02] [ 1.14571314e-04 -8.94734287e-06 9.99999993e-01 2.09827471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.372791605 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.04, Z:0.02 [[ 9.99767335e-01 -2.15699415e-02 -1.14572510e-04 2.11977506e+00] [ 2.15699413e-02 9.99767342e-01 -3.05314006e-06 -3.55980299e-02] [ 1.14611710e-04 5.81107387e-07 9.99999993e-01 1.68174451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4027916050000004 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.03, Z:0.01 [[ 9.99830784e-01 -1.83954023e-02 -1.14543700e-04 2.15307483e+00] [ 1.83954019e-02 9.99830790e-01 -4.62393395e-06 -3.43294644e-02] [ 1.14609377e-04 2.51607411e-06 9.99999993e-01 1.37933650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4327916050000002 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.00, Z:-0.00 [[ 9.98700452e-01 5.09646393e-02 -1.14589669e-04 2.17432536e+00] [-5.09646398e-02 9.98700458e-01 -2.03343691e-06 -5.49305390e-04] [ 1.14337122e-04 7.87081560e-06 9.99999993e-01 -4.55448933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4627916050000005 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.04, Z:0.01 [[ 9.98717000e-01 -5.06393222e-02 -1.14506248e-04 2.20480559e+00] [ 5.06393218e-02 9.98717006e-01 -6.63503812e-06 -4.34374186e-02] [ 1.14695332e-04 8.28006605e-07 9.99999993e-01 7.87059104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4927916050000003 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.05, Z:0.01 [[ 9.98607460e-01 -5.27553515e-02 -1.14483117e-04 2.23807451e+00] [ 5.27553509e-02 9.98607467e-01 -7.88575129e-06 -4.58584206e-02] [ 1.14739711e-04 1.83517304e-06 9.99999993e-01 1.37861140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522791605 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.03, Z:0.01 [[ 9.99879809e-01 -1.55033966e-02 -1.14540443e-04 2.27185205e+00] [ 1.55033961e-02 9.99879815e-01 -4.55734737e-06 -3.03172267e-02] [ 1.14597332e-04 2.78103375e-06 9.99999993e-01 1.27395643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5527916050000004 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.03, Z:0.01 [[ 9.99887548e-01 -1.49959293e-02 -1.14584485e-04 2.30230129e+00] [ 1.49959292e-02 9.99887555e-01 -1.89673057e-06 -2.80172967e-02] [ 1.14600044e-04 1.78216466e-07 9.99999993e-01 1.30990655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582791605 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.03, Z:0.01 [[ 9.99910485e-01 -1.33794423e-02 -1.14584485e-04 2.33320426e+00] [ 1.33794421e-02 9.99910491e-01 -1.89673058e-06 -2.55679368e-02] [ 1.14599606e-04 3.63484304e-07 9.99999993e-01 1.33694752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6127916050000004 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.02, Z:0.01 [[ 9.99930008e-01 -1.18307507e-02 -1.14584485e-04 2.35195349e+00] [ 1.18307506e-02 9.99930014e-01 -1.89673058e-06 -2.05072680e-02] [ 1.14598905e-04 5.40977362e-07 9.99999993e-01 9.17145809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.642791605 meters Centerline goodness : 0.978092 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.02, Z:0.00 [[ 9.99893038e-01 1.46253264e-02 -1.14421917e-04 2.35188610e+00] [-1.46253274e-02 9.99893044e-01 -8.20392991e-06 -1.90288638e-02] [ 1.14289694e-04 9.87651040e-06 9.99999993e-01 4.49114140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6727916050000005 meters Centerline goodness : 0.978092 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.02, Z:0.00 [[ 9.99729600e-01 2.32532603e-02 -1.13858699e-04 2.38312878e+00] [-2.32532633e-02 9.99729606e-01 -2.45325301e-05 -1.64000937e-02] [ 1.13257451e-04 2.71734828e-05 9.99999993e-01 4.49518208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7027916050000003 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.02, Z:0.01 [[ 9.99692845e-01 -2.47831044e-02 -1.13839396e-04 2.45375001e+00] [ 2.47831016e-02 9.99692851e-01 -2.59638081e-05 -2.02755879e-02] [ 1.14447894e-04 2.31345399e-05 9.99999993e-01 1.32649508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7327916050000005 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.01, Z:0.02 [[ 9.99793502e-01 -2.03209509e-02 -1.14258416e-04 2.48199149e+00] [ 2.03209519e-02 9.99793508e-01 7.73851587e-06 -1.46168357e-02] [ 1.14077569e-04 -1.00587577e-05 9.99999993e-01 1.52256559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7627916050000003 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.01, Z:0.01 [[ 9.99759898e-01 -2.19119541e-02 -1.14191474e-04 2.50397082e+00] [ 2.19119547e-02 9.99759904e-01 3.62875966e-06 -7.33422657e-03] [ 1.14084544e-04 -6.13004679e-06 9.99999993e-01 5.07233279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792791605 meters Centerline goodness : 0.997035 Centerline is valid? [True, True] Translation: X:2.54, Y:0.00, Z:0.01 [[ 9.99961341e-01 8.79225445e-03 -1.14108471e-04 2.53711110e+00] [-8.79225462e-03 9.99961347e-01 -9.77289662e-07 2.24051016e-03] [ 1.14095468e-04 1.98052262e-06 9.99999993e-01 1.19625322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8227916050000004 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.01, Z:0.01 [[ 9.99696557e-01 -2.46329418e-02 -1.14163546e-04 2.53240295e+00] [ 2.46329422e-02 9.99696563e-01 2.06915235e-06 -9.51702278e-03] [ 1.14077935e-04 -4.88070850e-06 9.99999993e-01 5.11402277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852791605 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.00, Z:0.01 [[ 9.99737506e-01 -2.29108288e-02 -1.13926418e-04 2.59896739e+00] [ 2.29108275e-02 9.99737512e-01 -1.26165799e-05 -1.76199418e-03] [ 1.14185570e-04 1.00031197e-05 9.99999993e-01 8.75477708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8827916050000004 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.00, Z:0.01 [[ 9.99639882e-01 -2.68345459e-02 -1.14113327e-04 2.62931022e+00] [ 2.68345470e-02 9.99639889e-01 8.05996264e-06 -7.19047040e-04] [ 1.13855949e-04 -1.11192396e-05 9.99999993e-01 9.15120115e-03] [ 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:2.67, Y:-0.01, Z:0.00 [[ 9.98711657e-01 -5.07445969e-02 -1.14097769e-04 2.67419124e+00] [ 5.07445980e-02 9.98711663e-01 6.27747556e-06 -5.83454964e-03] [ 1.13632225e-04 -1.20592334e-05 9.99999993e-01 1.47437482e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9427916050000005 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.00, Z:-0.01 [[ 9.97589746e-01 -6.93879416e-02 -1.14142021e-04 2.71721642e+00] [ 6.93879437e-02 9.97589752e-01 1.46479014e-05 -4.55900188e-03] [ 1.12850522e-04 -2.25326763e-05 9.99999993e-01 -9.07178026e-03] [ 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:2.72, Y:-0.00, Z:0.01 [[ 9.98458931e-01 -5.54954929e-02 -1.14188629e-04 2.72413039e+00] [ 5.54954956e-02 9.98458937e-01 2.02903710e-05 -4.83846751e-03] [ 1.12886633e-04 -2.65960567e-05 9.99999993e-01 8.59743922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0027916050000005 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.00, Z:-0.00 [[ 9.97567572e-01 -6.97059933e-02 -1.14038942e-04 2.76943417e+00] [ 6.97059948e-02 9.97567579e-01 8.79444422e-06 -3.02261231e-03] [ 1.13148525e-04 -1.67222502e-05 9.99999993e-01 -1.85044825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0327916050000003 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.01, Z:-0.00 [[ 9.96497307e-01 -8.36247844e-02 -1.13930846e-04 2.80273329e+00] [ 8.36247872e-02 9.96497313e-01 2.02592581e-05 -6.12984094e-03] [ 1.11837606e-04 -2.97157389e-05 9.99999993e-01 -2.37134924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062791605 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.81, Y:0.01, Z:0.01 [[ 9.98616245e-01 -5.25887966e-02 -1.13931365e-04 2.81315069e+00] [ 5.25887994e-02 9.98616251e-01 2.13341595e-05 1.12838711e-02] [ 1.12651774e-04 -2.72961519e-05 9.99999993e-01 5.99357628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0927916050000004 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.00, Z:0.00 [[ 9.96464912e-01 -8.40099155e-02 -1.13890932e-04 2.86023098e+00] [ 8.40099176e-02 9.96464918e-01 1.40778187e-05 -3.00782095e-03] [ 1.12305642e-04 -2.35960202e-05 9.99999993e-01 6.00575761e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122791605 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:2.82, Y:0.01, Z:0.00 [[ 9.98905830e-01 -4.67667697e-02 -1.13974110e-04 2.81832501e+00] [ 4.67667725e-02 9.98905836e-01 2.20071333e-05 8.15766237e-03] [ 1.12820201e-04 -2.73132550e-05 9.99999993e-01 3.88049381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1527916050000004 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:2.86, Y:0.01, Z:-0.01 [[ 9.98476007e-01 -5.51874221e-02 -1.13403700e-04 2.85881661e+00] [ 5.51874219e-02 9.98476013e-01 -4.81097795e-06 7.13147733e-03] [ 1.13496379e-04 -1.45481177e-06 9.99999994e-01 -6.82927786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1827916050000002 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:2.87, Y:0.01, Z:-0.00 [[ 9.99659566e-01 -2.60909858e-02 -1.13503832e-04 2.86848945e+00] [ 2.60909860e-02 9.99659572e-01 3.49845063e-07 1.05773461e-02] [ 1.13456065e-04 -3.31115286e-06 9.99999994e-01 -3.66084850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2127916050000005 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.01, Z:-0.00 [[ 9.97501752e-01 -7.06416401e-02 -1.13334885e-04 2.97496106e+00] [ 7.06416395e-02 9.97501759e-01 -9.13549989e-06 -1.02945712e-02] [ 1.13697094e-04 1.10651503e-06 9.99999994e-01 -2.92339994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2427916050000003 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.01, Z:-0.01 [[ 9.97306888e-01 -7.33413834e-02 -1.12892704e-04 3.01044781e+00] [ 7.33413864e-02 9.97306894e-01 2.18543416e-05 -5.58950330e-03] [ 1.10985844e-04 -3.00751928e-05 9.99999993e-01 -1.27122513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2727916050000005 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.01, Z:-0.01 [[ 9.97067344e-01 -7.65290693e-02 -1.12784985e-04 3.04949008e+00] [ 7.65290727e-02 9.97067350e-01 2.61703583e-05 -6.55348078e-03] [ 1.10451433e-04 -3.47249400e-05 9.99999993e-01 -9.50433997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3027916050000004 meters Centerline goodness : 0.986268 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.01, Z:-0.02 [[ 9.97109941e-01 -7.59720565e-02 -1.12641660e-04 3.08575247e+00] [ 7.59720603e-02 9.97109946e-01 2.96809632e-05 -5.39032659e-03] [ 1.10061196e-04 -3.81528025e-05 9.99999993e-01 -1.53157899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332791605 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:3.11, Y:0.00, Z:-0.01 [[ 9.98601206e-01 -5.28736103e-02 -1.12507037e-04 3.11354616e+00] [ 5.28736143e-02 9.98601212e-01 3.28613944e-05 1.03978579e-03] [ 1.10612163e-04 -3.87640818e-05 9.99999993e-01 -1.11759303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3627916050000004 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.00, Z:-0.01 [[ 9.96925847e-01 -7.83507748e-02 -1.12560195e-04 3.13759805e+00] [ 7.83507785e-02 9.96925852e-01 2.89284796e-05 -1.31334861e-03] [ 1.09947600e-04 -3.76587279e-05 9.99999993e-01 -8.35296005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.392791605 meters Centerline goodness : 0.984162 Centerline is valid? [True, True] Translation: X:3.19, Y:0.00, Z:-0.02 [[ 9.96959028e-01 -7.79274257e-02 -1.12589125e-04 3.18608514e+00] [ 7.79274292e-02 9.96959034e-01 2.72866543e-05 1.77092343e-03] [ 1.10120367e-04 -3.59774575e-05 9.99999993e-01 -1.91445225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4227916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.00, Z:0.00 [[ 9.97659318e-01 -6.83803459e-02 -1.12508789e-04 3.17459302e+00] [ 6.83803492e-02 9.97659324e-01 2.51561411e-05 -2.49939827e-03] [ 1.10525257e-04 -3.27906489e-05 9.99999993e-01 3.42771258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4527916050000003 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:3.14, Y:0.00, Z:0.01 [[ 9.98788757e-01 -4.92037292e-02 -1.11334986e-04 3.14019092e+00] [ 4.92037302e-02 9.98788763e-01 6.65399207e-06 4.79112801e-03] [ 1.10872732e-04 -1.21240291e-05 9.99999994e-01 5.41022156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4827916050000005 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:3.16, Y:0.01, Z:0.01 [[ 9.98657467e-01 -5.18001023e-02 -1.09848718e-04 3.16245815e+00] [ 5.18001011e-02 9.98657473e-01 -1.34212109e-05 5.60222881e-03] [ 1.10396463e-04 7.71301778e-06 9.99999994e-01 1.09978406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5127916050000003 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:3.21, Y:0.02, Z:0.02 [[ 9.99194871e-01 -4.01197801e-02 -1.09760695e-04 3.20616941e+00] [ 4.01197787e-02 9.99194877e-01 -1.49479074e-05 1.79043596e-02] [ 1.10272031e-04 1.05322976e-05 9.99999994e-01 1.57788376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5427916050000006 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:3.20, Y:0.01, Z:-0.01 [[ 9.98241484e-01 -5.92783905e-02 -1.10248966e-04 3.19924460e+00] [ 5.92783902e-02 9.98241490e-01 -6.04966094e-06 5.67472543e-03] [ 1.10413706e-04 -4.96358706e-07 9.99999994e-01 -5.33118233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5727916050000004 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:3.26, Y:0.02, Z:0.01 [[ 9.99528809e-01 -3.06944218e-02 -1.09515337e-04 3.26172015e+00] [ 3.06944197e-02 9.99528815e-01 -2.05389235e-05 2.36767013e-02] [ 1.10094165e-04 1.71677360e-05 9.99999994e-01 1.49449357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.602791605 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:3.29, Y:0.03, Z:0.01 [[ 9.99492909e-01 -3.18419973e-02 -1.10210432e-04 3.29370091e+00] [ 3.18419970e-02 9.99492915e-01 -4.89776922e-06 2.74930880e-02] [ 1.10310501e-04 1.38596536e-06 9.99999994e-01 1.14965827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6327916050000004 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:3.36, Y:0.04, Z:0.02 [[ 9.99955309e-01 -9.45348699e-03 -1.10212708e-04 3.35552946e+00] [ 9.45348651e-03 9.99955315e-01 -4.84599831e-06 3.84305508e-02] [ 1.10253595e-04 3.80388738e-06 9.99999994e-01 1.67920321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6627916050000002 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:3.39, Y:0.02, Z:-0.00 [[ 9.99078012e-01 -4.29314880e-02 -1.10817548e-04 3.38664010e+00] [ 4.29314896e-02 9.99078019e-01 1.21399112e-05 2.11352692e-02] [ 1.10194191e-04 -1.68862807e-05 9.99999994e-01 -5.31870821e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6927916050000005 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:3.38, Y:0.03, Z:0.01 [[ 9.99346629e-01 -3.61428168e-02 -1.10785107e-04 3.37803009e+00] [ 3.61428183e-02 9.99346635e-01 1.13782664e-05 2.95565270e-02] [ 1.10301481e-04 -1.53749182e-05 9.99999994e-01 1.06346525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7227916050000003 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:3.41, Y:0.03, Z:0.01 [[ 9.99402022e-01 -3.45772511e-02 -1.09952118e-04 3.40985169e+00] [ 3.45772507e-02 9.99402028e-01 -5.44438239e-06 3.31435358e-02] [ 1.10074621e-04 1.63928483e-06 9.99999994e-01 1.08314864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7527916050000005 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:3.44, Y:0.04, Z:0.02 [[ 9.99438085e-01 -3.35186937e-02 -1.09954627e-04 3.43966931e+00] [ 3.35186933e-02 9.99438091e-01 -5.39321394e-06 3.58904895e-02] [ 1.10073616e-04 1.70464797e-06 9.99999994e-01 1.87877732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7827916050000003 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:3.47, Y:0.04, Z:0.02 [[ 9.99475684e-01 -3.23781444e-02 -1.09929765e-04 3.47223232e+00] [ 3.23781439e-02 9.99475690e-01 -5.90318170e-06 3.82424004e-02] [ 1.10063261e-04 2.34076483e-06 9.99999994e-01 2.00744634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8127916050000006 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:3.50, Y:0.04, Z:0.01 [[ 9.99593327e-01 -2.85161087e-02 -1.09919532e-04 3.50428738e+00] [ 2.85161082e-02 9.99593333e-01 -6.11553722e-06 4.34756368e-02] [ 1.10049222e-04 2.97857293e-06 9.99999994e-01 1.05823457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8427916050000004 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:3.54, Y:0.05, Z:0.01 [[ 9.99629653e-01 -2.72129625e-02 -1.09960233e-04 3.53592750e+00] [ 2.72129621e-02 9.99629659e-01 -5.26558784e-06 4.74037472e-02] [ 1.10062802e-04 2.27129410e-06 9.99999994e-01 9.96816834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.872791605 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:3.57, Y:0.05, Z:0.02 [[ 9.99649434e-01 -2.64763638e-02 -1.09962667e-04 3.56501940e+00] [ 2.64763634e-02 9.99649440e-01 -5.21424207e-06 5.09233128e-02] [ 1.10062173e-04 2.30100259e-06 9.99999994e-01 2.05550362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9027916050000004 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:3.60, Y:0.06, Z:0.01 [[ 9.99735254e-01 -2.30089182e-02 -1.09928798e-04 3.59738429e+00] [ 2.30089177e-02 9.99735260e-01 -5.92919726e-06 5.56595324e-02] [ 1.10036120e-04 3.39828488e-06 9.99999994e-01 8.62424469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9327916050000002 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:3.63, Y:0.06, Z:0.02 [[ 9.99734148e-01 -2.30569297e-02 -1.09965406e-04 3.62803837e+00] [ 2.30569293e-02 9.99734154e-01 -5.14707789e-06 5.90955723e-02] [ 1.10054848e-04 2.61024494e-06 9.99999994e-01 1.74924813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9627916050000005 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:3.66, Y:0.06, Z:0.02 [[ 9.99724410e-01 -2.34753594e-02 -1.09957046e-04 3.65945488e+00] [ 2.34753590e-02 9.99724416e-01 -5.32657897e-06 6.25847095e-02] [ 1.10051787e-04 2.74382989e-06 9.99999994e-01 1.89833295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9927916050000003 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:3.69, Y:0.07, Z:0.01 [[ 9.99703707e-01 -2.43410427e-02 -1.09943809e-04 3.69172642e+00] [ 2.43410422e-02 9.99703713e-01 -5.61351442e-06 6.75580597e-02] [ 1.10047873e-04 2.93570427e-06 9.99999994e-01 8.32064327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022791605 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:3.72, Y:0.04, Z:-0.01 [[ 9.95770796e-01 -9.18722444e-02 -1.09970413e-04 3.71918901e+00] [ 9.18722444e-02 9.95770802e-01 -5.03211208e-06 4.34750548e-02] [ 1.09967638e-04 -5.09239845e-06 9.99999994e-01 -1.15228045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052791605 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:3.75, Y:0.07, Z:0.02 [[ 9.99516079e-01 -3.11062039e-02 -1.09853016e-04 3.75212072e+00] [ 3.11062033e-02 9.99516085e-01 -7.57852720e-06 7.37636197e-02] [ 1.10035596e-04 4.15774954e-06 9.99999994e-01 1.71577999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082791605 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:3.79, Y:0.07, Z:0.01 [[ 9.99348365e-01 -3.60947790e-02 -1.09928513e-04 3.79301588e+00] [ 3.60947785e-02 9.99348371e-01 -5.90379200e-06 7.47454999e-02] [ 1.10069976e-04 1.93209956e-06 9.99999994e-01 8.52616656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112791605 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:3.82, Y:0.04, Z:-0.01 [[ 9.94531347e-01 -1.04438442e-01 -1.10222396e-04 3.81917026e+00] [ 1.04438443e-01 9.94531353e-01 6.44492475e-07 4.41045885e-02] [ 1.09552319e-04 -1.21524234e-05 9.99999994e-01 -1.21112576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142791605 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:3.84, Y:0.08, Z:0.02 [[ 9.99245048e-01 -3.88500005e-02 -1.10046721e-04 3.84142888e+00] [ 3.88500003e-02 9.99245054e-01 -3.15001155e-06 8.20183149e-02] [ 1.10086020e-04 -1.12768172e-06 9.99999994e-01 1.77147698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172791605 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:3.88, Y:0.09, Z:0.01 [[ 9.99279649e-01 -3.79495812e-02 -1.09894458e-04 3.87540892e+00] [ 3.79495808e-02 9.99279655e-01 -6.42759806e-06 8.54336276e-02] [ 1.10059221e-04 2.25251933e-06 9.99999994e-01 5.73356195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202791605 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:3.90, Y:0.07, Z:0.00 [[ 9.96798291e-01 -7.99572031e-02 -1.09958669e-04 3.89543300e+00] [ 7.99572030e-02 9.96798297e-01 -5.02155714e-06 7.28116931e-02] [ 1.10008123e-04 -3.78650802e-06 9.99999994e-01 1.97611872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232791605 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:3.95, Y:0.07, Z:-0.01 [[ 9.94915950e-01 -1.00708687e-01 -1.09698762e-04 3.94978502e+00] [ 1.00708687e-01 9.94915956e-01 -1.06959946e-05 6.65513068e-02] [ 1.10218228e-04 -4.06002574e-07 9.99999994e-01 -1.20666481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262791605 meters Centerline goodness : 0.972823 Centerline is valid? [True, True] Translation: X:3.99, Y:0.08, Z:-0.01 [[ 9.92642471e-01 -1.21082259e-01 -1.10229816e-04 3.99366432e+00] [ 1.21082260e-01 9.92642477e-01 2.94069633e-06 7.51233315e-02] [ 1.09062732e-04 -1.62659354e-05 9.99999994e-01 -8.56687159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292791605 meters Centerline goodness : 0.977595 Centerline is valid? [True, True] Translation: X:4.04, Y:0.07, Z:0.01 [[ 9.93018608e-01 -1.17957752e-01 -1.10534467e-04 4.03689988e+00] [ 1.17957754e-01 9.93018614e-01 1.01960521e-05 7.09551035e-02] [ 1.08560080e-04 -2.31632669e-05 9.99999994e-01 8.06796644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322791605 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:4.03, Y:0.07, Z:-0.00 [[ 9.95433123e-01 -9.54614390e-02 -1.10791228e-04 4.03219454e+00] [ 9.54614413e-02 9.95433128e-01 1.55150869e-05 7.02839776e-02] [ 1.08804167e-04 -2.60205217e-05 9.99999994e-01 -7.87025131e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352791605 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:4.04, Y:0.09, Z:0.00 [[ 9.97871244e-01 -6.52147799e-02 -1.09866278e-04 4.03888242e+00] [ 6.52147803e-02 9.97871250e-01 -4.43994441e-07 9.04891938e-02] [ 1.09661355e-04 -6.72185586e-06 9.99999994e-01 3.27719625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382791605 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:4.08, Y:0.08, Z:0.01 [[ 9.96788026e-01 -8.00850734e-02 -1.09314871e-04 4.07714066e+00] [ 8.00850729e-02 9.96788032e-01 -9.52267593e-06 8.40755087e-02] [ 1.09726379e-04 7.37599954e-07 9.99999994e-01 5.09627747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412791605 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:4.11, Y:0.08, Z:0.00 [[ 9.95742420e-01 -9.21792906e-02 -1.09494138e-04 4.10904583e+00] [ 9.21792904e-02 9.95742426e-01 -6.50537847e-06 7.96740450e-02] [ 1.09627619e-04 -3.61541061e-06 9.99999994e-01 2.59613782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442791605 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:4.12, Y:0.12, Z:-0.01 [[ 9.99522120e-01 -3.09114889e-02 -1.09495666e-04 4.11994116e+00] [ 3.09114884e-02 9.99522126e-01 -6.47954939e-06 1.20143243e-01] [ 1.09643633e-04 3.09177893e-06 9.99999994e-01 -1.45875998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472791605 meters Centerline goodness : 0.996839 Centerline is valid? [True, True] Translation: X:4.17, Y:0.09, Z:0.01 [[ 9.97093825e-01 -7.61832805e-02 -1.09007677e-04 4.16779678e+00] [ 7.61832793e-02 9.97093831e-01 -1.43089545e-05 8.78820729e-02] [ 1.09780985e-04 5.96280789e-06 9.99999994e-01 9.27455086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502791605 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:4.23, Y:0.09, Z:0.00 [[ 9.96093085e-01 -8.83094265e-02 -1.09471639e-04 4.22800846e+00] [ 8.83094263e-02 9.96093091e-01 -6.52531083e-06 8.67572168e-02] [ 1.09620190e-04 -3.16756065e-06 9.99999994e-01 8.14258053e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532791605 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:4.24, Y:0.09, Z:0.01 [[ 9.94995954e-01 -9.99151652e-02 -1.10350641e-04 4.24275732e+00] [ 9.99151671e-02 9.94995959e-01 1.19144683e-05 8.94624355e-02] [ 1.08608006e-04 -2.28805505e-05 9.99999994e-01 1.16541022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562791605 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:4.28, Y:0.09, Z:0.01 [[ 9.94742007e-01 -1.02412539e-01 -1.09681447e-04 4.27999034e+00] [ 1.02412540e-01 9.94742013e-01 2.84265188e-06 9.29996303e-02] [ 1.08813620e-04 -1.40604608e-05 9.99999994e-01 6.88551721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592791605 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:4.31, Y:0.09, Z:0.01 [[ 9.94397708e-01 -1.05703291e-01 -1.09907531e-04 4.31158030e+00] [ 1.05703292e-01 9.94397714e-01 5.95102769e-06 9.48768362e-02] [ 1.08662754e-04 -1.75352761e-05 9.99999994e-01 6.88879488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622791605 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:4.31, Y:0.11, Z:-0.00 [[ 9.96892524e-01 -7.87736170e-02 -1.09879090e-04 4.30690966e+00] [ 7.87736181e-02 9.96892530e-01 5.58023052e-06 1.09375008e-01] [ 1.09098069e-04 -1.42184635e-05 9.99999994e-01 -2.47222273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652791605 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:4.30, Y:0.09, Z:0.00 [[ 9.94530493e-01 -1.04446578e-01 -1.08737892e-04 4.30259154e+00] [ 1.04446578e-01 9.94530498e-01 -7.36123934e-06 9.10135690e-02] [ 1.08912006e-04 -4.03632370e-06 9.99999994e-01 2.43328840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682791605 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:4.35, Y:0.10, Z:0.01 [[ 9.95548546e-01 -9.42501017e-02 -1.07265618e-04 4.34842289e+00] [ 9.42500999e-02 9.95548551e-01 -2.18193026e-05 1.00053847e-01] [ 1.08844602e-04 1.16123797e-05 9.99999994e-01 1.08593182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712791605 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:4.34, Y:0.09, Z:-0.03 [[ 9.95183815e-01 -9.80263378e-02 -1.08101990e-04 4.33982834e+00] [ 9.80263369e-02 9.95183821e-01 -1.32969914e-05 9.19940665e-02] [ 1.08884807e-04 2.63610855e-06 9.99999994e-01 -2.81941756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742791605 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:4.38, Y:0.10, Z:-0.00 [[ 9.95245269e-01 -9.74004268e-02 -1.06861151e-04 4.38429641e+00] [ 9.74004244e-02 9.95245275e-01 -2.78911626e-05 9.94363436e-02] [ 1.09069667e-04 1.73502262e-05 9.99999994e-01 -1.87839223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772791605 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:4.44, Y:0.11, Z:0.01 [[ 9.97280164e-01 -7.37038859e-02 -1.06889052e-04 4.43859932e+00] [ 7.37038834e-02 9.97280170e-01 -2.75549978e-05 1.08752397e-01] [ 1.08629242e-04 1.96019145e-05 9.99999994e-01 6.94254001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802791605 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:4.47, Y:0.11, Z:0.01 [[ 9.96729576e-01 -8.08092824e-02 -1.08116492e-04 4.47356530e+00] [ 8.08092816e-02 9.96729582e-01 -1.22995714e-05 1.08632331e-01] [ 1.08756825e-04 3.52253054e-06 9.99999994e-01 7.94555229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832791605 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:4.51, Y:0.11, Z:0.00 [[ 9.96475540e-01 -8.38837663e-02 -1.08292131e-04 4.50979121e+00] [ 8.38837657e-02 9.96475546e-01 -1.00995917e-05 1.10062206e-01] [ 1.08757652e-04 9.80044334e-07 9.99999994e-01 4.96720230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862791605 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:4.55, Y:0.12, Z:0.00 [[ 9.96727570e-01 -8.08340183e-02 -1.08514546e-04 4.55221765e+00] [ 8.08340180e-02 9.96727576e-01 -7.26506471e-06 1.19637508e-01] [ 1.08746704e-04 -1.53037643e-06 9.99999994e-01 4.18419060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892791605 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:4.59, Y:0.11, Z:0.00 [[ 9.94978305e-01 -1.00090760e-01 -1.09082974e-04 4.58878990e+00] [ 1.00090760e-01 9.94978311e-01 7.27264519e-07 1.10133755e-01] [ 1.08462401e-04 -1.16418103e-05 9.99999994e-01 3.16072894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9227916050000005 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:4.61, Y:0.11, Z:-0.01 [[ 9.94246751e-01 -1.07113893e-01 -1.09286118e-04 4.61344861e+00] [ 1.07113894e-01 9.94246757e-01 3.56040776e-06 1.10914207e-01] [ 1.08276000e-04 -1.52459855e-05 9.99999994e-01 -8.90859089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952791605 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:4.63, Y:0.11, Z:0.01 [[ 9.94089649e-01 -1.08562235e-01 -1.08557258e-04 4.62581130e+00] [ 1.08562235e-01 9.94089654e-01 -3.50511872e-06 1.12471014e-01] [ 1.08296171e-04 -8.30081637e-06 9.99999994e-01 1.23417901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982791605 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:4.66, Y:0.12, Z:0.01 [[ 9.94454036e-01 -1.05172047e-01 -1.07712825e-04 4.65687731e+00] [ 1.05172046e-01 9.94454041e-01 -1.14493513e-05 1.17397951e-01] [ 1.08319606e-04 5.74754383e-08 9.99999994e-01 9.26814489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012791605 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:4.69, Y:0.12, Z:0.01 [[ 9.94637056e-01 -1.03426863e-01 -1.07713588e-04 4.68887064e+00] [ 1.03426862e-01 9.94637061e-01 -1.14421677e-05 1.21191625e-01] [ 1.08319354e-04 2.40325583e-07 9.99999994e-01 8.62232875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042791605 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:4.76, Y:0.14, Z:0.01 [[ 9.97976587e-01 -6.35823938e-02 -1.07718819e-04 4.76462270e+00] [ 6.35823930e-02 9.97976592e-01 -1.13927093e-05 1.42543962e-01] [ 1.08225236e-04 4.52063686e-06 9.99999994e-01 6.48675122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072791605 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:4.74, Y:0.12, Z:0.01 [[ 9.93919857e-01 -1.10105885e-01 -1.10504983e-04 4.73706488e+00] [ 1.10105887e-01 9.93919863e-01 1.59950270e-05 1.19686505e-01] [ 1.08071950e-04 -2.80650240e-05 9.99999994e-01 9.27331174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102791605 meters Centerline goodness : 0.987519 Centerline is valid? [True, True] Translation: X:4.77, Y:0.16, Z:-0.01 [[ 9.99625096e-01 -2.73798496e-02 -1.07371232e-04 4.76675905e+00] [ 2.73798484e-02 9.99625102e-01 -1.20133564e-05 1.58228921e-01] [ 1.07659902e-04 9.06904444e-06 9.99999994e-01 -1.48581453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132791605 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:4.80, Y:0.12, Z:0.01 [[ 9.93840543e-01 -1.10819507e-01 -1.07510254e-04 4.79913264e+00] [ 1.10819507e-01 9.93840549e-01 -1.07670048e-05 1.24043618e-01] [ 1.08041244e-04 -1.21354743e-06 9.99999994e-01 9.44274234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162791605 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:4.83, Y:0.13, Z:0.01 [[ 9.93806942e-01 -1.11120429e-01 -1.07373572e-04 4.83222227e+00] [ 1.11120429e-01 9.93806948e-01 -1.19909329e-05 1.28113594e-01] [ 1.08041040e-04 -1.47250219e-08 9.99999994e-01 8.84781202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192791605 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:4.86, Y:0.13, Z:0.01 [[ 9.93851061e-01 -1.10725141e-01 -1.07379871e-04 4.86373057e+00] [ 1.10725141e-01 9.93851067e-01 -1.19342626e-05 1.31846775e-01] [ 1.08041022e-04 -2.87717555e-08 9.99999994e-01 9.12048438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222791605 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:4.90, Y:0.13, Z:0.01 [[ 9.93863494e-01 -1.10613484e-01 -1.07382905e-04 4.89682218e+00] [ 1.10613483e-01 9.93863500e-01 -1.19068959e-05 1.34830923e-01] [ 1.08041013e-04 -4.41680354e-08 9.99999994e-01 8.76807471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252791605 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:4.93, Y:0.14, Z:0.02 [[ 9.93741759e-01 -1.11701860e-01 -1.07389196e-04 4.92730304e+00] [ 1.11701859e-01 9.93741765e-01 -1.18498808e-05 1.37529115e-01] [ 1.08040783e-04 -2.19851463e-07 9.99999994e-01 2.20837859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282791605 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:4.96, Y:0.14, Z:0.01 [[ 9.93849150e-01 -1.10742297e-01 -1.07338288e-04 4.95966098e+00] [ 1.10742296e-01 9.93849155e-01 -1.23123640e-05 1.41229678e-01] [ 1.08041566e-04 3.49744063e-07 9.99999994e-01 8.05267952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312791605 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:4.99, Y:0.14, Z:0.01 [[ 9.93862346e-01 -1.10623799e-01 -1.07396457e-04 4.99139551e+00] [ 1.10623799e-01 9.93862352e-01 -1.17821372e-05 1.44990942e-01] [ 1.08040680e-04 -1.70781512e-07 9.99999994e-01 9.51613920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342791605 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:5.02, Y:0.15, Z:0.01 [[ 9.93840064e-01 -1.10823803e-01 -1.07401846e-04 5.02324305e+00] [ 1.10823803e-01 9.93840070e-01 -1.17328039e-05 1.48877592e-01] [ 1.08040532e-04 -2.42150461e-07 9.99999994e-01 9.42878990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372791605 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:5.05, Y:0.15, Z:0.01 [[ 9.93823330e-01 -1.10973764e-01 -1.07407238e-04 5.05475456e+00] [ 1.10973763e-01 9.93823336e-01 -1.16832402e-05 1.53011726e-01] [ 1.08040352e-04 -3.08308741e-07 9.99999994e-01 8.36026547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402791605 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:5.09, Y:0.16, Z:0.01 [[ 9.93794016e-01 -1.11235974e-01 -1.07412575e-04 5.08656672e+00] [ 1.11235973e-01 9.93794022e-01 -1.16339641e-05 1.57305610e-01] [ 1.08040090e-04 -3.86378409e-07 9.99999994e-01 9.43351820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432791605 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:5.12, Y:0.16, Z:0.01 [[ 9.93835131e-01 -1.10868030e-01 -1.07414495e-04 5.11813498e+00] [ 1.10868030e-01 9.93835137e-01 -1.16162118e-05 1.62455094e-01] [ 1.08040165e-04 -3.64233993e-07 9.99999994e-01 6.86768746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4627916050000005 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:5.15, Y:0.17, Z:0.01 [[ 9.93863949e-01 -1.10609402e-01 -1.07419914e-04 5.15019923e+00] [ 1.10609401e-01 9.93863955e-01 -1.15658818e-05 1.65823023e-01] [ 1.08040075e-04 -3.86739385e-07 9.99999994e-01 6.21210549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492791605 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:5.18, Y:0.17, Z:0.01 [[ 9.93946082e-01 -1.09868896e-01 -1.07425175e-04 5.18206764e+00] [ 1.09868895e-01 9.93946088e-01 -1.15168041e-05 1.69746538e-01] [ 1.08040171e-04 -3.55602922e-07 9.99999994e-01 7.43205352e-03] [ 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:5.22, Y:0.17, Z:0.01 [[ 9.94048056e-01 -1.08942421e-01 -1.07430371e-04 5.21511008e+00] [ 1.08942420e-01 9.94048062e-01 -1.14681292e-05 1.73959574e-01] [ 1.08040318e-04 -3.03853146e-07 9.99999994e-01 7.29132591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552791605 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:5.25, Y:0.17, Z:0.00 [[ 9.92841005e-01 -1.19443404e-01 -1.07436351e-04 5.24598378e+00] [ 1.19443403e-01 9.92841011e-01 -1.14118320e-05 1.73012228e-01] [ 1.08030283e-04 -1.50242867e-06 9.99999994e-01 2.14271386e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582791605 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:5.27, Y:0.19, Z:-0.01 [[ 9.94158805e-01 -1.07927100e-01 -1.07436724e-04 5.27157258e+00] [ 1.07927100e-01 9.94158811e-01 -1.14083238e-05 1.91837538e-01] [ 1.08040433e-04 -2.53648466e-07 9.99999994e-01 -7.85184314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612791605 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:5.31, Y:0.19, Z:0.01 [[ 9.94259478e-01 -1.06995696e-01 -1.07205568e-04 5.30752413e+00] [ 1.06995695e-01 9.94259484e-01 -1.35795206e-05 1.88273981e-01] [ 1.08043103e-04 2.03103279e-06 9.99999994e-01 5.92626653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642791605 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:5.34, Y:0.20, Z:0.00 [[ 9.94462139e-01 -1.05095398e-01 -1.07440877e-04 5.33975924e+00] [ 1.05095397e-01 9.94462145e-01 -1.13525475e-05 1.95718949e-01] [ 1.08038986e-04 -1.86305326e-09 9.99999994e-01 3.21491756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6727916050000005 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:5.40, Y:0.19, Z:-0.01 [[ 9.90648118e-01 -1.36441540e-01 -1.07446847e-04 5.40340076e+00] [ 1.36441540e-01 9.90648124e-01 -1.12957634e-05 1.92876417e-01] [ 1.07983228e-04 -3.47008643e-06 9.99999994e-01 -6.60041952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702791605 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:5.44, Y:0.19, Z:-0.01 [[ 9.88871804e-01 -1.48770102e-01 -1.09082400e-04 5.43849242e+00] [ 1.48770104e-01 9.88871810e-01 6.26230425e-06 1.93761474e-01] [ 1.06936867e-04 -2.24208160e-05 9.99999994e-01 -6.78541029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732791605 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:5.37, Y:0.21, Z:0.00 [[ 9.96090481e-01 -8.83387897e-02 -1.09328324e-04 5.36656986e+00] [ 8.83387912e-02 9.96090487e-01 8.68858302e-06 2.10752827e-01] [ 1.08133365e-04 -1.83125468e-05 9.99999994e-01 2.81441656e-03] [ 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:5.42, Y:0.21, Z:0.00 [[ 9.95052121e-01 -9.93542415e-02 -1.05751966e-04 5.41912802e+00] [ 9.93542397e-02 9.95052127e-01 -2.19403154e-05 2.12964926e-01] [ 1.07408582e-04 1.13248511e-05 9.99999994e-01 4.10021957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792791605 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:5.44, Y:0.23, Z:-0.00 [[ 9.96494862e-01 -8.36539188e-02 -1.06588785e-04 5.44237632e+00] [ 8.36539177e-02 9.96494868e-01 -1.43404611e-05 2.26555651e-01] [ 1.07414813e-04 5.37362635e-06 9.99999994e-01 -3.54468865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822791605 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:5.48, Y:0.23, Z:-0.00 [[ 9.98115565e-01 -6.13620950e-02 -1.06155898e-04 5.48208471e+00] [ 6.13620934e-02 9.98115571e-01 -1.82699866e-05 2.33283434e-01] [ 1.07076939e-04 1.17216099e-05 9.99999994e-01 -3.57986702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852791605 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:5.52, Y:0.23, Z:0.01 [[ 9.96319614e-01 -8.57159038e-02 -1.06836728e-04 5.51556470e+00] [ 8.57159030e-02 9.96319619e-01 -1.19568534e-05 2.33748047e-01] [ 1.07468420e-04 2.75524095e-06 9.99999994e-01 9.57918468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882791605 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:5.56, Y:0.24, Z:0.00 [[ 9.93911447e-01 -1.10181773e-01 -1.06889095e-04 5.55565421e+00] [ 1.10181773e-01 9.93911453e-01 -1.14687873e-05 2.36521361e-01] [ 1.07501947e-04 -3.78271005e-07 9.99999994e-01 3.52634853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912791605 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:5.58, Y:0.24, Z:0.01 [[ 9.93848321e-01 -1.10749732e-01 -1.07344487e-04 5.57773996e+00] [ 1.10749731e-01 9.93848327e-01 -7.30591965e-06 2.35219087e-01] [ 1.07493267e-04 -4.62739712e-06 9.99999994e-01 1.41380645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.64, Y:0.24, Z:0.00 [[ 9.92700302e-01 -1.20607206e-01 -1.06844196e-04 5.63501556e+00] [ 1.20607206e-01 9.92700308e-01 -1.18259235e-05 2.41597834e-01] [ 1.07490558e-04 -1.14658200e-06 9.99999994e-01 3.43519307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972791605 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:5.64, Y:0.24, Z:0.02 [[ 9.93058946e-01 -1.17617676e-01 -1.08495769e-04 5.63508125e+00] [ 1.17617677e-01 9.93058952e-01 3.42051803e-06 2.38711159e-01] [ 1.07340381e-04 -1.61577964e-05 9.99999994e-01 1.72937224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0027916050000005 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.69, Y:0.25, Z:0.00 [[ 9.92643808e-01 -1.21071294e-01 -1.06718015e-04 5.68706958e+00] [ 1.21071293e-01 9.92643814e-01 -1.21693427e-05 2.47387767e-01] [ 1.07406336e-04 -8.40665413e-07 9.99999994e-01 1.57159275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.72, Y:0.25, Z:-0.01 [[ 9.93032291e-01 -1.17842509e-01 -1.08153340e-04 5.71802666e+00] [ 1.17842510e-01 9.93032297e-01 4.12535842e-06 2.54043710e-01] [ 1.06913617e-04 -1.68416751e-05 9.99999994e-01 -1.02985068e-02] [ 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:5.76, Y:0.25, Z:0.01 [[ 9.93876146e-01 -1.10499750e-01 -1.08163032e-04 5.75585706e+00] [ 1.10499751e-01 9.93876152e-01 4.23671643e-06 2.54105337e-01] [ 1.07032502e-04 -1.61627594e-05 9.99999994e-01 7.92825611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092791605 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:5.75, Y:0.24, Z:0.02 [[ 9.89335387e-01 -1.45655348e-01 -1.07477631e-04 5.75161985e+00] [ 1.45655349e-01 9.89335393e-01 -9.38072224e-07 2.43327227e-01] [ 1.06468059e-04 -1.47266237e-05 9.99999994e-01 2.15117461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122791605 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:5.78, Y:0.25, Z:0.02 [[ 9.89683041e-01 -1.43274099e-01 -1.05582074e-04 5.78427571e+00] [ 1.43274098e-01 9.89683046e-01 -1.46237799e-05 2.48069996e-01] [ 1.06587998e-04 -6.54269507e-07 9.99999994e-01 2.31665562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152791605 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:5.82, Y:0.25, Z:0.02 [[ 9.90028116e-01 -1.40869865e-01 -1.05589754e-04 5.81708137e+00] [ 1.40869865e-01 9.90028121e-01 -1.45681178e-05 2.53066704e-01] [ 1.06589035e-04 -4.51568138e-07 9.99999994e-01 2.26121947e-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:5.85, Y:0.26, Z:0.02 [[ 9.90824321e-01 -1.35156034e-01 -1.05597462e-04 5.84911308e+00] [ 1.35156033e-01 9.90824327e-01 -1.45120280e-05 2.58285298e-01] [ 1.06589923e-04 1.06736259e-07 9.99999994e-01 1.98793386e-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:5.88, Y:0.26, Z:0.02 [[ 9.91189890e-01 -1.32448448e-01 -1.05604210e-04 5.88152470e+00] [ 1.32448447e-01 9.91189895e-01 -1.44627590e-05 2.63092011e-01] [ 1.06589396e-04 3.48226922e-07 9.99999994e-01 1.76794115e-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:5.91, Y:0.27, Z:0.02 [[ 9.91333146e-01 -1.31371921e-01 -1.05611933e-04 5.91438593e+00] [ 1.31371920e-01 9.91333152e-01 -1.44061396e-05 2.67869082e-01] [ 1.06589173e-04 4.06841301e-07 9.99999994e-01 1.72199919e-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:5.95, Y:0.27, Z:0.02 [[ 9.91193775e-01 -1.32419369e-01 -1.05619665e-04 5.94607128e+00] [ 1.32419368e-01 9.91193781e-01 -1.43492247e-05 2.71415431e-01] [ 1.06589671e-04 2.36772830e-07 9.99999994e-01 1.62924324e-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:5.98, Y:0.28, Z:0.02 [[ 9.91185026e-01 -1.32484841e-01 -1.05626348e-04 5.97786542e+00] [ 1.32484840e-01 9.91185032e-01 -1.42998612e-05 2.75272805e-01] [ 1.06589770e-04 1.79918459e-07 9.99999994e-01 1.51911084e-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:6.01, Y:0.28, Z:0.01 [[ 9.91132583e-01 -1.32876604e-01 -1.05632963e-04 6.00955337e+00] [ 1.32876603e-01 9.91132589e-01 -1.42508284e-05 2.78788045e-01] [ 1.06589874e-04 8.83110161e-08 9.99999994e-01 1.27454078e-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:6.04, Y:0.28, Z:0.01 [[ 9.91505537e-01 -1.30064443e-01 -1.05639539e-04 6.04131142e+00] [ 1.30064443e-01 9.91505542e-01 -1.42019165e-05 2.82910606e-01] [ 1.06589353e-04 3.41331061e-07 9.99999994e-01 1.28482713e-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:6.07, Y:0.29, Z:0.01 [[ 9.91664143e-01 -1.28849588e-01 -1.05646032e-04 6.07348624e+00] [ 1.28849587e-01 9.91664149e-01 -1.41534508e-05 2.88733053e-01] [ 1.06589048e-04 4.23022070e-07 9.99999994e-01 1.24700613e-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:6.10, Y:0.29, Z:0.02 [[ 9.91828393e-01 -1.27579101e-01 -1.05652492e-04 6.10296714e+00] [ 1.27579100e-01 9.91828399e-01 -1.41050624e-05 2.94834864e-01] [ 1.06588653e-04 5.10751484e-07 9.99999994e-01 2.23529232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.14, Y:0.30, Z:0.02 [[ 9.91896496e-01 -1.27048536e-01 -1.05632314e-04 6.13521234e+00] [ 1.27048535e-01 9.91896501e-01 -1.42562484e-05 2.99444699e-01] [ 1.06587558e-04 7.20292073e-07 9.99999994e-01 2.23564099e-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:6.17, Y:0.30, Z:0.01 [[ 9.92099380e-01 -1.25454411e-01 -1.05639782e-04 6.16670339e+00] [ 1.25454410e-01 9.92099386e-01 -1.42000643e-05 3.03798293e-01] [ 1.06586624e-04 8.34898422e-07 9.99999994e-01 1.16967043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.20, Y:0.31, Z:0.01 [[ 9.92252704e-01 -1.24235904e-01 -1.05664921e-04 6.19904202e+00] [ 1.24235903e-01 9.92252710e-01 -1.40104731e-05 3.07706711e-01] [ 1.06586908e-04 7.74552944e-07 9.99999994e-01 1.21699634e-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:6.23, Y:0.31, Z:0.01 [[ 9.92542672e-01 -1.21897631e-01 -1.05671807e-04 6.23113917e+00] [ 1.21897630e-01 9.92542678e-01 -1.39583430e-05 3.13634296e-01] [ 1.06585267e-04 9.73108297e-07 9.99999994e-01 1.24994968e-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:6.26, Y:0.32, Z:0.01 [[ 9.92716111e-01 -1.20477020e-01 -1.05679159e-04 6.26298203e+00] [ 1.20477020e-01 9.92716116e-01 -1.39024552e-05 3.19509843e-01] [ 1.06584331e-04 1.06928109e-06 9.99999994e-01 1.31828723e-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:6.29, Y:0.33, Z:0.01 [[ 9.93096562e-01 -1.17299646e-01 -1.05685579e-04 6.29487358e+00] [ 1.17299645e-01 9.93096568e-01 -1.38534809e-05 3.26544239e-01] [ 1.06580994e-04 1.36096342e-06 9.99999994e-01 1.24604646e-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:6.32, Y:0.33, Z:0.02 [[ 9.93006974e-01 -1.18055660e-01 -1.05691925e-04 6.32322861e+00] [ 1.18055659e-01 9.93006979e-01 -1.38048927e-05 3.32326730e-01] [ 1.06582565e-04 1.23082484e-06 9.99999994e-01 2.34861375e-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:6.36, Y:0.34, Z:0.01 [[ 9.93774437e-01 -1.11410762e-01 -1.05539531e-04 6.35636971e+00] [ 1.11410761e-01 9.93774442e-01 -1.49742488e-05 3.40540778e-01] [ 1.06550781e-04 3.12278615e-06 9.99999994e-01 1.18357867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:0.35, Z:0.02 [[ 9.93539699e-01 -1.13485042e-01 -1.05702419e-04 6.38442282e+00] [ 1.13485041e-01 9.93539705e-01 -1.37192466e-05 3.45213289e-01] [ 1.06576480e-04 1.63497277e-06 9.99999994e-01 2.01352749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.42, Y:0.35, Z:0.01 [[ 9.94096954e-01 -1.08495319e-01 -1.05521123e-04 6.41883511e+00] [ 1.08495318e-01 9.94096960e-01 -1.51186305e-05 3.51014796e-01] [ 1.06538529e-04 3.58083668e-06 9.99999994e-01 1.27050992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7527916050000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.45, Y:0.36, Z:0.01 [[ 9.94245837e-01 -1.07122378e-01 -1.05714658e-04 6.45096160e+00] [ 1.07122378e-01 9.94245843e-01 -1.36160329e-05 3.60030220e-01] [ 1.06564941e-04 2.21327851e-06 9.99999994e-01 1.42865487e-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:6.48, Y:0.37, Z:0.01 [[ 9.94276860e-01 -1.06834052e-01 -1.05721890e-04 6.48378424e+00] [ 1.06834051e-01 9.94276866e-01 -1.35596432e-05 3.67954706e-01] [ 1.06565461e-04 2.18734168e-06 9.99999994e-01 1.40336603e-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:6.52, Y:0.38, Z:0.01 [[ 9.94118025e-01 -1.08302082e-01 -1.05729099e-04 6.51530614e+00] [ 1.08302081e-01 9.94118031e-01 -1.35031972e-05 3.77505880e-01] [ 1.06569628e-04 1.97309034e-06 9.99999994e-01 1.36643918e-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:6.55, Y:0.38, Z:0.01 [[ 9.93983192e-01 -1.09532657e-01 -1.05735357e-04 6.54748991e+00] [ 1.09532656e-01 9.93983198e-01 -1.34540129e-05 3.83272280e-01] [ 1.06572822e-04 1.79158815e-06 9.99999994e-01 1.37546099e-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:6.58, Y:0.39, Z:0.01 [[ 9.93804898e-01 -1.11138711e-01 -1.05742464e-04 6.58061057e+00] [ 1.11138711e-01 9.93804904e-01 -1.33979241e-05 3.88754588e-01] [ 1.06576407e-04 1.56284147e-06 9.99999994e-01 1.38608611e-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:6.61, Y:0.40, Z:0.01 [[ 9.93501693e-01 -1.13817283e-01 -1.05749538e-04 6.61269191e+00] [ 1.13817283e-01 9.93501699e-01 -1.33418574e-05 3.95405406e-01] [ 1.06580879e-04 1.21903292e-06 9.99999994e-01 1.32525108e-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:6.65, Y:0.40, Z:0.01 [[ 9.93357504e-01 -1.15068925e-01 -1.05755705e-04 6.64542183e+00] [ 1.15068924e-01 9.93357510e-01 -1.32927882e-05 4.00873120e-01] [ 1.06582811e-04 1.03529572e-06 9.99999994e-01 1.42649326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9627916050000005 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:6.65, Y:0.42, Z:-0.01 [[ 9.98647550e-01 -5.19909557e-02 -1.05762849e-04 6.64620887e+00] [ 5.19909546e-02 9.98647556e-01 -1.32357029e-05 4.21298256e-01] [ 1.06307948e-04 7.71909076e-06 9.99999994e-01 -1.03406798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:0.41, Z:0.01 [[ 9.93805651e-01 -1.11131984e-01 -1.04392027e-04 6.70156676e+00] [ 1.11131982e-01 9.93805656e-01 -2.44032911e-05 4.13541720e-01] [ 1.06457373e-04 1.26508358e-05 9.99999994e-01 1.13904532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:0.42, Z:0.02 [[ 9.93112439e-01 -1.17165149e-01 -1.05798410e-04 6.72575352e+00] [ 1.17165148e-01 9.93112445e-01 -1.24965540e-05 4.17544369e-01] [ 1.06533879e-04 1.45967945e-08 9.99999994e-01 1.51958353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052791605 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:6.77, Y:0.40, Z:0.00 [[ 9.88501358e-01 -1.51211949e-01 -1.05366292e-04 6.77247141e+00] [ 1.51211948e-01 9.88501364e-01 -1.61515800e-05 4.03859849e-01] [ 1.06597035e-04 3.32165237e-08 9.99999994e-01 4.77747321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082791605000001 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:6.80, Y:0.42, Z:0.01 [[ 9.91206925e-01 -1.32320901e-01 -1.06132451e-04 6.79778074e+00] [ 1.32320901e-01 9.91206931e-01 -9.55791321e-06 4.15757205e-01] [ 1.06463933e-04 -4.56967181e-06 9.99999994e-01 1.02340135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.82, Y:0.43, Z:0.02 [[ 9.93875358e-01 -1.10506837e-01 -1.05805811e-04 6.82184697e+00] [ 1.10506836e-01 9.93875364e-01 -1.23551605e-05 4.29815155e-01] [ 1.06523119e-04 5.87224149e-07 9.99999994e-01 2.13215189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142791605 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:6.85, Y:0.43, Z:0.01 [[ 9.94944759e-01 -1.00423681e-01 -1.05475977e-04 6.84554694e+00] [ 1.00423680e-01 9.94944764e-01 -1.51833981e-05 4.32846165e-01] [ 1.06467544e-04 4.51435652e-06 9.99999994e-01 8.18301537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1727916050000005 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:6.90, Y:0.43, Z:0.01 [[ 9.92239345e-01 -1.24342552e-01 -1.05047553e-04 6.89961795e+00] [ 1.24342551e-01 9.92239351e-01 -1.87474198e-05 4.28294847e-01] [ 1.06563418e-04 5.54004684e-06 9.99999994e-01 8.66334693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202791605 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.93, Y:0.44, Z:0.01 [[ 9.93343723e-01 -1.15187836e-01 -1.06408810e-04 6.93218888e+00] [ 1.15187836e-01 9.93343728e-01 -6.84000795e-06 4.38842395e-01] [ 1.06488409e-04 -5.46252152e-06 9.99999994e-01 1.06278463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232791605 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:6.97, Y:0.44, Z:0.00 [[ 9.91998767e-01 -1.26247515e-01 -1.06498228e-04 6.97211039e+00] [ 1.26247515e-01 9.91998773e-01 -6.05659960e-06 4.36813591e-01] [ 1.06410742e-04 -7.43699730e-06 9.99999994e-01 1.43298748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262791605 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:6.97, Y:0.44, Z:0.00 [[ 9.95009130e-01 -9.97838658e-02 -1.06885945e-04 6.96764771e+00] [ 9.97838660e-02 9.95009136e-01 -2.73539733e-06 4.44017031e-01] [ 1.06625440e-04 -7.94374746e-06 9.99999994e-01 3.06667964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292791605000001 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:7.05, Y:0.45, Z:0.00 [[ 9.91501439e-01 -1.30095676e-01 -1.05324993e-04 7.04734191e+00] [ 1.30095675e-01 9.91501445e-01 -1.55204584e-05 4.46198496e-01] [ 1.06449027e-04 1.68623089e-06 9.99999994e-01 1.46985933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.01, Y:0.43, Z:0.02 [[ 9.91440317e-01 -1.30560662e-01 -1.07715042e-04 7.01394486e+00] [ 1.30560663e-01 9.91440323e-01 1.32829183e-06 4.25416294e-01] [ 1.06619613e-04 -1.53802694e-05 9.99999994e-01 1.72010654e-02] [ 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:7.03, Y:0.42, Z:0.00 [[ 9.88126053e-01 -1.53645347e-01 -1.04081398e-04 7.03029244e+00] [ 1.53645346e-01 9.88126058e-01 -2.31948031e-05 4.15742071e-01] [ 1.06409315e-04 6.92776683e-06 9.99999994e-01 4.33699760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.43, Z:0.02 [[ 9.89640014e-01 -1.43570999e-01 -1.02178523e-04 7.07538099e+00] [ 1.43570996e-01 9.89640019e-01 -3.47188948e-05 4.28800594e-01] [ 1.06104581e-04 1.96893353e-05 9.99999994e-01 2.04192669e-02] [ 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:7.10, Y:0.43, Z:0.02 [[ 9.89802693e-01 -1.42445142e-01 -1.03072929e-04 7.10340523e+00] [ 1.42445140e-01 9.89802698e-01 -2.93001499e-05 4.33240350e-01] [ 1.06195528e-04 1.43191294e-05 9.99999994e-01 2.01945641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:0.44, Z:0.01 [[ 9.90368699e-01 -1.38455156e-01 -1.03043106e-04 7.11746821e+00] [ 1.38455153e-01 9.90368704e-01 -2.94799381e-05 4.35289981e-01] [ 1.06132317e-04 1.49291589e-05 9.99999994e-01 7.03891562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472791605 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:7.18, Y:0.45, Z:0.02 [[ 9.92175984e-01 -1.24847135e-01 -1.02880974e-04 7.17801716e+00] [ 1.24847133e-01 9.92175989e-01 -3.06663601e-05 4.54740011e-01] [ 1.05904639e-04 1.75820314e-05 9.99999994e-01 1.81663422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5027916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:0.45, Z:0.01 [[ 9.90809478e-01 -1.35264803e-01 -1.05094143e-04 7.19411510e+00] [ 1.35264802e-01 9.90809484e-01 -1.37472189e-05 4.52481488e-01] [ 1.05987789e-04 -5.94663729e-07 9.99999994e-01 7.53250798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.20, Y:0.45, Z:0.00 [[ 9.88387849e-01 -1.51952130e-01 -1.03918366e-04 7.20412246e+00] [ 1.51952128e-01 9.88387854e-01 -2.21367112e-05 4.52074399e-01] [ 1.06075371e-04 6.08903956e-06 9.99999994e-01 1.75554968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562791605 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:7.27, Y:0.46, Z:0.01 [[ 9.93160155e-01 -1.16759996e-01 -1.02370057e-04 7.27456190e+00] [ 1.16759993e-01 9.93160160e-01 -3.26571245e-05 4.64808157e-01] [ 1.05482908e-04 2.04810276e-05 9.99999994e-01 5.23313826e-03] [ 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:7.30, Y:0.46, Z:0.02 [[ 9.87910460e-01 -1.55025519e-01 -1.05311134e-04 7.30248109e+00] [ 1.55025519e-01 9.87910466e-01 -1.20318778e-05 4.58781960e-01] [ 1.05903219e-04 -4.43949527e-06 9.99999994e-01 1.51724414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:0.46, Z:0.02 [[ 9.87793487e-01 -1.55769114e-01 -1.04881794e-04 7.33470671e+00] [ 1.55769113e-01 9.87793492e-01 -1.50282342e-05 4.64289938e-01] [ 1.05942488e-04 -1.49255219e-06 9.99999994e-01 1.51635901e-02] [ 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:7.37, Y:0.47, Z:0.01 [[ 9.87427159e-01 -1.58074648e-01 -1.04884186e-04 7.36519638e+00] [ 1.58074648e-01 9.87427165e-01 -1.50115170e-05 4.67767407e-01] [ 1.05938435e-04 -1.75675128e-06 9.99999994e-01 5.65509628e-03] [ 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:7.40, Y:0.47, Z:0.02 [[ 9.88424106e-01 -1.51716103e-01 -1.04887497e-04 7.39793345e+00] [ 1.51716102e-01 9.88424111e-01 -1.49883531e-05 4.74688279e-01] [ 1.05947305e-04 -1.09827262e-06 9.99999994e-01 2.06432987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7127916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:0.48, Z:0.02 [[ 9.88726030e-01 -1.49735853e-01 -1.04946546e-04 7.42963305e+00] [ 1.49735852e-01 9.88726036e-01 -1.45737821e-05 4.79425558e-01] [ 1.05945600e-04 -1.30478285e-06 9.99999994e-01 1.97021909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742791605 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:7.46, Y:0.49, Z:0.01 [[ 9.88860832e-01 -1.48843021e-01 -1.04909629e-04 7.45992985e+00] [ 1.48843020e-01 9.88860837e-01 -1.48336238e-05 4.85131811e-01] [ 1.05948905e-04 -9.46676389e-07 9.99999994e-01 1.28093527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.49, Y:0.49, Z:0.01 [[ 9.89051756e-01 -1.47569009e-01 -1.04900929e-04 7.49204918e+00] [ 1.47569008e-01 9.89051762e-01 -1.48948903e-05 4.91274168e-01] [ 1.05950473e-04 -7.48308674e-07 9.99999994e-01 1.21859167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.52, Y:0.50, Z:0.01 [[ 9.89052058e-01 -1.47566985e-01 -1.04907532e-04 7.52432473e+00] [ 1.47566984e-01 9.89052064e-01 -1.48482422e-05 4.95164335e-01] [ 1.05950121e-04 -7.95203597e-07 9.99999994e-01 1.14360724e-02] [ 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:7.55, Y:0.50, Z:0.02 [[ 9.88780748e-01 -1.49374097e-01 -1.04914180e-04 7.55418115e+00] [ 1.49374096e-01 9.88780754e-01 -1.48011147e-05 4.98834282e-01] [ 1.05948026e-04 -1.03640360e-06 9.99999994e-01 2.01982660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.59, Y:0.50, Z:0.01 [[ 9.89035447e-01 -1.47678277e-01 -1.04850131e-04 7.58526475e+00] [ 1.47678276e-01 9.89035453e-01 -1.52556245e-05 5.04597868e-01] [ 1.05953421e-04 -3.95733261e-07 9.99999994e-01 1.05317118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.61, Y:0.51, Z:0.02 [[ 9.88818215e-01 -1.49125877e-01 -1.04921011e-04 7.61485564e+00] [ 1.49125877e-01 9.88818220e-01 -1.47514839e-05 5.08945165e-01] [ 1.05947636e-04 -1.05990180e-06 9.99999994e-01 1.98518326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9227916050000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:0.51, Z:0.02 [[ 9.88892242e-01 -1.48634192e-01 -1.04889540e-04 7.64689720e+00] [ 1.48634191e-01 9.88892247e-01 -1.49751781e-05 5.13076033e-01] [ 1.05950276e-04 -7.81334496e-07 9.99999994e-01 2.07807871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:0.52, Z:0.01 [[ 9.89041887e-01 -1.47635141e-01 -1.04874971e-04 7.67882921e+00] [ 1.47635141e-01 9.89041892e-01 -1.50790571e-05 5.16364448e-01] [ 1.05951938e-04 -5.69411923e-07 9.99999994e-01 9.68149936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.71, Y:0.52, Z:0.02 [[ 9.88710293e-01 -1.49839734e-01 -1.04931949e-04 7.70811722e+00] [ 1.49839734e-01 9.88710298e-01 -1.46715408e-05 5.20307431e-01] [ 1.05945679e-04 -1.21707190e-06 9.99999994e-01 1.94907833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:0.53, Z:0.02 [[ 9.88550284e-01 -1.50891765e-01 -1.04863878e-04 7.74074236e+00] [ 1.50891764e-01 9.88550290e-01 -1.51589601e-05 5.25883654e-01] [ 1.05950579e-04 -8.37701249e-07 9.99999994e-01 2.20789904e-02] [ 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:7.77, Y:0.53, Z:0.01 [[ 9.88549693e-01 -1.50895637e-01 -1.04948631e-04 7.77170469e+00] [ 1.50895636e-01 9.88549699e-01 -1.45504692e-05 5.30182020e-01] [ 1.05942540e-04 -1.45242860e-06 9.99999994e-01 9.86833185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:0.53, Z:0.01 [[ 9.88578981e-01 -1.50703639e-01 -1.04941409e-04 7.80339216e+00] [ 1.50703638e-01 9.88578987e-01 -1.46023719e-05 5.34591067e-01] [ 1.05943502e-04 -1.37945408e-06 9.99999994e-01 1.08077112e-02] [ 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:7.84, Y:0.54, Z:0.01 [[ 9.88363435e-01 -1.52110848e-01 -1.04947873e-04 7.83530480e+00] [ 1.52110847e-01 9.88363440e-01 -1.45557627e-05 5.37868043e-01] [ 1.05940730e-04 -1.57732622e-06 9.99999994e-01 1.08343265e-02] [ 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:7.87, Y:0.54, Z:0.01 [[ 9.88297164e-01 -1.52540832e-01 -1.04954388e-04 7.86730244e+00] [ 1.52540831e-01 9.88297169e-01 -1.45086363e-05 5.41942826e-01] [ 1.05939284e-04 -1.67098540e-06 9.99999994e-01 8.52253798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.90, Y:0.55, Z:0.02 [[ 9.88238118e-01 -1.52922896e-01 -1.04960918e-04 7.89800068e+00] [ 1.52922895e-01 9.88238123e-01 -1.44612362e-05 5.45610888e-01] [ 1.05937835e-04 -1.75978262e-06 9.99999994e-01 1.85157433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:0.55, Z:0.01 [[ 9.88423332e-01 -1.51721146e-01 -1.04974986e-04 7.92837309e+00] [ 1.51721145e-01 9.88423337e-01 -1.43589363e-05 5.50143833e-01] [ 1.05938280e-04 -1.73421741e-06 9.99999994e-01 8.89401368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:0.55, Z:0.01 [[ 9.88883854e-01 -1.48689985e-01 -1.04966479e-04 7.95975610e+00] [ 1.48689984e-01 9.88883860e-01 -1.44208575e-05 5.54833364e-01] [ 1.05943894e-04 -1.34691098e-06 9.99999994e-01 9.44152857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.99, Y:0.56, Z:0.01 [[ 9.89078425e-01 -1.47390153e-01 -1.04972399e-04 7.99256333e+00] [ 1.47390153e-01 9.89078431e-01 -1.43776337e-05 5.60042997e-01] [ 1.05945057e-04 -1.25129061e-06 9.99999994e-01 9.20042225e-03] [ 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:8.02, Y:0.56, Z:0.01 [[ 9.88753859e-01 -1.49551984e-01 -1.04979704e-04 8.02232298e+00] [ 1.49551983e-01 9.88753864e-01 -1.43240943e-05 5.64424723e-01] [ 1.05941285e-04 -1.53691945e-06 9.99999994e-01 1.22975697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:0.57, Z:0.02 [[ 9.88859842e-01 -1.48849592e-01 -1.04849759e-04 8.05664372e+00] [ 1.48849592e-01 9.88859848e-01 -1.52763053e-05 5.68686627e-01] [ 1.05955588e-04 -5.00718943e-07 9.99999994e-01 1.55244871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342791605 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:8.12, Y:0.56, Z:-0.00 [[ 9.81531655e-01 -1.91299765e-01 -1.04994856e-04 8.11723598e+00] [ 1.91299765e-01 9.81531660e-01 -1.42069029e-05 5.59967478e-01] [ 1.05773553e-04 -6.14096642e-06 9.99999994e-01 -4.63806751e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.11, Y:0.57, Z:0.01 [[ 9.87178884e-01 -1.59617794e-01 -1.07428874e-04 8.11050713e+00] [ 1.59617796e-01 9.87178889e-01 3.29964244e-06 5.72518467e-01] [ 1.05524835e-04 -2.04048974e-05 9.99999994e-01 1.10841347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.14, Y:0.58, Z:0.01 [[ 9.87147279e-01 -1.59813139e-01 -1.04974069e-04 8.14364587e+00] [ 1.59813138e-01 9.87147284e-01 -1.34897640e-05 5.77399777e-01] [ 1.05780709e-04 -3.45985164e-06 9.99999994e-01 1.10898259e-02] [ 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:8.17, Y:0.58, Z:0.01 [[ 9.87340955e-01 -1.58612190e-01 -1.05025231e-04 8.17233151e+00] [ 1.58612189e-01 9.87340961e-01 -1.31402813e-05 5.82725877e-01] [ 1.05779921e-04 -3.68434388e-06 9.99999994e-01 1.36429276e-02] [ 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:8.22, Y:0.59, Z:0.00 [[ 9.85832587e-01 -1.67732227e-01 -1.04794396e-04 8.22088309e+00] [ 1.67732226e-01 9.85832592e-01 -1.47136888e-05 5.86387161e-01] [ 1.05777691e-04 -3.07216347e-06 9.99999994e-01 4.62860744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:0.60, Z:0.01 [[ 9.89243133e-01 -1.46280598e-01 -1.06014630e-04 8.23086636e+00] [ 1.46280598e-01 9.89243138e-01 -6.22359356e-06 5.97358888e-01] [ 1.05784636e-04 -9.35123631e-06 9.99999994e-01 1.01064222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522791605000002 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:8.25, Y:0.60, Z:0.00 [[ 9.92766383e-01 -1.20062056e-01 -1.04684529e-04 8.24677246e+00] [ 1.20062055e-01 9.92766389e-01 -1.52691840e-05 6.03569605e-01] [ 1.05760531e-04 2.59009285e-06 9.99999994e-01 4.78094271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.32, Y:0.60, Z:0.00 [[ 9.83423587e-01 -1.81323018e-01 -1.03655604e-04 8.32400167e+00] [ 1.81323017e-01 9.83423593e-01 -2.20269520e-05 6.00557358e-01] [ 1.05931360e-04 2.86667736e-06 9.99999994e-01 2.05870633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.34, Y:0.60, Z:0.00 [[ 9.83299157e-01 -1.81996581e-01 -1.06953442e-04 8.34195334e+00] [ 1.81996582e-01 9.83299163e-01 2.98864302e-06 6.02736489e-01] [ 1.04623307e-04 -2.24038911e-05 9.99999994e-01 3.85355769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.34, Y:0.60, Z:0.01 [[ 9.87909036e-01 -1.55034594e-01 -1.05929652e-04 8.34290841e+00] [ 1.55034595e-01 9.87909042e-01 -4.50716569e-06 6.03220699e-01] [ 1.05347628e-04 -1.19700910e-05 9.99999994e-01 7.96247361e-03] [ 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:8.37, Y:0.61, Z:0.01 [[ 9.88682324e-01 -1.50024168e-01 -1.04408337e-04 8.37081754e+00] [ 1.50024167e-01 9.88682330e-01 -1.52712271e-05 6.07345488e-01] [ 1.05517731e-04 -5.65381497e-07 9.99999994e-01 7.70668033e-03] [ 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:8.39, Y:0.61, Z:0.01 [[ 9.87569935e-01 -1.57180191e-01 -1.04141774e-04 8.39474212e+00] [ 1.57180190e-01 9.87569941e-01 -1.71561384e-05 6.11963706e-01] [ 1.05543891e-04 5.73862673e-07 9.99999994e-01 9.21968006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.45, Y:0.61, Z:0.00 [[ 9.83923229e-01 -1.78591906e-01 -1.03739319e-04 8.44726390e+00] [ 1.78591905e-01 9.83923234e-01 -1.99820417e-05 6.13932292e-01] [ 1.05640157e-04 1.13379233e-06 9.99999994e-01 1.52425848e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:0.61, Z:0.01 [[ 9.83513987e-01 -1.80832041e-01 -1.05045814e-04 8.49956031e+00] [ 1.80832041e-01 9.83513992e-01 -1.06245566e-05 6.13079002e-01] [ 1.05235288e-04 -8.54624882e-06 9.99999994e-01 7.64290974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762791605000002 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:8.56, Y:0.61, Z:-0.01 [[ 9.75965522e-01 -2.17924963e-01 -1.06122240e-04 8.56240341e+00] [ 2.17924964e-01 9.75965527e-01 -2.30758585e-06 6.13819859e-01] [ 1.04074528e-04 -2.08745610e-05 9.99999994e-01 -9.14514751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:0.59, Z:0.02 [[ 9.77111292e-01 -2.12728730e-01 -1.06992548e-04 8.54181606e+00] [ 2.12728731e-01 9.77111297e-01 2.62448806e-06 5.93207289e-01] [ 1.03985323e-04 -2.53248059e-05 9.99999994e-01 2.09658074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:8.57, Y:0.60, Z:0.02 [[ 9.77307460e-01 -2.11825680e-01 -1.02939732e-04 8.57443232e+00] [ 2.11825679e-01 9.77307465e-01 -1.91552360e-05 5.98511863e-01] [ 1.04661340e-04 -3.08472363e-06 9.99999995e-01 2.19128935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852791605000002 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:8.65, Y:0.62, Z:-0.01 [[ 9.79685562e-01 -2.00539746e-01 -1.02949266e-04 8.65027359e+00] [ 2.00539745e-01 9.79685567e-01 -1.91038582e-05 6.23269898e-01] [ 1.04688993e-04 -1.92964560e-06 9.99999995e-01 -8.23873313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:0.60, Z:0.02 [[ 9.77354333e-01 -2.11609300e-01 -1.07505205e-04 8.62750002e+00] [ 2.11609302e-01 9.77354339e-01 6.05803506e-06 5.98447688e-01] [ 1.03788742e-04 -2.86699483e-05 9.99999994e-01 2.26303757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:8.66, Y:0.60, Z:0.02 [[ 9.78538888e-01 -2.06062211e-01 -1.02602982e-04 8.66024830e+00] [ 2.06062210e-01 9.78538893e-01 -1.96018843e-05 6.00772854e-01] [ 1.04440216e-04 -1.96139103e-06 9.99999995e-01 1.98505552e-02] [ 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:8.69, Y:0.60, Z:0.02 [[ 9.78913604e-01 -2.04274681e-01 -1.02611663e-04 8.69276011e+00] [ 2.04274680e-01 9.78913609e-01 -1.95563310e-05 6.04626959e-01] [ 1.04442817e-04 -1.81700631e-06 9.99999995e-01 1.96810881e-02] [ 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:8.73, Y:0.61, Z:0.02 [[ 9.79110627e-01 -2.03328233e-01 -1.02620367e-04 8.72504345e+00] [ 2.03328232e-01 9.79110632e-01 -1.95105520e-05 6.08513242e-01] [ 1.04443739e-04 -1.76262908e-06 9.99999995e-01 1.80540371e-02] [ 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:8.76, Y:0.61, Z:0.02 [[ 9.79475254e-01 -2.01564422e-01 -1.02629012e-04 8.75678783e+00] [ 2.01564421e-01 9.79475259e-01 -1.94649726e-05 6.12111437e-01] [ 1.04446024e-04 -1.62089835e-06 9.99999995e-01 1.63526272e-02] [ 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:8.79, Y:0.62, Z:0.02 [[ 9.80213682e-01 -1.97942234e-01 -1.02637574e-04 8.79073436e+00] [ 1.97942233e-01 9.80213687e-01 -1.94197175e-05 6.18021523e-01] [ 1.04450738e-04 -1.28083791e-06 9.99999995e-01 2.34561276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:0.62, Z:0.01 [[ 9.80412029e-01 -1.96957467e-01 -1.02819149e-04 8.81981113e+00] [ 1.96957466e-01 9.80412034e-01 -1.84584098e-05 6.20436391e-01] [ 1.04440653e-04 -2.15415204e-06 9.99999995e-01 1.45562587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:0.62, Z:0.01 [[ 9.80730693e-01 -1.95364525e-01 -1.02638852e-04 8.85209125e+00] [ 1.95364525e-01 9.80730698e-01 -1.94117252e-05 6.24331094e-01] [ 1.04453436e-04 -1.01431582e-06 9.99999995e-01 1.43376398e-02] [ 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:8.89, Y:0.63, Z:0.01 [[ 9.81104275e-01 -1.93479691e-01 -1.02647446e-04 8.88526951e+00] [ 1.93479690e-01 9.81104281e-01 -1.93661743e-05 6.28694034e-01] [ 1.04454810e-04 -8.59959664e-07 9.99999995e-01 1.39353835e-02] [ 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:8.92, Y:0.63, Z:0.02 [[ 9.81580477e-01 -1.91049095e-01 -1.02657433e-04 8.91728292e+00] [ 1.91049094e-01 9.81580482e-01 -1.93130908e-05 6.33187652e-01] [ 1.04456281e-04 -6.55256669e-07 9.99999995e-01 2.23944430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:0.64, Z:0.02 [[ 9.81588871e-01 -1.91005961e-01 -1.02741504e-04 8.94777794e+00] [ 1.91005960e-01 9.81588877e-01 -1.88659301e-05 6.38449954e-01] [ 1.04453423e-04 -1.10565261e-06 9.99999995e-01 2.39404922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:0.64, Z:0.01 [[ 9.81763995e-01 -1.90103781e-01 -1.02673033e-04 8.97861611e+00] [ 1.90103780e-01 9.81764000e-01 -1.92302645e-05 6.43765220e-01] [ 1.04456434e-04 -6.38950426e-07 9.99999995e-01 1.46252865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:0.65, Z:0.01 [[ 9.81772327e-01 -1.90060744e-01 -1.02663640e-04 9.01100061e+00] [ 1.90060743e-01 9.81772333e-01 -1.92802803e-05 6.47154715e-01] [ 1.04456746e-04 -5.83482089e-07 9.99999995e-01 1.34038139e-02] [ 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:9.04, Y:0.65, Z:0.01 [[ 9.81844522e-01 -1.89687436e-01 -1.02672369e-04 9.04392754e+00] [ 1.89687435e-01 9.81844528e-01 -1.92336841e-05 6.53062577e-01] [ 1.04456692e-04 -5.91171021e-07 9.99999995e-01 1.39662132e-02] [ 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:9.08, Y:0.66, Z:0.01 [[ 9.81758104e-01 -1.90134199e-01 -1.02682379e-04 9.07634184e+00] [ 1.90134198e-01 9.81758110e-01 -1.91800941e-05 6.57044822e-01] [ 1.04456051e-04 -6.93219040e-07 9.99999995e-01 1.30350526e-02] [ 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:9.11, Y:0.66, Z:0.01 [[ 9.81688522e-01 -1.90493135e-01 -1.02692303e-04 9.10886426e+00] [ 1.90493135e-01 9.81688528e-01 -1.91268130e-05 6.60865287e-01] [ 1.04455383e-04 -7.85605895e-07 9.99999995e-01 1.25843478e-02] [ 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:9.14, Y:0.66, Z:0.01 [[ 9.81629552e-01 -1.90796781e-01 -1.02702264e-04 9.14177192e+00] [ 1.90796780e-01 9.81629558e-01 -1.90731767e-05 6.63724193e-01] [ 1.04454679e-04 -8.72467377e-07 9.99999995e-01 1.22410454e-02] [ 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:9.17, Y:0.67, Z:0.01 [[ 9.81602972e-01 -1.90933484e-01 -1.02712240e-04 9.17406998e+00] [ 1.90933483e-01 9.81602977e-01 -1.90193026e-05 6.66935555e-01] [ 1.04454062e-04 -9.41801755e-07 9.99999995e-01 1.19524449e-02] [ 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:9.21, Y:0.67, Z:0.01 [[ 9.81762230e-01 -1.90112895e-01 -1.02720847e-04 9.20619380e+00] [ 1.90112894e-01 9.81762236e-01 -1.89727035e-05 6.73067566e-01] [ 1.04454404e-04 -9.01873789e-07 9.99999995e-01 1.18130105e-02] [ 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:9.24, Y:0.68, Z:0.01 [[ 9.81993921e-01 -1.88912491e-01 -1.02730672e-04 9.23827490e+00] [ 1.88912490e-01 9.81993926e-01 -1.89193542e-05 6.77144452e-01] [ 1.04454998e-04 -8.28416278e-07 9.99999995e-01 1.22032542e-02] [ 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:9.27, Y:0.68, Z:0.02 [[ 9.79545016e-01 -2.01225125e-01 -1.02739140e-04 9.26583938e+00] [ 2.01225124e-01 9.79545021e-01 -1.88732606e-05 6.75223439e-01] [ 1.04435387e-04 -2.18648772e-06 9.99999995e-01 2.43473304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.30, Y:0.69, Z:0.01 [[ 9.82504177e-01 -1.86240519e-01 -1.02323000e-04 9.30032223e+00] [ 1.86240518e-01 9.82504183e-01 -2.11388864e-05 6.86225529e-01] [ 1.04469693e-04 1.71235573e-06 9.99999995e-01 1.21935378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.69, Z:0.02 [[ 9.82891630e-01 -1.84184778e-01 -1.02755436e-04 9.32968989e+00] [ 1.84184777e-01 9.82891636e-01 -1.87717561e-05 6.90998060e-01] [ 1.04454931e-04 -4.75385170e-07 9.99999995e-01 2.22863713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:0.70, Z:0.01 [[ 9.83514433e-01 -1.80829612e-01 -1.02638878e-04 9.36219960e+00] [ 1.80829611e-01 9.83514439e-01 -1.94102428e-05 6.96958330e-01] [ 1.04456765e-04 5.30105639e-07 9.99999995e-01 1.29373708e-02] [ 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:9.39, Y:0.70, Z:0.02 [[ 9.83947775e-01 -1.78456623e-01 -1.02762335e-04 9.39194057e+00] [ 1.78456622e-01 9.83947780e-01 -1.87330013e-05 7.02119025e-01] [ 1.04455799e-04 9.36758046e-08 9.99999995e-01 2.03492458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:0.71, Z:0.01 [[ 9.84354715e-01 -1.76198137e-01 -1.02625964e-04 9.42522798e+00] [ 1.76198136e-01 9.84354721e-01 -1.94828445e-05 7.07643535e-01] [ 1.04453193e-04 1.09552623e-06 9.99999995e-01 1.18955288e-02] [ 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:9.46, Y:0.71, Z:0.01 [[ 9.84549102e-01 -1.75108694e-01 -1.02779507e-04 9.45796056e+00] [ 1.75108693e-01 9.84549108e-01 -1.86360406e-05 7.13025143e-01] [ 1.04454805e-04 3.50511895e-07 9.99999995e-01 1.21563583e-02] [ 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:9.49, Y:0.72, Z:0.01 [[ 9.85121647e-01 -1.71858459e-01 -1.02783863e-04 9.49061450e+00] [ 1.71858458e-01 9.85121652e-01 -1.86119865e-05 7.18967799e-01] [ 1.04453236e-04 6.70794601e-07 9.99999995e-01 1.27103606e-02] [ 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:9.52, Y:0.72, Z:0.02 [[ 9.85290698e-01 -1.70886602e-01 -1.02793853e-04 9.51904801e+00] [ 1.70886601e-01 9.85290703e-01 -1.85566463e-05 7.24326256e-01] [ 1.04452910e-04 7.17598788e-07 9.99999995e-01 1.74715901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:0.73, Z:0.01 [[ 9.87509119e-01 -1.57561828e-01 -1.02592193e-04 9.54670623e+00] [ 1.57561827e-01 9.87509124e-01 -1.96724673e-05 7.30402338e-01] [ 1.04410356e-04 3.26212752e-06 9.99999995e-01 5.00582625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:0.74, Z:0.02 [[ 9.86792789e-01 -1.61987595e-01 -1.02286713e-04 9.58175337e+00] [ 1.61987593e-01 9.86792794e-01 -2.13827521e-05 7.37078032e-01] [ 1.04399532e-04 4.53116720e-06 9.99999995e-01 1.62672902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.74, Z:0.01 [[ 9.88335969e-01 -1.52289206e-01 -1.02631182e-04 9.60614916e+00] [ 1.52289204e-01 9.88335974e-01 -1.94357367e-05 7.43427050e-01] [ 1.04393942e-04 3.57941662e-06 9.99999995e-01 8.35120237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:9.65, Y:0.75, Z:0.01 [[ 9.85325004e-01 -1.70688680e-01 -1.01995815e-04 9.65258856e+00] [ 1.70688679e-01 9.85325010e-01 -2.30074085e-05 7.46509318e-01] [ 1.04426132e-04 5.26024392e-06 9.99999995e-01 9.85865647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.66, Y:0.76, Z:0.02 [[ 9.89763372e-01 -1.42718104e-01 -1.03536416e-04 9.66254490e+00] [ 1.42718103e-01 9.89763377e-01 -1.40295595e-05 7.56266846e-01] [ 1.04478825e-04 -8.90576819e-07 9.99999995e-01 2.31063804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.69, Y:0.76, Z:0.02 [[ 9.91001792e-01 -1.33848560e-01 -1.02351684e-04 9.69010113e+00] [ 1.33848558e-01 9.91001798e-01 -2.11043173e-05 7.64001754e-01] [ 1.04255486e-04 7.21479092e-06 9.99999995e-01 2.15623078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932791605000002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:9.76, Y:0.77, Z:0.01 [[ 9.89280592e-01 -1.46027050e-01 -1.01888014e-04 9.75696637e+00] [ 1.46027049e-01 9.89280597e-01 -2.38929704e-05 7.73894477e-01] [ 1.04284855e-04 8.75844594e-06 9.99999995e-01 1.09563270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962791605000001 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:9.78, Y:0.78, Z:0.01 [[ 9.90686040e-01 -1.36165926e-01 -1.05062947e-04 9.77554121e+00] [ 1.36165927e-01 9.90686045e-01 -1.95926565e-06 7.77641337e-01] [ 1.04351181e-04 -1.23649765e-05 9.99999994e-01 1.04691433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992791605 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:9.80, Y:0.78, Z:0.01 [[ 9.90039071e-01 -1.40792851e-01 -1.03789264e-04 9.80380874e+00] [ 1.40792851e-01 9.90039076e-01 -1.02726090e-05 7.80053205e-01] [ 1.04201737e-04 -4.44250212e-06 9.99999995e-01 1.36460696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.80, Y:0.79, Z:0.02 [[ 9.93177975e-01 -1.16608312e-01 -1.03567534e-04 9.80324961e+00] [ 1.16608311e-01 9.93177981e-01 -1.17099811e-05 7.89047464e-01] [ 1.04226475e-04 -4.46739905e-07 9.99999995e-01 1.79612076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052791605000001 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:9.83, Y:0.79, Z:0.01 [[ 9.89442382e-01 -1.44926749e-01 -1.01568790e-04 9.82826510e+00] [ 1.44926748e-01 9.89442387e-01 -2.44051233e-05 7.88711430e-01] [ 1.04033421e-04 9.42742903e-06 9.99999995e-01 6.72113922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.87, Y:0.80, Z:0.02 [[ 9.93125806e-01 -1.17051799e-01 -1.01178537e-04 9.86934628e+00] [ 1.17051797e-01 9.93125811e-01 -2.69358931e-05 8.00779358e-01] [ 1.03635911e-04 1.49076010e-05 9.99999995e-01 2.07220538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:9.89, Y:0.81, Z:0.02 [[ 9.94605418e-01 -1.03730674e-01 -1.01874068e-04 9.88594585e+00] [ 1.03730672e-01 9.94605423e-01 -2.23149886e-05 8.12860032e-01] [ 1.03639250e-04 1.16271430e-05 9.99999995e-01 1.61329633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.92, Y:0.82, Z:0.02 [[ 9.94376914e-01 -1.05898737e-01 -1.01015510e-04 9.92106631e+00] [ 1.05898735e-01 9.94376919e-01 -2.78246481e-05 8.18925868e-01] [ 1.03394086e-04 1.69707730e-05 9.99999995e-01 1.50895664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:0.83, Z:0.01 [[ 9.94849800e-01 -1.01360072e-01 -1.01277257e-04 9.94702616e+00] [ 1.01360070e-01 9.94849805e-01 -2.61208929e-05 8.27928793e-01] [ 1.03403275e-04 1.57208952e-05 9.99999995e-01 1.28318084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:0.84, Z:0.01 [[ 9.94577260e-01 -1.04000310e-01 -1.01113137e-04 9.98700702e+00] [ 1.04000308e-01 9.94577265e-01 -2.72385613e-05 8.35558421e-01] [ 1.03397646e-04 1.65750563e-05 9.99999995e-01 1.45992116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232791605000001 meters Centerline goodness : 0.943134 Centerline is valid? [True, False] Translation: X:9.98, Y:0.85, Z:0.02 [[ 9.95656974e-01 -9.26718950e-02 8.89438381e-03 9.98211241e+00] [ 9.27256743e-02 9.95674587e-01 -5.83666684e-03 8.45022120e-01] [-8.31501695e-03 6.63605578e-03 9.99943410e-01 1.60756206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262791605000002 meters Centerline goodness : 0.979609 Centerline is valid? [False, True] Translation: X:10.00, Y:0.85, Z:0.02 [[ 9.96423812e-01 -8.35872420e-02 1.23596299e-02 1.00001288e+01] [ 8.36720937e-02 9.96472048e-01 -6.51446175e-03 8.52360052e-01] [-1.17714998e-02 7.52532092e-03 9.99902396e-01 1.64800083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292791605000001 meters Centerline goodness : 0.979609 Centerline is valid? [True, True] Translation: X:10.03, Y:0.85, Z:0.02 [[ 9.97107467e-01 -7.50743856e-02 1.18547631e-02 1.00338399e+01] [ 7.50774323e-02 9.97177689e-01 1.88442706e-04 8.51387083e-01] [-1.18354525e-02 7.02127545e-04 9.99929712e-01 1.53983478e-02] [ 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:10.10, Y:0.87, Z:0.04 [[ 9.98719603e-01 -4.92233899e-02 1.16710059e-02 1.00984285e+01] [ 4.91941054e-02 9.98785359e-01 2.78328897e-03 8.69100507e-01] [-1.17938327e-02 -2.20558057e-03 9.99928018e-01 3.58867179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352791605000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.14, Y:0.88, Z:0.02 [[ 9.99216961e-01 -3.77832252e-02 1.17427673e-02 1.01429035e+01] [ 3.77658893e-02 9.99285177e-01 1.69463965e-03 8.77246259e-01] [-1.17984023e-02 -1.24983663e-03 9.99929615e-01 2.12676634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382791605000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.18, Y:0.88, Z:0.03 [[ 9.98927637e-01 -4.47690914e-02 1.18027328e-02 1.01751535e+01] [ 4.47634004e-02 9.98997338e-01 7.46041932e-04 8.77688170e-01] [-1.18242983e-02 -2.16911447e-04 9.99930067e-01 3.20905480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412791605 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:10.21, Y:0.88, Z:0.03 [[ 9.98897033e-01 -4.54467881e-02 1.18028565e-02 1.02075167e+01] [ 4.54411675e-02 9.98966740e-01 7.44081250e-04 8.81985139e-01] [-1.18244771e-02 -2.06924975e-04 9.99930067e-01 3.14822021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442791605000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:10.24, Y:0.89, Z:0.03 [[ 9.98759930e-01 -4.83662340e-02 1.18029813e-02 1.02383630e+01] [ 4.83608407e-02 9.98829654e-01 7.42094928e-04 8.86584778e-01] [-1.18250601e-02 -1.70372577e-04 9.99930067e-01 2.92252125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472791605000001 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:10.27, Y:0.89, Z:0.03 [[ 9.98651401e-01 -5.05575690e-02 1.18030315e-02 1.02701335e+01] [ 5.05523381e-02 9.98721138e-01 7.41296927e-04 8.88986588e-01] [-1.18254152e-02 -1.43626378e-04 9.99930067e-01 3.45671566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.30, Y:0.89, Z:0.03 [[ 9.98395586e-01 -5.53796711e-02 1.18044509e-02 1.03004735e+01] [ 5.53750454e-02 9.98465366e-01 7.18606506e-04 8.90576450e-01] [-1.18261316e-02 -6.37815588e-05 9.99930067e-01 2.86548471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:0.89, Z:0.04 [[ 9.98328358e-01 -5.65788871e-02 1.18033293e-02 1.03323919e+01] [ 5.65741326e-02 9.98398129e-01 7.36579623e-04 8.92413394e-01] [-1.18260968e-02 -6.75852074e-05 9.99930067e-01 3.58562033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562791605000001 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:10.36, Y:0.89, Z:0.03 [[ 9.98122978e-01 -6.00924817e-02 1.18073642e-02 1.03647308e+01] [ 6.00887401e-02 9.98192813e-01 6.71704316e-04 8.94553060e-01] [-1.18263905e-02 3.90461277e-05 9.99930065e-01 3.46006362e-02] [ 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:10.39, Y:0.90, Z:0.02 [[ 9.98015939e-01 -6.18446340e-02 1.18079353e-02 1.03937229e+01] [ 6.18411238e-02 9.98085786e-01 6.62506215e-04 8.96063431e-01] [-1.18263049e-02 6.90242294e-05 9.99930064e-01 2.43574124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622791605000002 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:10.43, Y:0.90, Z:0.03 [[ 9.98029498e-01 -6.16262918e-02 1.18034141e-02 1.04266780e+01] [ 6.16219077e-02 9.98099294e-01 7.35102663e-04 8.97713809e-01] [-1.18262810e-02 -6.30524553e-06 9.99930067e-01 3.19645476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652791605 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:10.46, Y:0.90, Z:0.02 [[ 9.97875386e-01 -6.40720269e-02 1.18105779e-02 1.04552888e+01] [ 6.40691822e-02 9.97945267e-01 6.19451582e-04 8.98211140e-01] [-1.18259998e-02 1.38558581e-04 9.99930061e-01 2.21324406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682791605000002 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:10.49, Y:0.90, Z:0.02 [[ 9.97673677e-01 -6.71409916e-02 1.18034291e-02 1.04875895e+01] [ 6.71370021e-02 9.97743496e-01 7.34357111e-04 8.97593578e-01] [-1.18261001e-02 5.97980829e-05 9.99930067e-01 2.23720955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712791605000001 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:10.52, Y:0.90, Z:0.02 [[ 9.97552376e-01 -6.89197252e-02 1.18037598e-02 1.05204716e+01] [ 6.89159235e-02 9.97622205e-01 7.29001979e-04 8.99731990e-01] [-1.18259355e-02 8.62493519e-05 9.99930067e-01 2.13539720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742791605 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:10.55, Y:0.90, Z:0.02 [[ 9.97574585e-01 -6.85974439e-02 1.18041332e-02 1.05529675e+01] [ 6.85936918e-02 9.97644417e-01 7.22904523e-04 9.02178231e-01] [-1.18259170e-02 8.85378972e-05 9.99930067e-01 2.05737465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.58, Y:0.90, Z:0.02 [[ 9.97560593e-01 -6.88005639e-02 1.18044566e-02 1.05847597e+01] [ 6.87968890e-02 9.97630429e-01 7.17584226e-04 9.03555354e-01] [-1.18258553e-02 9.62761473e-05 9.99930067e-01 1.82219694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802791605000001 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:10.62, Y:0.90, Z:0.02 [[ 9.97600373e-01 -6.82212868e-02 1.18047770e-02 1.06166747e+01] [ 6.82176342e-02 9.97670210e-01 7.12274680e-04 9.04399642e-01] [-1.18258666e-02 9.47284733e-05 9.99930068e-01 1.84213585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832791605 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:10.65, Y:0.90, Z:0.02 [[ 9.97511239e-01 -6.95123538e-02 1.18050946e-02 1.06500522e+01] [ 6.95088543e-02 9.97581084e-01 7.06971458e-04 9.03858865e-01] [-1.18256823e-02 1.15346626e-04 9.99930068e-01 1.83947768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862791605000002 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:10.68, Y:0.90, Z:0.02 [[ 9.97377486e-01 -7.14057507e-02 1.18054563e-02 1.06826336e+01] [ 7.14024559e-02 9.97447341e-01 7.00878806e-04 9.03677560e-01] [-1.18253678e-02 1.43897833e-04 9.99930068e-01 1.71740254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892791605000001 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:10.72, Y:0.90, Z:0.02 [[ 9.97402310e-01 -7.10581095e-02 1.18057728e-02 1.07170064e+01] [ 7.10548539e-02 9.97472167e-01 6.95507261e-04 9.04152711e-01] [-1.18253512e-02 1.45156910e-04 9.99930068e-01 2.47848674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:0.90, Z:0.01 [[ 9.97108576e-01 -7.50658901e-02 1.18152325e-02 1.07457867e+01] [ 7.50648121e-02 9.97178513e-01 5.35309090e-04 9.04645370e-01] [-1.18220794e-02 3.53146924e-04 9.99930054e-01 1.43264736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.78, Y:0.90, Z:0.01 [[ 9.97059760e-01 -7.57130450e-02 1.18055357e-02 1.07788400e+01] [ 7.57100734e-02 9.97129629e-01 6.99067343e-04 9.04624303e-01] [-1.18245779e-02 1.96786056e-04 9.99930068e-01 1.37506898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982791605000001 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:10.81, Y:0.90, Z:0.02 [[ 9.97206444e-01 -7.37558735e-02 1.18058822e-02 1.08141664e+01] [ 7.37528346e-02 9.97276310e-01 6.93166160e-04 9.03659382e-01] [-1.18248517e-02 1.79487515e-04 9.99930068e-01 2.20264630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012791605000002 meters Centerline goodness : 0.929247 Centerline is valid? [True, False] Translation: X:10.81, Y:0.91, Z:0.02 [[ 9.97820963e-01 -6.24540531e-02 2.12795102e-02 1.08120292e+01] [ 6.25604108e-02 9.98031616e-01 -4.36898130e-03 9.08894612e-01] [-2.09647634e-02 5.69071603e-03 9.99764019e-01 2.03375831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042791605000001 meters Centerline goodness : 0.997233 Centerline is valid? [False, True] Translation: X:10.81, Y:0.92, Z:0.02 [[ 0.99819211 -0.05184727 0.03040337 10.80775018] [ 0.05221299 0.99857135 -0.01136057 0.91605986] [-0.02977092 0.01292749 0.99947315 0.02043355] [ 0. 0. 0. 1. ]] SLAMing on 11.072791605 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:10.85, Y:0.90, Z:0.02 [[ 9.95722874e-01 -8.75533429e-02 2.95020495e-02 1.08524309e+01] [ 8.75527107e-02 9.96159019e-01 1.31568697e-03 8.98423375e-01] [-2.95039255e-02 1.27292480e-03 9.99563854e-01 1.83432210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102791605000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:10.87, Y:0.89, Z:0.02 [[ 9.95171498e-01 -9.35706175e-02 2.96349189e-02 1.08696362e+01] [ 9.36272135e-02 9.95607186e-01 -5.24890563e-04 8.90585185e-01] [-2.94556238e-02 3.29699100e-03 9.99560652e-01 2.10698181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132791605000001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:10.90, Y:0.89, Z:0.02 [[ 9.95247309e-01 -9.28097250e-02 2.94813320e-02 1.09016918e+01] [ 9.28071747e-02 9.95683033e-01 1.45779184e-03 8.90933713e-01] [-2.94893593e-02 1.28521572e-03 9.99564268e-01 1.78909850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162791605 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:10.93, Y:0.89, Z:0.02 [[ 9.94898699e-01 -9.64746624e-02 2.94824989e-02 1.09348220e+01] [ 9.64741595e-02 9.95334444e-01 1.44284450e-03 8.91402180e-01] [-2.94841445e-02 1.40881518e-03 9.99564255e-01 1.64562015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192791605000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:10.97, Y:0.89, Z:0.01 [[ 9.94604360e-01 -9.94622082e-02 2.94862062e-02 1.09681465e+01] [ 9.94644082e-02 9.95040142e-01 1.39576087e-03 8.92984637e-01] [-2.94787843e-02 1.54459820e-03 9.99564213e-01 1.45664283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222791605000001 meters Centerline goodness : 0.987209 Centerline is valid? [True, True] Translation: X:11.00, Y:0.91, Z:-0.01 [[ 9.99109298e-01 -3.01763132e-02 2.94957612e-02 1.09987892e+01] [ 3.01521690e-02 9.99544522e-01 1.26310127e-03 9.08484539e-01] [-2.95204422e-02 -3.72615052e-04 9.99564107e-01 -5.60695782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252791605 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:11.03, Y:0.90, Z:0.02 [[ 9.94779308e-01 -9.76911984e-02 2.95052331e-02 1.10260231e+01] [ 9.77004511e-02 9.95215224e-01 1.13135010e-03 8.97457616e-01] [-2.94745801e-02 1.75723091e-03 9.99563986e-01 1.69690422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282791605000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:11.07, Y:0.90, Z:0.01 [[ 9.94187819e-01 -1.03556827e-01 2.94374667e-02 1.10683989e+01] [ 1.03541200e-01 9.94623035e-01 2.05879670e-03 8.99233462e-01] [-2.94923849e-02 1.00116004e-03 9.99564504e-01 1.16500628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312791605000001 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:11.07, Y:0.90, Z:0.01 [[ 9.95079784e-01 -9.45615383e-02 2.95692269e-02 1.10739984e+01] [ 9.45991508e-02 9.95515437e-01 1.27448137e-04 8.99342305e-01] [-2.94486736e-02 2.67040269e-03 9.99562727e-01 7.37618925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342791605000002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:11.12, Y:0.90, Z:0.00 [[ 9.95435937e-01 -9.08023941e-02 2.93635918e-02 1.11226958e+01] [ 9.07510200e-02 9.95868849e-01 3.08031556e-03 9.00759007e-01] [-2.95219864e-02 -4.01480892e-04 9.99564051e-01 3.14507261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.17, Y:0.90, Z:-0.00 [[ 9.95434797e-01 -9.07646338e-02 2.95185747e-02 1.11685364e+01] [ 9.07819210e-02 9.95870509e-01 7.56774341e-04 8.99392937e-01] [-2.94653663e-02 1.92643340e-03 9.99563945e-01 -2.83420514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402791605 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:11.13, Y:0.90, Z:0.00 [[ 9.96368435e-01 -7.98136482e-02 2.96601422e-02 1.11349590e+01] [ 7.98932863e-02 9.96802282e-01 -1.50781287e-03 8.99220291e-01] [-2.94449534e-02 3.87198338e-03 9.99558904e-01 2.21957804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432791605000002 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:11.19, Y:0.91, Z:0.00 [[ 9.97201491e-01 -6.87481069e-02 2.93749038e-02 1.11944436e+01] [ 6.86603924e-02 9.97632130e-01 3.98553321e-03 9.08528785e-01] [-2.95793457e-02 -1.95748725e-03 9.99560519e-01 4.46401640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462791605000001 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:11.22, Y:0.92, Z:-0.00 [[ 9.99208272e-01 -2.66410807e-02 2.95479589e-02 1.12155957e+01] [ 2.66467903e-02 9.99644891e-01 2.00589664e-04 9.21883708e-01] [-2.95428101e-02 5.86927412e-04 9.99563344e-01 -3.62910300e-03] [ 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:11.25, Y:0.91, Z:0.01 [[ 9.97781548e-01 -5.96882341e-02 2.94838300e-02 1.12494966e+01] [ 5.96677381e-02 9.98217050e-01 1.57526437e-03 9.12648151e-01] [-2.95252865e-02 1.87463726e-04 9.99564016e-01 8.28597286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522791605000002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:11.28, Y:0.91, Z:0.01 [[ 9.97972358e-01 -5.64028415e-02 2.94939448e-02 1.12828529e+01] [ 5.63874159e-02 9.98408044e-01 1.35513584e-03 9.13975159e-01] [-2.95234252e-02 3.10699215e-04 9.99564040e-01 7.42536278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552791605000001 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:11.32, Y:0.92, Z:0.00 [[ 9.98399993e-01 -4.82443754e-02 2.94946488e-02 1.13212713e+01] [ 4.82258473e-02 9.98835559e-01 1.33963409e-03 9.17200565e-01] [-2.95249339e-02 8.49137678e-05 9.99564041e-01 2.10972932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.35, Y:0.92, Z:-0.00 [[ 9.98501595e-01 -4.60548621e-02 2.95552861e-02 1.13504776e+01] [ 4.60791659e-02 9.98937781e-01 -1.41391497e-04 9.20942573e-01] [-2.95173802e-02 1.50306257e-03 9.99563137e-01 -1.59082362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612791605000002 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:11.39, Y:0.92, Z:-0.00 [[ 9.97851208e-01 -5.84861728e-02 2.95353218e-02 1.13904809e+01] [ 5.85023988e-02 9.98287218e-01 3.15196944e-04 9.16397526e-01] [-2.95031689e-02 1.41336753e-03 9.99563688e-01 -3.77435177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642791605000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:11.40, Y:0.93, Z:-0.01 [[ 9.99206668e-01 -2.66609534e-02 2.95842702e-02 1.14036425e+01] [ 2.66976915e-02 9.99643194e-01 -8.47435237e-04 9.28695173e-01] [-2.95511209e-02 1.63659466e-03 9.99561930e-01 -6.71418030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.93, Z:-0.00 [[ 9.99378630e-01 -1.93211002e-02 2.94796463e-02 1.14296378e+01] [ 1.92858239e-02 9.99812915e-01 1.48052222e-03 9.30850415e-01] [-2.95027364e-02 -9.11063002e-04 9.99564284e-01 -4.89274739e-03] [ 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:11.47, Y:0.94, Z:-0.00 [[ 9.99471073e-01 -1.37853857e-02 2.94539972e-02 1.14670556e+01] [ 1.37285292e-02 9.99903487e-01 2.13170967e-03 9.36222423e-01] [-2.94805409e-02 -1.72622209e-03 9.99563864e-01 -1.87131835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.50, Y:0.94, Z:-0.00 [[ 9.99492551e-01 -1.20348400e-02 2.94924221e-02 1.14993820e+01] [ 1.20069427e-02 9.99927284e-01 1.12283194e-03 9.40184553e-01] [-2.95037906e-02 -7.68148334e-04 9.99564373e-01 -3.26291764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.53, Y:0.94, Z:-0.00 [[ 9.99505542e-01 -1.09012419e-02 2.94929439e-02 1.15311833e+01] [ 1.08732608e-02 9.99940269e-01 1.10895432e-03 9.43058547e-01] [-2.95032713e-02 -7.87721524e-04 9.99564373e-01 -3.50555034e-03] [ 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:11.56, Y:0.95, Z:-0.00 [[ 9.99498977e-01 -1.14870850e-02 2.94930930e-02 1.15637804e+01] [ 1.14594760e-02 9.99933728e-01 1.10497632e-03 9.45106005e-01] [-2.95038313e-02 -7.66447313e-04 9.99564373e-01 -4.62359320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822791605 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.60, Y:0.95, Z:-0.01 [[ 9.99494993e-01 -1.18281746e-02 2.94932764e-02 1.15954333e+01] [ 1.18008590e-02 9.99929762e-01 1.10005780e-03 9.47940919e-01] [-2.95042166e-02 -7.51456269e-04 9.99564373e-01 -7.34248705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:11.63, Y:0.95, Z:-0.01 [[ 9.99470503e-01 -1.37415744e-02 2.94937747e-02 1.16278974e+01] [ 1.37154901e-02 9.99905348e-01 1.08653269e-03 9.51005493e-01] [-2.95059137e-02 -6.81435799e-04 9.99564373e-01 -1.06432896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882791605000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.66, Y:0.95, Z:-0.01 [[ 9.99457984e-01 -1.46234447e-02 2.94939540e-02 1.16612928e+01] [ 1.45978883e-02 9.99892860e-01 1.08164379e-03 9.53013010e-01] [-2.95066114e-02 -6.50508078e-04 9.99564373e-01 -1.20217651e-02] [ 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:11.69, Y:0.96, Z:-0.01 [[ 9.99410541e-01 -1.75682885e-02 2.94945174e-02 1.16935091e+01] [ 1.75444734e-02 9.99845516e-01 1.06605677e-03 9.55424508e-01] [-2.95086897e-02 -5.47962601e-04 9.99564374e-01 -1.25225568e-02] [ 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:11.73, Y:0.96, Z:-0.01 [[ 9.99384770e-01 -1.89770023e-02 2.94950059e-02 1.17264742e+01] [ 1.89542043e-02 9.99819799e-01 1.05236553e-03 9.57932011e-01] [-2.95096616e-02 -4.92663717e-04 9.99564374e-01 -1.42215801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972791605000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.76, Y:0.96, Z:-0.02 [[ 9.99366366e-01 -1.99218211e-02 2.94955533e-02 1.17593932e+01] [ 1.98998939e-02 9.99801440e-01 1.03679231e-03 9.60614892e-01] [-2.95103514e-02 -4.49176978e-04 9.99564374e-01 -1.53019200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.79, Y:0.96, Z:-0.00 [[ 9.99272971e-01 -2.41559493e-02 2.94960932e-02 1.17893530e+01] [ 2.41363260e-02 9.99708155e-01 1.02119727e-03 9.62788069e-01] [-2.95121529e-02 -3.08527509e-04 9.99564374e-01 -4.37344046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.82, Y:0.96, Z:-0.02 [[ 9.99267180e-01 -2.44014102e-02 2.94902379e-02 1.18213315e+01] [ 2.43769004e-02 9.99702130e-01 1.19040360e-03 9.64582703e-01] [-2.95105011e-02 -4.70650663e-04 9.99564360e-01 -1.75016163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.85, Y:0.97, Z:-0.01 [[ 9.99172740e-01 -2.79964561e-02 2.94963329e-02 1.18514318e+01] [ 2.79787496e-02 9.99608005e-01 1.01293015e-03 9.66351435e-01] [-2.95131290e-02 -1.86821685e-04 9.99564375e-01 -8.58011345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092791605000002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:11.88, Y:0.97, Z:-0.02 [[ 9.99139489e-01 -2.91619417e-02 2.94934356e-02 1.18824960e+01] [ 2.91422535e-02 9.99574672e-01 1.09726234e-03 9.66771201e-01] [-2.95128895e-02 -2.36812960e-04 9.99564372e-01 -2.15313726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122791605000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:11.91, Y:0.97, Z:-0.02 [[ 9.99085836e-01 -3.09427196e-02 2.94964416e-02 1.19144976e+01] [ 3.09264001e-02 9.99521155e-01 1.00942815e-03 9.67917687e-01] [-2.95135518e-02 -9.62866107e-05 9.99564376e-01 -2.31111300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.94, Y:0.97, Z:-0.01 [[ 9.98889763e-01 -3.67311106e-02 2.94968987e-02 1.19446522e+01] [ 3.67177135e-02 9.99325181e-01 9.95890388e-04 9.69295141e-01] [-2.95135738e-02 8.82739590e-05 9.99564376e-01 -1.30190365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.98, Y:0.97, Z:-0.03 [[ 9.98891875e-01 -3.66785546e-02 2.94907578e-02 1.19773249e+01] [ 3.66597516e-02 9.99327111e-01 1.17819924e-03 9.69971113e-01] [-2.95141285e-02 -9.57697890e-05 9.99564359e-01 -2.62559426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212791605000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.01, Y:0.97, Z:-0.03 [[ 9.98910922e-01 -3.61506650e-02 2.94974557e-02 1.20108234e+01] [ 3.61376100e-02 9.99346347e-01 9.75734000e-04 9.71568459e-01] [-2.95134480e-02 9.12961998e-05 9.99564379e-01 -2.72292687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.04, Y:0.97, Z:-0.01 [[ 9.98710221e-01 -4.13251177e-02 2.94979577e-02 1.20401218e+01] [ 4.13147740e-02 9.99145719e-01 9.60314928e-04 9.70964203e-01] [-2.95124432e-02 2.59625120e-04 9.99564379e-01 -1.42237884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.07, Y:0.97, Z:-0.02 [[ 9.98645496e-01 -4.28675649e-02 2.94880404e-02 1.20734625e+01] [ 4.28488806e-02 9.99080763e-01 1.26552549e-03 9.70144198e-01] [-2.95151839e-02 -2.81812544e-07 9.99564332e-01 -1.78462037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302791605000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.11, Y:0.97, Z:-0.03 [[ 9.98663709e-01 -4.24363808e-02 2.94949124e-02 1.21053440e+01] [ 4.24238935e-02 9.99099150e-01 1.04930538e-03 9.71125629e-01] [-2.95128707e-02 2.03385822e-04 9.99564380e-01 -3.07114207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332791605000002 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:12.13, Y:0.97, Z:-0.01 [[ 9.98536822e-01 -4.53214719e-02 2.94988007e-02 1.21345879e+01] [ 4.53139034e-02 9.98972369e-01 9.25361469e-04 9.71390786e-01] [-2.95104256e-02 4.12698306e-04 9.99564387e-01 -1.41740365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.17, Y:0.97, Z:-0.02 [[ 9.98612128e-01 -4.36386093e-02 2.94870934e-02 1.21677901e+01] [ 4.36192352e-02 9.99047382e-01 1.30026568e-03 9.71610775e-01] [-2.95157452e-02 -1.22566193e-05 9.99564315e-01 -2.20771975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392791605000001 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:12.20, Y:0.97, Z:-0.02 [[ 9.98706807e-01 -4.14121362e-02 2.94915057e-02 1.21999447e+01] [ 4.13960632e-02 9.99142147e-01 1.15560458e-03 9.72177906e-01] [-2.95140624e-02 6.67220715e-05 9.99564363e-01 -2.21056604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:0.97, Z:-0.04 [[ 9.98881458e-01 -3.69587757e-02 2.94937719e-02 1.22329363e+01] [ 3.69429868e-02 9.99316791e-01 1.08025192e-03 9.70769981e-01] [-2.95135463e-02 1.05444110e-05 9.99564380e-01 -3.66960915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.25, Y:0.97, Z:-0.04 [[ 9.99241481e-01 -2.54209880e-02 2.94997753e-02 1.22498695e+01] [ 2.54061211e-02 9.99676826e-01 8.78734530e-04 9.74490620e-01] [-2.95125800e-02 -1.28593128e-04 9.99564401e-01 -3.52189761e-02] [ 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:12.28, Y:0.98, Z:-0.04 [[ 9.99318298e-01 -2.22618748e-02 2.94507805e-02 1.22842259e+01] [ 2.21971053e-02 9.99750427e-01 2.52439398e-03 9.75166475e-01] [-2.94996281e-02 -1.86895102e-03 9.99563044e-01 -3.61480701e-02] [ 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:12.32, Y:0.98, Z:-0.04 [[ 9.99360690e-01 -2.02605123e-02 2.94571320e-02 1.23183847e+01] [ 2.02015731e-02 9.99793289e-01 2.29710707e-03 9.77185740e-01] [-2.94975834e-02 -1.70055810e-03 9.99563405e-01 -3.72050447e-02] [ 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:12.38, Y:0.97, Z:-0.04 [[ 9.99391961e-01 -1.86347836e-02 2.94695131e-02 1.23765195e+01] [ 1.85889464e-02 9.99825538e-01 1.82863121e-03 9.73990400e-01] [-2.94984480e-02 -1.27971213e-03 9.99564007e-01 -3.88265463e-02] [ 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:12.38, Y:0.98, Z:-0.03 [[ 9.99446186e-01 -1.52699206e-02 2.95660584e-02 1.23841238e+01] [ 1.53423934e-02 9.99879821e-01 -2.22589852e-03 9.82178189e-01] [-2.95285159e-02 2.67827989e-03 9.99560350e-01 -2.84100658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602791605000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:12.41, Y:0.98, Z:-0.03 [[ 9.99521997e-01 -9.30400868e-03 2.94824091e-02 1.24068503e+01] [ 9.28407646e-03 9.99956572e-01 8.12890471e-04 9.84198246e-01] [-2.94886919e-02 -5.38784967e-04 9.99564969e-01 -3.24622855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632791605000001 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:12.44, Y:0.98, Z:-0.04 [[ 9.99564576e-01 2.00451144e-03 2.94387716e-02 1.24445551e+01] [-2.07351192e-03 9.99995174e-01 2.31352358e-03 9.84679346e-01] [-2.94339921e-02 -2.37355786e-03 9.99563908e-01 -4.32054517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662791605 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:12.51, Y:0.98, Z:-0.04 [[ 9.99132520e-01 -2.94192658e-02 2.94739434e-02 1.25114413e+01] [ 2.94015931e-02 9.99567146e-01 1.03290539e-03 9.81091798e-01] [-2.94915728e-02 -1.65428478e-04 9.99565015e-01 -4.01110594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692791605000002 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:12.53, Y:0.99, Z:-0.05 [[ 9.99430726e-01 -1.62734333e-02 2.95533161e-02 1.25317227e+01] [ 1.64020747e-02 9.99857006e-01 -4.11564853e-03 9.93428698e-01] [-2.94821145e-02 4.59804130e-03 9.99554732e-01 -5.07299021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722791605000001 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:12.58, Y:0.99, Z:-0.04 [[ 9.98714112e-01 -4.12065067e-02 2.95321294e-02 1.25828486e+01] [ 4.13067606e-02 9.99142609e-01 -2.79248870e-03 9.93852161e-01] [-2.93917401e-02 4.00877448e-03 9.99559931e-01 -4.31191245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752791605000002 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:12.58, Y:1.00, Z:-0.06 [[ 9.99557181e-01 -3.36132925e-03 2.95659134e-02 1.25752634e+01] [ 3.51618684e-03 9.99980364e-01 -5.18727631e-03 1.00200382e+00] [-2.95478967e-02 5.28893857e-03 9.99549373e-01 -5.80088324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782791605000002 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:12.55, Y:1.00, Z:-0.05 [[ 9.99345912e-01 2.10382015e-02 2.94132910e-02 1.25507079e+01] [-2.10322327e-02 9.99778667e-01 -5.12328565e-04 1.00200634e+00] [-2.94175593e-02 -1.06633725e-04 9.99567204e-01 -5.06617939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.58, Y:0.99, Z:-0.05 [[ 9.99550542e-01 6.72042270e-03 2.92155675e-02 1.25821346e+01] [-6.86062527e-03 9.99965414e-01 4.70131008e-03 9.93402588e-01] [-2.91829623e-02 -4.89963410e-03 9.99562078e-01 -5.40849121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.64, Y:1.00, Z:-0.04 [[ 9.99569023e-01 2.83234466e-03 2.92189207e-02 1.26398039e+01] [-2.96400396e-03 9.99985645e-01 4.46363299e-03 1.00395759e+00] [-2.92058587e-02 -4.54831427e-03 9.99563070e-01 -3.70028254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.64, Y:1.00, Z:-0.06 [[ 9.99571922e-01 2.33818339e-04 2.92560784e-02 1.26420870e+01] [-2.41428707e-04 9.99999938e-01 2.56597360e-04 1.00128485e+00] [-2.92560166e-02 -2.63550773e-04 9.99571916e-01 -5.62648578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902791605 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.70, Y:1.01, Z:-0.04 [[ 9.99572613e-01 4.22487600e-04 2.92303329e-02 1.26974750e+01] [-5.18287029e-04 9.99994520e-01 3.26989896e-03 1.00756111e+00] [-2.92287912e-02 -3.28365115e-03 9.99567354e-01 -3.66898377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.73, Y:1.01, Z:-0.04 [[ 9.99569591e-01 -2.34183837e-03 2.92429322e-02 1.27303089e+01] [ 2.33946272e-03 9.99997257e-01 1.15451866e-04 1.01152775e+00] [-2.92431224e-02 -4.69894246e-05 9.99572327e-01 -3.66453369e-02] [ 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:12.77, Y:1.01, Z:-0.04 [[ 9.99558421e-01 -5.27364870e-03 2.92429860e-02 1.27666972e+01] [ 5.27298866e-03 9.99986093e-01 9.96870527e-05 1.01177634e+00] [-2.92431050e-02 5.45549003e-05 9.99572327e-01 -4.46889636e-02] [ 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:12.79, Y:1.01, Z:-0.04 [[ 9.99512609e-01 -1.09203894e-02 2.92453473e-02 1.27945958e+01] [ 1.09436978e-02 9.99939913e-01 -6.37047697e-04 1.01227034e+00] [-2.92366332e-02 9.56789447e-04 9.99572060e-01 -4.21490094e-02] [ 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:12.83, Y:1.01, Z:-0.04 [[ 9.99528050e-01 -9.40939321e-03 2.92427796e-02 1.28292892e+01] [ 9.41043721e-03 9.99955716e-01 1.01924766e-04 1.01156190e+00] [-2.92424437e-02 1.73310679e-04 9.99572333e-01 -4.06025745e-02] [ 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:12.86, Y:1.01, Z:-0.05 [[ 9.99445596e-01 -1.59142640e-02 2.92444202e-02 1.28579777e+01] [ 1.59343821e-02 9.99872936e-01 -4.54999286e-04 1.01224899e+00] [-2.92334633e-02 9.20738799e-04 9.99572187e-01 -4.55157828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.89, Y:1.01, Z:-0.04 [[ 9.99459829e-01 -1.49971664e-02 2.92427053e-02 1.28915369e+01] [ 1.50008937e-02 9.99887476e-01 9.19263029e-05 1.01187697e+00] [-2.92407934e-02 3.46790067e-04 9.99572336e-01 -3.89989509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.92, Y:1.01, Z:-0.05 [[ 9.99413701e-01 -1.78063905e-02 2.92435821e-02 1.29204642e+01] [ 1.78203488e-02 9.99841181e-01 -2.16736773e-04 1.01047635e+00] [-2.92350784e-02 7.37740533e-04 9.99572291e-01 -5.13593744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142791605000001 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:12.95, Y:1.01, Z:-0.05 [[ 9.99430276e-01 -1.68519805e-02 2.92426812e-02 1.29528489e+01] [ 1.68566485e-02 9.99857913e-01 8.69001280e-05 1.01032814e+00] [-2.92399906e-02 4.06082978e-04 9.99572338e-01 -5.36045485e-02] [ 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:12.99, Y:1.01, Z:-0.06 [[ 9.99437980e-01 -1.63886232e-02 2.92427142e-02 1.29850155e+01] [ 1.63934755e-02 9.99865615e-01 7.38227864e-05 1.01054817e+00] [-2.92399943e-02 4.05608422e-04 9.99572338e-01 -5.55092574e-02] [ 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:13.02, Y:1.01, Z:-0.06 [[ 9.99466074e-01 -1.45749622e-02 2.92427412e-02 1.30174032e+01] [ 1.45794190e-02 9.99893713e-01 6.08141526e-05 1.01155299e+00] [-2.92405195e-02 3.65560494e-04 9.99572338e-01 -5.81853143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232791605000001 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:13.05, Y:1.01, Z:-0.06 [[ 9.99481131e-01 -1.35029347e-02 2.92427624e-02 1.30507862e+01] [ 1.35073116e-02 9.99908771e-01 4.78683371e-05 1.01095245e+00] [-2.92407410e-02 3.47147604e-04 9.99572338e-01 -5.86007254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:13.08, Y:1.01, Z:-0.06 [[ 9.99515175e-01 -1.06899533e-02 2.92427717e-02 1.30827499e+01] [ 1.06933180e-02 9.99942824e-01 4.13273039e-05 1.00943665e+00] [-2.92415415e-02 2.71394988e-04 9.99572338e-01 -6.06846881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.11, Y:1.01, Z:-0.06 [[ 9.99526309e-01 -9.59252470e-03 2.92427844e-02 1.31147363e+01] [ 9.59580552e-03 9.99953959e-01 2.81427941e-05 1.00898311e+00] [-2.92417080e-02 2.52478608e-04 9.99572338e-01 -6.12635440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322791605 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:13.15, Y:1.01, Z:-0.06 [[ 9.99531022e-01 -9.08819611e-03 2.92427911e-02 1.31467961e+01] [ 9.09164357e-03 9.99958670e-01 1.50706978e-05 1.00738775e+00] [-2.92417195e-02 2.50801404e-04 9.99572338e-01 -6.26017410e-02] [ 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:13.18, Y:1.01, Z:-0.06 [[ 9.99530614e-01 -9.13291489e-03 2.92427919e-02 1.31793698e+01] [ 9.13676862e-03 9.99958259e-01 1.83725935e-06 1.00736875e+00] [-2.92415881e-02 2.65348227e-04 9.99572338e-01 -6.40825710e-02] [ 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:13.21, Y:1.01, Z:-0.06 [[ 9.99530453e-01 -9.15058612e-03 2.92427851e-02 1.32121624e+01] [ 9.15488946e-03 9.99958093e-01 -1.32735850e-05 1.00741300e+00] [-2.92414381e-02 2.80981817e-04 9.99572338e-01 -6.48795613e-02] [ 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:13.25, Y:1.01, Z:-0.05 [[ 9.99535664e-01 -8.56254698e-03 2.92427705e-02 1.32452790e+01] [ 8.56703989e-03 9.99963302e-01 -2.83540219e-05 1.00687349e+00] [-2.92414545e-02 2.78864837e-04 9.99572338e-01 -4.90702736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.27, Y:1.01, Z:-0.07 [[ 9.99538256e-01 -8.25531098e-03 2.92425081e-02 1.32745689e+01] [ 8.26658770e-03 9.99965796e-01 -2.64752795e-04 1.00732004e+00] [-2.92393222e-02 5.06366305e-04 9.99572311e-01 -6.66254505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472791605000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:13.31, Y:1.01, Z:-0.07 [[ 9.99561611e-01 -4.63100171e-03 2.92427644e-02 1.33069095e+01] [ 4.63392267e-03 9.99989263e-01 -3.21182813e-05 1.00672949e+00] [-2.92423016e-02 1.67612910e-04 9.99572338e-01 -6.71407638e-02] [ 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:13.34, Y:1.01, Z:-0.07 [[ 9.99568765e-01 -2.67310848e-03 2.92427440e-02 1.33399365e+01] [ 2.67557718e-03 9.99996420e-01 -4.52920435e-05 1.00607293e+00] [-2.92425182e-02 1.23513730e-04 9.99572338e-01 -6.78422477e-02] [ 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:13.37, Y:1.01, Z:-0.07 [[ 9.99572235e-01 -4.58711338e-04 2.92427237e-02 1.33727072e+01] [ 4.60542579e-04 9.99999892e-01 -5.58869463e-05 1.00543407e+00] [-2.92426949e-02 6.93305592e-05 9.99572339e-01 -6.89631603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562791605000001 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:13.43, Y:0.99, Z:-0.08 [[ 9.98693300e-01 -4.19112994e-02 2.92426858e-02 1.34273453e+01] [ 4.19313184e-02 9.99120493e-01 -7.14263030e-05 9.86971066e-01] [-2.92139730e-02 1.29751734e-03 9.99572339e-01 -8.06628008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:1.01, Z:-0.06 [[ 9.99569650e-01 2.63445986e-03 2.92159951e-02 1.34350750e+01] [-2.53136346e-03 9.99990441e-01 -3.56519045e-03 1.00744944e+00] [-2.92251082e-02 3.48969986e-03 9.99566764e-01 -5.64340997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:1.00, Z:-0.07 [[ 9.99571194e-01 1.81680233e-03 2.92254530e-02 1.34652204e+01] [-1.81000001e-03 9.99998328e-01 -2.59206442e-04 1.00305584e+00] [-2.92258751e-02 2.06197223e-04 9.99572812e-01 -7.33795376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.50, Y:1.00, Z:-0.07 [[ 9.99571987e-01 1.29909045e-03 2.92259485e-02 1.34969578e+01] [-1.29726784e-03 9.99999155e-01 -8.13235546e-05 1.00279374e+00] [-2.92260294e-02 4.33748640e-05 9.99572827e-01 -7.33319588e-02] [ 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:13.53, Y:1.00, Z:-0.07 [[ 9.99572611e-01 6.64057236e-04 2.92259090e-02 1.35302363e+01] [-6.61602786e-04 9.99999777e-01 -9.36519497e-05 1.00268915e+00] [-2.92259646e-02 7.42759811e-05 9.99572827e-01 -7.48610218e-02] [ 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:13.56, Y:1.00, Z:-0.06 [[ 9.99572266e-01 -1.06531253e-03 2.92258519e-02 1.35626839e+01] [ 1.06895329e-03 9.99999423e-01 -1.08949566e-04 1.00142375e+00] [-2.92257190e-02 1.40144035e-04 9.99572828e-01 -6.43819099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742791605 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:13.59, Y:1.00, Z:-0.07 [[ 9.99570578e-01 -2.13267878e-03 2.92251905e-02 1.35935593e+01] [ 2.14172789e-03 9.99997668e-01 -2.78334487e-04 1.00047251e+00] [-2.92245288e-02 3.40807370e-04 9.99572814e-01 -6.62492239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.64, Y:1.00, Z:-0.08 [[ 9.99476762e-01 -1.38582911e-02 2.92258427e-02 1.36393628e+01] [ 1.38677618e-02 9.99903831e-01 -1.21375802e-04 9.95245350e-01] [-2.92213500e-02 5.26609319e-04 9.99572826e-01 -7.91917481e-02] [ 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:13.66, Y:1.00, Z:-0.08 [[ 9.99540297e-01 -8.10538272e-03 2.92146852e-02 1.36552494e+01] [ 8.16794624e-03 9.99964596e-01 -2.02280624e-03 9.98889352e-01] [-2.91972553e-02 2.26050033e-03 9.99571113e-01 -7.61415499e-02] [ 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:13.70, Y:1.00, Z:-0.09 [[ 9.99483142e-01 -1.33996265e-02 2.92215502e-02 1.36987783e+01] [ 1.34083827e-02 9.99910098e-01 -1.03711655e-04 9.97495033e-01] [-2.92175334e-02 4.95471779e-04 9.99572954e-01 -8.84836029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862791605000002 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:13.68, Y:1.00, Z:-0.09 [[ 9.99570524e-01 2.32169588e-03 2.92126206e-02 1.36828699e+01] [-2.26890701e-03 9.99995733e-01 -1.84007468e-03 9.96458821e-01] [-2.92167680e-02 1.77300369e-03 9.99571527e-01 -8.84846889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:13.74, Y:1.00, Z:-0.08 [[ 9.99570396e-01 2.04033742e-03 2.92379995e-02 1.37436813e+01] [-2.11875349e-03 9.99994241e-01 2.65126189e-03 9.99172315e-01] [-2.92324216e-02 -2.71207101e-03 9.99568962e-01 -7.88892727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922791605000002 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:13.73, Y:1.00, Z:-0.09 [[ 9.99419221e-01 1.75708161e-02 2.91973913e-02 1.37319763e+01] [-1.75449923e-02 9.99845424e-01 -1.14042830e-03 1.00331715e+00] [-2.92129163e-02 6.27497956e-04 9.99573015e-01 -8.95099485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952791605000002 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:13.76, Y:0.99, Z:-0.09 [[ 9.99237203e-01 2.59504636e-02 2.91819466e-02 1.37623529e+01] [-2.60641313e-02 9.99654070e-01 3.52146153e-03 9.93253389e-01] [-2.90804681e-02 -4.27937745e-03 9.99567913e-01 -8.70954242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:13.85, Y:0.98, Z:-0.09 [[ 9.99548728e-01 -7.08578778e-03 2.91913011e-02 1.38453948e+01] [ 6.96598688e-03 9.99966902e-01 4.20364686e-03 9.83978640e-01] [-2.92201211e-02 -3.99840365e-03 9.99565004e-01 -9.13015398e-02] [ 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:13.85, Y:1.01, Z:-0.08 [[ 9.99401280e-01 1.88559195e-02 2.90092429e-02 1.38482052e+01] [-1.87719706e-02 9.99818786e-01 -3.16351281e-03 1.00785352e+00] [-2.90636370e-02 2.61705809e-03 9.99574137e-01 -7.77213170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042791605000001 meters Centerline goodness : 0.923872 Centerline is valid? [True, False] Translation: X:13.88, Y:1.00, Z:-0.08 [[ 9.99713256e-01 8.79781337e-03 2.22711532e-02 1.38794361e+01] [-8.79212037e-03 9.99961286e-01 -3.53528580e-04 1.00399233e+00] [-2.22734013e-02 1.57616547e-04 9.99751905e-01 -7.57457464e-02] [ 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:13.88, Y:1.01, Z:-0.08 [[ 9.99748635e-01 6.72995667e-03 2.13863025e-02 1.38848217e+01] [-6.66726428e-03 9.99973269e-01 -3.00137978e-03 1.00643671e+00] [-2.14059300e-02 2.85803721e-03 9.99766782e-01 -8.04039902e-02] [ 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:13.92, Y:1.00, Z:-0.08 [[ 9.99745545e-01 7.02578734e-03 2.14355815e-02 1.39164845e+01] [-7.01807420e-03 9.99975278e-01 -4.35035344e-04 1.00376864e+00] [-2.14381081e-02 2.84488146e-04 9.99770137e-01 -8.13092549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132791605000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:13.98, Y:1.00, Z:-0.09 [[ 9.99766811e-01 2.61701662e-03 2.14353481e-02 1.39833053e+01] [-2.60803489e-03 9.99996499e-01 -4.46959530e-04 1.00348914e+00] [-2.14364427e-02 3.90951169e-04 9.99770137e-01 -8.52141015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162791605000002 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:14.01, Y:1.01, Z:-0.11 [[ 9.99632837e-01 -1.67648514e-02 2.12868609e-02 1.40073057e+01] [ 1.68630099e-02 9.99847951e-01 -4.44011785e-03 1.00501224e+00] [-2.12091864e-02 4.79744815e-03 9.99763549e-01 -1.05557465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192791605000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.04, Y:1.01, Z:-0.09 [[ 9.99770635e-01 -2.08007077e-03 2.13155229e-02 1.40386667e+01] [ 2.16055539e-03 9.99990621e-01 -3.75353558e-03 1.00779542e+00] [-2.13075154e-02 3.79872801e-03 9.99765752e-01 -9.01203840e-02] [ 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:14.07, Y:1.01, Z:-0.09 [[ 9.99763596e-01 -4.28960979e-03 2.13155338e-02 1.40746440e+01] [ 4.37057483e-03 9.99983405e-01 -3.75327246e-03 1.00734212e+00] [-2.12990800e-02 3.84554631e-03 9.99765753e-01 -8.98876355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252791605000002 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:14.12, Y:1.01, Z:-0.10 [[ 9.99638060e-01 -1.64306511e-02 2.13021894e-02 1.41183744e+01] [ 1.65207319e-02 9.99855282e-01 -4.05963579e-03 1.00762686e+00] [-2.12324041e-02 4.41009421e-03 9.99764840e-01 -9.98641178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282791605000002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:14.15, Y:1.01, Z:-0.11 [[ 9.99547946e-01 -2.13017403e-02 2.12164808e-02 1.41518949e+01] [ 2.14212870e-02 9.99755828e-01 -5.42334973e-03 1.01018154e+00] [-2.10957736e-02 5.87538241e-03 9.99760195e-01 -1.06820680e-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:14.12, Y:1.01, Z:-0.08 [[ 9.99772284e-01 2.08275851e-03 2.12377363e-02 1.41199063e+01] [-1.99620635e-03 9.99989620e-01 -4.09578058e-03 1.00731811e+00] [-2.12460463e-02 4.05245300e-03 9.99766064e-01 -8.14365568e-02] [ 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:14.13, Y:1.00, Z:-0.09 [[ 9.99758276e-01 5.58375516e-03 2.12652379e-02 1.41316457e+01] [-5.58955123e-03 9.99984356e-01 2.13131730e-04 1.00428167e+00] [-2.12637151e-02 -3.31943348e-04 9.99773847e-01 -9.34788332e-02] [ 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:14.18, Y:1.01, Z:-0.08 [[ 9.99731412e-01 9.17211328e-03 2.12832240e-02 1.41789921e+01] [-9.21091304e-03 9.99956090e-01 1.72570541e-03 1.00544031e+00] [-2.12664611e-02 -1.92127983e-03 9.99771997e-01 -8.26993577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:1.01, Z:-0.09 [[ 9.99771139e-01 2.42567173e-03 2.12552686e-02 1.42134716e+01] [-2.42735257e-03 9.99997053e-01 5.32792777e-05 1.00560564e+00] [-2.12550767e-02 -1.04861115e-04 9.99774080e-01 -9.29164434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.24, Y:1.00, Z:-0.09 [[ 9.99774084e-01 -5.60154077e-04 2.12477484e-02 1.42445548e+01] [ 5.68229666e-04 9.99999769e-01 -3.74032378e-04 1.00403395e+00] [-2.12475339e-02 3.86021479e-04 9.99774171e-01 -9.46053090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462791605000001 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.28, Y:1.00, Z:-0.10 [[ 9.99767401e-01 -3.69851657e-03 2.12477248e-02 1.42759732e+01] [ 3.70732889e-03 9.99993057e-01 -3.75365862e-04 1.00067720e+00] [-2.12461890e-02 4.54050856e-04 9.99774171e-01 -9.78157437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492791605000003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:14.31, Y:1.00, Z:-0.10 [[ 9.99763212e-01 -4.69637023e-03 2.12477015e-02 1.43077750e+01] [ 4.70543564e-03 9.99988858e-01 -3.76678280e-04 9.99492979e-01] [-2.12456958e-02 4.76568779e-04 9.99774171e-01 -9.77008121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:14.34, Y:1.00, Z:-0.10 [[ 9.99762759e-01 -4.79248823e-03 2.12475369e-02 1.43396708e+01] [ 4.80176797e-03 9.99988397e-01 -3.85746819e-04 9.98725931e-01] [-2.12454417e-02 4.87681046e-04 9.99774171e-01 -9.89609722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.37, Y:1.00, Z:-0.10 [[ 9.99752983e-01 -6.52090210e-03 2.12473673e-02 1.43719629e+01] [ 6.53076573e-03 9.99978596e-01 -3.94871994e-04 9.97366113e-01] [-2.12443376e-02 5.33536033e-04 9.99774171e-01 -1.00328253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:0.99, Z:-0.09 [[ 9.99758003e-01 -5.70012247e-03 2.12471959e-02 1.44050757e+01] [ 5.70999236e-03 9.99983616e-01 -4.03887968e-04 9.94718073e-01] [-2.12445456e-02 5.25111555e-04 9.99774171e-01 -9.11570367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612791605000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.43, Y:0.99, Z:-0.10 [[ 9.99730741e-01 -9.33503648e-03 2.12438695e-02 1.44346227e+01] [ 9.34937753e-03 9.99956128e-01 -5.75845596e-04 9.91029452e-01] [-2.12375620e-02 7.74307501e-04 9.99774158e-01 -1.03693916e-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:14.47, Y:0.99, Z:-0.09 [[ 9.99731522e-01 -9.24377502e-03 2.12470545e-02 1.44673558e+01] [ 9.25460302e-03 9.99957091e-01 -4.11350408e-04 9.85108143e-01] [-2.12423404e-02 6.07873024e-04 9.99774171e-01 -9.29709838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.50, Y:0.98, Z:-0.10 [[ 9.99732158e-01 -9.17985129e-03 2.12448413e-02 1.45001022e+01] [ 9.19306510e-03 9.99957605e-01 -5.24395209e-04 9.83335331e-01] [-2.12391267e-02 7.19559962e-04 9.99774165e-01 -9.54447714e-02] [ 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:14.53, Y:0.98, Z:-0.11 [[ 9.99700164e-01 -1.21762318e-02 2.12443217e-02 1.45288230e+01] [ 1.21906773e-02 9.99925539e-01 -5.50587474e-04 9.79826900e-01] [-2.12360358e-02 8.09405058e-04 9.99774162e-01 -1.06542364e-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:14.56, Y:0.98, Z:-0.11 [[ 9.99707917e-01 -1.15173148e-02 2.12469358e-02 1.45619667e+01] [ 1.15287883e-02 9.99933454e-01 -4.17593121e-04 9.77320904e-01] [-2.12407124e-02 6.62422573e-04 9.99774171e-01 -1.07657595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:14.59, Y:0.97, Z:-0.10 [[ 9.99716749e-01 -1.07237626e-02 2.12467328e-02 1.45932068e+01] [ 1.07352712e-02 9.99942284e-01 -4.27678954e-04 9.74882675e-01] [-2.12409202e-02 6.55647252e-04 9.99774171e-01 -1.03800445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792791605000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.62, Y:0.97, Z:-0.11 [[ 9.99719808e-01 -1.04362504e-02 2.12459506e-02 1.46235610e+01] [ 1.04485114e-02 9.99945304e-01 -4.66170826e-04 9.70986856e-01] [-2.12399234e-02 6.88028766e-04 9.99774171e-01 -1.09597858e-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:14.65, Y:0.97, Z:-0.09 [[ 9.99696711e-01 -1.24526571e-02 2.12465873e-02 1.46518477e+01] [ 1.24647128e-02 9.99922218e-01 -4.35076199e-04 9.68436323e-01] [-2.12395168e-02 6.99776853e-04 9.99774171e-01 -9.11056022e-02] [ 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:14.68, Y:0.96, Z:-0.09 [[ 9.99742301e-01 -7.98121359e-03 2.12516206e-02 1.46847547e+01] [ 7.98703508e-03 9.99968085e-01 -1.89065941e-04 9.64489110e-01] [-2.12494334e-02 3.58754659e-04 9.99774141e-01 -9.23410750e-02] [ 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:14.72, Y:0.96, Z:-0.09 [[ 9.99762288e-01 -4.88084450e-03 2.12495976e-02 1.47175999e+01] [ 4.88798929e-03 9.99988013e-01 -2.84304647e-04 9.63478095e-01] [-2.12479553e-02 3.88104870e-04 9.99774161e-01 -9.47445737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912791605000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.75, Y:0.96, Z:-0.10 [[ 9.99767794e-01 -3.58881789e-03 2.12480189e-02 1.47498956e+01] [ 3.59719774e-03 9.99993467e-01 -3.56174973e-04 9.62582486e-01] [-2.12466019e-02 4.32525592e-04 9.99774172e-01 -9.69128697e-02] [ 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:14.78, Y:0.96, Z:-0.11 [[ 9.99773073e-01 1.51684526e-03 2.12485901e-02 1.47815751e+01] [-1.51015731e-03 9.99998805e-01 -3.30790527e-04 9.61172950e-01] [-2.12490664e-02 2.98626748e-04 9.99774168e-01 -1.14531831e-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:14.81, Y:0.96, Z:-0.12 [[ 9.99767050e-01 3.80677968e-03 2.12450948e-02 1.48138660e+01] [-3.79735008e-03 9.99992673e-01 -4.84172559e-04 9.60424711e-01] [-2.12467822e-02 4.03384708e-04 9.99774180e-01 -1.15429443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002791605000002 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:14.84, Y:0.93, Z:-0.12 [[ 9.98240925e-01 -5.53507976e-02 2.12448834e-02 1.48420570e+01] [ 5.53737521e-02 9.98465575e-01 -4.93275338e-04 9.31117034e-01] [-2.11849815e-02 1.66881654e-03 9.99774180e-01 -1.16774122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032791605000002 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:14.87, Y:0.92, Z:-0.13 [[ 9.96581121e-01 -7.98406034e-02 2.12496452e-02 1.48740185e+01] [ 7.98647755e-02 9.96805665e-01 -2.89971162e-04 9.18756021e-01] [-2.11586152e-02 1.98607793e-03 9.99774159e-01 -1.27843158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062791605000001 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.91, Y:0.96, Z:-0.12 [[ 9.99652144e-01 1.56252183e-02 2.12472044e-02 1.49073033e+01] [-1.56204222e-02 9.99877917e-01 -3.91684783e-04 9.58164785e-01] [-2.12507306e-02 5.96582312e-05 9.99774176e-01 -1.20798327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.96, Z:-0.11 [[ 9.99660597e-01 1.50789617e-02 2.12442159e-02 1.49364806e+01] [-1.50714221e-02 9.99886287e-01 -5.14973876e-04 9.57546902e-01] [-2.12495654e-02 1.94618547e-04 9.99774184e-01 -1.06464300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.97, Y:0.96, Z:-0.11 [[ 9.99561623e-01 2.06184578e-02 2.12471582e-02 1.49688381e+01] [-2.06147477e-02 9.99787416e-01 -3.93649497e-04 9.59659313e-01] [-2.12507578e-02 -4.45278756e-05 9.99774176e-01 -1.07780132e-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:15.00, Y:0.96, Z:-0.11 [[ 9.99493513e-01 2.36902435e-02 2.12482718e-02 1.50023201e+01] [-2.36881816e-02 9.99719335e-01 -3.48764676e-04 9.60086664e-01] [-2.12505704e-02 -1.54744889e-04 9.99774169e-01 -1.10268028e-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:15.04, Y:0.96, Z:-0.11 [[ 9.99447689e-01 2.55514588e-02 2.12470944e-02 1.50370847e+01] [-2.55488234e-02 9.99673497e-01 -3.95517727e-04 9.58472530e-01] [-2.12502632e-02 -1.47538984e-04 9.99774177e-01 -1.12074747e-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:15.06, Y:0.96, Z:-0.12 [[ 9.98905664e-01 4.16719725e-02 2.12348952e-02 1.50604671e+01] [-4.16631118e-02 9.99131346e-01 -8.59696016e-04 9.62063975e-01] [-2.12522746e-02 -2.59565921e-05 9.99774145e-01 -1.19668429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242791605000003 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:15.07, Y:0.96, Z:-0.13 [[ 9.98123085e-01 5.74332659e-02 2.12538568e-02 1.50671832e+01] [-5.74438096e-02 9.98348734e-01 -1.14608260e-04 9.64495764e-01] [-2.12253434e-02 -1.10650935e-03 9.99774105e-01 -1.25899660e-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:15.12, Y:0.97, Z:-0.11 [[ 9.98612322e-01 4.81569732e-02 2.13151708e-02 1.51207524e+01] [-4.82000860e-02 9.98836554e-01 1.51322298e-03 9.68410210e-01] [-2.12174995e-02 -2.53851618e-03 9.99771661e-01 -1.06303864e-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:15.15, Y:0.97, Z:-0.11 [[ 9.98539973e-01 4.96753179e-02 2.12199242e-02 1.51529506e+01] [-4.96704031e-02 9.98765375e-01 -7.58933792e-04 9.70421416e-01] [-2.12314258e-02 -2.96176459e-04 9.99774544e-01 -1.06053341e-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:15.19, Y:0.97, Z:-0.11 [[ 9.98340839e-01 5.35285239e-02 2.12194706e-02 1.51850965e+01] [-5.35242505e-02 9.98566253e-01 -7.69688471e-04 9.70362076e-01] [-2.12302476e-02 -3.67344827e-04 9.99774545e-01 -1.13248544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.97, Z:-0.12 [[ 9.98218376e-01 5.57679082e-02 2.12135612e-02 1.52172831e+01] [-5.57612059e-02 9.98443721e-01 -9.07787456e-04 9.69915334e-01] [-2.12311724e-02 -2.76723633e-04 9.99774555e-01 -1.15369742e-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:15.25, Y:0.97, Z:-0.12 [[ 9.98203708e-01 5.60298839e-02 2.12134422e-02 1.52482659e+01] [-5.60231818e-02 9.98429053e-01 -9.10560612e-04 9.68718825e-01] [-2.12311356e-02 -2.79519547e-04 9.99774555e-01 -1.21572976e-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:15.28, Y:0.97, Z:-0.11 [[ 9.98197911e-01 5.61330804e-02 2.12133805e-02 1.52758851e+01] [-5.61263711e-02 9.98423256e-01 -9.11993949e-04 9.71351529e-01] [-2.12311255e-02 -2.80279613e-04 9.99774555e-01 -1.07138047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452791605000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:15.31, Y:0.97, Z:-0.12 [[ 9.98226680e-01 5.56141177e-02 2.12265447e-02 1.53110000e+01] [-5.56137674e-02 9.98452172e-01 -6.07271223e-04 9.69527380e-01] [-2.12274626e-02 -5.74293784e-04 9.99774507e-01 -1.19024976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482791605000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:15.34, Y:0.97, Z:-0.11 [[ 9.98538776e-01 4.97026139e-02 2.12123328e-02 1.53409710e+01] [-4.96940479e-02 9.98764054e-01 -9.31079623e-04 9.69513513e-01] [-2.12323926e-02 -1.24407577e-04 9.99774560e-01 -1.12357598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512791605000002 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:15.35, Y:0.97, Z:-0.12 [[ 9.98575779e-01 4.89495572e-02 2.12215397e-02 1.53453963e+01] [-4.89452420e-02 9.98801202e-01 -7.23012098e-04 9.65674048e-01] [-2.12314905e-02 -3.16711027e-04 9.99774536e-01 -1.20113396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542791605000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:0.97, Z:-0.12 [[ 9.98444537e-01 5.15225415e-02 2.13057492e-02 1.53993998e+01] [-5.15590778e-02 9.98669262e-01 1.16874774e-03 9.71315910e-01] [-2.12171800e-02 -2.26543458e-03 9.99772324e-01 -1.17852939e-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:15.43, Y:0.97, Z:-0.12 [[ 9.98700056e-01 4.63553231e-02 2.11986191e-02 1.54318292e+01] [-4.63438531e-02 9.98925013e-01 -1.03228836e-03 9.70368564e-01] [-2.12236829e-02 4.85207593e-05 9.99774751e-01 -1.16899249e-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:15.46, Y:0.97, Z:-0.11 [[ 9.98903771e-01 4.17358357e-02 2.11984814e-02 1.54629543e+01] [-4.17232654e-02 9.99128669e-01 -1.03510885e-03 9.66838097e-01] [-2.12232116e-02 1.49504266e-04 9.99774751e-01 -1.12444376e-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:15.50, Y:0.96, Z:-0.12 [[ 9.99080529e-01 3.72629881e-02 2.12029574e-02 1.54951694e+01] [-3.72513444e-02 9.99305482e-01 -9.43988478e-04 9.64792895e-01] [-2.12234074e-02 1.53281840e-04 9.99774746e-01 -1.16971418e-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:15.53, Y:0.96, Z:-0.12 [[ 9.99157788e-01 3.51336255e-02 2.11977185e-02 1.55279717e+01] [-3.51192582e-02 9.99382577e-01 -1.04977701e-03 9.63903949e-01] [-2.12215130e-02 3.04444723e-04 9.99774752e-01 -1.19097592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:15.56, Y:0.96, Z:-0.12 [[ 9.99283906e-01 3.13425523e-02 2.11971672e-02 1.55607133e+01] [-3.13270986e-02 9.99508623e-01 -1.06079480e-03 9.61349902e-01] [-2.12199994e-02 3.95989422e-04 9.99774752e-01 -1.19149598e-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:15.59, Y:0.96, Z:-0.12 [[ 9.99315805e-01 3.03088349e-02 2.11966173e-02 1.55933793e+01] [-3.02929181e-02 9.99540490e-01 -1.07167010e-03 9.58906248e-01] [-2.12193583e-02 4.28829476e-04 9.99774752e-01 -1.19627566e-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:15.63, Y:0.96, Z:-0.12 [[ 9.99349089e-01 2.91911755e-02 2.11960694e-02 1.56265181e+01] [-2.91747801e-02 9.99573739e-01 -1.08239933e-03 9.57293639e-01] [-2.12186309e-02 4.63304123e-04 9.99774752e-01 -1.20231701e-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:15.66, Y:0.96, Z:-0.12 [[ 9.99363766e-01 2.86847352e-02 2.11955147e-02 1.56590694e+01] [-2.86679979e-02 9.99588391e-01 -1.09315427e-03 9.55628531e-01] [-2.12181473e-02 4.84825798e-04 9.99774752e-01 -1.22126757e-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:15.69, Y:0.95, Z:-0.12 [[ 9.99319100e-01 3.02011023e-02 2.11950226e-02 1.56923036e+01] [-3.01845052e-02 9.99543736e-01 -1.10261533e-03 9.53212507e-01] [-2.12186522e-02 4.62103291e-04 9.99774752e-01 -1.19255774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.95, Z:-0.13 [[ 9.99299645e-01 3.08412809e-02 2.11904349e-02 1.57236815e+01] [-3.08229724e-02 9.99524151e-01 -1.19014500e-03 9.50194440e-01] [-2.12170571e-02 5.36159287e-04 9.99774749e-01 -1.26222680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:0.95, Z:-0.13 [[ 9.99258870e-01 3.21326030e-02 2.11944707e-02 1.57562466e+01] [-3.21162133e-02 9.99483521e-01 -1.11331671e-03 9.49002672e-01] [-2.12192979e-02 4.31805458e-04 9.99774752e-01 -1.27872237e-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:15.79, Y:0.95, Z:-0.13 [[ 9.99216102e-01 3.34364521e-02 2.11939749e-02 1.57885859e+01] [-3.34201571e-02 9.99440760e-01 -1.12267482e-03 9.47995163e-01] [-2.12196607e-02 4.13488783e-04 9.99774752e-01 -1.28952846e-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:15.82, Y:0.95, Z:-0.13 [[ 9.99135335e-01 3.57689756e-02 2.11934735e-02 1.58207963e+01] [-3.57530061e-02 9.99360016e-01 -1.13206281e-03 9.45229925e-01] [-2.12204027e-02 3.73353568e-04 9.99774752e-01 -1.30290753e-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:15.85, Y:0.94, Z:-0.13 [[ 9.99099297e-01 3.67621047e-02 2.11929743e-02 1.58526185e+01] [-3.67461620e-02 9.99323980e-01 -1.14133116e-03 9.41901849e-01] [-2.12206052e-02 3.61542696e-04 9.99774752e-01 -1.32958785e-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:15.88, Y:0.94, Z:-0.13 [[ 9.99159731e-01 3.50815093e-02 2.11924667e-02 1.58831539e+01] [-3.50649904e-02 9.99384372e-01 -1.15068100e-03 9.39783823e-01] [-2.12197876e-02 4.06600478e-04 9.99774752e-01 -1.27476902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.94, Z:-0.13 [[ 9.99143813e-01 3.55260770e-02 2.12023101e-02 1.59158009e+01] [-3.55134979e-02 9.99368726e-01 -9.69640405e-04 9.38034016e-01] [-2.12233731e-02 2.15842018e-04 9.99774736e-01 -1.28183932e-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:15.95, Y:0.94, Z:-0.13 [[ 9.99062494e-01 3.77438775e-02 2.12022059e-02 1.59471007e+01] [-3.77317573e-02 9.99287431e-01 -9.71546839e-04 9.35609558e-01] [-2.12237678e-02 1.70639522e-04 9.99774736e-01 -1.34916507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:0.93, Z:-0.14 [[ 9.98989076e-01 3.96451523e-02 2.11916718e-02 1.59797074e+01] [-3.96293893e-02 9.99213770e-01 -1.16343107e-03 9.32296479e-01] [-2.12211346e-02 3.22441915e-04 9.99774754e-01 -1.36804748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:0.93, Z:-0.14 [[ 9.98920161e-01 4.13454864e-02 2.11910763e-02 1.60123563e+01] [-4.13298779e-02 9.99144866e-01 -1.17417715e-03 9.30938649e-01] [-2.12215020e-02 2.97084630e-04 9.99774754e-01 -1.37504485e-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:16.04, Y:0.93, Z:-0.14 [[ 9.98816833e-01 4.37709709e-02 2.11904751e-02 1.60443837e+01] [-4.37556800e-02 9.99041559e-01 -1.18492953e-03 9.28496193e-01] [-2.12220308e-02 2.56323915e-04 9.99774754e-01 -1.38431273e-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:16.08, Y:0.92, Z:-0.14 [[ 9.98757742e-01 4.50992613e-02 2.11903219e-02 1.60765638e+01] [-4.50842113e-02 9.98982484e-01 -1.18766346e-03 9.24859921e-01] [-2.12223231e-02 2.30839128e-04 9.99774754e-01 -1.39357663e-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:16.10, Y:0.92, Z:-0.13 [[ 9.98824925e-01 4.35860719e-02 2.11901684e-02 1.61043940e+01] [-4.35706235e-02 9.99049640e-01 -1.19039531e-03 9.21336456e-01] [-2.12219148e-02 2.65727659e-04 9.99774754e-01 -1.30838955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:0.92, Z:-0.14 [[ 9.98544249e-01 4.95958456e-02 2.12046014e-02 1.61374467e+01] [-4.95871968e-02 9.98769362e-01 -9.33799730e-04 9.18167040e-01] [-2.12248188e-02 -1.19036391e-04 9.99774721e-01 -1.42144910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.92, Z:-0.13 [[ 9.98398212e-01 5.24598206e-02 2.11890694e-02 1.61679063e+01] [-5.24460262e-02 9.98623031e-01 -1.20657607e-03 9.16030893e-01] [-2.12231895e-02 9.33609072e-05 9.99774758e-01 -1.33537585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:0.91, Z:-0.14 [[ 9.98220579e-01 5.57361537e-02 2.11933383e-02 1.61997224e+01] [-5.57246870e-02 9.98445531e-01 -1.13169110e-03 9.13638131e-01] [-2.12234701e-02 -5.13148045e-05 9.99774755e-01 -1.43545549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:0.91, Z:-0.14 [[ 9.98090689e-01 5.80173623e-02 2.11887275e-02 1.62318267e+01] [-5.80046987e-02 9.98315574e-01 -1.21228146e-03 9.11323558e-01] [-2.12233701e-02 -1.90789231e-05 9.99774759e-01 -1.44536543e-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:16.26, Y:0.91, Z:-0.15 [[ 9.97793775e-01 6.29176219e-02 2.11885672e-02 1.62636870e+01] [-6.29060033e-02 9.98018716e-01 -1.21507714e-03 9.08199918e-01] [-2.12230364e-02 -1.20491670e-04 9.99774759e-01 -1.45585000e-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:16.30, Y:0.91, Z:-0.15 [[ 9.97611237e-01 6.57485538e-02 2.11883678e-02 1.62958768e+01] [-6.57374998e-02 9.97836207e-01 -1.21854539e-03 9.05737770e-01] [-2.12226381e-02 -1.77235747e-04 9.99774759e-01 -1.46439477e-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:16.33, Y:0.91, Z:-0.15 [[ 9.97282477e-01 7.05600524e-02 2.11882053e-02 1.63288723e+01] [-7.05500239e-02 9.97507495e-01 -1.22136451e-03 9.05460475e-01] [-2.12215731e-02 -2.76782965e-04 9.99774759e-01 -1.46299836e-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:16.36, Y:0.91, Z:-0.15 [[ 9.97165696e-01 7.21917225e-02 2.11879616e-02 1.63609175e+01] [-7.21819727e-02 9.97390726e-01 -1.22557612e-03 9.05221463e-01] [-2.12211529e-02 -3.07286408e-04 9.99774759e-01 -1.46340008e-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:16.39, Y:0.90, Z:-0.15 [[ 9.97066017e-01 7.35556624e-02 2.11877993e-02 1.63942346e+01] [-7.35461609e-02 9.97291057e-01 -1.22837660e-03 9.04762573e-01] [-2.12207568e-02 -3.33508730e-04 9.99774759e-01 -1.46772357e-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:16.42, Y:0.91, Z:-0.14 [[ 9.97087383e-01 7.32655397e-02 2.11875505e-02 1.64249834e+01] [-7.32558819e-02 9.97312417e-01 -1.23265305e-03 9.05155844e-01] [-2.12209182e-02 -3.23049898e-04 9.99774759e-01 -1.42034960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.90, Z:-0.15 [[ 9.96992519e-01 7.45436416e-02 2.11934394e-02 1.64570692e+01] [-7.45364082e-02 9.97217650e-01 -1.13212671e-03 9.03683144e-01] [-2.12188646e-02 -4.50960987e-04 9.99774753e-01 -1.50702769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:0.90, Z:-0.15 [[ 9.97174907e-01 7.20647829e-02 2.11865773e-02 1.64893827e+01] [-7.20545160e-02 9.97399914e-01 -1.24856911e-03 9.01524497e-01] [-2.12214682e-02 -2.81546787e-04 9.99774760e-01 -1.51466004e-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:16.52, Y:0.90, Z:-0.15 [[ 9.97260488e-01 7.08706937e-02 2.11864108e-02 1.65210185e+01] [-7.08600975e-02 9.97485479e-01 -1.25138799e-03 8.99215958e-01] [-2.12218239e-02 -2.53311340e-04 9.99774760e-01 -1.52207357e-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:16.55, Y:0.90, Z:-0.15 [[ 9.97472976e-01 6.78144953e-02 2.11862445e-02 1.65535558e+01] [-6.78031501e-02 9.97697930e-01 -1.25419693e-03 8.97014595e-01] [-2.12225250e-02 -1.85466577e-04 9.99774760e-01 -1.53217009e-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:16.58, Y:0.89, Z:-0.14 [[ 9.97629083e-01 6.54779854e-02 2.11859929e-02 1.65846737e+01] [-6.54660234e-02 9.97854005e-01 -1.25843382e-03 8.94790270e-01] [-2.12229275e-02 -1.31512524e-04 9.99774760e-01 -1.44485082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:0.89, Z:-0.16 [[ 9.97744502e-01 6.36944584e-02 2.11878463e-02 1.66159321e+01] [-6.36827541e-02 9.97969439e-01 -1.22735775e-03 8.91867276e-01] [-2.12229989e-02 -1.24710959e-04 9.99774759e-01 -1.57645938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.89, Z:-0.16 [[ 9.98047838e-01 5.87511355e-02 2.11853190e-02 1.66475602e+01] [-5.87374219e-02 9.98272660e-01 -1.26953125e-03 8.86909455e-01] [-2.12233112e-02 2.26818917e-05 9.99774760e-01 -1.57807171e-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:16.68, Y:0.88, Z:-0.16 [[ 9.98156232e-01 5.68799230e-02 2.11851517e-02 1.66794781e+01] [-5.68657288e-02 9.98381025e-01 -1.27231732e-03 8.83249819e-01] [-2.12232228e-02 6.52623691e-05 9.99774760e-01 -1.56749509e-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:16.71, Y:0.88, Z:-0.16 [[ 9.98374272e-01 5.29151200e-02 2.11849855e-02 1.67125408e+01] [-5.28999744e-02 9.98599002e-01 -1.27507986e-03 8.77895420e-01] [-2.12227763e-02 1.52321737e-04 9.99774760e-01 -1.57685782e-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:16.74, Y:0.88, Z:-0.16 [[ 9.98470268e-01 5.10718146e-02 2.11847333e-02 1.67444754e+01] [-5.10561656e-02 9.98694964e-01 -1.27925594e-03 8.75488164e-01] [-2.12224204e-02 1.95687767e-04 9.99774760e-01 -1.58333426e-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:16.78, Y:0.87, Z:-0.16 [[ 9.98584575e-01 4.87858639e-02 2.11845656e-02 1.67771887e+01] [-4.87696418e-02 9.98809230e-01 -1.28202743e-03 8.71973650e-01] [-2.12218844e-02 2.47049143e-04 9.99774760e-01 -1.60474601e-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:16.81, Y:0.87, Z:-0.16 [[ 9.98632423e-01 4.77967105e-02 2.11838959e-02 1.68096194e+01] [-4.77800331e-02 9.98857045e-01 -1.29299879e-03 8.68176638e-01] [-2.12214848e-02 2.79063263e-04 9.99774760e-01 -1.61683375e-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:16.84, Y:0.86, Z:-0.16 [[ 9.98693241e-01 4.65087103e-02 2.11837289e-02 1.68416505e+01] [-4.64916853e-02 9.98917837e-01 -1.29572981e-03 8.64566651e-01] [-2.12210673e-02 3.09169345e-04 9.99774760e-01 -1.60725625e-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:16.87, Y:0.86, Z:-0.16 [[ 9.98704579e-01 4.62646816e-02 2.11835627e-02 1.68742177e+01] [-4.62475443e-02 9.98929166e-01 -1.29844023e-03 8.62269512e-01] [-2.12209506e-02 3.17070451e-04 9.99774760e-01 -1.60651459e-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:16.91, Y:0.86, Z:-0.16 [[ 9.98714453e-01 4.60511572e-02 2.11833114e-02 1.69059757e+01] [-4.60338852e-02 9.98939030e-01 -1.30252685e-03 8.59217375e-01] [-2.12208194e-02 3.25702262e-04 9.99774760e-01 -1.62659211e-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:16.94, Y:0.85, Z:-0.16 [[ 9.98715300e-01 4.60328529e-02 2.11831447e-02 1.69385205e+01] [-4.60155194e-02 9.98939872e-01 -1.30523263e-03 8.52754033e-01] [-2.12207715e-02 3.28802389e-04 9.99774760e-01 -1.64021549e-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:16.97, Y:0.85, Z:-0.16 [[ 9.98726404e-01 4.57914350e-02 2.11828921e-02 1.69708400e+01] [-4.57739605e-02 9.98950965e-01 -1.30931916e-03 8.49746476e-01] [-2.12206261e-02 3.38026751e-04 9.99774760e-01 -1.64716948e-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:17.00, Y:0.85, Z:-0.17 [[ 9.98706028e-01 4.62337689e-02 2.11827250e-02 1.70030070e+01] [-4.62163366e-02 9.98930593e-01 -1.31201831e-03 8.47861631e-01] [-2.12207315e-02 3.31332644e-04 9.99774760e-01 -1.65166764e-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:17.04, Y:0.84, Z:-0.16 [[ 9.98655788e-01 4.73066245e-02 2.11825574e-02 1.70350418e+01] [-4.72893763e-02 9.98880366e-01 -1.31471798e-03 8.44690510e-01] [-2.12210356e-02 3.11240790e-04 9.99774760e-01 -1.63712687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:0.84, Z:-0.17 [[ 9.98619066e-01 4.80756470e-02 2.11823608e-02 1.70665424e+01] [-4.80585047e-02 9.98843653e-01 -1.31787957e-03 8.40526717e-01] [-2.12212245e-02 2.98067086e-04 9.99774760e-01 -1.67236119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:0.84, Z:-0.17 [[ 9.98429475e-01 5.18642210e-02 2.11822231e-02 1.70982480e+01] [-5.18478840e-02 9.98654121e-01 -1.32008875e-03 8.36137719e-01] [-2.12221797e-02 2.19762073e-04 9.99774760e-01 -1.66763060e-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:17.13, Y:0.83, Z:-0.17 [[ 9.98265041e-01 5.49384019e-02 2.11820516e-02 1.71299973e+01] [-5.49226985e-02 9.98489733e-01 -1.32283457e-03 8.34878440e-01] [-2.12227355e-02 1.57164075e-04 9.99774760e-01 -1.67238837e-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:17.16, Y:0.83, Z:-0.17 [[ 9.98021433e-01 5.91992251e-02 2.11818786e-02 1.71633567e+01] [-5.91844223e-02 9.98246186e-01 -1.32559881e-03 8.32253221e-01] [-2.12232039e-02 6.93387735e-05 9.99774760e-01 -1.67865285e-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:17.20, Y:0.83, Z:-0.17 [[ 9.97882440e-01 6.14977680e-02 2.11816143e-02 1.71962342e+01] [-6.14833935e-02 9.98107221e-01 -1.32980916e-03 8.29131506e-01] [-2.12233024e-02 2.46756802e-05 9.99774760e-01 -1.69204492e-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:17.23, Y:0.83, Z:-0.17 [[ 9.97657650e-01 6.50427871e-02 2.11813475e-02 1.72288433e+01] [-6.50291214e-02 9.97882475e-01 -1.33404512e-03 8.26265577e-01] [-2.12232655e-02 -4.64840956e-05 9.99774760e-01 -1.70117047e-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:17.26, Y:0.83, Z:-0.17 [[ 9.97492082e-01 6.75344932e-02 2.11810769e-02 1.72608118e+01] [-6.75212982e-02 9.97716935e-01 -1.33832690e-03 8.25451138e-01] [-2.12231024e-02 -9.52033224e-05 9.99774760e-01 -1.71177876e-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:17.29, Y:0.82, Z:-0.17 [[ 9.97356366e-01 6.95100573e-02 2.11808988e-02 1.72934137e+01] [-6.94972480e-02 9.97581242e-01 -1.34114008e-03 8.23924290e-01] [-2.12228901e-02 -1.34419579e-04 9.99774760e-01 -1.71536639e-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:17.33, Y:0.82, Z:-0.17 [[ 9.97082091e-01 7.33394970e-02 2.11807194e-02 1.73254912e+01] [-7.33274913e-02 9.97307010e-01 -1.34396758e-03 8.19812699e-01] [-2.12222458e-02 -2.13083015e-04 9.99774760e-01 -1.72573063e-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:17.36, Y:0.82, Z:-0.17 [[ 9.96998789e-01 7.44634068e-02 2.11805390e-02 1.73584884e+01] [-7.44515943e-02 9.97223719e-01 -1.34680449e-03 8.17012271e-01] [-2.12220235e-02 -2.34162454e-04 9.99774760e-01 -1.72569246e-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:17.39, Y:0.82, Z:-0.17 [[ 9.97032758e-01 7.40072733e-02 2.11802672e-02 1.73909868e+01] [-7.39952674e-02 9.97257677e-01 -1.35106521e-03 8.17250481e-01] [-2.12221728e-02 -2.20183269e-04 9.99774760e-01 -1.73771428e-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:17.42, Y:0.82, Z:-0.17 [[ 9.97071062e-01 7.34894678e-02 2.11800851e-02 1.74227353e+01] [-7.34772847e-02 9.97295972e-01 -1.35391441e-03 8.16595762e-01] [-2.12223120e-02 -2.06306267e-04 9.99774760e-01 -1.74881102e-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:17.46, Y:0.81, Z:-0.18 [[ 9.97014622e-01 7.42512981e-02 2.11799032e-02 1.74552747e+01] [-7.42392264e-02 9.97239538e-01 -1.35675406e-03 8.13902251e-01] [-2.12221776e-02 -2.19675992e-04 9.99774760e-01 -1.75343208e-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:17.49, Y:0.81, Z:-0.18 [[ 9.96997430e-01 7.44818581e-02 2.11796292e-02 1.74870592e+01] [-7.44697479e-02 9.97222344e-01 -1.36101795e-03 8.11298477e-01] [-2.12221706e-02 -2.20310247e-04 9.99774760e-01 -1.75496922e-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:17.52, Y:0.81, Z:-0.17 [[ 9.97125564e-01 7.27464066e-02 2.11794471e-02 1.75193743e+01] [-7.27338449e-02 9.97350454e-01 -1.36384588e-03 8.10334955e-01] [-2.12225461e-02 -1.80537024e-04 9.99774760e-01 -1.71104497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:0.81, Z:-0.18 [[ 9.97182970e-01 7.19560330e-02 2.11767068e-02 1.75501468e+01] [-7.19423928e-02 9.97407798e-01 -1.40623515e-03 8.08323118e-01] [-2.12229996e-02 -1.21229213e-04 9.99774759e-01 -1.77819927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.81, Z:-0.18 [[ 9.97268487e-01 7.07603115e-02 2.11788552e-02 1.75825458e+01] [-7.07471054e-02 9.97493339e-01 -1.37309721e-03 8.05184349e-01] [-2.12229278e-02 -1.28996123e-04 9.99774760e-01 -1.79593436e-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:17.61, Y:0.80, Z:-0.18 [[ 9.97601262e-01 6.59028491e-02 2.11786710e-02 1.76142639e+01] [-6.58884880e-02 9.97826044e-01 -1.37593227e-03 8.00775598e-01] [-2.12233074e-02 -2.27988433e-05 9.99774760e-01 -1.80211075e-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:17.65, Y:0.80, Z:-0.18 [[ 9.97712120e-01 6.42027754e-02 2.11784868e-02 1.76469000e+01] [-6.41879712e-02 9.97936873e-01 -1.37876228e-03 7.98615161e-01] [-2.12233133e-02 1.62037349e-05 9.99774760e-01 -1.80348074e-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:17.68, Y:0.80, Z:-0.18 [[ 9.97936941e-01 6.06081350e-02 2.11782080e-02 1.76791936e+01] [-6.05924306e-02 9.98161632e-01 -1.38303113e-03 7.95519647e-01] [-2.12230976e-02 9.69387505e-05 9.99774760e-01 -1.80773505e-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:17.71, Y:0.79, Z:-0.18 [[ 9.98011546e-01 5.93670313e-02 2.11780253e-02 1.77121744e+01] [-5.93509883e-02 9.98236214e-01 -1.38582268e-03 7.91595282e-01] [-2.12229440e-02 1.26130306e-04 9.99774760e-01 -1.81690895e-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:17.74, Y:0.79, Z:-0.18 [[ 9.98185260e-01 5.63709988e-02 2.11777516e-02 1.77444043e+01] [-5.63541930e-02 9.98409872e-01 -1.38999325e-03 7.86050019e-01] [-2.12224316e-02 1.94015670e-04 9.99774760e-01 -1.82508626e-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:17.78, Y:0.78, Z:-0.18 [[ 9.98217968e-01 5.57890589e-02 2.11771096e-02 1.77768313e+01] [-5.57719160e-02 9.98442554e-01 -1.39970652e-03 7.83061618e-01] [-2.12222157e-02 2.16124222e-04 9.99774760e-01 -1.83669965e-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:17.81, Y:0.78, Z:-0.18 [[ 9.98255424e-01 5.51150524e-02 2.11763818e-02 1.78101841e+01] [-5.50975262e-02 9.98479981e-01 -1.41063197e-03 7.79627520e-01] [-2.12219404e-02 2.41404765e-04 9.99774760e-01 -1.84555620e-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:17.84, Y:0.77, Z:-0.19 [[ 9.98262733e-01 5.49827988e-02 2.11756429e-02 1.78428285e+01] [-5.49650094e-02 9.98487269e-01 -1.42163857e-03 7.74335609e-01] [-2.12217755e-02 2.55249395e-04 9.99774760e-01 -1.85069178e-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:17.88, Y:0.77, Z:-0.19 [[ 9.98202653e-01 5.60632453e-02 2.11749020e-02 1.78759777e+01] [-5.60454667e-02 9.98427190e-01 -1.43259044e-03 7.70659532e-01] [-2.12219135e-02 2.43258311e-04 9.99774760e-01 -1.85589021e-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:17.91, Y:0.77, Z:-0.19 [[ 9.98173504e-01 5.65799560e-02 2.11746188e-02 1.79094355e+01] [-5.65622050e-02 9.98398043e-01 -1.43676354e-03 7.68698474e-01] [-2.12219900e-02 2.36456171e-04 9.99774760e-01 -1.86300377e-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:17.94, Y:0.77, Z:-0.19 [[ 9.98085737e-01 5.81079121e-02 2.11738693e-02 1.79417855e+01] [-5.80902725e-02 9.98310285e-01 -1.44772476e-03 7.65307844e-01] [-2.12222158e-02 2.14957592e-04 9.99774760e-01 -1.87709541e-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:17.97, Y:0.76, Z:-0.19 [[ 9.98006893e-01 5.94467602e-02 2.11736808e-02 1.79745781e+01] [-5.94293633e-02 9.98231460e-01 -1.45047688e-03 7.61408256e-01] [-2.12224605e-02 1.89247552e-04 9.99774760e-01 -1.88371541e-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:18.01, Y:0.76, Z:-0.19 [[ 9.97901027e-01 6.11982624e-02 2.11733931e-02 1.80068568e+01] [-6.11811709e-02 9.98125617e-01 -1.45466440e-03 7.57674859e-01] [-2.12227290e-02 1.56198119e-04 9.99774760e-01 -1.90011669e-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:18.04, Y:0.75, Z:-0.18 [[ 9.97864569e-01 6.17899476e-02 2.11732020e-02 1.80375844e+01] [-6.17729303e-02 9.98089165e-01 -1.45744135e-03 7.54760091e-01] [-2.12227987e-02 1.46398352e-04 9.99774760e-01 -1.79365147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:0.75, Z:-0.19 [[ 9.97748588e-01 6.36336308e-02 2.11782132e-02 1.80695183e+01] [-6.36185709e-02 9.97973326e-01 -1.38477070e-03 7.50844775e-01] [-2.12234099e-02 3.43253527e-05 9.99774757e-01 -1.90899034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:0.75, Z:-0.19 [[ 9.97735118e-01 6.38464521e-02 2.11722887e-02 1.81025861e+01] [-6.38296292e-02 9.97959727e-01 -1.47009686e-03 7.47087561e-01] [-2.12229519e-02 1.15347921e-04 9.99774761e-01 -1.91434170e-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:18.13, Y:0.74, Z:-0.19 [[ 9.97857241e-01 6.19087592e-02 2.11715097e-02 1.81341867e+01] [-6.18912639e-02 9.98081799e-01 -1.48123200e-03 7.43238929e-01] [-2.12225997e-02 1.67726589e-04 9.99774761e-01 -1.92009726e-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:18.17, Y:0.74, Z:-0.19 [[ 9.97896596e-01 6.12713674e-02 2.11708278e-02 1.81661915e+01] [-6.12535233e-02 9.98121126e-01 -1.49091416e-03 7.40183207e-01] [-2.12224008e-02 1.90990368e-04 9.99774761e-01 -1.93795550e-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:18.20, Y:0.73, Z:-0.19 [[ 9.98047804e-01 5.87571726e-02 2.11701412e-02 1.81987590e+01] [-5.87385574e-02 9.98272273e-01 -1.50060000e-03 7.34448579e-01] [-2.12217360e-02 2.54166976e-04 9.99774761e-01 -1.94989071e-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:18.23, Y:0.73, Z:-0.20 [[ 9.98079836e-01 5.82108250e-02 2.11693595e-02 1.82320620e+01] [-5.81918548e-02 9.98304274e-01 -1.51154900e-03 7.31026913e-01] [-2.12214505e-02 2.76762281e-04 9.99774761e-01 -1.95939526e-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:18.27, Y:0.73, Z:-0.20 [[ 9.98059044e-01 5.85665124e-02 2.11685764e-02 1.82650598e+01] [-5.85473913e-02 9.98283469e-01 -1.52243658e-03 7.27811594e-01] [-2.12214037e-02 2.80116671e-04 9.99774761e-01 -1.96721231e-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:18.29, Y:0.72, Z:-0.19 [[ 9.98034738e-01 5.89795514e-02 2.11677826e-02 1.82948490e+01] [-5.89602907e-02 9.98259151e-01 -1.53339464e-03 7.22947070e-01] [-2.12213716e-02 2.82322502e-04 9.99774761e-01 -1.90980523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:0.72, Z:-0.20 [[ 9.97854355e-01 6.19544460e-02 2.11738528e-02 1.83259798e+01] [-6.19376283e-02 9.98078969e-01 -1.44978180e-03 7.19782276e-01] [-2.12229976e-02 1.35212859e-04 9.99774758e-01 -2.00139309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:0.72, Z:-0.20 [[ 9.97561929e-01 6.64993068e-02 2.11669451e-02 1.83580602e+01] [-6.64815033e-02 9.97786462e-01 -1.54445396e-03 7.17786169e-01] [-2.12227964e-02 1.33478140e-04 9.99774762e-01 -2.01651135e-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:18.39, Y:0.72, Z:-0.20 [[ 9.97440244e-01 6.83004362e-02 2.11662329e-02 1.83899088e+01] [-6.82828323e-02 9.97664793e-01 -1.55415421e-03 7.15782186e-01] [-2.12229547e-02 1.04885624e-04 9.99774762e-01 -2.02565008e-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:18.42, Y:0.71, Z:-0.20 [[ 9.97264505e-01 7.08203910e-02 2.11655138e-02 1.84218564e+01] [-7.08031480e-02 9.97489082e-01 -1.56388652e-03 7.13539502e-01] [-2.12231239e-02 6.10235127e-05 9.99774762e-01 -2.03342553e-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:18.45, Y:0.71, Z:-0.20 [[ 9.97199035e-01 7.17365826e-02 2.11647874e-02 1.84544158e+01] [-7.17193386e-02 9.97423611e-01 -1.57365534e-03 7.12267752e-01] [-2.12231474e-02 5.13230280e-05 9.99774762e-01 -2.04689864e-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:18.49, Y:0.71, Z:-0.21 [[ 9.97102523e-01 7.30660379e-02 2.11639522e-02 1.84862918e+01] [-7.30488566e-02 9.97327104e-01 -1.58480940e-03 7.12027317e-01] [-2.12231789e-02 3.42149466e-05 9.99774762e-01 -2.06921304e-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:18.52, Y:0.71, Z:-0.21 [[ 9.97086195e-01 7.32887322e-02 2.11632156e-02 1.85187939e+01] [-7.32713935e-02 9.97310764e-01 -1.59458565e-03 7.09826053e-01] [-2.12231679e-02 3.92810401e-05 9.99774762e-01 -2.08589448e-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:18.55, Y:0.71, Z:-0.21 [[ 9.97043650e-01 7.38654863e-02 2.11624738e-02 1.85513491e+01] [-7.38480698e-02 9.97268213e-01 -1.60436972e-03 7.08255061e-01] [-2.12231700e-02 3.68187944e-05 9.99774762e-01 -2.09332858e-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:18.58, Y:0.71, Z:-0.21 [[ 9.97076601e-01 7.34196071e-02 2.11616137e-02 1.85846826e+01] [-7.34018511e-02 9.97301137e-01 -1.61563593e-03 7.08928918e-01] [-2.12231207e-02 5.76111641e-05 9.99774763e-01 -2.09435316e-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:18.62, Y:0.71, Z:-0.21 [[ 9.97124983e-01 7.27598206e-02 2.11607497e-02 1.86177784e+01] [-7.27416775e-02 9.97349488e-01 -1.62687312e-03 7.07373909e-01] [-2.12230339e-02 8.29273985e-05 9.99774763e-01 -2.09480752e-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:18.65, Y:0.71, Z:-0.21 [[ 9.97204173e-01 7.16665678e-02 2.11598788e-02 1.86508047e+01] [-7.16479400e-02 9.97428639e-01 -1.63812275e-03 7.05013256e-01] [-2.12228678e-02 1.17481112e-04 9.99774763e-01 -2.11085557e-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:18.68, Y:0.70, Z:-0.21 [[ 9.97253124e-01 7.09824105e-02 2.11590060e-02 1.86828482e+01] [-7.09633911e-02 9.97477557e-01 -1.64932026e-03 7.02473262e-01] [-2.12227064e-02 1.43274968e-04 9.99774763e-01 -2.12716843e-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:18.72, Y:0.70, Z:-0.21 [[ 9.97414166e-01 6.86826687e-02 2.11582489e-02 1.87152992e+01] [-6.86629270e-02 9.97638537e-01 -1.65897656e-03 6.99055004e-01] [-2.12222274e-02 2.01899425e-04 9.99774763e-01 -2.14003063e-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:18.75, Y:0.70, Z:-0.21 [[ 9.97564537e-01 6.64632187e-02 2.11573780e-02 1.87477364e+01] [-6.64427438e-02 9.97788842e-01 -1.67000976e-03 6.95508548e-01] [-2.12215899e-02 2.60188272e-04 9.99774763e-01 -2.14643095e-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:18.78, Y:0.69, Z:-0.22 [[ 9.97814352e-01 6.26012931e-02 2.11565064e-02 1.87804711e+01] [-6.25797176e-02 9.98038553e-01 -1.68097920e-03 6.89165341e-01] [-2.12202405e-02 3.53336972e-04 9.99774763e-01 -2.15479788e-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:18.81, Y:0.69, Z:-0.21 [[ 9.97956309e-01 6.02963062e-02 2.11556323e-02 1.88104554e+01] [-6.02739813e-02 9.98180437e-01 -1.69190889e-03 6.85262291e-01] [-2.12191542e-02 4.13316969e-04 9.99774763e-01 -2.06004880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:0.68, Z:-0.22 [[ 9.97969277e-01 6.00782230e-02 2.11643193e-02 1.88425832e+01] [-6.00581522e-02 9.98193624e-01 -1.58324990e-03 6.81738614e-01] [-2.12212075e-02 3.08944841e-04 9.99774757e-01 -2.17171137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:0.68, Z:-0.22 [[ 9.98001950e-01 5.95362786e-02 2.11551153e-02 1.88741124e+01] [-5.95136555e-02 9.98226047e-01 -1.69792771e-03 6.76744418e-01] [-2.12186755e-02 4.35516916e-04 9.99774764e-01 -2.17095624e-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:18.91, Y:0.67, Z:-0.22 [[ 9.98045917e-01 5.87948947e-02 2.11543621e-02 1.89054025e+01] [-5.87719074e-02 9.98269978e-01 -1.70726073e-03 6.70882007e-01] [-2.12181428e-02 4.60642391e-04 9.99774764e-01 -2.17997106e-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:18.94, Y:0.67, Z:-0.22 [[ 9.98018135e-01 5.92648735e-02 2.11536562e-02 1.89383889e+01] [-5.92418073e-02 9.98242187e-01 -1.71596322e-03 6.66469438e-01] [-2.12181684e-02 4.59381585e-04 9.99774764e-01 -2.19273609e-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:18.97, Y:0.66, Z:-0.21 [[ 9.97950635e-01 6.03911469e-02 2.11527793e-02 1.89694192e+01] [-6.03681060e-02 9.98174689e-01 -1.72670598e-03 6.61325131e-01] [-2.12184466e-02 4.46214106e-04 9.99774764e-01 -2.11894495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:0.66, Z:-0.22 [[ 9.97891436e-01 6.13619129e-02 2.11517972e-02 1.90001306e+01] [-6.13388350e-02 9.98115486e-01 -1.73873754e-03 6.56218960e-01] [-2.12186286e-02 4.37644706e-04 9.99774764e-01 -2.20623600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:0.65, Z:-0.22 [[ 9.97786737e-01 6.30412284e-02 2.11525769e-02 1.90325233e+01] [-6.30187297e-02 9.98010846e-01 -1.72919896e-03 6.53162336e-01] [-2.12195120e-02 3.92363259e-04 9.99774764e-01 -2.20697369e-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:19.06, Y:0.65, Z:-0.22 [[ 9.97523461e-01 6.70786975e-02 2.11516836e-02 1.90645711e+01] [-6.70568757e-02 9.97747637e-01 -1.74005838e-03 6.48046478e-01] [-2.12207632e-02 3.17383238e-04 9.99774764e-01 -2.21598388e-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:19.10, Y:0.64, Z:-0.22 [[ 9.97366100e-01 6.93794063e-02 2.11508956e-02 1.90969341e+01] [-6.93578997e-02 9.97590307e-01 -1.74958486e-03 6.44992472e-01] [-2.12213135e-02 2.77994935e-04 9.99774764e-01 -2.23523228e-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:19.13, Y:0.65, Z:-0.23 [[ 9.96997726e-01 7.44863314e-02 2.11499804e-02 1.91297835e+01] [-7.44657401e-02 9.97222018e-01 -1.76057812e-03 6.45327787e-01] [-2.12223652e-02 1.80343433e-04 9.99774764e-01 -2.25505197e-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:19.16, Y:0.64, Z:-0.23 [[ 9.96822479e-01 7.67962359e-02 2.11490561e-02 1.91623793e+01] [-7.67759303e-02 9.97046798e-01 -1.77161328e-03 6.43773532e-01] [-2.12226519e-02 1.42245489e-04 9.99774764e-01 -2.26492968e-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:19.20, Y:0.64, Z:-0.23 [[ 9.96747854e-01 7.77590610e-02 2.11481212e-02 1.91953907e+01] [-7.77387368e-02 9.96972172e-01 -1.78270320e-03 6.41786582e-01] [-2.12227097e-02 1.32877360e-04 9.99774764e-01 -2.27020799e-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:19.23, Y:0.64, Z:-0.23 [[ 9.96671116e-01 7.87367970e-02 2.11471758e-02 1.92275051e+01] [-7.87164563e-02 9.96895432e-01 -1.79384842e-03 6.40892423e-01] [-2.12227648e-02 1.23246170e-04 9.99774764e-01 -2.26572916e-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:19.26, Y:0.64, Z:-0.23 [[ 9.96611584e-01 7.94870029e-02 2.11463451e-02 1.92607485e+01] [-7.94666244e-02 9.96835896e-01 -1.80358826e-03 6.40517440e-01] [-2.12227977e-02 1.17048292e-04 9.99774764e-01 -2.26488450e-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:19.29, Y:0.64, Z:-0.23 [[ 9.96410796e-01 8.19658391e-02 2.11453935e-02 1.92933408e+01] [-8.19457833e-02 9.96635137e-01 -1.81467675e-03 6.43518779e-01] [-2.12229836e-02 7.53876737e-05 9.99774764e-01 -2.28029138e-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:19.33, Y:0.64, Z:-0.23 [[ 9.96318710e-01 8.30778902e-02 2.11445446e-02 1.93266700e+01] [-8.30578761e-02 9.96543055e-01 -1.82451465e-03 6.43790545e-01] [-2.12230259e-02 6.15771188e-05 9.99774764e-01 -2.28295780e-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:19.36, Y:0.65, Z:-0.23 [[ 9.96183362e-01 8.46856493e-02 2.11435731e-02 1.93596635e+01] [-8.46657597e-02 9.96407717e-01 -1.83570400e-03 6.47805738e-01] [-2.12230772e-02 3.85610987e-05 9.99774764e-01 -2.29265370e-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:19.39, Y:0.65, Z:-0.23 [[ 9.96187730e-01 8.46344626e-02 2.11427206e-02 1.93916829e+01] [-8.46143542e-02 9.96412066e-01 -1.84547078e-03 6.48060057e-01] [-2.12230524e-02 4.94576916e-05 9.99774764e-01 -2.29044047e-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:19.43, Y:0.65, Z:-0.23 [[ 9.96226734e-01 8.41743145e-02 2.11418600e-02 1.94252004e+01] [-8.41538944e-02 9.96451042e-01 -1.85527841e-03 6.49252221e-01] [-2.12229952e-02 6.91080994e-05 9.99774764e-01 -2.29225327e-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:19.46, Y:0.65, Z:-0.23 [[ 9.96229686e-01 8.41396293e-02 2.11408637e-02 1.94579935e+01] [-8.41189619e-02 9.96453971e-01 -1.86656225e-03 6.48982625e-01] [-2.12229494e-02 8.11772167e-05 9.99774765e-01 -2.30350026e-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:19.49, Y:0.65, Z:-0.23 [[ 9.96181245e-01 8.47114714e-02 2.11398697e-02 1.94912798e+01] [-8.46906953e-02 9.96405520e-01 -1.87775280e-03 6.49690664e-01] [-2.12229501e-02 8.02318550e-05 9.99774765e-01 -2.31610300e-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:19.52, Y:0.65, Z:-0.23 [[ 9.96122951e-01 8.53944695e-02 2.11388742e-02 1.95243583e+01] [-8.53736108e-02 9.96347218e-01 -1.88889364e-03 6.53775204e-01] [-2.12229596e-02 7.68682919e-05 9.99774765e-01 -2.32881389e-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:19.56, Y:0.65, Z:-0.23 [[ 9.96086462e-01 8.58192854e-02 2.11378717e-02 1.95570234e+01] [-8.57982856e-02 9.96310717e-01 -1.90004665e-03 6.52824259e-01] [-2.12229487e-02 7.90175985e-05 9.99774765e-01 -2.34605140e-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:19.59, Y:0.65, Z:-0.24 [[ 9.96054786e-01 8.61862335e-02 2.11375604e-02 1.95905771e+01] [-8.61652429e-02 9.96279041e-01 -1.90350323e-03 6.53680749e-01] [-2.12229642e-02 7.46704787e-05 9.99774765e-01 -2.35074674e-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:19.62, Y:0.65, Z:-0.24 [[ 9.95983034e-01 8.70115809e-02 2.11371847e-02 1.96226093e+01] [-8.69906878e-02 9.96207298e-01 -1.90766581e-03 6.52558322e-01] [-2.12230067e-02 6.12645417e-05 9.99774765e-01 -2.35990728e-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:19.65, Y:0.65, Z:-0.24 [[ 9.95914165e-01 8.77963843e-02 2.11369342e-02 1.96545314e+01] [-8.77756092e-02 9.96138441e-01 -1.91043800e-03 6.51843459e-01] [-2.12230422e-02 4.73249898e-05 9.99774765e-01 -2.36991450e-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:19.69, Y:0.65, Z:-0.24 [[ 9.95912428e-01 8.78161541e-02 2.11366839e-02 1.96867572e+01] [-8.77953247e-02 9.96136698e-01 -1.91320322e-03 6.49229640e-01] [-2.12230366e-02 4.96808459e-05 9.99774765e-01 -2.38516624e-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:19.72, Y:0.65, Z:-0.24 [[ 9.95975674e-01 8.70959660e-02 2.11364324e-02 1.97188745e+01] [-8.70749156e-02 9.96199924e-01 -1.91597747e-03 6.45967672e-01] [-2.12229862e-02 6.78138827e-05 9.99774765e-01 -2.39733798e-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:19.75, Y:0.64, Z:-0.24 [[ 9.95997174e-01 8.68498238e-02 2.11361812e-02 1.97514064e+01] [-8.68286592e-02 9.96221412e-01 -1.91874474e-03 6.43321566e-01] [-2.12229589e-02 7.58380655e-05 9.99774765e-01 -2.41501088e-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:19.78, Y:0.64, Z:-0.24 [[ 9.96060300e-01 8.61229179e-02 2.11358022e-02 1.97833706e+01] [-8.61015013e-02 9.96284515e-01 -1.92291020e-03 6.41740558e-01] [-2.12228791e-02 9.55102065e-05 9.99774765e-01 -2.42971937e-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:19.81, Y:0.64, Z:-0.23 [[ 9.95882749e-01 8.81523564e-02 2.11355513e-02 1.98142786e+01] [-8.81313383e-02 9.96107002e-01 -1.92566420e-03 6.41143328e-01] [-2.12230225e-02 5.50313344e-05 9.99774765e-01 -2.30772758e-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:19.85, Y:0.64, Z:-0.25 [[ 9.95970475e-01 8.71556305e-02 2.11354888e-02 1.98450523e+01] [-8.71343734e-02 9.96194705e-01 -1.92634984e-03 6.38899505e-01] [-2.12229543e-02 7.69599928e-05 9.99774765e-01 -2.45004260e-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:19.88, Y:0.64, Z:-0.25 [[ 9.95951213e-01 8.73754995e-02 2.11353657e-02 1.98776849e+01] [-8.73542632e-02 9.96175445e-01 -1.92769977e-03 6.37788198e-01] [-2.12229660e-02 7.36306239e-05 9.99774765e-01 -2.46078357e-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:19.91, Y:0.64, Z:-0.25 [[ 9.95902086e-01 8.79337714e-02 2.11349810e-02 1.99102851e+01] [-8.79125716e-02 9.96126321e-01 -1.93190827e-03 6.36128765e-01] [-2.12229908e-02 6.59609499e-05 9.99774765e-01 -2.47026608e-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:19.94, Y:0.63, Z:-0.23 [[ 9.96517023e-01 8.06668895e-02 2.11347281e-02 1.99362245e+01] [-8.06439960e-02 9.96741091e-01 -1.93467114e-03 6.32266867e-01] [-2.12219158e-02 2.23543798e-04 9.99774765e-01 -2.29942534e-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:19.97, Y:0.63, Z:-0.23 [[ 9.96400737e-01 8.20791261e-02 2.11798962e-02 1.99686522e+01] [-8.20670329e-02 9.96625770e-01 -1.44099756e-03 6.29375957e-01] [-2.12267062e-02 -3.02360203e-04 9.99774642e-01 -2.30649776e-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:20.00, Y:0.63, Z:-0.25 [[ 9.96021437e-01 8.65606859e-02 2.11788535e-02 2.00032317e+01] [-8.65493659e-02 9.96246505e-01 -1.45224543e-03 6.28399185e-01] [-2.12250662e-02 -3.86548760e-04 9.99774648e-01 -2.48673099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:0.63, Z:-0.23 [[ 9.96126502e-01 8.53552998e-02 2.11296988e-02 2.00341888e+01] [-8.53325525e-02 9.96350563e-01 -1.97749851e-03 6.26269176e-01] [-2.12213773e-02 1.66787539e-04 9.99774787e-01 -2.34855021e-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:20.06, Y:0.63, Z:-0.25 [[ 9.96477713e-01 8.11523442e-02 2.11296862e-02 2.00645069e+01] [-8.11286491e-02 9.96701676e-01 -1.97763331e-03 6.27458725e-01] [-2.12204832e-02 2.56444623e-04 9.99774787e-01 -2.49107964e-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:20.10, Y:0.62, Z:-0.25 [[ 9.96586811e-01 7.98014010e-02 2.11296851e-02 2.00962821e+01] [-7.97774021e-02 9.96810742e-01 -1.97764520e-03 6.24474128e-01] [-2.12201159e-02 2.85223743e-04 9.99774787e-01 -2.50900686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:20.13, Y:0.62, Z:-0.25 [[ 9.96724999e-01 7.80565386e-02 2.11294329e-02 2.01277125e+01] [-7.80320906e-02 9.96948881e-01 -1.98033555e-03 6.19991337e-01] [-2.12195427e-02 3.25076129e-04 9.99774787e-01 -2.52005785e-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:20.16, Y:0.62, Z:-0.25 [[ 9.96812358e-01 7.69329652e-02 2.11291821e-02 2.01594131e+01] [-7.69082082e-02 9.97036206e-01 -1.98300837e-03 6.17645043e-01] [-2.12191182e-02 3.51679708e-04 9.99774787e-01 -2.52515755e-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:20.19, Y:0.62, Z:-0.25 [[ 9.96832347e-01 7.66735898e-02 2.11289321e-02 2.01920088e+01] [-7.66487182e-02 9.97056183e-01 -1.98566829e-03 6.15233647e-01] [-2.12189807e-02 3.59872824e-04 9.99774787e-01 -2.52470297e-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:20.22, Y:0.61, Z:-0.25 [[ 9.96858409e-01 7.63341392e-02 2.11284558e-02 2.02243951e+01] [-7.63090843e-02 9.97082224e-01 -1.99072305e-03 6.10516194e-01] [-2.12187679e-02 3.72175892e-04 9.99774787e-01 -2.53602288e-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:20.26, Y:0.61, Z:-0.26 [[ 9.96851323e-01 7.64267052e-02 2.11281408e-02 2.02564468e+01] [-7.64016003e-02 9.97075132e-01 -1.99406134e-03 6.05957696e-01] [-2.12187433e-02 3.73558915e-04 9.99774787e-01 -2.55330454e-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:20.29, Y:0.60, Z:-0.25 [[ 9.96943770e-01 7.52112442e-02 2.11278895e-02 2.02855093e+01] [-7.51858101e-02 9.97167542e-01 -1.99671972e-03 6.02327595e-01] [-2.12182215e-02 4.02099792e-04 9.99774787e-01 -2.45593153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:0.60, Z:-0.26 [[ 9.96790143e-01 7.72166325e-02 2.11424476e-02 2.03179018e+01] [-7.71949087e-02 9.97014318e-01 -1.84293433e-03 5.99418407e-01] [-2.12216282e-02 2.04929457e-04 9.99774775e-01 -2.58561501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.35, Y:0.60, Z:-0.26 [[ 9.96583715e-01 7.98408623e-02 2.11266744e-02 2.03499203e+01] [-7.98162113e-02 9.96807573e-01 -2.00882311e-03 5.95764214e-01] [-2.12196152e-02 3.15709288e-04 9.99774789e-01 -2.59376500e-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:20.38, Y:0.59, Z:-0.26 [[ 9.96490236e-01 8.09992788e-02 2.11264212e-02 2.03821172e+01] [-8.09748317e-02 9.96714117e-01 -2.01148273e-03 5.92225370e-01] [-2.12199309e-02 2.93714494e-04 9.99774789e-01 -2.60187795e-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:20.41, Y:0.59, Z:-0.26 [[ 9.96368060e-01 8.24886302e-02 2.11261668e-02 2.04138066e+01] [-8.24644612e-02 9.96591971e-01 -2.01415122e-03 5.89250167e-01] [-2.12203128e-02 2.64677981e-04 9.99774789e-01 -2.60567124e-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:20.45, Y:0.59, Z:-0.26 [[ 9.96341782e-01 8.28054873e-02 2.11259118e-02 2.04460198e+01] [-8.27813329e-02 9.96565694e-01 -2.01682219e-03 5.86056374e-01] [-2.12203629e-02 2.60613072e-04 9.99774789e-01 -2.60952214e-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:20.48, Y:0.58, Z:-0.26 [[ 9.96344916e-01 8.27678354e-02 2.11256546e-02 2.04777109e+01] [-8.27436155e-02 9.96568821e-01 -2.01951260e-03 5.83139210e-01] [-2.12203194e-02 2.64118073e-04 9.99774789e-01 -2.62305939e-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:20.51, Y:0.58, Z:-0.25 [[ 9.96494605e-01 8.09457877e-02 2.11253977e-02 2.05069931e+01] [-8.09211015e-02 9.96718459e-01 -2.02219646e-03 5.80578104e-01] [-2.12197621e-02 3.05617413e-04 9.99774789e-01 -2.50456863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:0.58, Z:-0.26 [[ 9.96287721e-01 8.34498807e-02 2.11398731e-02 2.05387803e+01] [-8.34289614e-02 9.96511970e-01 -1.87111940e-03 5.77405094e-01] [-2.12222813e-02 1.00495629e-04 9.99774777e-01 -2.64879171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:20.57, Y:0.57, Z:-0.25 [[ 9.96363140e-01 8.25485194e-02 2.11242743e-02 2.05683155e+01] [-8.25239602e-02 9.96587007e-01 -2.03318976e-03 5.72036033e-01] [-2.12200141e-02 2.82536564e-04 9.99774790e-01 -2.46899115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:0.57, Z:-0.27 [[ 9.96280334e-01 8.35373221e-02 2.11426601e-02 2.06000109e+01] [-8.35170401e-02 9.96504647e-01 -1.84201616e-03 5.68337933e-01] [-2.12226362e-02 6.93920804e-05 9.99774772e-01 -2.66831583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:0.56, Z:-0.27 [[ 9.96442117e-01 8.15899721e-02 2.11230818e-02 2.06322619e+01] [-8.15649619e-02 9.96665931e-01 -2.04431547e-03 5.62855250e-01] [-2.12194516e-02 3.14138674e-04 9.99774793e-01 -2.67817343e-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:20.66, Y:0.56, Z:-0.27 [[ 9.96523617e-01 8.05885208e-02 2.11227585e-02 2.06646682e+01] [-8.05632150e-02 9.96747398e-01 -2.04765045e-03 5.58494894e-01] [-2.12190717e-02 3.38814695e-04 9.99774793e-01 -2.68102010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:0.55, Z:-0.27 [[ 9.96475132e-01 8.11859192e-02 2.11224358e-02 2.06966866e+01] [-8.11606771e-02 9.96698920e-01 -2.05097425e-03 5.54977669e-01] [-2.12192192e-02 3.29433642e-04 9.99774793e-01 -2.69114646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:0.55, Z:-0.25 [[ 9.96537966e-01 8.04110413e-02 2.11221760e-02 2.07251113e+01] [-8.03855686e-02 9.96761728e-01 -2.05364617e-03 5.52739933e-01] [-2.12189125e-02 3.48618251e-04 9.99774793e-01 -2.51669307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:0.55, Z:-0.27 [[ 9.96551212e-01 8.02412620e-02 2.11429043e-02 2.07569043e+01] [-8.02202816e-02 9.96775462e-01 -1.83995990e-03 5.49392090e-01] [-2.12223689e-02 1.37524529e-04 9.99774771e-01 -2.74869315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:0.55, Z:-0.28 [[ 9.96619670e-01 7.93920981e-02 2.11217584e-02 2.07893412e+01] [-7.93663238e-02 9.96843395e-01 -2.05708725e-03 5.45524209e-01] [-2.12184018e-02 3.73777302e-04 9.99774794e-01 -2.75469358e-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:20.82, Y:0.54, Z:-0.26 [[ 9.96791977e-01 7.71987521e-02 2.11212729e-02 2.08177556e+01] [-7.71723801e-02 9.97015633e-01 -2.06205985e-03 5.41032335e-01] [-2.12174277e-02 4.25465811e-04 9.99774795e-01 -2.55821364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:0.53, Z:-0.28 [[ 9.96795897e-01 7.71410515e-02 2.11470681e-02 2.08504640e+01] [-7.71202736e-02 9.97020176e-01 -1.79753456e-03 5.33596228e-01] [-2.12227172e-02 1.60907404e-04 9.99774760e-01 -2.77849027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:0.53, Z:-0.28 [[ 9.96802291e-01 7.70657904e-02 2.11200394e-02 2.08836238e+01] [-7.70391585e-02 9.97025913e-01 -2.07292513e-03 5.30537430e-01] [-2.12169782e-02 4.39226458e-04 9.99774798e-01 -2.78367378e-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:20.92, Y:0.53, Z:-0.28 [[ 9.96737163e-01 7.79038884e-02 2.11190112e-02 2.09170034e+01] [-7.78772239e-02 9.96960780e-01 -2.08334752e-03 5.28388788e-01] [-2.12171268e-02 4.31859932e-04 9.99774798e-01 -2.78868276e-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:20.95, Y:0.53, Z:-0.26 [[ 9.96802998e-01 7.70572220e-02 2.11179690e-02 2.09455060e+01] [-7.70301449e-02 9.97026566e-01 -2.09385941e-03 5.25537817e-01] [-2.12165231e-02 4.60445125e-04 9.99774798e-01 -2.58739615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.98, Y:0.52, Z:-0.26 [[ 9.96657015e-01 7.89161636e-02 2.11431780e-02 2.09773481e+01] [-7.88948918e-02 9.96881243e-01 -1.83964002e-03 5.22247464e-01] [-2.12224148e-02 1.65401392e-04 9.99774766e-01 -2.58642548e-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:21.01, Y:0.52, Z:-0.28 [[ 9.96415300e-01 8.19123901e-02 2.11402328e-02 2.10093021e+01] [-8.18911670e-02 9.96639525e-01 -1.86912988e-03 5.18297238e-01] [-2.12222965e-02 1.31231280e-04 9.99774773e-01 -2.81435848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:0.52, Z:-0.28 [[ 9.96353921e-01 8.26619934e-02 2.11153811e-02 2.10422673e+01] [-8.26356837e-02 9.96577575e-01 -2.11701081e-03 5.15338039e-01] [-2.12181116e-02 3.64408068e-04 9.99774804e-01 -2.81942114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:0.51, Z:-0.28 [[ 9.96387207e-01 8.22600705e-02 2.11143170e-02 2.10755823e+01] [-8.22334468e-02 9.96610824e-01 -2.12757107e-03 5.12383712e-01] [-2.12177710e-02 3.83581531e-04 9.99774804e-01 -2.82762588e-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:21.11, Y:0.51, Z:-0.28 [[ 9.96467078e-01 8.12871084e-02 2.11132502e-02 2.11080011e+01] [-8.12600432e-02 9.96690641e-01 -2.13810564e-03 5.09039362e-01] [-2.12171793e-02 4.14888258e-04 9.99774804e-01 -2.82196428e-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:21.14, Y:0.50, Z:-0.28 [[ 9.96594042e-01 7.97154906e-02 2.11129172e-02 2.11396085e+01] [-7.96880034e-02 9.96817554e-01 -2.14138912e-03 5.03924876e-01] [-2.12164283e-02 4.51649425e-04 9.99774804e-01 -2.83720347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:21.17, Y:0.50, Z:-0.28 [[ 9.96689359e-01 7.85150105e-02 2.11119717e-02 2.11716678e+01] [-7.84870576e-02 9.96912813e-01 -2.15067001e-03 4.98587148e-01] [-2.12156550e-02 4.86533369e-04 9.99774804e-01 -2.83139666e-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:21.20, Y:0.49, Z:-0.28 [[ 9.96874061e-01 7.61342979e-02 2.11110391e-02 2.12034775e+01] [-7.61056185e-02 9.97097423e-01 -2.15978642e-03 4.92383011e-01] [-2.12141965e-02 5.46366377e-04 9.99774804e-01 -2.84726885e-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:21.23, Y:0.49, Z:-0.27 [[ 9.96954620e-01 7.50723019e-02 2.11100958e-02 2.12326187e+01] [-7.50431902e-02 9.97177926e-01 -2.16896732e-03 4.88847623e-01] [-2.12133509e-02 5.78193061e-04 9.99774804e-01 -2.68594102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:0.49, Z:-0.29 [[ 9.96977300e-01 7.47674563e-02 2.11208522e-02 2.12640583e+01] [-7.47404922e-02 9.97200881e-01 -2.06427089e-03 4.85366717e-01] [-2.12160728e-02 4.79448325e-04 9.99774799e-01 -2.85758681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:0.48, Z:-0.29 [[ 9.96822287e-01 7.68096152e-02 2.11094869e-02 2.12961097e+01] [-7.67807736e-02 9.97045628e-01 -2.17459920e-03 4.79835786e-01] [-2.12141517e-02 5.46886220e-04 9.99774805e-01 -2.85966824e-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:21.33, Y:0.48, Z:-0.29 [[ 9.96667173e-01 7.87970503e-02 2.11085420e-02 2.13278325e+01] [-7.87684607e-02 9.96890546e-01 -2.18373250e-03 4.75118481e-01] [-2.12149777e-02 5.13767132e-04 9.99774805e-01 -2.85334203e-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:21.36, Y:0.47, Z:-0.29 [[ 9.96441827e-01 8.15975219e-02 2.11075891e-02 2.13601551e+01] [-8.15693659e-02 9.96665255e-01 -2.19290510e-03 4.71465891e-01] [-2.12161362e-02 4.63369708e-04 9.99774805e-01 -2.87015587e-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:21.39, Y:0.47, Z:-0.29 [[ 9.96345818e-01 8.27618284e-02 2.11066275e-02 2.13935097e+01] [-8.27337383e-02 9.96569255e-01 -2.20212098e-03 4.69022489e-01] [-2.12164676e-02 4.47843834e-04 9.99774805e-01 -2.87447517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:21.42, Y:0.47, Z:-0.28 [[ 9.96217691e-01 8.42903908e-02 2.11055133e-02 2.14245746e+01] [-8.42624186e-02 9.96441142e-01 -2.21274833e-03 4.66388017e-01] [-2.12169152e-02 4.25977427e-04 9.99774805e-01 -2.78719667e-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:21.46, Y:0.46, Z:-0.29 [[ 9.96220624e-01 8.42556044e-02 2.11059489e-02 2.14554408e+01] [-8.42277123e-02 9.96444085e-01 -2.20859567e-03 4.63102009e-01] [-2.12169845e-02 4.22542758e-04 9.99774805e-01 -2.90646899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:0.46, Z:-0.29 [[ 9.96187300e-01 8.46490494e-02 2.11045258e-02 2.14884099e+01] [-8.46209593e-02 9.96410736e-01 -2.22211228e-03 4.59992882e-01] [-2.12168758e-02 4.27754817e-04 9.99774805e-01 -2.92342532e-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:21.52, Y:0.46, Z:-0.28 [[ 9.96069344e-01 8.60262127e-02 2.11033973e-02 2.15192345e+01] [-8.59982057e-02 9.96292790e-01 -2.23277824e-03 4.58276107e-01] [-2.12172400e-02 4.09147657e-04 9.99774805e-01 -2.75587552e-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:21.55, Y:0.46, Z:-0.28 [[ 9.96176887e-01 8.47714469e-02 2.11047850e-02 2.15514373e+01] [-8.47434359e-02 9.96400333e-01 -2.21967376e-03 4.55850383e-01] [-2.12169797e-02 4.22695706e-04 9.99774805e-01 -2.83137048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:0.45, Z:-0.29 [[ 9.96196006e-01 8.45465165e-02 2.11046003e-02 2.15830079e+01] [-8.45184182e-02 9.96419441e-01 -2.22141479e-03 4.52936044e-01] [-2.12168469e-02 4.29237109e-04 9.99774805e-01 -2.94793486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:0.45, Z:-0.30 [[ 9.96475989e-01 8.11807148e-02 2.11020302e-02 2.16149685e+01] [-8.11513506e-02 9.96699260e-01 -2.24556643e-03 4.48770247e-01] [-2.12146746e-02 5.25194774e-04 9.99774806e-01 -2.95108845e-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:21.65, Y:0.45, Z:-0.28 [[ 9.96773356e-01 7.74443119e-02 2.11010527e-02 2.16456598e+01] [-7.74139174e-02 9.96996490e-01 -2.25471450e-03 4.45649320e-01] [-2.12122903e-02 6.13924189e-04 9.99774806e-01 -2.83788265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:0.44, Z:-0.30 [[ 9.96802853e-01 7.70606433e-02 2.11122916e-02 2.16782528e+01] [-7.70323891e-02 9.97026274e-01 -2.14949748e-03 4.41782991e-01] [-2.12151511e-02 5.16294958e-04 9.99774800e-01 -2.97138786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:0.44, Z:-0.30 [[ 9.96776212e-01 7.74077633e-02 2.11002901e-02 2.17107011e+01] [-7.73772177e-02 9.96999324e-01 -2.26147704e-03 4.38381825e-01] [-2.12120308e-02 6.21504778e-04 9.99774806e-01 -2.99588685e-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:21.74, Y:0.44, Z:-0.29 [[ 9.96733740e-01 7.79530460e-02 2.10991645e-02 2.17416582e+01] [-7.79224013e-02 9.96956838e-01 -2.27192989e-03 4.37071731e-01] [-2.12120602e-02 6.20411611e-04 9.99774806e-01 -2.86895385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512791605 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:21.77, Y:0.44, Z:-0.28 [[ 9.96723720e-01 7.80809150e-02 2.10996702e-02 2.17722895e+01] [-7.80503982e-02 9.96946837e-01 -2.26723633e-03 4.35606409e-01] [-2.12122774e-02 6.12970571e-04 9.99774806e-01 -2.83764471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542791605 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:21.81, Y:0.43, Z:-0.29 [[ 9.96549684e-01 8.02668425e-02 2.11177781e-02 2.18050938e+01] [-8.02403545e-02 9.96773332e-01 -2.10003652e-03 4.33313653e-01] [-2.12182013e-02 3.98292737e-04 9.99774789e-01 -2.87914407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572791605 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:21.84, Y:0.43, Z:-0.29 [[ 9.96409031e-01 8.19975303e-02 2.11056342e-02 2.18383454e+01] [-8.19690672e-02 9.96632420e-01 -2.21164990e-03 4.30008520e-01] [-2.12159091e-02 4.73698787e-04 9.99774805e-01 -2.92832609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602791605 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:21.87, Y:0.43, Z:-0.30 [[ 9.96518697e-01 8.06575460e-02 2.10913883e-02 2.18696374e+01] [-8.06260197e-02 9.96741671e-01 -2.34223982e-03 4.26344993e-01] [-2.12115850e-02 6.33571081e-04 9.99774808e-01 -3.03816060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632791605 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:21.90, Y:0.42, Z:-0.30 [[ 9.96543207e-01 8.03531491e-02 2.10952032e-02 2.19020434e+01] [-8.03222923e-02 9.96766274e-01 -2.30736207e-03 4.23675565e-01] [-2.12123909e-02 6.04970920e-04 9.99774809e-01 -3.03695327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662791605 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:21.93, Y:0.42, Z:-0.30 [[ 9.96594290e-01 7.97173426e-02 2.10942037e-02 2.19346935e+01] [-7.96861510e-02 9.96817311e-01 -2.31646412e-03 4.19734761e-01] [-2.12117298e-02 6.27659013e-04 9.99774809e-01 -3.04400528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692791605 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:21.97, Y:0.42, Z:-0.31 [[ 9.96554987e-01 8.02074831e-02 2.10930549e-02 2.19680304e+01] [-8.01761810e-02 9.96777992e-01 -2.32687818e-03 4.16367180e-01] [-2.12117259e-02 6.27701473e-04 9.99774809e-01 -3.05111604e-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:22.00, Y:0.41, Z:-0.31 [[ 9.96757246e-01 7.76538765e-02 2.10919056e-02 2.20000298e+01] [-7.76217839e-02 9.96980138e-01 -2.33724937e-03 4.10894704e-01] [-2.12097074e-02 6.92478909e-04 9.99774809e-01 -3.07351745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752791605 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:22.03, Y:0.41, Z:-0.30 [[ 9.96769103e-01 7.75017948e-02 2.10909011e-02 2.20314168e+01] [-7.74694773e-02 9.96991963e-01 -2.34627918e-03 4.07493674e-01] [-2.12092997e-02 7.04797510e-04 9.99774809e-01 -2.98541841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782791605 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:22.06, Y:0.40, Z:-0.29 [[ 9.96729847e-01 7.80053214e-02 2.10898469e-02 2.20622110e+01] [-7.79729162e-02 9.96952694e-01 -2.35575530e-03 4.03637101e-01] [-2.12093411e-02 7.03614757e-04 9.99774809e-01 -2.94696735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812791605 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:22.10, Y:0.40, Z:-0.31 [[ 9.96649057e-01 7.90266827e-02 2.11054424e-02 2.20950751e+01] [-7.89974634e-02 9.96872354e-01 -2.21591091e-03 3.98750302e-01] [-2.12145481e-02 5.41209107e-04 9.99774800e-01 -3.09269998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842791605000002 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:22.13, Y:0.39, Z:-0.30 [[ 9.96665535e-01 7.88230204e-02 2.10889174e-02 2.21251180e+01] [-7.87906371e-02 9.96888384e-01 -2.36336960e-03 3.91681513e-01] [-2.12095847e-02 6.93879788e-04 9.99774811e-01 -2.96895768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872791605 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:22.16, Y:0.38, Z:-0.31 [[ 9.96618894e-01 7.94071348e-02 2.11018099e-02 2.21566666e+01] [-7.93773139e-02 9.96842107e-01 -2.24837469e-03 3.84077846e-01] [-2.12137096e-02 5.65767712e-04 9.99774804e-01 -3.11558438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902791605 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:22.19, Y:0.38, Z:-0.31 [[ 9.96609495e-01 7.95286381e-02 2.10881756e-02 2.21884201e+01] [-7.94962786e-02 9.96832346e-01 -2.36970859e-03 3.79241121e-01] [-2.12098352e-02 6.85242598e-04 9.99774811e-01 -3.11352365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932791605000002 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:22.22, Y:0.37, Z:-0.31 [[ 9.96570904e-01 8.00110301e-02 2.10871459e-02 2.22202686e+01] [-7.99785856e-02 9.96793743e-01 -2.37883619e-03 3.71946254e-01] [-2.12098682e-02 6.84158834e-04 9.99774811e-01 -3.13528833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962791605 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:22.25, Y:0.37, Z:-0.31 [[ 9.96559114e-01 8.01580205e-02 2.10861090e-02 2.22516213e+01] [-8.01254153e-02 9.96781930e-01 -2.38799227e-03 3.66063604e-01] [-2.12096691e-02 6.90242224e-04 9.99774811e-01 -3.14060956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992791605 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:22.28, Y:0.36, Z:-0.31 [[ 9.96499138e-01 8.09004832e-02 2.10850730e-02 2.22842562e+01] [-8.08678514e-02 9.96721949e-01 -2.39710473e-03 3.59317429e-01] [-2.12098820e-02 6.83608239e-04 9.99774811e-01 -3.14601238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022791605000002 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:22.31, Y:0.35, Z:-0.30 [[ 9.96431186e-01 8.17334753e-02 2.10838854e-02 2.23143848e+01] [-8.17008099e-02 9.96653993e-01 -2.40750531e-03 3.50974685e-01] [-2.12101124e-02 6.76342853e-04 9.99774811e-01 -3.03449178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052791605 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:22.35, Y:0.34, Z:-0.32 [[ 9.96411127e-01 8.19776274e-02 2.10839666e-02 2.23450221e+01] [-8.19450316e-02 9.96633944e-01 -2.40679511e-03 3.43825705e-01] [-2.12103001e-02 6.70431124e-04 9.99774811e-01 -3.17339717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082791605 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:22.38, Y:0.34, Z:-0.32 [[ 9.96245487e-01 8.39667339e-02 2.10835940e-02 2.23774859e+01] [-8.39345142e-02 9.96468358e-01 -2.41005384e-03 3.38596178e-01] [-2.12114987e-02 6.31364037e-04 9.99774811e-01 -3.18039185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112791605 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:22.41, Y:0.33, Z:-0.32 [[ 9.96100508e-01 8.56697728e-02 2.10823954e-02 2.24101313e+01] [-8.56377133e-02 9.96323403e-01 -2.42049387e-03 3.32785028e-01] [-2.12122471e-02 6.05607043e-04 9.99774812e-01 -3.18274658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142791605 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:22.44, Y:0.33, Z:-0.31 [[ 9.95863265e-01 8.83851889e-02 2.10811737e-02 2.24393866e+01] [-8.83535131e-02 9.96086214e-01 -2.43108814e-03 3.26359425e-01] [-2.12135387e-02 5.58435621e-04 9.99774812e-01 -3.05860484e-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:22.47, Y:0.32, Z:-0.31 [[ 9.95688337e-01 9.03313969e-02 2.10944083e-02 2.24710248e+01] [-9.03025860e-02 9.95911682e-01 -2.31633635e-03 3.22586047e-01] [-2.12174055e-02 4.01469469e-04 9.99774805e-01 -3.06102152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202791605 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:22.50, Y:0.32, Z:-0.32 [[ 9.95305005e-01 9.44618337e-02 2.10928718e-02 2.25042901e+01] [-9.44336690e-02 9.95528430e-01 -2.32958688e-03 3.17885668e-01] [-2.12186106e-02 3.26772208e-04 9.99774807e-01 -3.18739935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232791605 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:22.53, Y:0.31, Z:-0.31 [[ 9.95406399e-01 9.33905467e-02 2.10785972e-02 2.25340209e+01] [-9.33595435e-02 9.95629440e-01 -2.45228620e-03 3.13284685e-01] [-2.12154922e-02 4.73133169e-04 9.99774814e-01 -3.09998744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262791605 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:22.57, Y:0.31, Z:-0.31 [[ 9.95302840e-01 9.44835146e-02 2.10979268e-02 2.25662119e+01] [-9.44562639e-02 9.95526386e-01 -2.28667674e-03 3.08703008e-01] [-2.12195960e-02 2.83104516e-04 9.99774799e-01 -3.11198834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292791605 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:22.60, Y:0.30, Z:-0.32 [[ 9.95276246e-01 9.47637236e-02 2.10957655e-02 2.25991379e+01] [-9.47361457e-02 9.95499749e-01 -2.30508876e-03 3.04819560e-01] [-2.12192680e-02 2.95668579e-04 9.99774802e-01 -3.21581610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322791605 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:22.63, Y:0.30, Z:-0.32 [[ 9.95280662e-01 9.47220086e-02 2.10747441e-02 2.26320604e+01] [-9.46906436e-02 9.95503649e-01 -2.48347837e-03 3.01050457e-01] [-2.12152248e-02 4.76176911e-04 9.99774818e-01 -3.22117463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352791605 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:22.66, Y:0.30, Z:-0.32 [[ 9.95301106e-01 9.45072310e-02 2.10734786e-02 2.26639089e+01] [-9.44755916e-02 9.95524054e-01 -2.49417139e-03 2.95096510e-01] [-2.12148720e-02 4.91522186e-04 9.99774818e-01 -3.22523588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382791605 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:22.70, Y:0.29, Z:-0.32 [[ 9.95277903e-01 9.47515273e-02 2.10723660e-02 2.26967274e+01] [-9.47197445e-02 9.95500830e-01 -2.50353586e-03 2.90860759e-01] [-2.12147717e-02 4.95744795e-04 9.99774818e-01 -3.22589648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412791605 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:22.73, Y:0.29, Z:-0.31 [[ 9.95364132e-01 9.38416390e-02 2.10711001e-02 2.27255600e+01] [-9.38094279e-02 9.95586998e-01 -2.51414587e-03 2.86901066e-01] [-2.12140448e-02 5.25822783e-04 9.99774819e-01 -3.12327179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442791605 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:22.76, Y:0.28, Z:-0.31 [[ 9.95322149e-01 9.42805463e-02 2.10949854e-02 2.27567401e+01] [-9.42526669e-02 9.95545619e-01 -2.31419160e-03 2.82791606e-01] [-2.12192035e-02 3.15107526e-04 9.99774798e-01 -3.10775543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472791605 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:22.79, Y:0.28, Z:-0.31 [[ 9.95176086e-01 9.58123934e-02 2.10841846e-02 2.27870369e+01] [-9.57829489e-02 9.95399340e-01 -2.40431245e-03 2.78751054e-01] [-2.12175463e-02 3.73208877e-04 9.99774813e-01 -3.14241209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502791605 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:22.82, Y:0.27, Z:-0.33 [[ 9.94817921e-01 9.94601848e-02 2.10944488e-02 2.28212177e+01] [-9.94333675e-02 9.95041521e-01 -2.31898141e-03 2.73653490e-01] [-2.12204988e-02 2.09472180e-04 9.99774798e-01 -3.25530260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532791605 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:22.85, Y:0.27, Z:-0.33 [[ 9.94704647e-01 1.00592519e-01 2.10668018e-02 2.28533642e+01] [-1.00561113e-01 9.94927622e-01 -2.54760684e-03 2.70720931e-01] [-2.12162132e-02 4.15615338e-04 9.99774824e-01 -3.26403687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562791605 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:22.89, Y:0.27, Z:-0.33 [[ 9.94580730e-01 1.01810659e-01 2.10656515e-02 2.28857117e+01] [-1.01779325e-01 9.94803714e-01 -2.55708321e-03 2.67533751e-01] [-2.12165266e-02 3.99177895e-04 9.99774824e-01 -3.26749263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592791605000002 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:22.92, Y:0.26, Z:-0.33 [[ 9.94657829e-01 1.01054887e-01 2.10644969e-02 2.29188449e+01] [-1.01023182e-01 9.94880761e-01 -2.56655906e-03 2.63577337e-01] [-2.12160260e-02 4.24845550e-04 9.99774825e-01 -3.26530248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622791605 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:22.95, Y:0.26, Z:-0.32 [[ 9.94605208e-01 1.01571757e-01 2.10631810e-02 2.29494138e+01] [-1.01539941e-01 9.94828125e-01 -2.57731322e-03 2.60654854e-01] [-2.12160271e-02 4.24654997e-04 9.99774825e-01 -3.16524632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652791605 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:22.98, Y:0.26, Z:-0.32 [[ 9.94904507e-01 9.85958767e-02 2.10683211e-02 2.29818935e+01] [-9.85642803e-02 9.95127456e-01 -2.53542667e-03 2.59590388e-01] [-2.12156474e-02 4.45923515e-04 9.99774823e-01 -3.17596673e-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:23.01, Y:0.25, Z:-0.32 [[ 9.95332023e-01 9.41812111e-02 2.10728229e-02 2.30142868e+01] [-9.41493992e-02 9.95554944e-01 -2.49887462e-03 2.53963502e-01] [-2.12145001e-02 5.03216311e-04 9.99774821e-01 -3.17867035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712791605 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:23.05, Y:0.25, Z:-0.32 [[ 9.95553887e-01 9.18073741e-02 2.10680678e-02 2.30459497e+01] [-9.17742175e-02 9.95776609e-01 -2.53732962e-03 2.47983372e-01] [-2.12120346e-02 5.92542937e-04 9.99774824e-01 -3.21844167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742791605 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:23.08, Y:0.24, Z:-0.33 [[ 9.95792720e-01 8.91805456e-02 2.10639316e-02 2.30782287e+01] [-8.91460970e-02 9.96015243e-01 -2.57066991e-03 2.42617988e-01] [-2.12092507e-02 6.82087099e-04 9.99774826e-01 -3.32530787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772791605000002 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:23.11, Y:0.24, Z:-0.32 [[ 9.96149529e-01 8.51039278e-02 2.10579574e-02 2.31091217e+01] [-8.50675545e-02 9.96371745e-01 -2.61871013e-03 2.38063626e-01] [-2.12044163e-02 8.17277921e-04 9.99774827e-01 -3.19969691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802791605 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:23.16, Y:0.26, Z:-0.34 [[ 9.87651678e-01 1.55243565e-01 2.10617631e-02 2.31642976e+01] [-1.55223627e-01 9.87875967e-01 -2.58816943e-03 2.61064849e-01] [-2.12082063e-02 -7.13073380e-04 9.99774826e-01 -3.35629157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832791605 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:23.17, Y:0.23, Z:-0.32 [[ 9.96694896e-01 7.85330544e-02 2.07808571e-02 2.31683556e+01] [-7.84500430e-02 9.96906580e-01 -4.78138455e-03 2.26736211e-01] [-2.10920699e-02 3.13532244e-03 9.99772621e-01 -3.22314162e-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:23.20, Y:0.22, Z:-0.33 [[ 9.97060554e-01 7.36724187e-02 2.10387088e-02 2.31979540e+01] [-7.36316902e-02 9.97281834e-01 -2.70506581e-03 2.18932441e-01] [-2.11808109e-02 1.14799872e-03 9.99775002e-01 -3.34120843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892791605 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:23.23, Y:0.21, Z:-0.32 [[ 9.97253740e-01 7.10062700e-02 2.10496618e-02 2.32277892e+01] [-7.09668036e-02 9.97475245e-01 -2.61696586e-03 2.11413865e-01] [-2.11823375e-02 1.11595177e-03 9.99775006e-01 -3.23328316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922791605 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:23.26, Y:0.21, Z:-0.32 [[ 9.97295539e-01 7.04136041e-02 2.10602009e-02 2.32574275e+01] [-7.03757873e-02 9.97517336e-01 -2.53236077e-03 2.05305491e-01] [-2.11862282e-02 1.04338388e-03 9.99775002e-01 -3.22606495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:0.20, Z:-0.34 [[ 9.97311098e-01 7.01897380e-02 2.10706977e-02 2.32896918e+01] [-7.01536413e-02 9.97533194e-01 -2.44834958e-03 1.96456157e-01] [-2.11905694e-02 9.63580038e-04 9.99774990e-01 -3.36723860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:0.19, Z:-0.34 [[ 9.97293075e-01 7.04526503e-02 2.10463038e-02 2.33216942e+01] [-7.04125210e-02 9.97514458e-01 -2.64262985e-03 1.90892316e-01] [-2.11801726e-02 1.15355314e-03 9.99775009e-01 -3.37373795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:0.19, Z:-0.34 [[ 9.97256650e-01 7.09666985e-02 2.10452087e-02 2.33539485e+01] [-7.09265005e-02 9.97478021e-01 -2.65132195e-03 1.85501470e-01] [-2.11802887e-02 1.15138544e-03 9.99775010e-01 -3.37547653e-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:23.39, Y:0.18, Z:-0.34 [[ 9.97219606e-01 7.14857341e-02 2.10439499e-02 2.33855525e+01] [-7.14454418e-02 9.97440959e-01 -2.66127659e-03 1.76382851e-01] [-2.11803408e-02 1.15038290e-03 9.99775010e-01 -3.37595739e-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:23.41, Y:0.17, Z:-0.33 [[ 9.97250230e-01 7.10575679e-02 2.10428400e-02 2.34139494e+01] [-7.10169966e-02 9.97471532e-01 -2.67002359e-03 1.67414280e-01] [-2.11793592e-02 1.16828234e-03 9.99775010e-01 -3.27846601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:0.16, Z:-0.34 [[ 9.97058683e-01 7.36885424e-02 2.10708881e-02 2.34469760e+01] [-7.36532069e-02 9.97280907e-01 -2.44920642e-03 1.55107029e-01] [-2.11940728e-02 8.90064049e-04 9.99774984e-01 -3.39585794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.48, Y:0.15, Z:-0.34 [[ 9.96903497e-01 7.57673601e-02 2.10410362e-02 2.34784921e+01] [-7.57275554e-02 9.97124936e-01 -2.68329434e-03 1.50569545e-01] [-2.11838480e-02 1.08159927e-03 9.99775012e-01 -3.41802979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162791605 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:23.54, Y:0.17, Z:-0.34 [[ 9.89069614e-01 1.45940471e-01 2.10399004e-02 2.35362570e+01] [-1.45916206e-01 9.89293290e-01 -2.69217090e-03 1.70818892e-01] [-2.12075290e-02 -4.07318001e-04 9.99775012e-01 -3.40370310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192791605 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:23.54, Y:0.14, Z:-0.33 [[ 9.96484598e-01 8.11699870e-02 2.07335371e-02 2.35351595e+01] [-8.10820070e-02 9.96694636e-01 -5.05073290e-03 1.40035908e-01] [-2.10749732e-02 3.35186074e-03 9.99772279e-01 -3.28593967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222791605 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:23.56, Y:0.13, Z:-0.33 [[ 9.96326774e-01 8.30057550e-02 2.10476604e-02 2.35645175e+01] [-8.29704873e-02 9.96548755e-01 -2.54488599e-03 1.31725036e-01] [-2.11862600e-02 7.89203413e-04 9.99775235e-01 -3.31882835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252791605000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:23.60, Y:0.12, Z:-0.33 [[ 9.95761480e-01 8.95305503e-02 2.10559942e-02 2.35970723e+01] [-8.94981380e-02 9.95983905e-01 -2.47857126e-03 1.22969540e-01] [-2.11933392e-02 5.83593515e-04 9.99775226e-01 -3.32685956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:23.63, Y:0.11, Z:-0.35 [[ 9.95621698e-01 9.10779055e-02 2.10297380e-02 2.36266731e+01] [-9.10414409e-02 9.95843480e-01 -2.68688112e-03 1.14494012e-01] [-2.11870430e-02 7.60539493e-04 9.99775240e-01 -3.47262521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312791605 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:23.66, Y:0.11, Z:-0.34 [[ 9.95382161e-01 9.36586075e-02 2.10337467e-02 2.36574227e+01] [-9.36233883e-02 9.95604144e-01 -2.65512469e-03 1.09129319e-01] [-2.11899606e-02 6.73613123e-04 9.99775241e-01 -3.36707328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342791605000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:23.69, Y:0.10, Z:-0.35 [[ 9.95360717e-01 9.38871072e-02 2.10298382e-02 2.36878760e+01] [-9.38512866e-02 9.95582604e-01 -2.68603060e-03 1.04900160e-01] [-2.11891247e-02 6.99891978e-04 9.99775240e-01 -3.48680809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:0.10, Z:-0.35 [[ 9.94923781e-01 9.84088128e-02 2.10327362e-02 2.37203199e+01] [-9.83744841e-02 9.95145903e-01 -2.66314241e-03 1.01856521e-01] [-2.11927180e-02 5.80539134e-04 9.99775241e-01 -3.48129989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:0.10, Z:-0.35 [[ 9.94614865e-01 1.01483627e-01 2.10319801e-02 2.37535598e+01] [-1.01449859e-01 9.94837073e-01 -2.66910030e-03 9.91738220e-02] [-2.11942635e-02 5.21035401e-04 9.99775241e-01 -3.48159591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432791605000002 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:23.78, Y:0.10, Z:-0.34 [[ 9.94025086e-01 1.07106686e-01 2.10305940e-02 2.37844367e+01] [-1.07073945e-01 9.94247448e-01 -2.67997752e-03 9.69961322e-02] [-2.11966580e-02 4.12136216e-04 9.99775241e-01 -3.38390667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:23.82, Y:0.09, Z:-0.35 [[ 9.93969966e-01 1.07615908e-01 2.10362247e-02 2.38166693e+01] [-1.07584216e-01 9.94192481e-01 -2.63578661e-03 9.20389748e-02] [-2.11977090e-02 3.56726973e-04 9.99775240e-01 -3.49924426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:0.09, Z:-0.35 [[ 9.94074236e-01 1.06649709e-01 2.10298277e-02 2.38498239e+01] [-1.06616741e-01 9.94296564e-01 -2.68587377e-03 8.81441385e-02] [-2.11963331e-02 4.27826211e-04 9.99775241e-01 -3.51066853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:23.88, Y:0.09, Z:-0.35 [[ 9.94232421e-01 1.05165105e-01 2.10284057e-02 2.38819067e+01] [-1.05131571e-01 9.94454664e-01 -2.69696148e-03 8.59915319e-02] [-2.11954224e-02 4.70657219e-04 9.99775241e-01 -3.51641520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:0.08, Z:-0.35 [[ 9.94334600e-01 1.04194825e-01 2.10271807e-02 2.39142755e+01] [-1.04160873e-01 9.94556779e-01 -2.70647901e-03 8.29530720e-02] [-2.11947262e-02 5.00936241e-04 9.99775241e-01 -3.52747683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:23.95, Y:0.08, Z:-0.35 [[ 9.94728149e-01 1.00368411e-01 2.10259549e-02 2.39464604e+01] [-1.00333404e-01 9.94950165e-01 -2.71596868e-03 7.73789265e-02] [-2.11923747e-02 5.92044879e-04 9.99775241e-01 -3.54007244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.98, Y:0.07, Z:-0.35 [[ 9.94748180e-01 1.00169786e-01 2.10255227e-02 2.39795441e+01] [-1.00134664e-01 9.94970178e-01 -2.71931001e-03 7.38984566e-02] [-2.11921608e-02 5.99645024e-04 9.99775241e-01 -3.54885189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:0.07, Z:-0.36 [[ 9.94696822e-01 1.00678786e-01 2.10241204e-02 2.40127586e+01] [-1.00643550e-01 9.94918802e-01 -2.73010876e-03 6.98859778e-02] [-2.11921567e-02 5.99688393e-04 9.99775241e-01 -3.55595673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.05, Y:0.07, Z:-0.36 [[ 9.94761473e-01 1.00038277e-01 2.10227182e-02 2.40452052e+01] [-1.00002671e-01 9.94983394e-01 -2.74086368e-03 6.83902542e-02] [-2.11914468e-02 6.24177623e-04 9.99775241e-01 -3.55241986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.08, Y:0.06, Z:-0.36 [[ 9.94678278e-01 1.00862378e-01 2.10214916e-02 2.40778594e+01] [-1.00826757e-01 9.94900197e-01 -2.75023972e-03 6.49535362e-02] [-2.11916818e-02 6.16074877e-04 9.99775241e-01 -3.57602111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:24.11, Y:0.06, Z:-0.36 [[ 9.94562047e-01 1.02002410e-01 2.10200804e-02 2.41095776e+01] [-1.01966817e-01 9.94783969e-01 -2.76098371e-03 5.87430764e-02] [-2.11920660e-02 6.02618918e-04 9.99775241e-01 -3.57838610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.14, Y:0.05, Z:-0.36 [[ 9.94548658e-01 1.02133124e-01 2.10188492e-02 2.41419953e+01] [-1.02097363e-01 9.94770553e-01 -2.77032439e-03 5.47129961e-02] [-2.11918742e-02 6.09253334e-04 9.99775241e-01 -3.58035115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792791605 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:24.17, Y:0.05, Z:-0.35 [[ 9.94308150e-01 1.04448886e-01 2.10174258e-02 2.41730863e+01] [-1.04413414e-01 9.94530092e-01 -2.78108141e-03 5.20040556e-02] [-2.11929433e-02 5.70750724e-04 9.99775241e-01 -3.48459523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822791605 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:24.20, Y:0.05, Z:-0.36 [[ 9.94346975e-01 1.04080199e-01 2.10096417e-02 2.42033595e+01] [-1.04043404e-01 9.94568703e-01 -2.83987818e-03 5.13948393e-02] [-2.11911072e-02 6.37909632e-04 9.99775240e-01 -3.59028623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.24, Y:0.05, Z:-0.36 [[ 9.94238712e-01 1.05107801e-01 2.10174606e-02 2.42364470e+01] [-1.05072482e-01 9.94460678e-01 -2.78078261e-03 4.76619484e-02] [-2.11933201e-02 5.56404959e-04 9.99775242e-01 -3.59783365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:0.04, Z:-0.36 [[ 9.94230860e-01 1.05182338e-01 2.10160183e-02 2.42695943e+01] [-1.05146807e-01 9.94452792e-01 -2.79164017e-03 4.43422914e-02] [-2.11930694e-02 5.65767579e-04 9.99775242e-01 -3.61185452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:0.04, Z:-0.36 [[ 9.94262177e-01 1.04886177e-01 2.10145760e-02 2.43028873e+01] [-1.04850352e-01 9.94484062e-01 -2.80245570e-03 4.10170835e-02] [-2.11925998e-02 5.82990017e-04 9.99775242e-01 -3.61885887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.34, Y:0.04, Z:-0.36 [[ 9.94417517e-01 1.03403336e-01 2.10131375e-02 2.43355687e+01] [-1.03366953e-01 9.94639311e-01 -2.81320093e-03 3.81485430e-02] [-2.11913869e-02 6.25432299e-04 9.99775242e-01 -3.62326976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.37, Y:0.04, Z:-0.36 [[ 9.94459312e-01 1.03000898e-01 2.10117087e-02 2.43682990e+01] [-1.02964201e-01 9.94681054e-01 -2.82383214e-03 3.56927828e-02] [-2.11908058e-02 6.44732380e-04 9.99775242e-01 -3.61619398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:0.03, Z:-0.36 [[ 9.94428341e-01 1.03299775e-01 2.10102656e-02 2.43998666e+01] [-1.03262919e-01 9.94650057e-01 -2.83452845e-03 3.23712814e-02] [-2.11906681e-02 6.49154073e-04 9.99775242e-01 -3.62579591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.43, Y:0.03, Z:-0.35 [[ 9.94243795e-01 1.05061400e-01 2.10090115e-02 2.44305643e+01] [-1.05024741e-01 9.94465543e-01 -2.84379365e-03 2.85708653e-02] [-2.11915110e-02 6.20958195e-04 9.99775242e-01 -3.48894757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:0.03, Z:-0.37 [[ 9.94343904e-01 1.04110567e-01 2.10045292e-02 2.44613885e+01] [-1.04072997e-01 9.94565500e-01 -2.87689369e-03 2.65131115e-02] [-2.11898951e-02 6.74617404e-04 9.99775241e-01 -3.65150087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092791605000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:24.49, Y:0.02, Z:-0.35 [[ 9.93890789e-01 1.08350034e-01 2.10087900e-02 2.44941294e+01] [-1.08314074e-01 9.94112652e-01 -2.84543443e-03 2.41299854e-02] [-2.11934069e-02 5.52503441e-04 9.99775242e-01 -3.52602689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:0.02, Z:-0.35 [[ 9.93565960e-01 1.11293718e-01 2.09854973e-02 2.45255438e+01] [-1.11254787e-01 9.93787336e-01 -3.01722828e-03 2.37247890e-02] [-2.11909200e-02 6.63078284e-04 9.99775227e-01 -3.53639344e-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:24.55, Y:0.02, Z:-0.37 [[ 9.93543752e-01 1.11490431e-01 2.09927546e-02 2.45547725e+01] [-1.11452673e-01 9.93765323e-01 -2.96375660e-03 2.01483706e-02] [-2.11923021e-02 6.04923243e-04 9.99775235e-01 -3.66388326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:0.02, Z:-0.37 [[ 9.93204842e-01 1.14467556e-01 2.10076307e-02 2.45870967e+01] [-1.14432776e-01 9.93426894e-01 -2.85426821e-03 1.66283617e-02] [-2.11962664e-02 4.30911518e-04 9.99775241e-01 -3.66151853e-01] [ 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:24.62, Y:0.02, Z:-0.35 [[ 9.92616346e-01 1.19463513e-01 2.10061525e-02 2.46191463e+01] [-1.19429622e-01 9.92838535e-01 -2.86510603e-03 1.76958717e-02] [-2.11979933e-02 3.35194236e-04 9.99775241e-01 -3.54638117e-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:24.65, Y:0.02, Z:-0.36 [[ 9.92224035e-01 1.22678512e-01 2.10106413e-02 2.46525699e+01] [-1.22646036e-01 9.92446436e-01 -2.83226359e-03 1.68482392e-02] [-2.11993940e-02 2.33368140e-04 9.99775240e-01 -3.57641379e-01] [ 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:24.68, Y:0.01, Z:-0.37 [[ 9.92415361e-01 1.21122350e-01 2.10030332e-02 2.46832708e+01] [-1.21088349e-01 9.92637533e-01 -2.88780410e-03 1.25206288e-02] [-2.11981767e-02 3.22678520e-04 9.99775241e-01 -3.71682099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:0.01, Z:-0.37 [[ 9.92479991e-01 1.20591432e-01 2.10041267e-02 2.47165314e+01] [-1.20557482e-01 9.92702171e-01 -2.87982879e-03 9.34435874e-03] [-2.11981249e-02 3.25967836e-04 9.99775241e-01 -3.71555398e-01] [ 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:24.75, Y:0.01, Z:-0.37 [[ 9.92790519e-01 1.18007947e-01 2.10026244e-02 2.47492765e+01] [-1.17973188e-01 9.93012573e-01 -2.89074354e-03 1.05832394e-02] [-2.11970008e-02 3.92156217e-04 9.99775241e-01 -3.72556712e-01] [ 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:24.78, Y:0.01, Z:-0.36 [[ 9.92876595e-01 1.17281760e-01 2.10013106e-02 2.47800519e+01] [-1.17246637e-01 9.93098593e-01 -2.90025714e-03 8.23964399e-03] [-2.11965193e-02 4.17264386e-04 9.99775241e-01 -3.60525425e-01] [ 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:24.81, Y:0.00, Z:-0.37 [[ 9.93357681e-01 1.13134077e-01 2.10047264e-02 2.48124535e+01] [-1.13098549e-01 9.93579614e-01 -2.87555316e-03 3.81116062e-03] [-2.11951910e-02 4.80848745e-04 9.99775241e-01 -3.73970792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:0.00, Z:-0.36 [[ 9.93538569e-01 1.11535304e-01 2.09997064e-02 2.48431155e+01] [-1.11498654e-01 9.93760319e-01 -2.91175780e-03 6.64452025e-04] [-2.11934387e-02 5.51504676e-04 9.99775242e-01 -3.63512118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.00, Z:-0.38 [[ 9.93769702e-01 1.09456719e-01 2.10001304e-02 2.48752319e+01] [-1.09419670e-01 9.93991386e-01 -2.90870037e-03 -8.64744317e-04] [-2.11923255e-02 5.92750966e-04 9.99775242e-01 -3.75096176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.00, Z:-0.38 [[ 9.93950390e-01 1.07803753e-01 2.09993387e-02 2.49078648e+01] [-1.07766215e-01 9.94171992e-01 -2.91440507e-03 -1.37182965e-03] [-2.11911382e-02 6.33754809e-04 9.99775242e-01 -3.77283446e-01] [ 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:24.94, Y:-0.01, Z:-0.38 [[ 9.93902892e-01 1.08241046e-01 2.09980509e-02 2.49399073e+01] [-1.08203410e-01 9.94124476e-01 -2.92365438e-03 -5.12699650e-03] [-2.11911357e-02 6.33767836e-04 9.99775242e-01 -3.77886448e-01] [ 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:24.97, Y:-0.01, Z:-0.38 [[ 9.93945465e-01 1.07849658e-01 2.09967774e-02 2.49727897e+01] [-1.07811742e-01 9.94167002e-01 -2.93277167e-03 -5.43926933e-03] [-2.11906016e-02 6.51315947e-04 9.99775242e-01 -3.77466013e-01] [ 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:25.01, Y:-0.01, Z:-0.38 [[ 9.93722469e-01 1.09885632e-01 2.09953158e-02 2.50055218e+01] [-1.09847950e-01 9.93944045e-01 -2.94319773e-03 -5.97504696e-03] [-2.11915843e-02 6.18429311e-04 9.99775242e-01 -3.77075493e-01] [ 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:25.04, Y:-0.00, Z:-0.38 [[ 9.93417051e-01 1.12613555e-01 2.09940288e-02 2.50381871e+01] [-1.12576288e-01 9.93638698e-01 -2.95234986e-03 -4.26865163e-03] [-2.11929541e-02 5.69484859e-04 9.99775242e-01 -3.78039410e-01] [ 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:25.07, Y:-0.01, Z:-0.38 [[ 9.93208014e-01 1.14442764e-01 2.09927336e-02 2.50712021e+01] [-1.14405712e-01 9.93429697e-01 -2.96153064e-03 -5.92518950e-03] [-2.11937307e-02 5.39727332e-04 9.99775242e-01 -3.78900493e-01] [ 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:25.09, Y:-0.01, Z:-0.37 [[ 9.94570453e-01 1.01926354e-01 2.09912241e-02 2.50911030e+01] [-1.01886289e-01 9.94791611e-01 -2.97219135e-03 -8.42750795e-03] [-2.11848383e-02 8.17335770e-04 9.99775242e-01 -3.65779357e-01] [ 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:25.13, Y:-0.00, Z:-0.38 [[ 9.92785350e-01 1.18027053e-01 2.11391668e-02 2.51341088e+01] [-1.18012799e-01 9.93010208e-01 -1.92488255e-03 -3.88471274e-03] [-2.12185967e-02 -5.83697043e-04 9.99774690e-01 -3.80763766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.00, Z:-0.38 [[ 9.92746464e-01 1.18381348e-01 2.09836898e-02 2.51661536e+01] [-1.18344170e-01 9.92968077e-01 -3.00915689e-03 -4.17734306e-03] [-2.11923621e-02 5.04032517e-04 9.99775290e-01 -3.82214553e-01] [ 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:25.20, Y:-0.00, Z:-0.38 [[ 9.92565195e-01 1.19891927e-01 2.09823581e-02 2.51988665e+01] [-1.19854891e-01 9.92786832e-01 -3.01841402e-03 -3.53713323e-03] [-2.11928923e-02 4.81134463e-04 9.99775290e-01 -3.81941579e-01] [ 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:25.23, Y:-0.00, Z:-0.37 [[ 9.92602726e-01 1.19581042e-01 2.09810212e-02 2.52298592e+01] [-1.19543741e-01 9.92824318e-01 -3.02767809e-03 -4.89546607e-03] [-2.11925210e-02 4.97131770e-04 9.99775290e-01 -3.71266958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.00, Z:-0.37 [[ 9.92576626e-01 1.19795523e-01 2.09922301e-02 2.52624592e+01] [-1.19759909e-01 9.92798500e-01 -2.95008285e-03 -3.60208363e-03] [-2.11944613e-02 4.14155718e-04 9.99775286e-01 -3.67499327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.01, Z:-0.38 [[ 9.92584556e-01 1.19729459e-01 2.09941821e-02 2.52951279e+01] [-1.19694115e-01 9.92806474e-01 -2.93661774e-03 -5.25765468e-03] [-2.11947596e-02 4.01961357e-04 9.99775285e-01 -3.82545986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.00, Z:-0.37 [[ 9.92511770e-01 1.20334158e-01 2.09779826e-02 2.53273409e+01] [-1.20296594e-01 9.92733317e-01 -3.04810865e-03 -2.96105010e-03] [-2.11923339e-02 5.01703867e-04 9.99775291e-01 -3.71391623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.00, Z:-0.37 [[ 9.92481169e-01 1.20586026e-01 2.09795045e-02 2.53587933e+01] [-1.20548738e-01 9.92702762e-01 -3.03764297e-03 -4.47990410e-03] [-2.11927093e-02 4.85750651e-04 9.99775291e-01 -3.73288848e-01] [ 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:25.39, Y:-0.01, Z:-0.39 [[ 9.92300532e-01 1.22061001e-01 2.09944225e-02 2.53915658e+01] [-1.22026206e-01 9.92522538e-01 -2.93531420e-03 -6.12096535e-03] [-2.11957249e-02 3.50844103e-04 9.99775284e-01 -3.85044177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.00, Z:-0.37 [[ 9.92197297e-01 1.22900720e-01 2.09746912e-02 2.54226274e+01] [-1.22863263e-01 9.92418860e-01 -3.07011739e-03 -3.44956625e-03] [-2.11929988e-02 4.69143170e-04 9.99775293e-01 -3.74586727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.00, Z:-0.39 [[ 9.92156405e-01 1.23228553e-01 2.09855291e-02 2.54544839e+01] [-1.23192734e-01 9.92378241e-01 -2.99609831e-03 -4.62588836e-03] [-2.11947873e-02 3.87333431e-04 9.99775290e-01 -3.87012900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.01, Z:-0.39 [[ 9.92472169e-01 1.20661160e-01 2.09732674e-02 2.54866269e+01] [-1.20623003e-01 9.92693612e-01 -3.07960543e-03 -5.29338305e-03] [-2.11916173e-02 5.26564177e-04 9.99775294e-01 -3.87279709e-01] [ 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:25.52, Y:-0.01, Z:-0.38 [[ 9.92595190e-01 1.19645006e-01 2.09728821e-02 2.55182474e+01] [-1.19606567e-01 9.92816584e-01 -3.08222733e-03 -8.20420136e-03] [-2.11909982e-02 5.50909604e-04 9.99775294e-01 -3.80239722e-01] [ 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:25.55, Y:-0.01, Z:-0.39 [[ 9.92963942e-01 1.16545163e-01 2.09722430e-02 2.55497378e+01] [-1.16505941e-01 9.93185199e-01 -3.08657468e-03 -7.48536919e-03] [-2.11890467e-02 6.21466456e-04 9.99775294e-01 -3.90358920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.01, Z:-0.38 [[ 9.93084608e-01 1.15512373e-01 2.09726563e-02 2.55813080e+01] [-1.15472980e-01 9.93305835e-01 -3.08376361e-03 -1.02653952e-02] [-2.11884747e-02 6.40663058e-04 9.99775294e-01 -3.79878904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.01, Z:-0.39 [[ 9.93422825e-01 1.12566641e-01 2.09724107e-02 2.56130315e+01] [-1.12526557e-01 9.93643927e-01 -3.08543295e-03 -1.41451986e-02] [-2.11864254e-02 7.05186338e-04 9.99775294e-01 -3.90936386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.02, Z:-0.39 [[ 9.94097009e-01 1.06448825e-01 2.09710284e-02 2.56446313e+01] [-1.06407184e-01 9.94317823e-01 -3.09480007e-03 -1.82775697e-02] [-2.11813051e-02 8.45063429e-04 9.99775294e-01 -3.91793306e-01] [ 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:25.68, Y:-0.02, Z:-0.39 [[ 9.94454794e-01 1.03052873e-01 2.09706503e-02 2.56761369e+01] [-1.03010424e-01 9.94675454e-01 -3.09736007e-03 -2.23243560e-02] [-2.11781829e-02 9.19989002e-04 9.99775294e-01 -3.92612865e-01] [ 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:25.71, Y:-0.03, Z:-0.39 [[ 9.95057542e-01 9.70604730e-02 2.09702782e-02 2.57084124e+01] [-9.70166422e-02 9.95277932e-01 -3.09987717e-03 -2.58682635e-02] [-2.11721306e-02 1.05009018e-03 9.99775294e-01 -3.94051213e-01] [ 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:25.74, Y:-0.03, Z:-0.39 [[ 9.95271546e-01 9.48409817e-02 2.09699098e-02 2.57404036e+01] [-9.47966072e-02 9.95491827e-01 -3.10236743e-03 -3.06914322e-02] [-2.11696054e-02 1.09982173e-03 9.99775294e-01 -3.94526698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.04, Z:-0.39 [[ 9.95453106e-01 9.29160477e-02 2.09695443e-02 2.57723237e+01] [-9.28711954e-02 9.95673290e-01 -3.10483572e-03 -3.56650420e-02] [-2.11673042e-02 1.14325171e-03 9.99775294e-01 -3.94607141e-01] [ 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:25.80, Y:-0.04, Z:-0.38 [[ 9.95388669e-01 9.36039043e-02 2.09691802e-02 2.58024680e+01] [-9.35591526e-02 9.95608874e-01 -3.10729246e-03 -3.90685536e-02] [-2.11679566e-02 1.13110497e-03 9.99775294e-01 -3.81238170e-01] [ 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:25.84, Y:-0.04, Z:-0.39 [[ 9.95332802e-01 9.41911604e-02 2.09913747e-02 2.58354238e+01] [-9.41496841e-02 9.95553660e-01 -2.95767221e-03 -4.26544309e-02] [-2.11766265e-02 9.67536874e-04 9.99775282e-01 -3.94478518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.05, Z:-0.38 [[ 9.95621447e-01 9.10950250e-02 2.09673569e-02 2.58621894e+01] [-9.10494701e-02 9.95841486e-01 -3.11912643e-03 -4.71964531e-02] [-2.11643008e-02 1.19640244e-03 9.99775295e-01 -3.83903972e-01] [ 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:25.90, Y:-0.05, Z:-0.40 [[ 9.95225804e-01 9.53067917e-02 2.10288818e-02 2.58981639e+01] [-9.52708735e-02 9.95447709e-01 -2.70559752e-03 -4.89514221e-02] [-2.11910141e-02 6.89240530e-04 9.99775208e-01 -3.97662993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.05, Z:-0.40 [[ 9.95386341e-01 9.36297933e-02 2.09640880e-02 2.59316232e+01] [-9.35843941e-02 9.95606404e-01 -3.13842230e-03 -5.09763832e-02] [-2.11658301e-02 1.16203122e-03 9.99775303e-01 -3.97334461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.05, Z:-0.40 [[ 9.95550204e-01 9.18712249e-02 2.09635380e-02 2.59643578e+01] [-9.18253600e-02 9.95770170e-01 -3.14209165e-03 -5.42143642e-02] [-2.11635336e-02 1.20312555e-03 9.99775303e-01 -3.98051947e-01] [ 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:26.00, Y:-0.06, Z:-0.40 [[ 9.95724528e-01 8.99623160e-02 2.09629852e-02 2.59965120e+01] [-8.99159521e-02 9.95944389e-01 -3.14577574e-03 -5.85217942e-02] [-2.11609687e-02 1.24741929e-03 9.99775303e-01 -3.97923991e-01] [ 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:26.03, Y:-0.06, Z:-0.40 [[ 9.95708877e-01 9.01354558e-02 2.09626223e-02 2.60296490e+01] [-9.00890795e-02 9.95928736e-01 -3.14819222e-03 -6.34477043e-02] [-2.11610416e-02 1.24617960e-03 9.99775303e-01 -3.98634197e-01] [ 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:26.06, Y:-0.07, Z:-0.40 [[ 9.95739164e-01 8.98003862e-02 2.09620742e-02 2.60611401e+01] [-8.97538594e-02 9.95958990e-01 -3.15183695e-03 -6.72160275e-02] [-2.11604025e-02 1.25698042e-03 9.99775303e-01 -3.99879921e-01] [ 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:26.09, Y:-0.07, Z:-0.40 [[ 9.95750620e-01 8.96733474e-02 2.09617106e-02 2.60929059e+01] [-8.96267419e-02 9.95970430e-01 -3.15425333e-03 -7.06806452e-02] [-2.11600964e-02 1.26211987e-03 9.99775303e-01 -4.00132389e-01] [ 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:26.12, Y:-0.07, Z:-0.40 [[ 9.95606873e-01 9.12555581e-02 2.09613478e-02 2.61245561e+01] [-9.12092515e-02 9.95826746e-01 -3.15666274e-03 -7.35356435e-02] [-2.11619338e-02 1.23092627e-03 9.99775303e-01 -4.00748457e-01] [ 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:26.16, Y:-0.08, Z:-0.40 [[ 9.95514846e-01 9.22541542e-02 2.09609852e-02 2.61570007e+01] [-9.22080176e-02 9.95734755e-01 -3.15906844e-03 -7.75769736e-02] [-2.11630187e-02 1.21212864e-03 9.99775303e-01 -4.02062100e-01] [ 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:26.19, Y:-0.08, Z:-0.40 [[ 9.95712674e-01 9.00940183e-02 2.09604316e-02 2.61899657e+01] [-9.00473277e-02 9.95932466e-01 -3.16273724e-03 -8.09621083e-02] [-2.11601181e-02 1.26174669e-03 9.99775303e-01 -4.02347844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.09, Z:-0.40 [[ 9.95769830e-01 8.94602138e-02 2.09598738e-02 2.62226972e+01] [-8.94133059e-02 9.95989575e-01 -3.16642987e-03 -8.54080204e-02] [-2.11590853e-02 1.27894373e-03 9.99775303e-01 -4.02498867e-01] [ 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:26.25, Y:-0.09, Z:-0.40 [[ 9.96003773e-01 8.68169986e-02 2.09593215e-02 2.62538980e+01] [-8.67694311e-02 9.96223377e-01 -3.17008147e-03 -9.16309524e-02] [-2.11553830e-02 1.33878470e-03 9.99775303e-01 -4.02996430e-01] [ 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:26.29, Y:-0.10, Z:-0.39 [[ 9.95591695e-01 9.14215405e-02 2.09589555e-02 2.62891745e+01] [-9.13749383e-02 9.95811506e-01 -3.17249916e-03 -9.99451571e-02] [-2.11612038e-02 1.24339055e-03 9.99775303e-01 -3.92811720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.10, Z:-0.40 [[ 9.96228769e-01 8.42127421e-02 2.08914711e-02 2.63157314e+01] [-8.41552696e-02 9.96446090e-01 -3.61664165e-03 -1.04163550e-01] [-2.11217920e-02 1.84487508e-03 9.99775208e-01 -4.04359119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-0.11, Z:-0.41 [[ 9.96507485e-01 8.08304587e-02 2.09587613e-02 2.63470213e+01] [-8.07815317e-02 9.96726784e-01 -3.17204704e-03 -1.10707584e-01] [-2.11465568e-02 1.46788777e-03 9.99775309e-01 -4.05422387e-01] [ 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:26.38, Y:-0.12, Z:-0.41 [[ 9.96533086e-01 8.05143101e-02 2.09584038e-02 2.63795053e+01] [-8.04652641e-02 9.96752359e-01 -3.17440747e-03 -1.16318260e-01] [-2.11459237e-02 1.47697857e-03 9.99775309e-01 -4.05952811e-01] [ 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:26.41, Y:-0.12, Z:-0.40 [[ 9.96407739e-01 8.20511133e-02 2.09578652e-02 2.64084785e+01] [-8.20023312e-02 9.96627071e-01 -3.17795951e-03 -1.24410501e-01] [-2.11479309e-02 1.44794965e-03 9.99775309e-01 -3.95968493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.13, Z:-0.40 [[ 9.95862330e-01 8.84211665e-02 2.09741754e-02 2.64433402e+01] [-8.83760449e-02 9.96082450e-01 -3.07035344e-03 -1.31010694e-01] [-2.11634923e-02 1.20403466e-03 9.99775303e-01 -3.96255880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952791605 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.14, Z:-0.40 [[ 9.95166207e-01 9.59477521e-02 2.09344071e-02 2.64749898e+01] [-9.58988043e-02 9.95385512e-01 -3.33197730e-03 -1.36828325e-01] [-2.11575013e-02 1.30828659e-03 9.99775299e-01 -3.98032322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.14, Z:-0.41 [[ 9.95230023e-01 9.52858724e-02 2.09237813e-02 2.65037358e+01] [-9.52353161e-02 9.95448975e-01 -3.40178708e-03 -1.39408641e-01] [-2.11526989e-02 1.39287771e-03 9.99775286e-01 -4.10283790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.15, Z:-0.40 [[ 9.94742024e-01 1.00245396e-01 2.09562730e-02 2.65371935e+01] [-1.00200415e-01 9.94962166e-01 -3.18822149e-03 -1.45468174e-01] [-2.11703033e-02 1.07163065e-03 9.99775310e-01 -4.01567883e-01] [ 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:26.57, Y:-0.15, Z:-0.40 [[ 9.94540678e-01 1.02229241e-01 2.09289717e-02 2.65707141e+01] [-1.02180940e-01 9.94760131e-01 -3.36718685e-03 -1.50587301e-01] [-2.11635316e-02 1.21026228e-03 9.99775295e-01 -4.02121569e-01] [ 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:26.60, Y:-0.15, Z:-0.40 [[ 9.94775033e-01 9.99264325e-02 2.09127312e-02 2.65996882e+01] [-9.98753922e-02 9.94993889e-01 -3.47363241e-03 -1.53625252e-01] [-2.11551474e-02 1.36681557e-03 9.99775271e-01 -4.00313865e-01] [ 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:26.63, Y:-0.15, Z:-0.41 [[ 9.94900656e-01 9.86625750e-02 2.09375330e-02 2.66299298e+01] [-9.86146703e-02 9.95120186e-01 -3.31079278e-03 -1.54288821e-01] [-2.11620130e-02 1.22916200e-03 9.99775304e-01 -4.11142054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132791605 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.16, Z:-0.40 [[ 9.94384157e-01 1.03735207e-01 2.09560272e-02 2.66651669e+01] [-1.03690977e-01 9.94604449e-01 -3.18927182e-03 -1.59646692e-01] [-2.11737977e-02 9.98410442e-04 9.99775311e-01 -4.02627228e-01] [ 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:26.71, Y:-0.16, Z:-0.40 [[ 9.91923323e-01 1.25103360e-01 2.09110381e-02 2.67057304e+01] [-1.25057664e-01 9.92143358e-01 -3.48400133e-03 -1.55651692e-01] [-2.11826078e-02 8.40776591e-04 9.99775270e-01 -4.04835919e-01] [ 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:26.72, Y:-0.16, Z:-0.41 [[ 9.94699854e-01 1.00696147e-01 2.07962975e-02 2.67238598e+01] [-1.00629421e-01 9.94914971e-01 -4.23318026e-03 -1.63831531e-01] [-2.11168127e-02 2.11802442e-03 9.99774772e-01 -4.13102407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.17, Z:-0.41 [[ 9.94708950e-01 1.00572929e-01 2.09568752e-02 2.67557458e+01] [-1.00528352e-01 9.94929136e-01 -3.17252792e-03 -1.68128009e-01] [-2.11696762e-02 1.04898179e-03 9.99775347e-01 -4.14888977e-01] [ 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:26.79, Y:-0.17, Z:-0.42 [[ 9.94839470e-01 9.92736288e-02 2.09564991e-02 2.67876634e+01] [-9.92287117e-02 9.95059587e-01 -3.17501095e-03 -1.71038719e-01] [-2.11681602e-02 1.07913981e-03 9.99775347e-01 -4.16970877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.17, Z:-0.42 [[ 9.94864030e-01 9.90272852e-02 2.09561236e-02 2.68201765e+01] [-9.89822616e-02 9.95084125e-01 -3.17748709e-03 -1.74668998e-01] [-2.11677638e-02 1.08688311e-03 9.99775347e-01 -4.17255812e-01] [ 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:26.85, Y:-0.18, Z:-0.42 [[ 9.94673665e-01 1.00921581e-01 2.09555554e-02 2.68520102e+01] [-1.00876897e-01 9.94893829e-01 -3.18123009e-03 -1.77896921e-01] [-2.11696075e-02 1.05035438e-03 9.99775347e-01 -4.17458573e-01] [ 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:26.88, Y:-0.18, Z:-0.42 [[ 9.94539874e-01 1.02231693e-01 2.09551806e-02 2.68841668e+01] [-1.02187248e-01 9.94760087e-01 -3.18369669e-03 -1.80953353e-01] [-2.11708520e-02 1.02496107e-03 9.99775347e-01 -4.16870811e-01] [ 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:26.92, Y:-0.19, Z:-0.41 [[ 9.93548183e-01 1.11458084e-01 2.09548028e-02 2.69221814e+01] [-1.11415632e-01 9.93768789e-01 -3.18618171e-03 -1.85713662e-01] [-2.11793547e-02 8.30932445e-04 9.99775347e-01 -4.06377713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.19, Z:-0.42 [[ 9.94237964e-01 1.05147932e-01 2.08514392e-02 2.69471264e+01] [-1.05089902e-01 9.94455224e-01 -3.86253437e-03 -1.87212463e-01] [-2.11419601e-02 1.64900260e-03 9.99775124e-01 -4.18953262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.19, Z:-0.42 [[ 9.93982137e-01 1.07519372e-01 2.09545962e-02 2.69795563e+01] [-1.07476101e-01 9.94202571e-01 -3.18357877e-03 -1.86624698e-01] [-2.11754099e-02 9.12302123e-04 9.99775360e-01 -4.20515006e-01] [ 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:27.01, Y:-0.19, Z:-0.42 [[ 9.93837848e-01 1.08845083e-01 2.09542097e-02 2.70126260e+01] [-1.08802054e-01 9.94058329e-01 -3.18612130e-03 -1.89063266e-01] [-2.11765003e-02 8.86626892e-04 9.99775360e-01 -4.21885003e-01] [ 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:27.05, Y:-0.19, Z:-0.41 [[ 9.92674385e-01 1.18989542e-01 2.09536304e-02 2.70522983e+01] [-1.18948687e-01 9.92895279e-01 -3.18992634e-03 -1.93673714e-01] [-2.11843286e-02 6.74151348e-04 9.99775360e-01 -4.11372199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.19, Z:-0.42 [[ 9.93682128e-01 1.10283120e-01 2.08197689e-02 2.70743552e+01] [-1.10221987e-01 9.93898682e-01 -4.06483773e-03 -1.94640624e-01] [-2.11410239e-02 1.74436031e-03 9.99774982e-01 -4.22490591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.20, Z:-0.42 [[ 9.93653620e-01 1.10514255e-01 2.09542875e-02 2.71057700e+01] [-1.10471769e-01 9.93874182e-01 -3.17791692e-03 -1.99010736e-01] [-2.11771305e-02 8.42891444e-04 9.99775384e-01 -4.22271877e-01] [ 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:27.14, Y:-0.20, Z:-0.42 [[ 9.93843044e-01 1.08797693e-01 2.09539020e-02 2.71378608e+01] [-1.08754773e-01 9.94063521e-01 -3.18045712e-03 -2.00527673e-01] [-2.11755360e-02 8.82038322e-04 9.99775384e-01 -4.21814874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612791605 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.21, Z:-0.42 [[ 9.92964060e-01 1.16547522e-01 2.09535145e-02 2.71797489e+01] [-1.16506270e-01 9.93184856e-01 -3.18300776e-03 -2.07205979e-01] [-2.11816849e-02 7.19396491e-04 9.99775384e-01 -4.15829180e-01] [ 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:27.21, Y:-0.21, Z:-0.42 [[ 9.92907633e-01 1.17055015e-01 2.07979927e-02 2.72130321e+01] [-1.16992580e-01 9.93123916e-01 -4.19795993e-03 -2.06123562e-01] [-2.11463762e-02 1.73497563e-03 9.99774885e-01 -4.17440094e-01] [ 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:27.25, Y:-0.21, Z:-0.42 [[ 9.92823915e-01 1.17762196e-01 2.08023765e-02 2.72464807e+01] [-1.17700519e-01 9.93040385e-01 -4.16909120e-03 -2.08160930e-01] [-2.11485613e-02 1.69072294e-03 9.99774915e-01 -4.19031726e-01] [ 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:27.28, Y:-0.21, Z:-0.42 [[ 9.92845821e-01 1.17579311e-01 2.07913625e-02 2.72790277e+01] [-1.17516072e-01 9.93061921e-01 -4.24193077e-03 -2.10616019e-01] [-2.11458737e-02 1.76826399e-03 9.99774837e-01 -4.20211910e-01] [ 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:27.31, Y:-0.21, Z:-0.42 [[ 9.92784722e-01 1.18093025e-01 2.07974438e-02 2.73119475e+01] [-1.18030744e-01 9.93001053e-01 -4.20141422e-03 -2.13686879e-01] [-2.11480413e-02 1.71636207e-03 9.99774882e-01 -4.21055941e-01] [ 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:27.33, Y:-0.21, Z:-0.43 [[ 9.93777555e-01 1.09425236e-01 2.07915411e-02 2.73308867e+01] [-1.09360231e-01 9.93993133e-01 -4.24167213e-03 -2.12531826e-01] [-2.11307950e-02 1.94151083e-03 9.99774835e-01 -4.26740138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.21, Z:-0.43 [[ 9.93635505e-01 1.10674655e-01 2.09667352e-02 2.73644452e+01] [-1.10635346e-01 9.93856451e-01 -3.02914964e-03 -2.14596392e-01] [-2.11731751e-02 6.90208622e-04 9.99775585e-01 -4.26576324e-01] [ 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:27.40, Y:-0.21, Z:-0.43 [[ 9.93340797e-01 1.13289363e-01 2.09661691e-02 2.73971672e+01] [-1.13250554e-01 9.93561831e-01 -3.03306275e-03 -2.14824784e-01] [-2.11747991e-02 6.38434707e-04 9.99775585e-01 -4.26605782e-01] [ 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:27.43, Y:-0.21, Z:-0.43 [[ 9.92691957e-01 1.18840705e-01 2.09657971e-02 2.74306909e+01] [-1.18803078e-01 9.92913195e-01 -3.03563231e-03 -2.10801927e-01] [-2.11779733e-02 5.22646563e-04 9.99775585e-01 -4.26141972e-01] [ 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:27.46, Y:-0.21, Z:-0.43 [[ 9.92046772e-01 1.24111457e-01 2.09654194e-02 2.74642696e+01] [-1.24074951e-01 9.92268197e-01 -3.03823842e-03 -2.05646121e-01] [-2.11803991e-02 4.12791237e-04 9.99775585e-01 -4.26711740e-01] [ 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:27.50, Y:-0.21, Z:-0.43 [[ 9.91761653e-01 1.26369662e-01 2.09650360e-02 2.74964373e+01] [-1.26333603e-01 9.91983152e-01 -3.04088213e-03 -2.05347872e-01] [-2.11812377e-02 3.67241752e-04 9.99775585e-01 -4.27864469e-01] [ 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:27.53, Y:-0.21, Z:-0.43 [[ 9.91587503e-01 1.27729037e-01 2.09646527e-02 2.75286777e+01] [-1.27693226e-01 9.91809043e-01 -3.04352191e-03 -2.05333734e-01] [-2.11816783e-02 3.40874146e-04 9.99775585e-01 -4.27220767e-01] [ 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:27.56, Y:-0.20, Z:-0.43 [[ 9.91005037e-01 1.32172294e-01 2.09642661e-02 2.75622420e+01] [-1.32137421e-01 9.91226726e-01 -3.04618278e-03 -2.01520513e-01] [-2.11829618e-02 2.48618433e-04 9.99775585e-01 -4.27844933e-01] [ 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:27.59, Y:-0.20, Z:-0.43 [[ 9.90850724e-01 1.33324260e-01 2.09638744e-02 2.75945016e+01] [-1.33289587e-01 9.91072445e-01 -3.04887625e-03 -2.01045049e-01] [-2.11832074e-02 2.26715084e-04 9.99775585e-01 -4.28556506e-01] [ 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:27.63, Y:-0.19, Z:-0.43 [[ 9.90418980e-01 1.36494591e-01 2.09635813e-02 2.76271206e+01] [-1.36460585e-01 9.90640803e-01 -3.05089010e-03 -1.93798726e-01] [-2.11838090e-02 1.60956896e-04 9.99775585e-01 -4.29409104e-01] [ 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:27.66, Y:-0.19, Z:-0.43 [[ 9.90277941e-01 1.37514128e-01 2.09633862e-02 2.76579645e+01] [-1.37480323e-01 9.90499795e-01 -3.05223002e-03 -1.92425766e-01] [-2.11839545e-02 1.40502958e-04 9.99775585e-01 -4.30157699e-01] [ 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:27.69, Y:-0.19, Z:-0.43 [[ 9.90298661e-01 1.37364835e-01 2.09633862e-02 2.76881302e+01] [-1.37330996e-01 9.90520510e-01 -3.05223002e-03 -1.91104800e-01] [-2.11839331e-02 1.43696598e-04 9.99775585e-01 -4.31957430e-01] [ 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:27.72, Y:-0.18, Z:-0.43 [[ 9.90447875e-01 1.36284757e-01 2.09635797e-02 2.77185775e+01] [-1.36250704e-01 9.90669691e-01 -3.05090022e-03 -1.84010127e-01] [-2.11837743e-02 1.65455138e-04 9.99775585e-01 -4.31421921e-01] [ 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:27.75, Y:-0.18, Z:-0.43 [[ 9.90670189e-01 1.34659003e-01 2.09649399e-02 2.77479830e+01] [-1.34624785e-01 9.90891980e-01 -3.04152506e-03 -1.83894464e-01] [-2.11835595e-02 1.90747693e-04 9.99775585e-01 -4.32178523e-01] [ 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:27.78, Y:-0.18, Z:-0.43 [[ 9.91196518e-01 1.30728255e-01 2.09662925e-02 2.77769442e+01] [-1.30693354e-01 9.91418203e-01 -3.03217211e-03 -1.82403854e-01] [-2.11827546e-02 2.65323348e-04 9.99775585e-01 -4.33570326e-01] [ 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:27.81, Y:-0.18, Z:-0.43 [[ 9.91376854e-01 1.29353361e-01 2.09676296e-02 2.78060948e+01] [-1.29318350e-01 9.91598521e-01 -3.02289766e-03 -1.83720544e-01] [-2.11824925e-02 2.85331521e-04 9.99775585e-01 -4.34183453e-01] [ 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:27.83, Y:-0.18, Z:-0.44 [[ 9.91492990e-01 1.28459929e-01 2.09689525e-02 2.78348926e+01] [-1.28424912e-01 9.91714656e-01 -3.01369294e-03 -1.84008947e-01] [-2.11823563e-02 2.95119536e-04 9.99775585e-01 -4.35559405e-01] [ 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:27.86, Y:-0.18, Z:-0.43 [[ 9.91524399e-01 1.28217060e-01 2.09702610e-02 2.78640105e+01] [-1.28182182e-01 9.91746087e-01 -3.00456049e-03 -1.77831565e-01] [-2.11824102e-02 2.91081219e-04 9.99775585e-01 -4.34190424e-01] [ 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:27.90, Y:-0.18, Z:-0.43 [[ 9.90216269e-01 1.37956247e-01 2.09717711e-02 2.79037524e+01] [-1.37923774e-01 9.90438322e-01 -2.99398287e-03 -1.80353499e-01] [-2.11842844e-02 7.21847444e-05 9.99775585e-01 -4.31845124e-01] [ 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:27.92, Y:-0.18, Z:-0.44 [[ 9.91561001e-01 1.27961817e-01 2.07979378e-02 2.79225014e+01] [-1.27901521e-01 9.91777940e-01 -4.20940618e-03 -1.78026222e-01] [-2.11655792e-02 1.51379513e-03 9.99774838e-01 -4.35482187e-01] [ 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:27.95, Y:-0.18, Z:-0.44 [[ 9.91493573e-01 1.28454480e-01 2.09747815e-02 2.79515542e+01] [-1.28420730e-01 9.91715378e-01 -2.95374877e-03 -1.76235537e-01] [-2.11804356e-02 2.35026170e-04 9.99775642e-01 -4.38455810e-01] [ 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:27.98, Y:-0.17, Z:-0.44 [[ 9.91456535e-01 1.28739829e-01 2.09760648e-02 2.79804377e+01] [-1.28706337e-01 9.91678379e-01 -2.94460661e-03 -1.72517357e-01] [-2.11805981e-02 2.19697007e-04 9.99775642e-01 -4.39389262e-01] [ 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:28.01, Y:-0.18, Z:-0.44 [[ 9.91520281e-01 1.28247712e-01 2.09775335e-02 2.80084786e+01] [-1.28214331e-01 9.91742142e-01 -2.93410655e-03 -1.76774125e-01] [-2.11805964e-02 2.19605725e-04 9.99775642e-01 -4.39992546e-01] [ 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:28.04, Y:-0.18, Z:-0.44 [[ 9.91394556e-01 1.29215772e-01 2.09789843e-02 2.80364344e+01] [-1.29182829e-01 9.91616483e-01 -2.92369618e-03 -1.76983107e-01] [-2.11808943e-02 1.88411937e-04 9.99775642e-01 -4.41199663e-01] [ 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:28.07, Y:-0.18, Z:-0.44 [[ 9.91491448e-01 1.28469955e-01 2.09804306e-02 2.80655327e+01] [-1.28437065e-01 9.91713383e-01 -2.91328057e-03 -1.77094036e-01] [-2.11808428e-02 1.93827851e-04 9.99775642e-01 -4.40446090e-01] [ 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:28.09, Y:-0.17, Z:-0.44 [[ 9.91364291e-01 1.29447330e-01 2.09816953e-02 2.80943042e+01] [-1.29414852e-01 9.91586286e-01 -2.90414315e-03 -1.70655001e-01] [-2.11810949e-02 1.63720807e-04 9.99775642e-01 -4.40601390e-01] [ 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:28.12, Y:-0.17, Z:-0.44 [[ 9.91235011e-01 1.30433360e-01 2.09831340e-02 2.81229706e+01] [-1.30401324e-01 9.91457070e-01 -2.89371052e-03 -1.69271629e-01] [-2.11813130e-02 1.32118710e-04 9.99775642e-01 -4.42099872e-01] [ 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:28.15, Y:-0.17, Z:-0.45 [[ 9.91096996e-01 1.31477726e-01 2.09845738e-02 2.81510855e+01] [-1.31446146e-01 9.91319120e-01 -2.88323198e-03 -1.66144636e-01] [-2.11814900e-02 9.92211960e-05 9.99775642e-01 -4.45230475e-01] [ 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:28.18, Y:-0.17, Z:-0.45 [[ 9.91087178e-01 1.31551483e-01 2.09860095e-02 2.81799487e+01] [-1.31520142e-01 9.91309336e-01 -2.87274358e-03 -1.67921480e-01] [-2.11815408e-02 8.70563753e-05 9.99775642e-01 -4.47359460e-01] [ 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:28.22, Y:-0.17, Z:-0.44 [[ 9.90638314e-01 1.34889825e-01 2.09872571e-02 2.82151037e+01] [-1.34859426e-01 9.90860603e-01 -2.86360013e-03 -1.67351686e-01] [-2.11817167e-02 6.46256031e-06 9.99775642e-01 -4.37722217e-01] [ 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:28.24, Y:-0.17, Z:-0.44 [[ 9.91094452e-01 1.31508196e-01 2.09136482e-02 2.82433704e+01] [-1.31465657e-01 9.91314888e-01 -3.40201942e-03 -1.66372344e-01] [-2.11794043e-02 6.22296068e-04 9.99775498e-01 -4.41500253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.16, Z:-0.45 [[ 9.91970261e-01 1.24726682e-01 2.09345578e-02 2.82688237e+01] [-1.24685899e-01 9.92190950e-01 -3.24734042e-03 -1.62056223e-01] [-2.11761088e-02 6.11020969e-04 9.99775574e-01 -4.46233614e-01] [ 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:28.30, Y:-0.16, Z:-0.44 [[ 9.91560067e-01 1.27937252e-01 2.09926778e-02 2.83014543e+01] [-1.27906350e-01 9.91782259e-01 -2.81373488e-03 -1.64981716e-01] [-2.11801469e-02 1.04890362e-04 9.99775670e-01 -4.38135021e-01] [ 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:28.33, Y:-0.17, Z:-0.44 [[ 9.91833860e-01 1.25804992e-01 2.09451250e-02 2.83295618e+01] [-1.25766123e-01 9.92054860e-01 -3.16802807e-03 -1.66170384e-01] [-2.11772668e-02 5.07970346e-04 9.99775607e-01 -4.40122391e-01] [ 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:28.36, Y:-0.16, Z:-0.45 [[ 9.91863596e-01 1.25568310e-01 2.09572466e-02 2.83596023e+01] [-1.25531309e-01 9.92084886e-01 -3.07708554e-03 -1.63936286e-01] [-2.11777520e-02 4.21258538e-04 9.99775638e-01 -4.50420966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.17, Z:-0.44 [[ 9.91488471e-01 1.28498548e-01 2.09459812e-02 2.83906225e+01] [-1.28460401e-01 9.91709597e-01 -3.16228989e-03 -1.65253187e-01] [-2.11786803e-02 4.44644827e-04 9.99775608e-01 -4.43303268e-01] [ 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:28.42, Y:-0.16, Z:-0.44 [[ 9.91682801e-01 1.26992896e-01 2.09291011e-02 2.84178571e+01] [-1.26951708e-01 9.91903441e-01 -3.29040657e-03 -1.62599780e-01] [-2.11775056e-02 6.06054471e-04 9.99775548e-01 -4.40317594e-01] [ 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:28.44, Y:-0.16, Z:-0.44 [[ 9.92045250e-01 1.24125101e-01 2.09566396e-02 2.84444865e+01] [-1.24087744e-01 9.92266473e-01 -3.07868126e-03 -1.62506260e-01] [-2.11767125e-02 4.53728979e-04 9.99775645e-01 -4.43602816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.16, Z:-0.44 [[ 9.91946612e-01 1.24905440e-01 2.09892724e-02 2.84753087e+01] [-1.24873604e-01 9.92168634e-01 -2.82578970e-03 -1.57879140e-01] [-2.11778543e-02 1.82026424e-04 9.99775708e-01 -4.37177613e-01] [ 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:28.50, Y:-0.16, Z:-0.45 [[ 9.92248577e-01 1.22485200e-01 2.09794656e-02 2.85031390e+01] [-1.22451213e-01 9.92470291e-01 -2.90190559e-03 -1.56682312e-01] [-2.11769368e-02 3.10450693e-04 9.99775695e-01 -4.51963131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.15, Z:-0.44 [[ 9.92068115e-01 1.23933839e-01 2.10061630e-02 2.85350567e+01] [-1.23904581e-01 9.92290481e-01 -2.69371767e-03 -1.51910934e-01] [-2.11780583e-02 6.95915927e-05 9.99775717e-01 -4.44892196e-01] [ 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:28.56, Y:-0.15, Z:-0.44 [[ 9.92162531e-01 1.23178595e-01 2.09891979e-02 2.85643633e+01] [-1.23146366e-01 9.92384495e-01 -2.82608130e-03 -1.50414600e-01] [-2.11774673e-02 2.19188516e-04 9.99775708e-01 -4.39167997e-01] [ 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:28.59, Y:-0.15, Z:-0.45 [[ 9.92386629e-01 1.21360164e-01 2.09878347e-02 2.85945401e+01] [-1.21327303e-01 9.92608502e-01 -2.83673905e-03 -1.45657810e-01] [-2.11769703e-02 2.68744522e-04 9.99775707e-01 -4.50125617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.15, Z:-0.45 [[ 9.92512620e-01 1.20327031e-01 2.09786849e-02 2.86233369e+01] [-1.20292420e-01 9.92734241e-01 -2.90860102e-03 -1.45141015e-01] [-2.11762421e-02 3.63246433e-04 9.99775692e-01 -4.49002970e-01] [ 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:28.65, Y:-0.14, Z:-0.44 [[ 9.93388018e-01 1.12871016e-01 2.09852217e-02 2.86514198e+01] [-1.12835830e-01 9.93609537e-01 -2.85709352e-03 -1.41659459e-01] [-2.11735994e-02 4.70317567e-04 9.99775704e-01 -4.40789429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.14, Z:-0.44 [[ 9.93357382e-01 1.13135669e-01 2.10102915e-02 2.86816592e+01] [-1.13104737e-01 9.93579514e-01 -2.65857507e-03 -1.42206760e-01] [-2.11761749e-02 2.64551686e-04 9.99775725e-01 -4.40446965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.14, Z:-0.44 [[ 9.93782830e-01 1.09336349e-01 2.10059478e-02 2.87111467e+01] [-1.09303839e-01 9.94004738e-01 -2.69304001e-03 -1.42231226e-01] [-2.11744588e-02 3.80266174e-04 9.99775724e-01 -4.39641416e-01] [ 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:28.74, Y:-0.14, Z:-0.44 [[ 9.94144986e-01 1.05992004e-01 2.10105330e-02 2.87416519e+01] [-1.05959518e-01 9.94366896e-01 -2.65657370e-03 -1.38265133e-01] [-2.11737540e-02 4.14753469e-04 9.99775725e-01 -4.43702932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.14, Z:-0.44 [[ 9.94468725e-01 1.02912950e-01 2.09971318e-02 2.87706766e+01] [-1.02877527e-01 9.94690193e-01 -2.76319804e-03 -1.36540876e-01] [-2.11700099e-02 5.87781047e-04 9.99775717e-01 -4.44214220e-01] [ 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:28.80, Y:-0.14, Z:-0.44 [[ 9.94631879e-01 1.01325605e-01 2.09891969e-02 2.87989718e+01] [-1.01288493e-01 9.94853081e-01 -2.82651651e-03 -1.39459839e-01] [-2.11675657e-02 6.85379307e-04 9.99775707e-01 -4.44513163e-01] [ 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:28.83, Y:-0.14, Z:-0.44 [[ 9.94700055e-01 1.00654869e-01 2.09856410e-02 2.88270585e+01] [-1.00617007e-01 9.94921136e-01 -2.85502936e-03 -1.41549537e-01] [-2.11664304e-02 7.28385475e-04 9.99775701e-01 -4.42458846e-01] [ 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:28.86, Y:-0.14, Z:-0.44 [[ 9.94581218e-01 1.01820258e-01 2.09961015e-02 2.88577682e+01] [-1.01784429e-01 9.94802620e-01 -2.77089994e-03 -1.44391950e-01] [-2.11691105e-02 6.18808824e-04 9.99775718e-01 -4.44377160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322791605000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.15, Z:-0.44 [[ 9.94540642e-01 1.02218839e-01 2.09814281e-02 2.88857709e+01] [-1.02180604e-01 9.94761668e-01 -2.88916763e-03 -1.46926975e-01] [-2.11668478e-02 7.29499636e-04 9.99775691e-01 -4.44392656e-01] [ 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:28.92, Y:-0.15, Z:-0.44 [[ 9.94055697e-01 1.06832757e-01 2.09769833e-02 2.89167764e+01] [-1.06794788e-01 9.94276781e-01 -2.92522275e-03 -1.45057921e-01] [-2.11694370e-02 6.67601854e-04 9.99775679e-01 -4.43619246e-01] [ 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:28.95, Y:-0.15, Z:-0.45 [[ 9.94058234e-01 1.06813194e-01 2.09563601e-02 2.89455014e+01] [-1.06771689e-01 9.94278754e-01 -3.09272677e-03 -1.45990146e-01] [-2.11668077e-02 8.36804535e-04 9.99775608e-01 -4.47358728e-01] [ 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:28.97, Y:-0.15, Z:-0.45 [[ 9.93950764e-01 1.07808392e-01 2.09577867e-02 2.89739339e+01] [-1.07767357e-01 9.94171366e-01 -3.08097038e-03 -1.47621571e-01] [-2.11677859e-02 8.03767590e-04 9.99775614e-01 -4.45163170e-01] [ 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:29.01, Y:-0.15, Z:-0.45 [[ 9.93401962e-01 1.12754911e-01 2.09492638e-02 2.90058202e+01] [-1.12713492e-01 9.93622533e-01 -3.15126789e-03 -1.45499816e-01] [-2.11709815e-02 7.69211039e-04 9.99775574e-01 -4.45700330e-01] [ 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:29.03, Y:-0.14, Z:-0.45 [[ 9.93397555e-01 1.12798898e-01 2.09214428e-02 2.90344379e+01] [-1.12752655e-01 9.93617336e-01 -3.38067653e-03 -1.44847602e-01] [-2.11692449e-02 9.99407574e-04 9.99775407e-01 -4.49804518e-01] [ 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:29.06, Y:-0.14, Z:-0.45 [[ 9.93060627e-01 1.15727756e-01 2.09207623e-02 2.90649959e+01] [-1.15682041e-01 9.93280523e-01 -3.38637903e-03 -1.42461252e-01] [-2.11720838e-02 9.42723197e-04 9.99775402e-01 -4.50178251e-01] [ 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:29.09, Y:-0.14, Z:-0.45 [[ 9.93055362e-01 1.15775072e-01 2.09088723e-02 2.90934311e+01] [-1.15727239e-01 9.93274909e-01 -3.48742444e-03 -1.44448255e-01] [-2.11720151e-02 1.04347947e-03 9.99775303e-01 -4.52438390e-01] [ 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:29.12, Y:-0.14, Z:-0.45 [[ 9.92746871e-01 1.18394367e-01 2.08907422e-02 2.91238118e+01] [-1.18343848e-01 9.92965994e-01 -3.64254806e-03 -1.41354379e-01] [-2.11750538e-02 1.14383738e-03 9.99775129e-01 -4.53814105e-01] [ 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:29.16, Y:-0.14, Z:-0.45 [[ 9.92842800e-01 1.17589898e-01 2.08756126e-02 2.91580803e+01] [-1.17536518e-01 9.93061405e-01 -3.77010064e-03 -1.42191245e-01] [-2.11740909e-02 1.28947046e-03 9.99774972e-01 -4.47876948e-01] [ 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:29.18, Y:-0.14, Z:-0.45 [[ 9.93148538e-01 1.14986794e-01 2.08330967e-02 2.91823182e+01] [-1.14925258e-01 9.93365551e-01 -4.13128510e-03 -1.41730640e-01] [-2.11699238e-02 1.70873073e-03 9.99774432e-01 -4.51416891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:-0.14, Z:-0.45 [[ 9.93396588e-01 1.12818618e-01 2.08609385e-02 2.92100868e+01] [-1.12761844e-01 9.93614461e-01 -3.88186898e-03 -1.38997058e-01] [-2.11656772e-02 1.50391751e-03 9.99774851e-01 -4.53724634e-01] [ 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:29.24, Y:-0.14, Z:-0.45 [[ 9.93561630e-01 1.11356582e-01 2.08566430e-02 2.92411083e+01] [-1.11298664e-01 9.93779268e-01 -3.92104474e-03 -1.39931108e-01] [-2.11635335e-02 1.57448310e-03 9.99774788e-01 -4.54094334e-01] [ 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:29.27, Y:-0.14, Z:-0.46 [[ 9.93765956e-01 1.09521659e-01 2.08381877e-02 2.92664344e+01] [-1.09459740e-01 9.93982805e-01 -4.09258623e-03 -1.37440872e-01] [-2.11610271e-02 1.78613025e-03 9.99774485e-01 -4.57106260e-01] [ 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:29.29, Y:-0.14, Z:-0.46 [[ 9.93929100e-01 1.08027358e-01 2.08574609e-02 2.92942127e+01] [-1.07968994e-01 9.94146582e-01 -3.90760841e-03 -1.38257503e-01] [-2.11575021e-02 1.63192663e-03 9.99774823e-01 -4.57112932e-01] [ 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:29.30, Y:-0.14, Z:-0.46 [[ 9.95963979e-01 8.72944618e-02 2.08669306e-02 2.93029088e+01] [-8.72335709e-02 9.96180591e-01 -3.81245132e-03 -1.37633742e-01] [-2.11200371e-02 1.97676732e-03 9.99774993e-01 -4.58015465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.33, Y:-0.14, Z:-0.46 [[ 9.96037485e-01 8.64099661e-02 2.10391385e-02 2.93317735e+01] [-8.63867271e-02 9.96259646e-01 -2.01262108e-03 -1.36368022e-01] [-2.11343552e-02 1.87143721e-04 9.99776627e-01 -4.59220413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832791605 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.14, Z:-0.47 [[ 9.94602767e-01 1.01600472e-01 2.10399818e-02 2.94175937e+01] [-1.01580813e-01 9.94825273e-01 -2.00376688e-03 -1.39399928e-01] [-2.11346893e-02 -1.44306376e-04 9.99776627e-01 -4.65286380e-01] [ 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:29.41, Y:-0.13, Z:-0.45 [[ 9.94250244e-01 1.05087212e-01 2.05701368e-02 2.94053480e+01] [-1.04976550e-01 9.94454164e-01 -6.39058554e-03 -1.29581614e-01] [-2.11276270e-02 4.19445924e-03 9.99767988e-01 -4.54770107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.13, Z:-0.46 [[ 9.94398304e-01 1.03621720e-01 2.08459094e-02 2.94390883e+01] [-1.03569095e-01 9.94615777e-01 -3.59132783e-03 -1.31967861e-01] [-2.11058100e-02 1.41221832e-03 9.99776250e-01 -4.59033829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922791605 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.13, Z:-0.48 [[ 9.96445957e-01 8.16314871e-02 2.07787282e-02 2.95278546e+01] [-8.15609480e-02 9.96659416e-01 -4.22130803e-03 -1.32829989e-01] [-2.10539068e-02 2.51157255e-03 9.99775187e-01 -4.80142682e-01] [ 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:29.49, Y:-0.13, Z:-0.46 [[ 9.95154451e-01 9.61956109e-02 2.03475404e-02 2.94887768e+01] [-9.60481612e-02 9.95343681e-01 -8.10605012e-03 -1.27298689e-01] [-2.10325622e-02 6.11242801e-03 9.99760106e-01 -4.60510027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982791605000003 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.13, Z:-0.48 [[ 9.96921039e-01 7.56229554e-02 2.07270401e-02 2.95572434e+01] [-7.55495388e-02 9.97132762e-01 -4.30363579e-03 -1.29036190e-01] [-2.09930645e-02 2.72446674e-03 9.99775909e-01 -4.75446834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012791605 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.13, Z:-0.48 [[ 9.98018874e-01 5.95434705e-02 2.03200045e-02 2.96057165e+01] [-5.94117549e-02 9.98208836e-01 -7.02586620e-03 -1.29087292e-01] [-2.07019525e-02 5.80469995e-03 9.99768841e-01 -4.84236586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.13, Z:-0.47 [[ 9.96823582e-01 7.70167602e-02 2.02772070e-02 2.95722280e+01] [-7.68794598e-02 9.97012434e-01 -7.46695818e-03 -1.28520549e-01] [-2.07917084e-02 5.88433928e-03 9.99766512e-01 -4.65761573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072791605000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.13, Z:-0.47 [[ 9.97527477e-01 6.72079176e-02 2.05433423e-02 2.96061471e+01] [-6.71340100e-02 9.97734843e-01 -4.26714811e-03 -1.25643411e-01] [-2.07835945e-02 2.87744054e-03 9.99779857e-01 -4.73423556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102791605 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:29.68, Y:-0.13, Z:-0.49 [[ 9.98802852e-01 4.44165182e-02 2.04947567e-02 2.96807354e+01] [-4.43269810e-02 9.99005531e-01 -4.80280425e-03 -1.29365339e-01] [-2.06876991e-02 3.88858390e-03 9.99778424e-01 -4.85935602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.13, Z:-0.47 [[ 9.98270017e-01 5.51259978e-02 2.04474093e-02 2.96287105e+01] [-5.50153194e-02 9.98467861e-01 -5.93684872e-03 -1.34899049e-01] [-2.07433558e-02 4.80165732e-03 9.99773303e-01 -4.67837820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.13, Z:-0.47 [[ 9.98377140e-01 5.30988705e-02 2.05814730e-02 2.97036851e+01] [-5.30712212e-02 9.98588946e-01 -1.88766898e-03 -1.31484039e-01] [-2.06526645e-02 7.92321651e-04 9.99786397e-01 -4.74797629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192791605 meters Centerline goodness : 0.966597 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.12, Z:-0.49 [[ 9.99458239e-01 2.59256143e-02 2.02754036e-02 2.97516003e+01] [-2.58224069e-02 9.99652307e-01 -5.33566557e-03 -1.20652999e-01] [-2.04066843e-02 4.80921519e-03 9.99780195e-01 -4.92382358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222791605 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.12, Z:-0.48 [[ 9.98524365e-01 5.04426636e-02 2.01154364e-02 2.97976347e+01] [-5.03163545e-02 9.98710608e-01 -6.73698159e-03 -1.15701493e-01] [-2.04293310e-02 5.71490483e-03 9.99774966e-01 -4.81394087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252791605000002 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.10, Z:-0.47 [[ 9.97803365e-01 6.31231650e-02 2.00975356e-02 2.97779327e+01] [-6.29949583e-02 9.97989644e-01 -6.95028070e-03 -1.00605105e-01] [-2.04958561e-02 5.66897005e-03 9.99773866e-01 -4.71124751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282791605 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.10, Z:-0.48 [[ 9.98317645e-01 5.43427359e-02 2.02174638e-02 2.98211404e+01] [-5.42573118e-02 9.98515687e-01 -4.75047266e-03 -9.82754413e-02] [-2.04456084e-02 3.64553544e-03 9.99784320e-01 -4.79411428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312791605 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.10, Z:-0.48 [[ 9.98636719e-01 4.81462832e-02 2.01652803e-02 2.98477099e+01] [-4.80424951e-02 9.98829592e-01 -5.60035869e-03 -9.97508486e-02] [-2.04113151e-02 4.62393345e-03 9.99780975e-01 -4.79496061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342791605000002 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.10, Z:-0.47 [[ 9.97967281e-01 6.04460286e-02 2.01887000e-02 2.98386895e+01] [-6.03641979e-02 9.98165639e-01 -4.63894737e-03 -9.67919358e-02] [-2.04320726e-02 3.41084302e-03 9.99785425e-01 -4.71358292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372791605 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.08, Z:-0.47 [[ 9.97550918e-01 6.69615634e-02 2.02068110e-02 2.98557848e+01] [-6.69292454e-02 9.97755137e-01 -2.27218600e-03 -8.18183710e-02] [-2.03135986e-02 9.14194616e-04 9.99793240e-01 -4.70458177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.88, Y:-0.07, Z:-0.47 [[ 9.97532868e-01 6.72296304e-02 2.02077548e-02 2.98793825e+01] [-6.72121644e-02 9.97737513e-01 -1.54302331e-03 -7.47130933e-02] [-2.02657719e-02 1.81009532e-04 9.99794612e-01 -4.69574816e-01] [ 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:29.96, Y:-0.05, Z:-0.49 [[ 9.97992234e-01 6.00253703e-02 2.02103134e-02 2.99648007e+01] [-6.00127446e-02 9.98196852e-01 -1.23118700e-03 -5.06761265e-02] [-2.02477737e-02 1.58386837e-05 9.99794993e-01 -4.87282839e-01] [ 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:29.92, Y:-0.04, Z:-0.48 [[ 9.96270357e-01 8.39127736e-02 2.01002886e-02 2.99242946e+01] [-8.38133369e-02 9.96464935e-01 -5.74088561e-03 -4.21837842e-02] [-2.05109664e-02 4.03480190e-03 9.99781486e-01 -4.79079425e-01] [ 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:29.96, Y:-0.03, Z:-0.48 [[ 9.95851829e-01 8.87249807e-02 2.01745521e-02 2.99612131e+01] [-8.87375542e-02 9.96055005e-01 -2.72887033e-04 -2.78162042e-02] [-2.01191754e-02 -1.51848536e-03 9.99796436e-01 -4.75619012e-01] [ 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:29.99, Y:-0.02, Z:-0.48 [[ 9.95863336e-01 8.85978313e-02 2.01653041e-02 2.99895998e+01] [-8.85971152e-02 9.96067109e-01 -9.30654955e-04 -1.83383645e-02] [-2.01684502e-02 -8.59782624e-04 9.99796226e-01 -4.80236564e-01] [ 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:30.02, Y:-0.00, Z:-0.48 [[ 9.96310309e-01 8.34215118e-02 2.01648157e-02 3.00160446e+01] [-8.34189402e-02 9.96514094e-01 -9.70114121e-04 -3.75522136e-04] [-2.01754514e-02 -7.15592853e-04 9.99796199e-01 -4.82653289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582791605 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:30.09, Y:0.01, Z:-0.49 [[ 9.97743016e-01 6.40485225e-02 2.01658203e-02 3.00865235e+01] [-6.40436909e-02 9.97946702e-01 -8.85978690e-04 1.30199305e-02] [-2.01811594e-02 -4.07514509e-04 9.99796257e-01 -4.87441612e-01] [ 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:30.11, Y:0.02, Z:-0.49 [[ 9.98515116e-01 5.06626710e-02 2.00214309e-02 3.01149629e+01] [-5.05853528e-02 9.98710269e-01 -4.34985698e-03 2.13204209e-02] [-2.02159840e-02 3.33060680e-03 9.99790088e-01 -4.87120461e-01] [ 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:30.09, Y:0.02, Z:-0.49 [[ 9.98592276e-01 4.91184657e-02 2.00210643e-02 3.00853326e+01] [-4.90637349e-02 9.98790472e-01 -3.21605464e-03 2.18946448e-02] [-2.01548159e-02 2.22921913e-03 9.99794386e-01 -4.86226283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.11, Y:0.03, Z:-0.49 [[ 9.98819290e-01 4.42753983e-02 1.99928612e-02 3.01123681e+01] [-4.42800644e-02 9.99019135e-01 -2.09455167e-04 2.70938276e-02] [-1.99825246e-02 -6.76077322e-04 9.99800101e-01 -4.88552289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702791605 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:30.20, Y:0.05, Z:-0.50 [[ 9.99409688e-01 2.79387110e-02 1.99926042e-02 3.01990146e+01] [-2.79406344e-02 9.99609567e-01 -1.83171494e-04 5.21565453e-02] [-1.99899160e-02 -3.75542681e-04 9.99800111e-01 -5.01081893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732791605000003 meters Centerline goodness : 0.979906 Centerline is valid? [True, True] Translation: X:30.28, Y:0.05, Z:-0.51 [[ 9.99653689e-01 1.74154432e-02 1.97282708e-02 3.02789365e+01] [-1.73403113e-02 9.99841752e-01 -3.97303143e-03 5.19646063e-02] [-1.97943409e-02 3.62956117e-03 9.99797485e-01 -5.05587024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762791605 meters Centerline goodness : 0.944676 Centerline is valid? [True, False] Translation: X:30.30, Y:0.07, Z:-0.50 [[ 9.99798534e-01 4.20042096e-03 1.96277290e-02 3.02979274e+01] [-4.04932759e-03 9.99961914e-01 -7.73136798e-03 6.57604390e-02] [-1.96594565e-02 7.65033127e-03 9.99777464e-01 -5.03030670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792791605 meters Centerline goodness : 0.932714 Centerline is valid? [False, False] Translation: X:30.30, Y:0.08, Z:-0.50 [[ 9.99805586e-01 3.02631721e-04 1.97154556e-02 3.02977224e+01] [-1.59274260e-05 9.99894279e-01 -1.45406428e-02 7.71523709e-02] [-1.97177717e-02 1.45375019e-02 9.99699890e-01 -4.99141688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822791605000003 meters Centerline goodness : 0.973591 Centerline is valid? [False, True] Translation: X:30.32, Y:0.08, Z:-0.50 [[ 9.99808222e-01 -7.44646275e-03 1.81126676e-02 3.03174672e+01] [ 7.63225900e-03 9.99918745e-01 -1.02104021e-02 8.05346336e-02] [-1.80351645e-02 1.03466845e-02 9.99783816e-01 -4.99029215e-01] [ 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:30.26, Y:0.06, Z:-0.50 [[ 9.99767036e-01 -1.21031446e-02 1.78714303e-02 3.02554966e+01] [ 1.21323046e-02 9.99925239e-01 -1.52412869e-03 6.32210759e-02] [-1.78516475e-02 1.74059526e-03 9.99839132e-01 -4.97105236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:30.29, Y:0.07, Z:-0.50 [[ 9.99763825e-01 -1.24828621e-02 1.77896956e-02 3.02890010e+01] [ 1.24730100e-02 9.99921988e-01 6.64658662e-04 6.84917108e-02] [-1.77966046e-02 -4.42610635e-04 9.99841530e-01 -5.00465922e-01] [ 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:30.32, Y:0.08, Z:-0.50 [[ 9.99733905e-01 -1.46845633e-02 1.77899654e-02 3.03208701e+01] [ 1.46751895e-02 9.99892098e-01 6.57356158e-04 8.29056625e-02] [-1.77976988e-02 -3.96110127e-04 9.99841530e-01 -5.00058710e-01] [ 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:30.35, Y:0.09, Z:-0.50 [[ 9.99685116e-01 -1.76968164e-02 1.77902003e-02 3.03529549e+01] [ 1.76880334e-02 9.99843343e-01 6.50937066e-04 9.09927642e-02] [-1.77989328e-02 -3.36058440e-04 9.99841530e-01 -4.99724474e-01] [ 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:30.38, Y:0.10, Z:-0.50 [[ 9.99461336e-01 -2.75778619e-02 1.77904337e-02 3.03848924e+01] [ 2.75707581e-02 9.99619647e-01 6.44494623e-04 1.02816368e-01] [-1.78014408e-02 -1.53651715e-04 9.99841530e-01 -4.98349426e-01] [ 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:30.42, Y:0.11, Z:-0.50 [[ 9.99270609e-01 -3.37896827e-02 1.77906689e-02 3.04177550e+01] [ 3.37836799e-02 9.99428965e-01 6.37933268e-04 1.07433786e-01] [-1.78020654e-02 -3.64337009e-05 9.99841530e-01 -4.98313443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:0.11, Z:-0.50 [[ 9.99022504e-01 -4.04662820e-02 1.77909392e-02 3.04501049e+01] [ 4.04614733e-02 9.99180900e-01 6.30304183e-04 1.11775097e-01] [-1.78018727e-02 9.01595492e-05 9.99841530e-01 -4.96806245e-01] [ 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:30.48, Y:0.12, Z:-0.49 [[ 9.98529268e-01 -5.12130923e-02 1.77910246e-02 3.04820260e+01] [ 5.12100313e-02 9.98687708e-01 6.27884631e-04 1.20799224e-01] [-1.77998335e-02 2.84117747e-04 9.99841530e-01 -4.94651465e-01] [ 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:30.51, Y:0.13, Z:-0.49 [[ 9.98360298e-01 -5.44076008e-02 1.77912622e-02 3.05142525e+01] [ 5.44051680e-02 9.98518749e-01 6.21078807e-04 1.25527615e-01] [-1.77987003e-02 3.47876186e-04 9.99841530e-01 -4.93793942e-01] [ 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:30.55, Y:0.13, Z:-0.49 [[ 9.97970248e-01 -6.11461090e-02 1.77914978e-02 3.05463264e+01] [ 6.11448675e-02 9.98128713e-01 6.14253929e-04 1.30692383e-01] [-1.77957641e-02 4.74851632e-04 9.99841530e-01 -4.93860027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:30.58, Y:0.13, Z:-0.49 [[ 9.97807390e-01 -6.37484634e-02 1.77917240e-02 3.05796021e+01] [ 6.37477532e-02 9.97965859e-01 6.07632262e-04 1.33328085e-01] [-1.77942687e-02 5.27882466e-04 9.99841530e-01 -4.94016124e-01] [ 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:30.61, Y:0.14, Z:-0.49 [[ 9.97554049e-01 -6.75970738e-02 1.77919798e-02 3.06132472e+01] [ 6.75971100e-02 9.97712519e-01 6.00046481e-04 1.35155649e-01] [-1.77918424e-02 6.04107619e-04 9.99841530e-01 -4.91779317e-01] [ 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:30.65, Y:0.13, Z:-0.49 [[ 9.97325413e-01 -7.08904627e-02 1.77922327e-02 3.06468022e+01] [ 7.08911575e-02 9.97483881e-01 5.92450785e-04 1.32698407e-01] [-1.77894645e-02 6.70445748e-04 9.99841530e-01 -4.92132521e-01] [ 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:30.68, Y:0.13, Z:-0.49 [[ 9.96781927e-01 -7.81614830e-02 1.77924816e-02 3.06799645e+01] [ 7.81634682e-02 9.96940384e-01 5.84880200e-04 1.29187768e-01] [-1.77837585e-02 8.07724056e-04 9.99841530e-01 -4.91341039e-01] [ 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:30.71, Y:0.13, Z:-0.49 [[ 9.96553978e-01 -8.10159709e-02 1.77927265e-02 3.07134468e+01] [ 8.10185443e-02 9.96712427e-01 5.77333251e-04 1.28201955e-01] [-1.77810048e-02 8.66197050e-04 9.99841530e-01 -4.90919227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302791605 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:30.75, Y:0.13, Z:-0.49 [[ 9.96343311e-01 -8.35668411e-02 1.77929678e-02 3.07469752e+01] [ 8.35699543e-02 9.96501750e-01 5.69798666e-04 1.27963509e-01] [-1.77783398e-02 9.19242413e-04 9.99841530e-01 -4.90905987e-01] [ 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:30.78, Y:0.12, Z:-0.49 [[ 9.95967778e-01 -8.79294433e-02 1.77932013e-02 3.07804398e+01] [ 8.79333820e-02 9.96126199e-01 5.62410612e-04 1.24461807e-01] [-1.77737264e-02 1.00447352e-03 9.99841530e-01 -4.90840183e-01] [ 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:30.81, Y:0.12, Z:-0.49 [[ 9.95944984e-01 -8.81872239e-02 1.77933038e-02 3.08133465e+01] [ 8.81912617e-02 9.96103403e-01 5.59147541e-04 1.23622653e-01] [-1.77732802e-02 1.01233373e-03 9.99841530e-01 -4.92096606e-01] [ 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:30.85, Y:0.12, Z:-0.49 [[ 9.96084929e-01 -8.65921749e-02 1.77935369e-02 3.08466082e+01] [ 8.65960928e-02 9.96243350e-01 5.51630691e-04 1.21977271e-01] [-1.77744597e-02 9.91379752e-04 9.99841530e-01 -4.89488721e-01] [ 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:30.88, Y:0.12, Z:-0.49 [[ 9.96013094e-01 -8.74145180e-02 1.77937628e-02 3.08797629e+01] [ 8.74186983e-02 9.96171509e-01 5.44245081e-04 1.21959414e-01] [-1.77732144e-02 1.01343235e-03 9.99841530e-01 -4.89153226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:30.91, Y:0.12, Z:-0.49 [[ 9.95916821e-01 -8.85045693e-02 1.77939866e-02 3.09127577e+01] [ 8.85090550e-02 9.96075228e-01 5.36824591e-04 1.17736161e-01] [-1.77716607e-02 1.04029630e-03 9.99841530e-01 -4.91102876e-01] [ 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:30.95, Y:0.12, Z:-0.49 [[ 9.95902278e-01 -8.86680299e-02 1.77942083e-02 3.09466066e+01] [ 8.86726743e-02 9.96060679e-01 5.29374344e-04 1.16704528e-01] [-1.77710498e-02 1.05065492e-03 9.99841530e-01 -4.93412670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:30.98, Y:0.12, Z:-0.49 [[ 9.95825826e-01 -8.95225205e-02 1.77944272e-02 3.09802914e+01] [ 8.95274337e-02 9.95984220e-01 5.21911816e-04 1.17050846e-01] [-1.77696915e-02 1.07335613e-03 9.99841530e-01 -4.93533488e-01] [ 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:31.01, Y:0.12, Z:-0.49 [[ 9.95607628e-01 -9.19173596e-02 1.77946395e-02 3.10123616e+01] [ 9.19227845e-02 9.95766005e-01 5.14566844e-04 1.15439749e-01] [-1.77665948e-02 1.12342614e-03 9.99841530e-01 -4.93632955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572791605000003 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:31.04, Y:0.11, Z:-0.49 [[ 9.95533341e-01 -9.27184567e-02 1.77948233e-02 3.10446190e+01] [ 9.27241235e-02 9.95691709e-01 5.08133418e-04 1.11423457e-01] [-1.77652713e-02 1.14414563e-03 9.99841530e-01 -4.94696607e-01] [ 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:31.08, Y:0.11, Z:-0.50 [[ 9.95556484e-01 -9.24696078e-02 1.77948889e-02 3.10783916e+01] [ 9.24752762e-02 9.95714852e-01 5.05822309e-04 1.09557416e-01] [-1.77654084e-02 1.14201259e-03 9.99841530e-01 -4.95681685e-01] [ 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:31.11, Y:0.11, Z:-0.50 [[ 9.95541970e-01 -9.26257012e-02 1.77950985e-02 3.11120370e+01] [ 9.26315276e-02 9.95700332e-01 4.98337749e-04 1.08995325e-01] [-1.77647444e-02 1.15227102e-03 9.99841531e-01 -4.95324441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662791605000002 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.17, Y:0.10, Z:-0.50 [[ 9.96789114e-01 -7.80691277e-02 1.77952996e-02 3.11697118e+01] [ 7.80727692e-02 9.96947542e-01 4.91052555e-04 1.00889303e-01] [-1.77793162e-02 8.99852476e-04 9.99841531e-01 -5.01987084e-01] [ 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:31.20, Y:0.10, Z:-0.50 [[ 9.96721743e-01 -7.89162557e-02 1.78323201e-02 3.11961308e+01] [ 7.89528097e-02 9.96877435e-01 -1.35414560e-03 9.66790062e-02] [-1.76697734e-02 2.75761814e-03 9.99840075e-01 -4.99363694e-01] [ 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:31.23, Y:0.10, Z:-0.50 [[ 9.96184779e-01 -8.54297256e-02 1.78227075e-02 3.12268017e+01] [ 8.54595765e-02 9.96341215e-01 -9.18639296e-04 9.58751322e-02] [-1.76790189e-02 2.43825552e-03 9.99840741e-01 -5.01223657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752791605000002 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:31.29, Y:0.08, Z:-0.51 [[ 9.93744106e-01 -1.10249510e-01 1.78240937e-02 3.12891989e+01] [ 1.10284369e-01 9.93899590e-01 -9.81773811e-04 7.94341979e-02] [-1.76071194e-02 2.94135087e-03 9.99840656e-01 -5.14429648e-01] [ 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:31.29, Y:0.09, Z:-0.50 [[ 9.96922957e-01 -7.63280889e-02 1.78504873e-02 3.12897564e+01] [ 7.63817145e-02 9.97075902e-01 -2.34092441e-03 8.85972110e-02] [-1.76196125e-02 3.69717212e-03 9.99837927e-01 -4.98304175e-01] [ 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:31.33, Y:0.08, Z:-0.50 [[ 9.96530051e-01 -8.13035456e-02 1.78210764e-02 3.13288119e+01] [ 8.13361741e-02 9.96686103e-01 -1.11259696e-03 8.33676003e-02] [-1.76715611e-02 2.55823448e-03 9.99840573e-01 -5.01133234e-01] [ 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:31.36, Y:0.08, Z:-0.51 [[ 9.95572482e-01 -9.22899892e-02 1.78322737e-02 3.13578081e+01] [ 9.23344196e-02 9.95726631e-01 -1.68275175e-03 8.23783764e-02] [-1.76007687e-02 3.32183398e-03 9.99839576e-01 -5.07869963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872791605 meters Centerline goodness : 0.986515 Centerline is valid? [True, True] Translation: X:31.43, Y:0.07, Z:-0.53 [[ 9.92985013e-01 -1.16887790e-01 1.78327837e-02 3.14255581e+01] [ 1.16936501e-01 9.93137921e-01 -1.71010945e-03 6.74253589e-02] [-1.75105228e-02 3.78341638e-03 9.99839521e-01 -5.32899129e-01] [ 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:31.42, Y:0.08, Z:-0.51 [[ 9.96164215e-01 -8.56607197e-02 1.78632863e-02 3.14222575e+01] [ 8.57356443e-02 9.96311878e-01 -3.47015028e-03 7.83139799e-02] [-1.75001488e-02 4.98835989e-03 9.99834417e-01 -5.07281218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932791605000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:0.07, Z:-0.50 [[ 9.96740051e-01 -7.87074575e-02 1.77315439e-02 3.14100707e+01] [ 7.87378505e-02 9.96894833e-01 -1.02141902e-03 7.37213288e-02] [-1.75960912e-02 2.41423289e-03 9.99842262e-01 -5.04488290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962791605 meters Centerline goodness : 0.921543 Centerline is valid? [True, False] Translation: X:31.39, Y:0.08, Z:-0.50 [[ 9.98101265e-01 -5.53983551e-02 2.69237408e-02 3.13868668e+01] [ 5.56222653e-02 9.98422658e-01 -7.63936752e-03 8.16417548e-02] [-2.64580645e-02 9.12242183e-03 9.99608299e-01 -5.03354228e-01] [ 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:31.36, Y:0.09, Z:-0.50 [[ 9.98783903e-01 -3.22736270e-02 3.72710033e-02 3.13634213e+01] [ 3.28292168e-02 9.99357349e-01 -1.43920734e-02 9.35067778e-02] [-3.67825667e-02 1.55981490e-02 9.99201552e-01 -4.99572094e-01] [ 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:31.40, Y:0.08, Z:-0.51 [[ 9.98918265e-01 -2.79181815e-02 3.71870251e-02 3.13960177e+01] [ 2.79291806e-02 9.99609879e-01 2.23772537e-04 8.47275692e-02] [-3.71787650e-02 8.15072667e-04 9.99308298e-01 -5.09879741e-01] [ 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:31.43, Y:0.09, Z:-0.51 [[ 9.99106795e-01 -2.00681314e-02 3.71871156e-02 3.14289655e+01] [ 2.00742988e-02 9.99798469e-01 2.07564178e-04 9.23889283e-02] [-3.71837867e-02 5.39126489e-04 9.99308298e-01 -5.12681670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082791605 meters Centerline goodness : 0.898543 Centerline is valid? [True, False] Translation: X:31.45, Y:0.10, Z:-0.51 [[ 9.99641171e-01 -1.91582715e-02 1.87213750e-02 3.14490377e+01] [ 1.92076876e-02 9.99812481e-01 -2.46329903e-03 9.90892985e-02] [-1.86706718e-02 2.82200945e-03 9.99821705e-01 -5.11035437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112791605 meters Centerline goodness : 0.999904 Centerline is valid? [False, True] Translation: X:31.46, Y:0.12, Z:-0.50 [[ 9.99897585e-01 -7.42623520e-03 1.22339512e-02 3.14569150e+01] [ 7.60584062e-03 9.99863016e-01 -1.47003817e-02 1.20167307e-01] [-1.21231068e-02 1.47919256e-02 9.99817098e-01 -5.04069392e-01] [ 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:31.49, Y:0.11, Z:-0.52 [[ 9.99909566e-01 -5.95736219e-03 1.20569082e-02 3.14858821e+01] [ 5.95522088e-03 9.99982245e-01 2.13495153e-04 1.12757756e-01] [-1.20579660e-02 -1.41674295e-04 9.99927290e-01 -5.17047097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172791605 meters Centerline goodness : 0.857177 Centerline is valid? [True, False] Translation: X:31.49, Y:0.12, Z:-0.52 [[ 9.99911951e-01 -5.75732917e-03 1.19559229e-02 3.14862703e+01] [ 5.76575627e-03 9.99983153e-01 -6.70498097e-04 1.17230038e-01] [-1.19518612e-02 7.39373998e-04 9.99928301e-01 -5.16109554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202791605 meters Centerline goodness : 0.992999 Centerline is valid? [False, True] Translation: X:31.51, Y:0.13, Z:-0.51 [[ 9.99979735e-01 -6.08192716e-04 6.33711135e-03 3.15105912e+01] [ 6.37752257e-04 9.99988922e-01 -4.66353715e-03 1.29206309e-01] [-6.33420482e-03 4.66748416e-03 9.99969046e-01 -5.10190955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232791605000003 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:31.45, Y:0.11, Z:-0.49 [[ 9.99979609e-01 -9.48773040e-04 6.31520482e-03 3.14484109e+01] [ 9.51827511e-04 9.99999431e-01 -4.80681482e-04 1.09090548e-01] [-6.31474517e-03 4.86682666e-04 9.99979943e-01 -4.94181504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262791605 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:31.48, Y:0.11, Z:-0.49 [[ 9.99979673e-01 -9.27705162e-04 6.30812656e-03 3.14801092e+01] [ 9.27598193e-04 9.99999570e-01 1.98831260e-05 1.09178845e-01] [-6.30814229e-03 -1.40313151e-05 9.99980103e-01 -4.94796080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292791605 meters Centerline goodness : 0.978967 Centerline is valid? [True, True] Translation: X:31.60, Y:0.14, Z:-0.52 [[ 9.99960901e-01 6.19695016e-03 6.30823954e-03 3.15963462e+01] [-6.19714620e-03 9.99980797e-01 1.15294144e-05 1.37650223e-01] [-6.30804696e-03 -5.06220464e-05 9.99980103e-01 -5.15339163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322791605000003 meters Centerline goodness : 0.964490 Centerline is valid? [True, True] Translation: X:31.62, Y:0.14, Z:-0.51 [[ 9.99971009e-01 -4.41741510e-03 6.20221369e-03 3.16183864e+01] [ 4.42788769e-03 9.99988793e-01 -1.67580990e-03 1.44183788e-01] [-6.19474143e-03 1.70322402e-03 9.99979362e-01 -5.13485221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352791605 meters Centerline goodness : 0.962491 Centerline is valid? [True, True] Translation: X:31.65, Y:0.15, Z:-0.51 [[ 9.99966149e-01 -5.41055823e-03 6.19894271e-03 3.16514444e+01] [ 5.42141075e-03 9.99983798e-01 -1.73524050e-03 1.48096001e-01] [-6.18945365e-03 1.76878878e-03 9.99979281e-01 -5.13755422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382791605 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:31.59, Y:0.13, Z:-0.49 [[ 9.99980802e-01 -7.17125278e-05 6.19597928e-03 3.15850538e+01] [ 7.92742171e-05 9.99999252e-01 -1.22018177e-03 1.34650632e-01] [-6.19588715e-03 1.22064952e-03 9.99980060e-01 -4.93291521e-01] [ 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:31.61, Y:0.14, Z:-0.50 [[ 9.99975301e-01 3.35613092e-03 6.17521471e-03 3.16119077e+01] [-3.35573940e-03 9.99994367e-01 -7.37608886e-05 1.36729660e-01] [-6.17542747e-03 5.30366555e-05 9.99980930e-01 -4.96618137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:31.66, Y:0.15, Z:-0.50 [[ 9.99960156e-01 -6.44711316e-03 6.17424109e-03 3.16585930e+01] [ 6.44736296e-03 9.99979215e-01 -2.05550504e-05 1.47541444e-01] [-6.17398024e-03 6.03618047e-05 9.99980939e-01 -4.97190126e-01] [ 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:31.66, Y:0.15, Z:-0.49 [[ 9.99971649e-01 -4.30054836e-03 6.18109809e-03 3.16638666e+01] [ 4.30275020e-03 9.99990684e-01 -3.42968175e-04 1.47076904e-01] [-6.17956556e-03 3.69554172e-04 9.99980838e-01 -4.94236377e-01] [ 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:31.69, Y:0.15, Z:-0.49 [[ 9.99796401e-01 -1.92114904e-02 6.17051727e-03 3.16925807e+01] [ 1.92113336e-02 9.99815442e-01 8.46855665e-05 1.48035939e-01] [-6.17100539e-03 3.38755410e-05 9.99980959e-01 -4.94333809e-01] [ 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:31.72, Y:0.15, Z:-0.50 [[ 9.99633682e-01 -2.63523320e-02 6.16901278e-03 3.17219294e+01] [ 2.63519393e-02 9.99652717e-01 1.44957758e-04 1.49313530e-01] [-6.17069036e-03 1.76607927e-05 9.99980961e-01 -4.96711322e-01] [ 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:31.75, Y:0.15, Z:-0.51 [[ 9.99508275e-01 -3.07436417e-02 6.16736893e-03 3.17545539e+01] [ 3.07429300e-02 9.99527302e-01 2.10177476e-04 1.52850385e-01] [-6.17091525e-03 -2.04711346e-05 9.99980960e-01 -5.05561744e-01] [ 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:31.79, Y:0.16, Z:-0.49 [[ 9.99566279e-01 -2.87958373e-02 6.16879328e-03 3.17880110e+01] [ 2.87954439e-02 9.99585314e-01 1.52598461e-04 1.55503769e-01] [-6.17062937e-03 2.51008652e-05 9.99980961e-01 -4.94082322e-01] [ 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:31.82, Y:0.16, Z:-0.50 [[ 9.99350894e-01 -3.54923887e-02 6.17092863e-03 3.18155311e+01] [ 3.54926579e-02 9.99369935e-01 6.59189836e-05 1.57346223e-01] [-6.16938016e-03 1.53146464e-04 9.99980957e-01 -5.02851207e-01] [ 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:31.85, Y:0.16, Z:-0.50 [[ 9.99273265e-01 -3.76150105e-02 6.16873800e-03 3.18486430e+01] [ 3.76147777e-02 9.99292302e-01 1.53789476e-04 1.59102181e-01] [-6.17015719e-03 7.83579965e-05 9.99980961e-01 -5.02955833e-01] [ 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:31.88, Y:0.16, Z:-0.50 [[ 9.99273517e-01 -3.76083029e-02 6.16876753e-03 3.18821492e+01] [ 3.76080774e-02 9.99292554e-01 1.52595512e-04 1.60201180e-01] [-6.17014232e-03 7.95108325e-05 9.99980961e-01 -5.02824755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712791605 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:31.92, Y:0.17, Z:-0.49 [[ 9.99449022e-01 -3.26128641e-02 6.16883435e-03 3.19193627e+01] [ 3.26125603e-02 9.99468058e-01 1.49844597e-04 1.65312325e-01] [-6.17043975e-03 5.14194471e-05 9.99980961e-01 -4.94285387e-01] [ 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:31.94, Y:0.17, Z:-0.50 [[ 9.99292327e-01 -3.71044023e-02 6.17318084e-03 3.19423594e+01] [ 3.71053177e-02 9.99311360e-01 -3.37884835e-05 1.67768153e-01] [-6.16767604e-03 2.62822409e-04 9.99980945e-01 -4.99693636e-01] [ 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:31.98, Y:0.17, Z:-0.50 [[ 9.99220261e-01 -3.89976815e-02 6.16860360e-03 3.19756578e+01] [ 3.89974862e-02 9.99239297e-01 1.51988140e-04 1.69932666e-01] [-6.16983831e-03 8.86904046e-05 9.99980962e-01 -4.97573029e-01] [ 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:32.01, Y:0.17, Z:-0.50 [[ 9.99154779e-01 -4.06408147e-02 6.16863216e-03 3.20093421e+01] [ 4.06406579e-02 9.99173816e-01 1.50819846e-04 1.69953665e-01] [-6.16966518e-03 1.00004899e-04 9.99980962e-01 -4.98034139e-01] [ 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:32.04, Y:0.17, Z:-0.49 [[ 9.99019248e-01 -4.38462000e-02 6.16866080e-03 3.20425428e+01] [ 4.38461116e-02 9.99038286e-01 1.49639131e-04 1.72998362e-01] [-6.16928942e-03 1.20979418e-04 9.99980962e-01 -4.94015474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862791605 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:32.09, Y:0.18, Z:-0.49 [[ 9.99421245e-01 -3.34532816e-02 6.16872488e-03 3.20858913e+01] [ 3.34530118e-02 9.99440281e-01 1.46949174e-04 1.79478274e-01] [-6.17018806e-03 5.94982999e-05 9.99980962e-01 -4.91031260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892791605000003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:32.10, Y:0.17, Z:-0.49 [[ 9.98450521e-01 -5.53024677e-02 6.18010056e-03 3.20992474e+01] [ 5.53054657e-02 9.98469432e-01 -3.15131238e-04 1.70302032e-01] [-6.15321396e-03 6.56436289e-04 9.99980853e-01 -4.92063175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922791605 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:32.13, Y:0.17, Z:-0.49 [[ 9.98210549e-01 -5.94783157e-02 6.16678139e-03 3.21328744e+01] [ 5.94784024e-02 9.98229578e-01 1.69493669e-04 1.68491020e-01] [-6.16594479e-03 1.97599937e-04 9.99980971e-01 -4.91924835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952791605 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:32.17, Y:0.17, Z:-0.49 [[ 9.98079128e-01 -6.16443434e-02 6.16685219e-03 3.21658131e+01] [ 6.16444876e-02 9.98098156e-01 1.66877337e-04 1.67683912e-01] [-6.16541085e-03 2.13595656e-04 9.99980971e-01 -4.89597523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982791605000003 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:32.20, Y:0.16, Z:-0.49 [[ 9.97805578e-01 -6.59241862e-02 6.16691313e-03 3.21990962e+01] [ 6.59244261e-02 9.97824605e-01 1.64594053e-04 1.64864076e-01] [-6.16434839e-03 2.42317345e-04 9.99980971e-01 -4.88306673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012791605000004 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:32.23, Y:0.16, Z:-0.49 [[ 9.97830395e-01 -6.55474775e-02 6.16698160e-03 3.22327291e+01] [ 6.55477262e-02 9.97849422e-01 1.61987263e-04 1.64649909e-01] [-6.16433689e-03 2.42595808e-04 9.99980971e-01 -4.87658275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042791605 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:32.27, Y:0.16, Z:-0.49 [[ 9.97719482e-01 -6.72146080e-02 6.16704913e-03 3.22652880e+01] [ 6.72149047e-02 9.97738508e-01 1.59374205e-04 1.60587995e-01] [-6.16381468e-03 2.55506870e-04 9.99980971e-01 -4.89711119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072791605 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:32.30, Y:0.16, Z:-0.49 [[ 9.97727638e-01 -6.70934203e-02 6.16710728e-03 3.22990279e+01] [ 6.70937287e-02 9.97746665e-01 1.57091613e-04 1.58277342e-01] [-6.16375053e-03 2.57039578e-04 9.99980971e-01 -4.89599200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102791605 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:32.33, Y:0.15, Z:-0.49 [[ 9.97728514e-01 -6.70803867e-02 6.16717310e-03 3.23327489e+01] [ 6.70807112e-02 9.97747540e-01 1.54463525e-04 1.53769488e-01] [-6.16364326e-03 2.59585694e-04 9.99980971e-01 -4.90393973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132791605 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:32.37, Y:0.15, Z:-0.49 [[ 9.97715162e-01 -6.72786750e-02 6.16723760e-03 3.23655578e+01] [ 6.72790193e-02 9.97734188e-01 1.51843664e-04 1.52705857e-01] [-6.16347964e-03 2.63428973e-04 9.99980971e-01 -4.90031922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162791605 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:32.40, Y:0.15, Z:-0.49 [[ 9.97811553e-01 -6.58336453e-02 6.16729292e-03 3.23995108e+01] [ 6.58339762e-02 9.97830579e-01 1.49562557e-04 1.49621653e-01] [-6.16375972e-03 2.56782168e-04 9.99980971e-01 -4.90027838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192791605000004 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:32.43, Y:0.15, Z:-0.49 [[ 9.97828611e-01 -6.55745845e-02 6.16735531e-03 3.24318516e+01] [ 6.55749266e-02 9.97847637e-01 1.46944072e-04 1.50029709e-01] [-6.16371672e-03 2.57798872e-04 9.99980971e-01 -4.87811239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222791605000005 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:32.48, Y:0.15, Z:-0.49 [[ 9.99268892e-01 -3.77312207e-02 6.16740907e-03 3.24786194e+01] [ 3.77310464e-02 9.99287920e-01 1.44652110e-04 1.51492580e-01] [-6.16847528e-03 8.81564440e-05 9.99980971e-01 -4.89857681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252791605 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:32.49, Y:0.15, Z:-0.49 [[ 9.98156998e-01 -6.03691757e-02 6.17821350e-03 3.24921113e+01] [ 6.03725755e-02 9.98175846e-01 -3.65116088e-04 1.46702920e-01] [-6.14490173e-03 7.37437839e-04 9.99980848e-01 -4.87620296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282791605 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:32.53, Y:0.15, Z:-0.49 [[ 9.98409053e-01 -5.60477250e-02 6.16568808e-03 3.25251100e+01] [ 5.60478667e-02 9.98428072e-01 1.49948082e-04 1.45636664e-01] [-6.16440031e-03 1.95864141e-04 9.99980981e-01 -4.89423495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312791605 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:32.56, Y:0.15, Z:-0.49 [[ 9.98950834e-01 -4.53785785e-02 6.16575196e-03 3.25585826e+01] [ 4.53785334e-02 9.98969853e-01 1.47273613e-04 1.47282878e-01] [-6.16608340e-03 1.32673684e-04 9.99980981e-01 -4.88458268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342791605 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:32.60, Y:0.15, Z:-0.49 [[ 9.99792705e-01 -1.94043835e-02 6.16581509e-03 3.26028681e+01] [ 1.94038609e-02 9.99811717e-01 1.44581368e-04 1.51825246e-01] [-6.16745969e-03 -2.49107791e-05 9.99980981e-01 -4.89828848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372791605 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:32.61, Y:0.15, Z:-0.49 [[ 9.99192979e-01 -3.96889830e-02 6.17863638e-03 3.26133852e+01] [ 3.96919172e-02 9.99211903e-01 -3.52956200e-04 1.48123227e-01] [-6.15975854e-03 5.97913281e-04 9.99980850e-01 -4.87644023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402791605000004 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:32.65, Y:0.15, Z:-0.49 [[ 9.99506071e-01 -3.08160330e-02 6.16322765e-03 3.26468027e+01] [ 3.08155172e-02 9.99525073e-01 1.78651955e-04 1.51111842e-01] [-6.16580592e-03 1.13593336e-05 9.99980991e-01 -4.88463598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432791605 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:32.68, Y:0.16, Z:-0.49 [[ 9.99722144e-01 -2.27518748e-02 6.16330288e-03 3.26791858e+01] [ 2.27512220e-02 9.99741142e-01 1.76017736e-04 1.56600560e-01] [-6.16571220e-03 -3.57461567e-05 9.99980991e-01 -4.89794789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462791605 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:32.71, Y:0.16, Z:-0.49 [[ 9.99781256e-01 -1.99863361e-02 6.16336708e-03 3.27125765e+01] [ 1.99856448e-02 9.99800252e-01 1.73740366e-04 1.58712432e-01] [-6.16560839e-03 -5.05234966e-05 9.99980991e-01 -4.92447853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492791605 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:32.75, Y:0.16, Z:-0.49 [[ 9.99840256e-01 -1.67772061e-02 6.16343894e-03 3.27460930e+01] [ 1.67764698e-02 9.99859250e-01 1.71152466e-04 1.60447568e-01] [-6.16544290e-03 -6.77243784e-05 9.99980991e-01 -4.94823918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522791605 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:32.78, Y:0.17, Z:-0.50 [[ 9.99907938e-01 -1.20883020e-02 6.16351000e-03 3.27795180e+01] [ 1.20874926e-02 9.99926929e-01 1.68554305e-04 1.65310091e-01] [-6.16509716e-03 -9.40374059e-05 9.99980991e-01 -4.95198607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552791605 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:32.81, Y:0.17, Z:-0.49 [[ 9.99935588e-01 -9.53053305e-03 6.16357907e-03 3.28123142e+01] [ 9.52969090e-03 9.99954578e-01 1.65989420e-04 1.71063705e-01] [-6.16488107e-03 -1.07241725e-04 9.99980991e-01 -4.93756755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582791605000004 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:32.85, Y:0.18, Z:-0.49 [[ 9.99974901e-01 -3.49396816e-03 6.16364672e-03 3.28456177e+01] [ 3.49302710e-03 9.99993886e-01 1.63438352e-04 1.79478201e-01] [-6.16418008e-03 -1.41904465e-04 9.99980991e-01 -4.92001086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612791605 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:32.88, Y:0.18, Z:-0.49 [[ 9.99980545e-01 -9.58106217e-04 6.16371286e-03 3.28791904e+01] [ 9.57132618e-04 9.99999529e-01 1.60904539e-04 1.81631596e-01] [-6.16386412e-03 -1.55001918e-04 9.99980991e-01 -4.93960010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642791605 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:32.91, Y:0.19, Z:-0.50 [[ 9.99977503e-01 2.64605045e-03 6.16373756e-03 3.29123300e+01] [-2.64708660e-03 9.99996484e-01 1.59952684e-04 1.88426893e-01] [-6.16329265e-03 -1.76265032e-04 9.99980991e-01 -4.95235618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672791605 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:32.94, Y:0.19, Z:-0.49 [[ 9.99969893e-01 4.71389136e-03 6.16376191e-03 3.29445167e+01] [-4.71496095e-03 9.99988872e-01 1.59008810e-04 1.94992350e-01] [-6.16294377e-03 -1.88065920e-04 9.99980991e-01 -4.93685384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702791605 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:32.98, Y:0.20, Z:-0.49 [[ 9.99980776e-01 -6.75449997e-04 6.16377806e-03 3.29771523e+01] [ 6.74486579e-04 9.99999760e-01 1.58380450e-04 1.95742027e-01] [-6.16388356e-03 -1.54220019e-04 9.99980991e-01 -4.94777161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732791605 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:33.01, Y:0.20, Z:-0.49 [[ 9.99969419e-01 -4.81329476e-03 6.16383364e-03 3.30107092e+01] [ 4.81242342e-03 9.99988408e-01 1.56186943e-04 1.96804001e-01] [-6.16451396e-03 -1.26519190e-04 9.99980991e-01 -4.93147374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762791605000004 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:33.04, Y:0.20, Z:-0.49 [[ 9.99959051e-01 -6.62591683e-03 6.16389658e-03 3.30444031e+01] [ 6.62509547e-03 9.99978042e-01 1.53662061e-04 2.00187203e-01] [-6.16477939e-03 -1.12819365e-04 9.99980991e-01 -4.91858121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792791605 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:33.08, Y:0.20, Z:-0.49 [[ 9.99915106e-01 -1.14798211e-02 6.16395925e-03 3.30779768e+01] [ 1.14791077e-02 9.99934101e-01 1.51105812e-04 2.00407859e-01] [-6.16528772e-03 -8.03362316e-05 9.99980991e-01 -4.90236726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822791605 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:33.11, Y:0.20, Z:-0.48 [[ 9.99978263e-01 -2.34063486e-03 6.16402160e-03 3.31146464e+01] [ 2.33976382e-03 9.99997252e-01 1.48517853e-04 2.01648096e-01] [-6.16435229e-03 -1.34092270e-04 9.99980991e-01 -4.83327823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852791605 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:33.14, Y:0.20, Z:-0.49 [[ 9.99924112e-01 -1.06647164e-02 6.16716635e-03 3.31403929e+01] [ 1.06648302e-02 9.99943129e-01 1.44451075e-05 2.01424602e-01] [-6.16696967e-03 5.13277705e-05 9.99980983e-01 -4.92488692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882791605 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:33.17, Y:0.20, Z:-0.49 [[ 9.99931056e-01 -9.99447077e-03 6.16397955e-03 3.31726446e+01] [ 9.99375097e-03 9.99950050e-01 1.47564530e-04 2.01014077e-01] [-6.16514649e-03 -8.59530800e-05 9.99980992e-01 -4.91795481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912791605 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:33.21, Y:0.20, Z:-0.49 [[ 9.99936727e-01 -9.40988726e-03 6.16403351e-03 3.32051257e+01] [ 9.40917047e-03 9.99955722e-01 1.45275389e-04 1.99903968e-01] [-6.16512760e-03 -8.72677549e-05 9.99980992e-01 -4.91752425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942791605000004 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:33.24, Y:0.20, Z:-0.48 [[ 9.99959378e-01 -6.57624198e-03 6.16408552e-03 3.32372395e+01] [ 6.57548518e-03 9.99978371e-01 1.43033911e-04 1.99431130e-01] [-6.16489282e-03 -1.02496247e-04 9.99980992e-01 -4.82999575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972791605000005 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:33.27, Y:0.20, Z:-0.49 [[ 9.99942614e-01 -8.76153359e-03 6.16469210e-03 3.32671235e+01] [ 8.76098041e-03 9.99961615e-01 1.16731888e-04 1.99107964e-01] [-6.16547822e-03 -6.27164426e-05 9.99980991e-01 -4.92927884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002791605 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:33.30, Y:0.20, Z:-0.49 [[ 9.99949389e-01 -7.95129694e-03 6.16412105e-03 3.32997808e+01] [ 7.95057515e-03 9.99968384e-01 1.41592138e-04 1.98319272e-01] [-6.16505200e-03 -9.25766644e-05 9.99980992e-01 -4.94750221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032791605 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:33.33, Y:0.20, Z:-0.50 [[ 9.99961063e-01 -6.31462693e-03 6.16417246e-03 3.33334574e+01] [ 6.31388807e-03 9.99980058e-01 1.39317538e-04 1.96139927e-01] [-6.16492927e-03 -1.00392218e-04 9.99980992e-01 -4.95715814e-01] [ 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:33.37, Y:0.20, Z:-0.50 [[ 9.99962363e-01 -6.10531199e-03 6.16422955e-03 3.33666650e+01] [ 6.10458500e-03 9.99981357e-01 1.36744025e-04 1.96829225e-01] [-6.16494950e-03 -9.91088152e-05 9.99980992e-01 -4.95620012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092791605 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:33.40, Y:0.20, Z:-0.49 [[ 9.99962169e-01 -6.13697732e-03 6.16425441e-03 3.34005057e+01] [ 6.13625791e-03 9.99981164e-01 1.35613735e-04 1.98776531e-01] [-6.16497056e-03 -9.77831495e-05 9.99980992e-01 -4.94512009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122791605 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:33.43, Y:0.20, Z:-0.49 [[ 9.99967589e-01 -5.17892301e-03 6.16431069e-03 3.34337154e+01] [ 5.17820147e-03 9.99986584e-01 1.33005697e-04 1.99584908e-01] [-6.16491681e-03 -1.01081343e-04 9.99980992e-01 -4.94919178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152791605000004 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:33.47, Y:0.20, Z:-0.50 [[ 9.99969657e-01 -4.76294356e-03 6.16436532e-03 3.34675798e+01] [ 4.76223003e-03 9.99988652e-01 1.30423716e-04 2.00664191e-01] [-6.16491656e-03 -1.01063633e-04 9.99980992e-01 -4.95125822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182791605 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:33.50, Y:0.20, Z:-0.50 [[ 9.99972127e-01 -4.21258132e-03 6.16441850e-03 3.35011446e+01] [ 4.21187314e-03 9.99991122e-01 1.27859413e-04 2.00778280e-01] [-6.16490239e-03 -1.01892101e-04 9.99980992e-01 -4.96237120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212791605 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:33.53, Y:0.20, Z:-0.50 [[ 9.99975317e-01 -3.37117485e-03 6.16447073e-03 3.35346753e+01] [ 3.37046652e-03 9.99994312e-01 1.25289986e-04 2.00286163e-01] [-6.16485804e-03 -1.04509751e-04 9.99980992e-01 -4.97577590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242791605 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:33.57, Y:0.20, Z:-0.50 [[ 9.99974582e-01 -3.58245702e-03 6.16452204e-03 3.35682627e+01] [ 3.58176859e-03 9.99993578e-01 1.22712152e-04 1.98988285e-01] [-6.16492206e-03 -1.00629141e-04 9.99980992e-01 -4.99514570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272791605 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:33.60, Y:0.20, Z:-0.50 [[ 9.99975664e-01 -3.26649792e-03 6.16457206e-03 3.36012183e+01] [ 3.26581930e-03 9.99994660e-01 1.20145484e-04 1.97733488e-01] [-6.16493160e-03 -1.00010182e-04 9.99980992e-01 -5.01149654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302791605 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:33.63, Y:0.20, Z:-0.50 [[ 9.99976434e-01 -3.02126568e-03 6.16462121e-03 3.36344078e+01] [ 3.02059829e-03 9.99995431e-01 1.17568550e-04 1.97046597e-01] [-6.16494825e-03 -9.89449347e-05 9.99980992e-01 -5.01327271e-01] [ 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:33.67, Y:0.20, Z:-0.50 [[ 9.99979816e-01 -1.53748810e-03 6.16466950e-03 3.36673835e+01] [ 1.53680849e-03 9.99998812e-01 1.14979369e-04 1.97742646e-01] [-6.16483896e-03 -1.05503132e-04 9.99980992e-01 -5.00539006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362791605 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:33.70, Y:0.20, Z:-0.50 [[ 9.99980631e-01 -8.57438922e-04 6.16468736e-03 3.37006328e+01] [ 8.56752336e-04 9.99999626e-01 1.14013910e-04 1.98593700e-01] [-6.16478281e-03 -1.08730092e-04 9.99980992e-01 -4.99431266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392791605 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:33.73, Y:0.20, Z:-0.50 [[ 9.99980794e-01 6.38739254e-04 6.16473397e-03 3.37341994e+01] [-6.39438368e-04 9.99999789e-01 1.11435046e-04 1.95320750e-01] [-6.16466150e-03 -1.15374874e-04 9.99980992e-01 -5.00519451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422791605 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:33.77, Y:0.19, Z:-0.50 [[ 9.99980656e-01 8.26670880e-04 6.16475134e-03 3.37668997e+01] [-8.27367592e-04 9.99999652e-01 1.10465885e-04 1.93785477e-01] [-6.16465787e-03 -1.15564264e-04 9.99980992e-01 -5.01525688e-01] [ 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:33.80, Y:0.19, Z:-0.50 [[ 9.99976638e-01 2.95290386e-03 6.16476850e-03 3.38002066e+01] [-2.95363501e-03 9.99995632e-01 1.09499828e-04 1.93645971e-01] [-6.16441823e-03 -1.27705746e-04 9.99980992e-01 -4.99643829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482791605 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:33.83, Y:0.19, Z:-0.50 [[ 9.99974739e-01 3.53781565e-03 6.16478555e-03 3.38326353e+01] [-3.53855194e-03 9.99993733e-01 1.08531077e-04 1.93345671e-01] [-6.16436296e-03 -1.30342750e-04 9.99980992e-01 -4.99568380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512791605000004 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:33.86, Y:0.19, Z:-0.50 [[ 9.99975351e-01 3.36037976e-03 6.16479674e-03 3.38646970e+01] [-3.36110873e-03 9.99994346e-01 1.07891895e-04 1.88810563e-01] [-6.16439932e-03 -1.28609788e-04 9.99980992e-01 -4.99814943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542791605 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:33.90, Y:0.19, Z:-0.50 [[ 9.99979279e-01 1.85372691e-03 6.16480788e-03 3.38966657e+01] [-1.85442332e-03 9.99998275e-01 1.07251444e-04 1.86350596e-01] [-6.16459843e-03 -1.18681385e-04 9.99980992e-01 -4.98588677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572791605 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:33.93, Y:0.18, Z:-0.50 [[ 9.99980959e-01 2.77616999e-04 6.16481898e-03 3.39303291e+01] [-2.78279517e-04 9.99999956e-01 1.06610005e-04 1.84552964e-01] [-6.16478910e-03 -1.08323517e-04 9.99980992e-01 -4.97810263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602791605 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:33.96, Y:0.18, Z:-0.50 [[ 9.99978259e-01 -2.33992223e-03 6.16486202e-03 3.39636845e+01] [ 2.33932515e-03 9.99997258e-01 1.04059787e-04 1.79464436e-01] [-6.16508861e-03 -8.96359081e-05 9.99980992e-01 -4.96954582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632791605 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:34.01, Y:0.18, Z:-0.49 [[ 9.99756512e-01 2.11875281e-02 6.16490415e-03 3.40089475e+01] [-2.11885562e-02 9.99775492e-01 1.01501294e-04 1.79867084e-01] [-6.16136952e-03 -2.32101997e-04 9.99980992e-01 -4.86616072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662791605 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:34.03, Y:0.17, Z:-0.49 [[ 9.99810957e-01 1.84371309e-02 6.17435872e-03 3.40347541e+01] [-1.84349677e-02 9.99829979e-01 -4.07090099e-04 1.72872171e-01] [-6.18081452e-03 2.93189038e-04 9.99980856e-01 -4.85223470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692791605000004 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:34.06, Y:0.17, Z:-0.49 [[ 9.99821377e-01 1.78635790e-02 6.17303949e-03 3.40649867e+01] [-1.78617974e-02 9.99840406e-01 -3.43627980e-04 1.70435503e-01] [-6.17819274e-03 2.33305020e-04 9.99980888e-01 -4.85846311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722791605000005 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:34.09, Y:0.16, Z:-0.48 [[ 9.99836742e-01 1.69815441e-02 6.17390611e-03 3.40891473e+01] [-1.69795036e-02 9.99855765e-01 -3.82780149e-04 1.61972590e-01] [-6.17951582e-03 2.77887796e-04 9.99980868e-01 -4.84174731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752791605 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:34.10, Y:0.15, Z:-0.49 [[ 9.99912092e-01 -1.17353593e-02 6.17168092e-03 3.41007930e+01] [ 1.17373495e-02 9.99931074e-01 -2.86345287e-04 1.54368419e-01] [-6.16789516e-03 3.58759291e-04 9.99980914e-01 -4.92727870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782791605 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:34.13, Y:0.15, Z:-0.49 [[ 9.99943281e-01 -8.68843804e-03 6.16004467e-03 3.41327102e+01] [ 8.68761447e-03 9.99962249e-01 1.60442237e-04 1.52872433e-01] [-6.16120612e-03 -1.06917043e-04 9.99981014e-01 -4.91179019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812791605 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:34.17, Y:0.15, Z:-0.49 [[ 9.99965246e-01 -5.61779186e-03 6.16006778e-03 3.41663595e+01] [ 5.61691553e-03 9.99984212e-01 1.59550124e-04 1.54043347e-01] [-6.16086684e-03 -1.24943999e-04 9.99981014e-01 -4.89769839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842791605 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:34.20, Y:0.15, Z:-0.49 [[ 9.99980737e-01 7.60722371e-04 6.16014110e-03 3.41984275e+01] [-7.61701905e-04 9.99999698e-01 1.56666904e-04 1.52093729e-01] [-6.16002006e-03 -1.61356077e-04 9.99981014e-01 -4.90945134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872791605 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:34.23, Y:0.15, Z:-0.49 [[ 9.99968266e-01 5.05166876e-03 6.16015929e-03 3.42304615e+01] [-5.05272522e-03 9.99987223e-01 1.55948410e-04 1.50938880e-01] [-6.15929278e-03 -1.87069054e-04 9.99981014e-01 -4.92712939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902791605000004 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:34.26, Y:0.15, Z:-0.49 [[ 9.99953733e-01 7.38814967e-03 6.16017739e-03 3.42631403e+01] [-7.38924601e-03 9.99972687e-01 1.55230404e-04 1.51305756e-01] [-6.15886227e-03 -2.00742288e-04 9.99981014e-01 -4.91975591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932791605 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:34.29, Y:0.15, Z:-0.49 [[ 9.99885276e-01 1.38378680e-02 6.16019549e-03 3.42922661e+01] [-1.38390822e-02 9.99904223e-01 1.54508691e-04 1.53651341e-01] [-6.15746741e-03 -2.39742417e-04 9.99981014e-01 -4.91002209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962791605 meters Centerline goodness : 0.997042 Centerline is valid? [True, True] Translation: X:34.32, Y:0.15, Z:-0.49 [[ 9.99857838e-01 1.56957464e-02 6.16019101e-03 3.43201214e+01] [-1.56969968e-02 9.99876783e-01 1.54687044e-04 1.54592345e-01] [-6.15700404e-03 -2.51361552e-04 9.99981014e-01 -4.90902758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992791605 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:34.35, Y:0.15, Z:-0.49 [[ 9.99833274e-01 1.71894454e-02 6.16011790e-03 3.43480659e+01] [-1.71907417e-02 9.99852216e-01 1.57545627e-04 1.54446146e-01] [-6.15649941e-03 -2.63416355e-04 9.99981014e-01 -4.91061008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022791605 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:34.38, Y:0.16, Z:-0.49 [[ 9.99818660e-01 1.80194435e-02 6.16004316e-03 3.43752519e+01] [-1.80207732e-02 9.99837600e-01 1.60415730e-04 1.55146960e-01] [-6.15615217e-03 -2.71395381e-04 9.99981014e-01 -4.90451574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052791605 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:34.40, Y:0.16, Z:-0.49 [[ 9.99814533e-01 1.82470259e-02 6.15996656e-03 3.44023547e+01] [-1.82483776e-02 9.99833471e-01 1.63305081e-04 1.57900257e-01] [-6.15596092e-03 -2.75684189e-04 9.99981014e-01 -4.88824136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082791605000004 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:34.43, Y:0.16, Z:-0.49 [[ 9.99818620e-01 1.80217551e-02 6.15988869e-03 3.44299898e+01] [-1.80231204e-02 9.99837557e-01 1.66191478e-04 1.58673948e-01] [-6.15589299e-03 -2.77181750e-04 9.99981014e-01 -4.89592206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112791605 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:34.46, Y:0.16, Z:-0.49 [[ 9.99811097e-01 1.84343932e-02 6.15980974e-03 3.44578430e+01] [-1.84357839e-02 9.99830032e-01 1.69067872e-04 1.58739931e-01] [-6.15564611e-03 -2.82596856e-04 9.99981014e-01 -4.91744175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142791605 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:34.49, Y:0.16, Z:-0.49 [[ 9.99800998e-01 1.89742338e-02 6.15972978e-03 3.44851715e+01] [-1.89756524e-02 9.99819931e-01 1.71932622e-04 1.58688559e-01] [-6.15535831e-03 -2.88783298e-04 9.99981014e-01 -4.92043953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172791605 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:34.51, Y:0.16, Z:-0.49 [[ 9.99781847e-01 1.99578839e-02 6.15964805e-03 3.45124578e+01] [-1.99593388e-02 9.99800777e-01 1.74812463e-04 1.59112956e-01] [-6.15493202e-03 -2.97716829e-04 9.99981014e-01 -4.91466442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202791605 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:34.54, Y:0.16, Z:-0.49 [[ 9.99779499e-01 2.00751912e-02 6.15956553e-03 3.45396236e+01] [-2.00766659e-02 9.99798428e-01 1.77673107e-04 1.59573989e-01] [-6.15475711e-03 -3.01297470e-04 9.99981014e-01 -4.90359309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232791605 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:34.57, Y:0.16, Z:-0.49 [[ 9.99761485e-01 2.09531356e-02 6.15948127e-03 3.45675100e+01] [-2.09546446e-02 9.99780411e-01 1.80547627e-04 1.59962020e-01] [-6.15434568e-03 -3.09574305e-04 9.99981014e-01 -4.88708554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262791605000004 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:34.59, Y:0.16, Z:-0.49 [[ 9.99731139e-01 2.23542187e-02 6.15939532e-03 3.45949666e+01] [-2.23557720e-02 9.99750062e-01 1.83433793e-04 1.60576609e-01] [-6.15375533e-03 -3.21082512e-04 9.99981014e-01 -4.86492324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292791605 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:34.62, Y:0.16, Z:-0.49 [[ 9.99730898e-01 2.23650168e-02 6.15930782e-03 3.46226793e+01] [-2.23665881e-02 9.99749819e-01 1.86326390e-04 1.61422122e-01] [-6.15359968e-03 -3.24038950e-04 9.99981014e-01 -4.86341584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322791605 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:34.65, Y:0.16, Z:-0.49 [[ 9.99699809e-01 2.37140289e-02 6.15921919e-03 3.46507072e+01] [-2.37156434e-02 9.99718727e-01 1.89211293e-04 1.59244983e-01] [-6.15299980e-03 -3.35224339e-04 9.99981014e-01 -4.86559914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352791605 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:34.68, Y:0.16, Z:-0.49 [[ 9.99689547e-01 2.41428026e-02 6.15912955e-03 3.46780796e+01] [-2.41444429e-02 9.99708462e-01 1.92085648e-04 1.57142373e-01] [-6.15269644e-03 -3.40734766e-04 9.99981014e-01 -4.87620314e-01] [ 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:34.71, Y:0.16, Z:-0.49 [[ 9.99629216e-01 2.65234980e-02 6.15903871e-03 3.47058419e+01] [-2.65252009e-02 9.99648126e-01 1.94955284e-04 1.55735302e-01] [-6.15170061e-03 -3.58252736e-04 9.99981014e-01 -4.85794128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412791605 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:34.73, Y:0.16, Z:-0.49 [[ 9.99606369e-01 2.73710612e-02 6.15894664e-03 3.47337897e+01] [-2.73727977e-02 9.99625275e-01 1.97821998e-04 1.56214036e-01] [-6.15122413e-03 -3.66331729e-04 9.99981014e-01 -4.85292791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442791605000004 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:34.76, Y:0.16, Z:-0.48 [[ 9.99519233e-01 3.03870105e-02 6.15885263e-03 3.47610195e+01] [-3.03888218e-02 9.99538133e-01 2.00706729e-04 1.55206247e-01] [-6.14990918e-03 -3.87770511e-04 9.99981014e-01 -4.83554519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472791605000005 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:34.79, Y:0.15, Z:-0.48 [[ 9.99492236e-01 3.12624240e-02 6.15875762e-03 3.47886045e+01] [-3.12642694e-02 9.99511133e-01 2.03580911e-04 1.53941237e-01] [-6.14938237e-03 -3.96026598e-04 9.99981014e-01 -4.84689956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502791605 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:34.82, Y:0.15, Z:-0.48 [[ 9.99473325e-01 3.18613268e-02 6.15866139e-03 3.48166323e+01] [-3.18632012e-02 9.99492218e-01 2.06451538e-04 1.52978411e-01] [-6.14895631e-03 -4.02577472e-04 9.99981014e-01 -4.83739372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532791605 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:34.85, Y:0.15, Z:-0.48 [[ 9.99318557e-01 3.63935893e-02 6.15856404e-03 3.48455812e+01] [-3.63955670e-02 9.99337440e-01 2.09315746e-04 1.51306115e-01] [-6.14686587e-03 -4.33317539e-04 9.99981014e-01 -4.83510979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562791605 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:34.87, Y:0.15, Z:-0.48 [[ 9.99203010e-01 3.94387988e-02 6.15847922e-03 3.48737014e+01] [-3.94408491e-02 9.99221885e-01 2.11782284e-04 1.50686022e-01] [-6.14533478e-03 -4.54509146e-04 9.99981014e-01 -4.84517880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592791605 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:34.90, Y:0.15, Z:-0.48 [[ 9.98886791e-01 4.67680850e-02 6.15838006e-03 3.49011014e+01] [-4.67702911e-02 9.98905648e-01 2.14627452e-04 1.51163750e-01] [-6.14160291e-03 -5.02417755e-04 9.99981014e-01 -4.84155530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622791605 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:34.93, Y:0.15, Z:-0.48 [[ 9.98705058e-01 5.05003236e-02 6.15828599e-03 3.49285121e+01] [-5.05026165e-02 9.98723905e-01 2.17293492e-04 1.54585752e-01] [-6.13945404e-03 -5.28021665e-04 9.99981014e-01 -4.82405427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652791605000004 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:34.96, Y:0.16, Z:-0.48 [[ 9.98503784e-01 5.43348039e-02 6.15818375e-03 3.49563638e+01] [-5.43371867e-02 9.98522620e-01 2.20153495e-04 1.58385092e-01] [-6.13712377e-03 -5.54442477e-04 9.99981014e-01 -4.79530603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682791605 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:34.98, Y:0.16, Z:-0.48 [[ 9.97931213e-01 6.39950976e-02 6.15808091e-03 3.49848588e+01] [-6.39976799e-02 9.97950022e-01 2.22993405e-04 1.63973592e-01] [-6.13118650e-03 -6.16634970e-04 9.99981014e-01 -4.79921526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712791605 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:35.01, Y:0.17, Z:-0.47 [[ 9.97548992e-01 6.96999858e-02 6.15799008e-03 3.50136414e+01] [-6.97026907e-02 9.97567784e-01 2.25474220e-04 1.71991896e-01] [-6.12729697e-03 -6.54150059e-04 9.99981014e-01 -4.73544725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742791605 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:35.04, Y:0.18, Z:-0.48 [[ 9.97075283e-01 7.61771335e-02 6.15834484e-03 3.50435817e+01] [-7.61799017e-02 9.97094066e-01 2.15841851e-04 1.77997311e-01] [-6.12400689e-03 -6.84352680e-04 9.99981014e-01 -4.81093799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772791605 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:35.07, Y:0.18, Z:-0.48 [[ 9.96794274e-01 7.97700125e-02 6.15789949e-03 3.50710711e+01] [-7.97729217e-02 9.96813036e-01 2.27876628e-04 1.84053200e-01] [-6.12009677e-03 -7.18379751e-04 9.99981014e-01 -4.81590276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802791605 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:35.10, Y:0.19, Z:-0.48 [[ 9.96478279e-01 8.36248777e-02 6.15779388e-03 3.50983933e+01] [-8.36278766e-02 9.96497027e-01 2.30695514e-04 1.92780648e-01] [-6.11693141e-03 -7.44846296e-04 9.99981014e-01 -4.82251856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832791605000004 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:35.13, Y:0.20, Z:-0.48 [[ 9.96476149e-01 8.36502673e-02 6.15768658e-03 3.51260100e+01] [-8.36532839e-02 9.96494894e-01 2.33525060e-04 1.97667736e-01] [-6.11656880e-03 -7.47812856e-04 9.99981014e-01 -4.82611480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862791605 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:35.15, Y:0.20, Z:-0.48 [[ 9.96437904e-01 8.41046178e-02 6.15757821e-03 3.51529404e+01] [-8.41076601e-02 9.96456645e-01 2.36348363e-04 2.02673004e-01] [-6.11588173e-03 -7.53405962e-04 9.99981014e-01 -4.84017563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892791605 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:35.18, Y:0.21, Z:-0.48 [[ 9.96598484e-01 8.21799649e-02 6.15746781e-03 3.51814063e+01] [-8.21829883e-02 9.96617228e-01 2.39190280e-04 2.12957502e-01] [-6.11698185e-03 -7.44415775e-04 9.99981014e-01 -4.84937595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922791605 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:35.21, Y:0.22, Z:-0.48 [[ 9.96963089e-01 7.76317311e-02 6.15737131e-03 3.52090439e+01] [-7.76346840e-02 9.96981844e-01 2.41649222e-04 2.21132847e-01] [-6.12002776e-03 -7.18940931e-04 9.99981014e-01 -4.83591334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952791605 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:35.24, Y:0.22, Z:-0.48 [[ 9.97180406e-01 7.47885373e-02 6.15725847e-03 3.52365624e+01] [-7.47914540e-02 9.97199167e-01 2.44491043e-04 2.24806779e-01] [-6.12172789e-03 -7.04311991e-04 9.99981014e-01 -4.82476376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982791605 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:35.26, Y:0.23, Z:-0.48 [[ 9.97449301e-01 7.11124610e-02 6.15714329e-03 3.52640600e+01] [-7.11153260e-02 9.97468069e-01 2.47358083e-04 2.28110617e-01] [-6.12396358e-03 -6.84594398e-04 9.99981014e-01 -4.82767195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012791605000004 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:35.29, Y:0.23, Z:-0.48 [[ 9.97933290e-01 6.39628057e-02 6.15702786e-03 3.52918246e+01] [-6.39655535e-02 9.97952076e-01 2.50198652e-04 2.34409085e-01] [-6.12841532e-03 -6.43519258e-04 9.99981014e-01 -4.83981377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042791605000005 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:35.32, Y:0.24, Z:-0.48 [[ 9.98094388e-01 6.13977618e-02 6.15692542e-03 3.53195220e+01] [-6.14004766e-02 9.98113179e-01 2.52694591e-04 2.37802400e-01] [-6.12979352e-03 -6.30251208e-04 9.99981014e-01 -4.84966725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072791605 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:35.35, Y:0.24, Z:-0.49 [[ 9.98122733e-01 6.09352343e-02 6.15680810e-03 3.53475859e+01] [-6.09379576e-02 9.98141523e-01 2.55521465e-04 2.38756266e-01] [-6.12979555e-03 -6.30225094e-04 9.99981014e-01 -4.85142219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102791605 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:35.38, Y:0.24, Z:-0.49 [[ 9.98422908e-01 5.58013640e-02 6.15668837e-03 3.53751202e+01] [-5.58040080e-02 9.98441709e-01 2.58374447e-04 2.43540808e-01] [-6.13267681e-03 -6.01534854e-04 9.99981014e-01 -4.85560640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132791605 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:35.40, Y:0.25, Z:-0.49 [[ 9.98532276e-01 5.38088336e-02 6.15656699e-03 3.54028405e+01] [-5.38114576e-02 9.98551080e-01 2.61234859e-04 2.46324507e-01] [-6.13358988e-03 -5.92145282e-04 9.99981014e-01 -4.85712864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162791605 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:35.43, Y:0.25, Z:-0.48 [[ 9.98739068e-01 4.98234184e-02 6.15644422e-03 3.54299761e+01] [-4.98259848e-02 9.98757879e-01 2.64096918e-04 2.50797261e-01] [-6.13563896e-03 -5.70514806e-04 9.99981014e-01 -4.83553631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192791605000004 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:35.46, Y:0.25, Z:-0.48 [[ 9.98826990e-01 4.80285661e-02 6.15632242e-03 3.54577687e+01] [-4.80311159e-02 9.98845804e-01 2.66906219e-04 2.53469951e-01] [-6.13639770e-03 -5.62288171e-04 9.99981014e-01 -4.84016526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222791605000005 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:35.49, Y:0.26, Z:-0.48 [[ 9.99096180e-01 4.20585714e-02 6.15619807e-03 3.54851538e+01] [-4.20610261e-02 9.99115007e-01 2.69744118e-04 2.58401825e-01] [-6.13940483e-03 -5.28436326e-04 9.99981014e-01 -4.82514867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252791605 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:35.51, Y:0.26, Z:-0.48 [[ 9.99255101e-01 3.80965225e-02 6.15607348e-03 3.55132039e+01] [-3.80989197e-02 9.99273935e-01 2.72558316e-04 2.61595257e-01] [-6.14122025e-03 -5.06895037e-04 9.99981014e-01 -4.81786383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282791605 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:35.54, Y:0.27, Z:-0.48 [[ 9.99510225e-01 3.06824909e-02 6.15596172e-03 3.55414989e+01] [-3.06847637e-02 9.99529074e-01 2.75059398e-04 2.65434576e-01] [-6.14462321e-03 -4.63818911e-04 9.99981014e-01 -4.80705543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312791605 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:35.57, Y:0.27, Z:-0.48 [[ 9.99622564e-01 2.67737861e-02 6.15584942e-03 3.55685492e+01] [-2.67760003e-02 9.99641420e-01 2.77550302e-04 2.67176498e-01] [-6.14621098e-03 -4.42274570e-04 9.99981014e-01 -4.81927380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342791605 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:35.60, Y:0.27, Z:-0.48 [[ 9.99700664e-01 2.36788744e-02 6.15572801e-03 3.55971243e+01] [-2.36810466e-02 9.99719525e-01 2.80217288e-04 2.69277773e-01] [-6.14736626e-03 -4.25907491e-04 9.99981014e-01 -4.81201578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372791605 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:35.62, Y:0.27, Z:-0.48 [[ 9.99792868e-01 1.93992388e-02 6.15561172e-03 3.56241297e+01] [-1.94013457e-02 9.99811736e-01 2.82749079e-04 2.74462397e-01] [-6.14896772e-03 -4.02117663e-04 9.99981014e-01 -4.79375679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402791605000004 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:35.65, Y:0.28, Z:-0.48 [[ 9.99868668e-01 1.49918821e-02 6.15547677e-03 3.56511797e+01] [-1.49939237e-02 9.99887544e-01 2.85657054e-04 2.76881138e-01] [-6.15050201e-03 -3.77914287e-04 9.99981014e-01 -4.79791821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432791605 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:35.68, Y:0.28, Z:-0.48 [[ 9.99903648e-01 1.24421463e-02 6.15534162e-03 3.56783939e+01] [-1.24441574e-02 9.99922527e-01 2.88540141e-04 2.77099244e-01] [-6.15127469e-03 -3.65110379e-04 9.99981014e-01 -4.80900827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462791605 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:35.71, Y:0.28, Z:-0.48 [[ 9.99939653e-01 9.09968289e-03 6.15520773e-03 3.57064398e+01] [-9.10164828e-03 9.99958537e-01 2.91368548e-04 2.76816074e-01] [-6.15230115e-03 -3.47373501e-04 9.99981014e-01 -4.81315767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492791605 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:35.74, Y:0.28, Z:-0.48 [[ 9.99973631e-01 3.85383655e-03 6.15507211e-03 3.57351996e+01] [-3.85572027e-03 9.99992523e-01 2.94205928e-04 2.77611871e-01] [-6.15389227e-03 -3.17930407e-04 9.99981014e-01 -4.79995766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522791605 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:35.77, Y:0.28, Z:-0.48 [[ 9.99980145e-01 1.35072398e-03 6.15503810e-03 3.57672929e+01] [-1.35256475e-03 9.99999042e-01 2.94915552e-04 2.79904578e-01] [-6.15463386e-03 -3.03234784e-04 9.99981014e-01 -4.78738835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552791605 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:35.80, Y:0.28, Z:-0.48 [[ 9.99980894e-01 -5.69918129e-04 6.15515568e-03 3.58011336e+01] [ 5.68128848e-04 9.99999796e-01 2.92440788e-04 2.81632886e-01] [-6.15532110e-03 -2.88938279e-04 9.99981014e-01 -4.77186829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582791605000004 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:35.83, Y:0.28, Z:-0.48 [[ 9.99981047e-01 -1.34991710e-04 6.15529116e-03 3.58330996e+01] [ 1.33211896e-04 9.99999949e-01 2.89561013e-04 2.82386296e-01] [-6.15532993e-03 -2.88735567e-04 9.99981014e-01 -4.77754090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612791605 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:35.87, Y:0.28, Z:-0.48 [[ 9.99974660e-01 3.57654206e-03 6.15532431e-03 3.58661576e+01] [-3.57838768e-03 9.99993556e-01 2.88854581e-04 2.84666664e-01] [-6.15425154e-03 -3.10873398e-04 9.99981014e-01 -4.78945278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642791605 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:35.90, Y:0.29, Z:-0.48 [[ 9.99956623e-01 6.99027152e-03 6.15537368e-03 3.58980108e+01] [-6.99217516e-03 9.99975513e-01 2.87798574e-04 2.87638039e-01] [-6.15321117e-03 -3.30825542e-04 9.99981014e-01 -4.79841327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672791605 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:35.93, Y:0.29, Z:-0.48 [[ 9.99937991e-01 9.28033356e-03 6.15540646e-03 3.59275128e+01] [-9.28227614e-03 9.99956878e-01 2.87095812e-04 2.90924117e-01] [-6.15247668e-03 -3.44214192e-04 9.99981014e-01 -4.79850170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702791605 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:35.96, Y:0.29, Z:-0.48 [[ 9.99895289e-01 1.30966554e-02 6.15539836e-03 3.59553595e+01] [-1.30986712e-02 9.99914167e-01 2.87269463e-04 2.94852166e-01] [-6.15110775e-03 -3.67866922e-04 9.99981014e-01 -4.78906667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732791605 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:35.98, Y:0.30, Z:-0.48 [[ 9.99890841e-01 1.34320270e-02 6.15526593e-03 3.59842394e+01] [-1.34340663e-02 9.99909717e-01 2.90079402e-04 2.96358525e-01] [-6.15081386e-03 -3.72737988e-04 9.99981014e-01 -4.80519092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762791605000004 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:36.01, Y:0.30, Z:-0.48 [[ 9.99917475e-01 1.12763840e-02 6.15514859e-03 3.60120873e+01] [-1.12783977e-02 9.99936354e-01 2.92548217e-04 2.97637166e-01] [-6.15145795e-03 -3.61944289e-04 9.99981014e-01 -4.80904156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792791605000005 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:36.04, Y:0.30, Z:-0.48 [[ 9.99955510e-01 7.14800067e-03 6.15501267e-03 3.60403565e+01] [-7.14995382e-03 9.99974395e-01 2.95380476e-04 2.98829390e-01] [-6.15274369e-03 -3.39375391e-04 9.99981014e-01 -4.80756933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822791605 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:36.07, Y:0.30, Z:-0.48 [[ 9.99981025e-01 2.57811329e-04 6.15489254e-03 3.60701650e+01] [-2.59649549e-04 9.99999922e-01 2.97862751e-04 3.00457578e-01] [-6.15481527e-03 -2.99455215e-04 9.99981014e-01 -4.79301031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852791605 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:36.10, Y:0.30, Z:-0.48 [[ 9.99971056e-01 -4.47257011e-03 6.15487793e-03 3.61034333e+01] [ 4.47081945e-03 9.99989961e-01 2.98164437e-04 2.98929576e-01] [-6.15614970e-03 -2.70638459e-04 9.99981014e-01 -4.81634070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882791605 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:36.14, Y:0.30, Z:-0.47 [[ 9.99942854e-01 8.74096393e-03 6.15499561e-03 3.61428640e+01] [-8.74294922e-03 9.99961736e-01 2.95715060e-04 2.97973633e-01] [-6.15217526e-03 -3.49510976e-04 9.99981014e-01 -4.68417453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912791605 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:36.16, Y:0.30, Z:-0.48 [[ 9.99879312e-01 -1.42588984e-02 6.16814037e-03 3.61621848e+01] [ 1.42590354e-02 9.99898335e-01 2.17596297e-05 2.96347538e-01] [-6.16782355e-03 6.61947285e-05 9.99980977e-01 -4.80749262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942791605000004 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:36.20, Y:0.29, Z:-0.48 [[ 9.99737481e-01 -2.20702301e-02 6.15411149e-03 3.61954480e+01] [ 2.20687710e-02 9.99756409e-01 3.04912445e-04 2.92809647e-01] [-6.15934189e-03 -1.69018723e-04 9.99981017e-01 -4.79312484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972791605000005 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:36.23, Y:0.29, Z:-0.48 [[ 9.99664674e-01 -2.51528489e-02 6.15416718e-03 3.62288342e+01] [ 2.51514551e-02 9.99683606e-01 3.03784201e-04 2.91132671e-01] [-6.15986108e-03 -1.48896075e-04 9.99981017e-01 -4.79707914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002791605 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:36.26, Y:0.29, Z:-0.48 [[ 9.99579255e-01 -2.83449640e-02 6.15429491e-03 3.62619520e+01] [ 2.83436467e-02 9.99598193e-01 3.01174164e-04 2.89060946e-01] [-6.16035884e-03 -1.26612286e-04 9.99981017e-01 -4.81880407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032791605 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:36.29, Y:0.28, Z:-0.48 [[ 9.99336511e-01 -3.58979205e-02 6.15442193e-03 3.62949619e+01] [ 3.58967625e-02 9.99355459e-01 2.98555863e-04 2.83822529e-01] [-6.16117268e-03 -7.74339522e-05 9.99981017e-01 -4.81218578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062791605 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:36.33, Y:0.28, Z:-0.48 [[ 9.99602663e-01 -2.75070676e-02 6.15447885e-03 3.63330970e+01] [ 2.75057578e-02 9.99621601e-01 2.97377863e-04 2.83069876e-01] [-6.16032999e-03 -1.27976099e-04 9.99981017e-01 -4.75351314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092791605 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:36.36, Y:0.27, Z:-0.48 [[ 9.98933846e-01 -4.57511242e-02 6.16486501e-03 3.63569216e+01] [ 4.57514778e-02 9.98952849e-01 8.37388871e-05 2.72092143e-01] [-6.16224061e-03 1.98402076e-04 9.99980994e-01 -4.82795979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122791605 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:36.39, Y:0.27, Z:-0.48 [[ 9.99148210e-01 -4.08042452e-02 6.15375652e-03 3.63949794e+01] [ 4.08031303e-02 9.99167158e-01 3.06657913e-04 2.67984793e-01] [-6.16114436e-03 -5.53041758e-05 9.99981018e-01 -4.78316889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152791605000004 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:36.42, Y:0.26, Z:-0.48 [[ 9.98595528e-01 -5.26211117e-02 6.16353624e-03 3.64184655e+01] [ 5.26214108e-02 9.98614527e-01 1.13733364e-04 2.62168328e-01] [-6.16098160e-03 2.10760344e-04 9.99980999e-01 -4.83731525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182791605 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:36.45, Y:0.26, Z:-0.48 [[ 9.98407489e-01 -5.60769778e-02 6.15292483e-03 3.64520610e+01] [ 5.60760790e-02 9.98426448e-01 3.18641086e-04 2.56898521e-01] [-6.16111131e-03 2.68982514e-05 9.99981020e-01 -4.81455632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212791605 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:36.49, Y:0.25, Z:-0.48 [[ 9.98295467e-01 -5.80370534e-02 6.15306284e-03 3.64859443e+01] [ 5.80362083e-02 9.98314429e-01 3.15953386e-04 2.50112691e-01] [-6.16102841e-03 4.16856032e-05 9.99981020e-01 -4.83083056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242791605 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:36.52, Y:0.25, Z:-0.48 [[ 9.98300707e-01 -5.79468421e-02 6.15319980e-03 3.65191216e+01] [ 5.79460119e-02 9.98319669e-01 3.13263092e-04 2.46120537e-01] [-6.16101300e-03 4.38226229e-05 9.99981020e-01 -4.84882623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272791605 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:36.55, Y:0.24, Z:-0.49 [[ 9.98272368e-01 -5.84329971e-02 6.15333475e-03 3.65528505e+01] [ 5.84321926e-02 9.98291331e-01 3.10589484e-04 2.42567545e-01] [-6.16096942e-03 4.94999418e-05 9.99981020e-01 -4.86002013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302791605 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:36.59, Y:0.23, Z:-0.49 [[ 9.98198493e-01 -5.96816818e-02 6.15346777e-03 3.65869737e+01] [ 5.96809174e-02 9.98217458e-01 3.07931353e-04 2.34357371e-01] [-6.16087681e-03 5.98679891e-05 9.99981020e-01 -4.88656205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332791605000004 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:36.62, Y:0.23, Z:-0.49 [[ 9.98275108e-01 -5.83861384e-02 6.15359952e-03 3.66211224e+01] [ 5.83853658e-02 9.98294073e-01 3.05275639e-04 2.26114335e-01] [-6.16092579e-03 5.45310873e-05 9.99981020e-01 -4.90625042e-01] [ 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:36.66, Y:0.22, Z:-0.48 [[ 9.98450972e-01 -5.52972733e-02 6.15373110e-03 3.66559169e+01] [ 5.52964585e-02 9.98469935e-01 3.02599829e-04 2.23434286e-01] [-6.16104843e-03 3.81484434e-05 9.99981020e-01 -4.82643739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392791605 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:36.69, Y:0.22, Z:-0.49 [[ 9.98324641e-01 -5.75325888e-02 6.15738490e-03 3.66850727e+01] [ 5.75322768e-02 9.98343621e-01 2.27926123e-04 2.19168439e-01] [-6.16029912e-03 1.26704108e-04 9.99981017e-01 -4.90826087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422791605 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:36.72, Y:0.21, Z:-0.48 [[ 9.98360338e-01 -5.69101645e-02 6.15372121e-03 3.67174334e+01] [ 5.69093812e-02 9.98379302e-01 3.02465074e-04 2.09590919e-01] [-6.16096123e-03 4.82353331e-05 9.99981020e-01 -4.82520070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452791605 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:36.75, Y:0.21, Z:-0.49 [[ 9.98506881e-01 -5.42783009e-02 6.15428002e-03 3.67496352e+01] [ 5.42775379e-02 9.98525846e-01 2.91066202e-04 2.06038187e-01] [-6.16100624e-03 4.34075616e-05 9.99981020e-01 -4.94416734e-01] [ 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:36.78, Y:0.20, Z:-0.50 [[ 9.98736022e-01 -4.98847508e-02 6.15383015e-03 3.67822471e+01] [ 4.98838474e-02 9.98754981e-01 3.00285513e-04 1.99377774e-01] [-6.16114818e-03 7.07076498e-06 9.99981020e-01 -4.96176524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512791605000004 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:36.82, Y:0.20, Z:-0.50 [[ 9.98887623e-01 -4.67508967e-02 6.15394183e-03 3.68159925e+01] [ 4.67499482e-02 9.98906579e-01 2.97979072e-04 1.97685339e-01] [-6.16114377e-03 -9.95114537e-06 9.99981020e-01 -4.96664745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542791605000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:36.85, Y:0.19, Z:-0.49 [[ 9.99157400e-01 -4.05785350e-02 6.15406811e-03 3.68471547e+01] [ 4.05774855e-02 9.99176351e-01 2.95347818e-04 1.88880378e-01] [-6.16098410e-03 -4.53823485e-05 9.99981020e-01 -4.85603025e-01] [ 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:36.88, Y:0.19, Z:-0.50 [[ 9.99321284e-01 -3.63195659e-02 6.15300795e-03 3.68806687e+01] [ 3.63182994e-02 9.99340223e-01 3.17484680e-04 1.85377512e-01] [-6.16047924e-03 -9.38024130e-05 9.99981020e-01 -4.98762427e-01] [ 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:36.91, Y:0.18, Z:-0.50 [[ 9.99460826e-01 -3.22518801e-02 6.15421533e-03 3.69145140e+01] [ 3.22506931e-02 9.99479768e-01 2.92041614e-04 1.82250693e-01] [-6.16043260e-03 -9.34064427e-05 9.99981020e-01 -4.98534359e-01] [ 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:36.95, Y:0.17, Z:-0.50 [[ 9.99653071e-01 -2.56097938e-02 6.15434730e-03 3.69476706e+01] [ 2.56084982e-02 9.99672007e-01 2.89233575e-04 1.74400515e-01] [-6.15973593e-03 -1.31529640e-04 9.99981020e-01 -4.99344630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:36.97, Y:0.17, Z:-0.49 [[ 9.99667108e-01 -2.50558518e-02 6.15446078e-03 3.69748393e+01] [ 2.50545608e-02 9.99686044e-01 2.86798263e-04 1.65304417e-01] [-6.15971453e-03 -1.32505479e-04 9.99981020e-01 -4.87689368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692791605000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:0.16, Z:-0.50 [[ 9.99869740e-01 -1.49228758e-02 6.14903474e-03 3.70111315e+01] [ 1.49206819e-02 9.99888599e-01 4.02506092e-04 1.62296830e-01] [-6.15435628e-03 -3.10705870e-04 9.99981014e-01 -5.01162897e-01] [ 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:37.04, Y:0.15, Z:-0.50 [[ 9.99953506e-01 -7.42337558e-03 6.15454150e-03 3.70440637e+01] [ 7.42177684e-03 9.99972418e-01 2.82563982e-04 1.53247729e-01] [-6.15646933e-03 -2.36873211e-04 9.99981021e-01 -5.02689586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:0.15, Z:-0.50 [[ 9.99972969e-01 -4.02265067e-03 6.15458214e-03 3.70777874e+01] [ 4.02099308e-03 9.99991876e-01 2.81675991e-04 1.49606637e-01] [-6.15566522e-03 -2.56920845e-04 9.99981021e-01 -5.03503610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.11, Y:0.15, Z:-0.50 [[ 9.99980279e-01 -1.24940377e-03 6.15471205e-03 3.71105273e+01] [ 1.24771137e-03 9.99999183e-01 2.78808130e-04 1.46009859e-01] [-6.15505537e-03 -2.71123327e-04 9.99981021e-01 -5.03695550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812791605 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:37.14, Y:0.14, Z:-0.50 [[ 9.99969173e-01 4.87574125e-03 6.15474432e-03 3.71433224e+01] [-4.87754503e-03 9.99988066e-01 2.78093937e-04 1.40076747e-01] [-6.15331496e-03 -3.08105406e-04 9.99981021e-01 -5.03264397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:0.14, Z:-0.50 [[ 9.99956309e-01 7.03559232e-03 6.15477653e-03 3.71760840e+01] [-7.03743251e-03 9.99975198e-01 2.77379255e-04 1.38325197e-01] [-6.15267236e-03 -3.20680961e-04 9.99981021e-01 -5.03156858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872791605 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:0.13, Z:-0.51 [[ 9.99892341e-01 1.33201036e-02 6.15480902e-03 3.72076250e+01] [-1.33220580e-02 9.99911219e-01 2.76656556e-04 1.31064526e-01] [-6.15057749e-03 -3.58621495e-04 9.99981021e-01 -5.05194265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902791605000004 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.24, Y:0.13, Z:-0.51 [[ 9.99849257e-01 1.62351773e-02 6.15482500e-03 3.72365121e+01] [-1.62371846e-02 9.99868130e-01 2.76300602e-04 1.28147817e-01] [-6.14952757e-03 -3.76195982e-04 9.99981021e-01 -5.05994343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932791605 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.26, Y:0.13, Z:-0.51 [[ 9.99856772e-01 1.57656096e-02 6.15471092e-03 3.72646522e+01] [-1.57676235e-02 9.99875644e-01 2.78818849e-04 1.29158808e-01] [-6.14954979e-03 -3.75824079e-04 9.99981021e-01 -5.06169515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962791605 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.29, Y:0.13, Z:-0.51 [[ 9.99720240e-01 2.28377368e-02 6.15457862e-03 3.72940667e+01] [-2.28399019e-02 9.99739096e-01 2.81709225e-04 1.25779419e-01] [-6.14653926e-03 -4.22200385e-04 9.99981021e-01 -5.06291540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.32, Y:0.12, Z:-0.51 [[ 9.99650560e-01 2.57075892e-02 6.15451799e-03 3.73213845e+01] [-2.57098164e-02 9.99669408e-01 2.83027547e-04 1.24053426e-01] [-6.14520740e-03 -4.41160173e-04 9.99981021e-01 -5.06161273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.35, Y:0.12, Z:-0.51 [[ 9.99472334e-01 3.18932236e-02 6.15438438e-03 3.73504313e+01] [-3.18955850e-02 9.99491166e-01 2.85903752e-04 1.19278651e-01] [-6.14213442e-03 -4.82050580e-04 9.99981021e-01 -5.05454243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052791605 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:37.38, Y:0.12, Z:-0.51 [[ 9.99392319e-01 3.43091424e-02 6.15427488e-03 3.73781363e+01] [-3.43115636e-02 9.99411143e-01 2.88241541e-04 1.18541867e-01] [-6.14076158e-03 -4.99229176e-04 9.99981021e-01 -5.06386466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082791605000004 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.41, Y:0.12, Z:-0.51 [[ 9.99222507e-01 3.89423681e-02 6.15413685e-03 3.74066585e+01] [-3.89448944e-02 9.99241317e-01 2.91159074e-04 1.18406986e-01] [-6.13812939e-03 -5.30604910e-04 9.99981021e-01 -5.06227954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112791605 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.43, Y:0.12, Z:-0.51 [[ 9.99135350e-01 4.11178892e-02 6.15401615e-03 3.74349629e+01] [-4.11204719e-02 9.99154153e-01 2.93688331e-04 1.18776893e-01] [-6.13673495e-03 -5.46490442e-04 9.99981021e-01 -5.05479277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.46, Y:0.12, Z:-0.51 [[ 9.99019304e-01 4.38469962e-02 6.15389417e-03 3.74632317e+01] [-4.38496457e-02 9.99038098e-01 2.96222281e-04 1.18664993e-01] [-6.13498627e-03 -5.65777857e-04 9.99981021e-01 -5.05849034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172791605 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:37.49, Y:0.12, Z:-0.51 [[ 9.98762469e-01 4.93524327e-02 6.15377074e-03 3.74918103e+01] [-4.93552013e-02 9.98781245e-01 2.98764728e-04 1.18200982e-01] [-6.13152603e-03 -6.02115591e-04 9.99981021e-01 -5.06208184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202791605 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.52, Y:0.12, Z:-0.51 [[ 9.98605612e-01 5.24305698e-02 6.15364696e-03 3.75194382e+01] [-5.24334117e-02 9.98624377e-01 3.01292895e-04 1.20052060e-01] [-6.12938490e-03 -6.23529480e-04 9.99981021e-01 -5.06220409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232791605 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:37.55, Y:0.12, Z:-0.50 [[ 9.98322187e-01 5.75755614e-02 6.15350475e-03 3.75474279e+01] [-5.75785174e-02 9.98340935e-01 3.04169864e-04 1.24043309e-01] [-6.12578293e-03 -6.57969204e-04 9.99981021e-01 -5.04972095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262791605000004 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.58, Y:0.13, Z:-0.50 [[ 9.98186964e-01 5.98742053e-02 6.15338783e-03 3.75757456e+01] [-5.98772188e-02 9.98205703e-01 3.06516986e-04 1.26776196e-01] [-6.12399436e-03 -6.74409009e-04 9.99981021e-01 -5.04717747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292791605000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:0.13, Z:-0.51 [[ 9.97958914e-01 6.35621242e-02 6.15325985e-03 3.76038537e+01] [-6.35652224e-02 9.97977639e-01 3.09064965e-04 1.32120392e-01] [-6.12117091e-03 -6.99567468e-04 9.99981021e-01 -5.05268285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322791605 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.63, Y:0.14, Z:-0.51 [[ 9.97823032e-01 6.56607673e-02 6.15313091e-03 3.76320017e+01] [-6.56639204e-02 9.97841747e-01 3.11610989e-04 1.37025354e-01] [-6.11939028e-03 -7.14971320e-04 9.99981021e-01 -5.06533761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352791605 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.66, Y:0.15, Z:-0.51 [[ 9.97507199e-01 7.02960008e-02 6.15300185e-03 3.76602199e+01] [-7.02992562e-02 9.97525897e-01 3.14138891e-04 1.45685090e-01] [-6.11569599e-03 -7.45907259e-04 9.99981021e-01 -5.05997918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382791605 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:37.69, Y:0.15, Z:-0.51 [[ 9.97395999e-01 7.18565363e-02 6.15296525e-03 3.76875284e+01] [-7.18598253e-02 9.97414691e-01 3.14854090e-04 1.50646394e-01] [-6.11443362e-03 -7.56185217e-04 9.99981021e-01 -5.06622446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412791605 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:37.72, Y:0.16, Z:-0.51 [[ 9.97213500e-01 7.43463347e-02 6.15281649e-03 3.77158356e+01] [-7.43496879e-02 9.97232181e-01 3.17734815e-04 1.61866983e-01] [-6.11216419e-03 -7.74309433e-04 9.99981021e-01 -5.06288782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442791605000004 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:37.74, Y:0.17, Z:-0.51 [[ 9.97179000e-01 7.48076626e-02 6.15268605e-03 3.77437816e+01] [-7.48110396e-02 9.97197676e-01 3.20241042e-04 1.69230919e-01] [-6.11148774e-03 -7.79626481e-04 9.99981021e-01 -5.05943399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472791605000005 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:37.77, Y:0.18, Z:-0.51 [[ 9.97026710e-01 7.68107066e-02 6.15255448e-03 3.77718356e+01] [-7.68141364e-02 9.97045377e-01 3.22749059e-04 1.81880952e-01] [-6.10958542e-03 -7.94392592e-04 9.99981021e-01 -5.07142865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502791605 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:37.80, Y:0.19, Z:-0.51 [[ 9.96999444e-01 7.71638332e-02 6.15242165e-03 3.77995160e+01] [-7.71672848e-02 9.97018106e-01 3.25261687e-04 1.89393266e-01] [-6.10897734e-03 -7.99051394e-04 9.99981021e-01 -5.07633203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532791605 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:37.83, Y:0.20, Z:-0.51 [[ 9.96942335e-01 7.78982058e-02 6.15226823e-03 3.78269188e+01] [-7.79016885e-02 9.96960992e-01 3.28138078e-04 1.97877174e-01] [-6.10801007e-03 -8.06406825e-04 9.99981021e-01 -5.07555981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562791605 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:37.85, Y:0.21, Z:-0.51 [[ 9.96886601e-01 7.86082392e-02 6.15211463e-03 3.78542958e+01] [-7.86117526e-02 9.96905253e-01 3.30992946e-04 2.13810994e-01] [-6.10705662e-03 -8.13590947e-04 9.99981021e-01 -5.07655496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592791605 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:37.88, Y:0.22, Z:-0.51 [[ 9.96999446e-01 7.71638427e-02 6.15197909e-03 3.78822191e+01] [-7.71673442e-02 9.97018099e-01 3.33493327e-04 2.21745465e-01] [-6.10790087e-03 -8.07224550e-04 9.99981021e-01 -5.07795551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622791605 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:37.91, Y:0.23, Z:-0.51 [[ 9.97270175e-01 7.35822916e-02 6.15184156e-03 3.79096960e+01] [-7.35857414e-02 9.97288838e-01 3.36011329e-04 2.34867032e-01] [-6.11043843e-03 -7.87781899e-04 9.99981021e-01 -5.10310578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652791605000004 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:37.94, Y:0.24, Z:-0.51 [[ 9.97403627e-01 7.17506889e-02 6.15176774e-03 3.79378438e+01] [-7.17541126e-02 9.97422294e-01 3.37357449e-04 2.41977216e-01] [-6.11170466e-03 -7.77896178e-04 9.99981021e-01 -5.10827333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682791605 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:37.96, Y:0.26, Z:-0.51 [[ 9.97651026e-01 6.82245356e-02 6.15162986e-03 3.79644946e+01] [-6.82279084e-02 9.97669703e-01 3.39853068e-04 2.55588853e-01] [-6.11410842e-03 -7.58767601e-04 9.99981021e-01 -5.11287232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712791605 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:37.99, Y:0.26, Z:-0.51 [[ 9.97811292e-01 6.58390912e-02 6.15146963e-03 3.79924018e+01] [-6.58424369e-02 9.97829974e-01 3.42729085e-04 2.62450060e-01] [-6.11555580e-03 -7.47006702e-04 9.99981021e-01 -5.10815659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742791605 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:38.02, Y:0.27, Z:-0.51 [[ 9.98004825e-01 6.28373354e-02 6.15132978e-03 3.80207422e+01] [-6.28406399e-02 9.98023514e-01 3.45220891e-04 2.68610652e-01] [-6.11747901e-03 -7.31085615e-04 9.99981021e-01 -5.10447921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772791605 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:38.05, Y:0.28, Z:-0.51 [[ 9.98265678e-01 5.85474124e-02 6.15118893e-03 3.80490959e+01] [-5.85506517e-02 9.98284378e-01 3.47712640e-04 2.79009610e-01] [-6.12027814e-03 -7.07265715e-04 9.99981021e-01 -5.11225207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802791605 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:38.08, Y:0.28, Z:-0.51 [[ 9.98485822e-01 5.46646784e-02 6.15104601e-03 3.80769422e+01] [-5.46678603e-02 9.98504533e-01 3.50222856e-04 2.84352429e-01] [-6.12270250e-03 -6.85957080e-04 9.99981021e-01 -5.11387368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832791605000004 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:38.11, Y:0.29, Z:-0.51 [[ 9.98821566e-01 4.81419326e-02 6.15090163e-03 3.81053588e+01] [-4.81450075e-02 9.98840294e-01 3.52740474e-04 2.92211381e-01] [-6.12678678e-03 -6.48459997e-04 9.99981021e-01 -5.10832809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862791605 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:38.13, Y:0.30, Z:-0.51 [[ 9.98990454e-01 4.44998908e-02 6.15075730e-03 3.81339935e+01] [-4.45029127e-02 9.99009191e-01 3.55239441e-04 2.95460886e-01] [-6.12885496e-03 -6.28607425e-04 9.99981021e-01 -5.11754997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892791605 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:38.16, Y:0.30, Z:-0.51 [[ 9.99269067e-01 3.77293163e-02 6.15061179e-03 3.81620506e+01] [-3.77322264e-02 9.99287822e-01 3.57741101e-04 2.98281606e-01] [-6.13273414e-03 -5.89555893e-04 9.99981021e-01 -5.13562860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922791605 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:38.19, Y:0.30, Z:-0.51 [[ 9.99395082e-01 3.42292538e-02 6.15053392e-03 3.81895225e+01] [-3.42321063e-02 9.99413845e-01 3.59075057e-04 2.99555680e-01] [-6.13463788e-03 -5.69403577e-04 9.99981021e-01 -5.13377681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952791605 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:38.22, Y:0.30, Z:-0.51 [[ 9.99629675e-01 2.65082065e-02 6.15036715e-03 3.82179844e+01] [-2.65109312e-02 9.99648458e-01 3.61909128e-04 2.99862135e-01] [-6.13861147e-03 -5.24827064e-04 9.99981021e-01 -5.12178359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982791605 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:38.25, Y:0.30, Z:-0.51 [[ 9.99747205e-01 2.16264078e-02 6.15021742e-03 3.82453442e+01] [-2.16290563e-02 9.99765998e-01 3.64435886e-04 2.99010176e-01] [-6.14089682e-03 -4.97367157e-04 9.99981021e-01 -5.12535500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012791605000004 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:38.27, Y:0.30, Z:-0.51 [[ 9.99826015e-01 1.76101099e-02 6.15004646e-03 3.82742949e+01] [-1.76127003e-02 9.99844817e-01 3.67298458e-04 2.97820103e-01] [-6.14262391e-03 -4.75553478e-04 9.99981021e-01 -5.11841089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042791605000005 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:38.30, Y:0.29, Z:-0.51 [[ 9.99908202e-01 1.20734030e-02 6.14989678e-03 3.83031712e+01] [-1.20759045e-02 9.99927015e-01 3.69787863e-04 2.92925921e-01] [-6.14498333e-03 -4.44019483e-04 9.99981021e-01 -5.10573571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072791605 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:38.33, Y:0.29, Z:-0.51 [[ 9.99934383e-01 9.66490941e-03 6.14974603e-03 3.83310269e+01] [-9.66738085e-03 9.99953200e-01 3.72278116e-04 2.90796022e-01] [-6.14586019e-03 -4.31705626e-04 9.99981021e-01 -5.11058183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102791605 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:38.36, Y:0.28, Z:-0.51 [[ 9.99960326e-01 6.44432470e-03 6.14956937e-03 3.83601622e+01] [-6.44675325e-03 9.99979149e-01 3.75173821e-04 2.84029354e-01] [-6.14702340e-03 -4.14803692e-04 9.99981021e-01 -5.10869966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132791605 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:38.39, Y:0.28, Z:-0.51 [[ 9.99967487e-01 5.21619796e-03 6.14952531e-03 3.83921451e+01] [-5.21860781e-03 9.99986312e-01 3.75894526e-04 2.81813792e-01] [-6.14748040e-03 -4.07974265e-04 9.99981021e-01 -5.10670848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162791605 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:38.42, Y:0.28, Z:-0.51 [[ 9.99971626e-01 4.35088209e-03 6.14954703e-03 3.84244724e+01] [-4.35327347e-03 9.99990454e-01 3.75538877e-04 2.75284085e-01] [-6.14785440e-03 -4.02298881e-04 9.99981021e-01 -5.09309430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192791605000004 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:38.46, Y:0.27, Z:-0.51 [[ 9.99967588e-01 5.19658832e-03 6.14959084e-03 3.84574464e+01] [-5.19899122e-03 9.99986415e-01 3.74820148e-04 2.72345562e-01] [-6.14755951e-03 -4.06779668e-04 9.99981021e-01 -5.09718563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222791605000005 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:38.49, Y:0.26, Z:-0.51 [[ 9.99958011e-01 6.79398266e-03 6.14964609e-03 3.84898928e+01] [-6.79641007e-03 9.99976834e-01 3.73911448e-04 2.64661535e-01] [-6.14696328e-03 -4.15691264e-04 9.99981021e-01 -5.09947310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252791605 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:38.52, Y:0.26, Z:-0.51 [[ 9.99958889e-01 6.66350151e-03 6.14969078e-03 3.85218436e+01] [-6.66592196e-03 9.99977713e-01 3.73174990e-04 2.62035114e-01] [-6.14706707e-03 -4.14153008e-04 9.99981021e-01 -5.09514327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282791605 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:38.55, Y:0.26, Z:-0.51 [[ 9.99956715e-01 6.98207902e-03 6.14971319e-03 3.85529886e+01] [-6.98450319e-03 9.99975539e-01 3.72805255e-04 2.59402393e-01] [-6.14695981e-03 -4.15741809e-04 9.99981021e-01 -5.09525443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312791605 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:38.58, Y:0.25, Z:-0.51 [[ 9.99959898e-01 6.51030993e-03 6.14973583e-03 3.85841031e+01] [-6.51272294e-03 9.99978723e-01 3.72431490e-04 2.49137014e-01] [-6.14718033e-03 -4.12468081e-04 9.99981021e-01 -5.10909919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342791605 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:38.62, Y:0.24, Z:-0.52 [[ 9.99960525e-01 6.41311816e-03 6.14974704e-03 3.86168449e+01] [-6.41552821e-03 9.99979351e-01 3.72246324e-04 2.36259340e-01] [-6.14723279e-03 -4.11685505e-04 9.99981021e-01 -5.16230181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372791605 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:38.65, Y:0.23, Z:-0.52 [[ 9.99958243e-01 6.75961570e-03 6.14978094e-03 3.86481398e+01] [-6.76202884e-03 9.99977068e-01 3.71685429e-04 2.31374361e-01] [-6.14712746e-03 -4.13254905e-04 9.99981021e-01 -5.16505929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402791605000004 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:38.68, Y:0.23, Z:-0.52 [[ 9.99961411e-01 6.27351343e-03 6.14980095e-03 3.86790339e+01] [-6.27591539e-03 9.99980237e-01 3.71353932e-04 2.26542591e-01] [-6.14734972e-03 -4.09935233e-04 9.99981021e-01 -5.15469761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432791605 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:38.73, Y:0.21, Z:-0.51 [[ 9.99709321e-01 2.33120676e-02 6.14981095e-03 3.87277869e+01] [-2.33147890e-02 9.99728104e-01 3.71188337e-04 2.14236519e-01] [-6.13948567e-03 -5.14461985e-04 9.99981021e-01 -5.08001957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462791605 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:38.74, Y:0.21, Z:-0.52 [[ 9.99980297e-01 1.09725826e-03 6.18078157e-03 3.87364242e+01] [-1.09640901e-03 9.99999389e-01 -1.40787170e-04 2.06003717e-01] [-6.18093227e-03 1.34007731e-04 9.99980889e-01 -5.21632357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492791605 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:38.77, Y:0.19, Z:-0.52 [[ 9.99981103e-01 -1.00780309e-04 6.14679128e-03 3.87691869e+01] [ 9.83720588e-05 9.99999918e-01 3.92090864e-04 1.91424115e-01] [-6.14683029e-03 -3.91478783e-04 9.99981031e-01 -5.24439191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522791605 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:38.81, Y:0.19, Z:-0.50 [[ 9.99892377e-01 1.33210725e-02 6.14682302e-03 3.88108575e+01] [-1.33237300e-02 9.99911158e-01 3.91592667e-04 1.86905437e-01] [-6.14106049e-03 -4.73449133e-04 9.99981031e-01 -5.03843708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552791605 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:38.84, Y:0.17, Z:-0.51 [[ 9.99862621e-01 1.53838071e-02 6.17068369e-03 3.88439799e+01] [-1.53842599e-02 9.99881655e-01 2.59162310e-05 1.72400090e-01] [-6.16955473e-03 -1.20844072e-04 9.99980961e-01 -5.13088571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582791605000004 meters Centerline goodness : 0.305572 Centerline is valid? [True, False] Translation: X:38.85, Y:0.16, Z:-0.52 [[ 9.99989647e-01 1.97022605e-03 -4.10161318e-03 3.88507601e+01] [-1.94447847e-03 9.99978440e-01 6.27197889e-03 1.56027980e-01] [ 4.11388197e-03 -6.26393847e-03 9.99971919e-01 -5.16087391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612791605000005 meters Centerline goodness : 0.289181 Centerline is valid? [False, False] Translation: X:38.85, Y:0.14, Z:-0.52 [[ 9.99989123e-01 -3.16997876e-03 -3.42134132e-03 3.88483748e+01] [ 3.18750224e-03 9.99981769e-01 5.12857417e-03 1.36870980e-01] [ 3.40502147e-03 -5.13942391e-03 9.99980996e-01 -5.16841281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642791605 meters Centerline goodness : 0.238870 Centerline is valid? [False, False] Translation: X:38.87, Y:0.14, Z:-0.51 [[ 9.99973761e-01 -2.42660330e-03 -6.82558611e-03 3.88667717e+01] [ 2.42359311e-03 9.99996962e-01 -4.49251575e-04 1.35184223e-01] [ 6.82665553e-03 4.32697344e-04 9.99976604e-01 -5.11130131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672791605 meters Centerline goodness : 0.247608 Centerline is valid? [False, False] Translation: X:38.86, Y:0.12, Z:-0.51 [[ 9.99975780e-01 -4.01952960e-03 -5.68183133e-03 3.88628355e+01] [ 4.02912591e-03 9.99990474e-01 1.67851072e-03 1.16550319e-01] [ 5.67503038e-03 -1.70136288e-03 9.99982450e-01 -5.10623520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702791605 meters Centerline goodness : 0.305683 Centerline is valid? [False, False] Translation: X:38.86, Y:0.11, Z:-0.51 [[ 9.99975065e-01 -4.19043034e-03 -5.68415254e-03 3.88630039e+01] [ 4.21217470e-03 9.99983837e-01 3.81887327e-03 1.06506104e-01] [ 5.66805794e-03 -3.84272069e-03 9.99976553e-01 -5.12477748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732791605 meters Centerline goodness : 0.995183 Centerline is valid? [False, True] Translation: X:38.88, Y:0.10, Z:-0.51 [[ 9.99976886e-01 2.73340692e-04 -6.79362902e-03 3.88791254e+01] [-2.62583077e-04 9.99998710e-01 1.58432730e-03 1.00331484e-01] [ 6.79405332e-03 -1.58250678e-03 9.99975668e-01 -5.06678735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762791605000004 meters Centerline goodness : 0.415055 Centerline is valid? [True, False] Translation: X:38.87, Y:0.08, Z:-0.51 [[ 9.99984248e-01 -1.61758438e-03 -5.37474604e-03 3.88748091e+01] [ 1.63717269e-03 9.99992027e-01 3.64210983e-03 8.07519349e-02] [ 5.36881177e-03 -3.65085185e-03 9.99978923e-01 -5.07507333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792791605000005 meters Centerline goodness : 0.175632 Centerline is valid? [False, False] Translation: X:38.87, Y:0.07, Z:-0.51 [[ 9.99984720e-01 -1.75544843e-03 -5.24189591e-03 3.88745812e+01] [ 1.78419577e-03 9.99983368e-01 5.48451857e-03 7.20120540e-02] [ 5.23218093e-03 -5.49378733e-03 9.99971221e-01 -5.08913579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822791605 meters Centerline goodness : 0.988717 Centerline is valid? [False, True] Translation: X:38.89, Y:0.06, Z:-0.51 [[ 9.99977955e-01 4.23030055e-04 -6.62649470e-03 3.88932082e+01] [-4.12554807e-04 9.99998663e-01 1.58210012e-03 6.32082589e-02] [ 6.62715512e-03 -1.57933145e-03 9.99976793e-01 -5.05354228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852791605 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:38.92, Y:0.07, Z:-0.50 [[ 9.99979516e-01 2.49175935e-04 -6.39568672e-03 3.89211083e+01] [-2.53394487e-04 9.99999751e-01 -6.58791511e-04 6.81917805e-02] [ 6.39552098e-03 6.60398648e-04 9.99979330e-01 -5.03979899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882791605 meters Centerline goodness : 0.317983 Centerline is valid? [True, False] Translation: X:38.92, Y:0.06, Z:-0.51 [[ 9.99979825e-01 1.88959647e-04 -6.34935463e-03 3.89211725e+01] [-1.81603432e-04 9.99999312e-01 1.15913324e-03 5.98186670e-02] [ 6.34956929e-03 -1.15795679e-03 9.99979171e-01 -5.05721683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912791605 meters Centerline goodness : 0.861817 Centerline is valid? [False, False] Translation: X:38.92, Y:0.04, Z:-0.51 [[ 9.99971476e-01 -3.52820589e-03 -6.67826442e-03 3.89230555e+01] [ 3.53204149e-03 9.99993604e-01 5.62633760e-04 4.48328965e-02] [ 6.67623662e-03 -5.86205618e-04 9.99977542e-01 -5.10054950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942791605000004 meters Centerline goodness : 0.234872 Centerline is valid? [False, False] Translation: X:38.92, Y:0.04, Z:-0.51 [[ 9.99971400e-01 -3.55651140e-03 -6.67457381e-03 3.89232684e+01] [ 3.57207743e-03 9.99990925e-01 2.32166739e-03 3.69199582e-02] [ 6.66625620e-03 -2.34544309e-03 9.99975030e-01 -5.12212100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972791605000005 meters Centerline goodness : 0.748489 Centerline is valid? [False, False] Translation: X:38.94, Y:0.04, Z:-0.51 [[ 9.99953770e-01 -1.12993697e-03 -9.54883833e-03 3.89444871e+01] [ 1.10046110e-03 9.99994616e-01 -3.09154501e-03 3.70411794e-02] [ 9.55228016e-03 3.08089396e-03 9.99949630e-01 -5.08390126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002791605 meters Centerline goodness : 0.400895 Centerline is valid? [False, False] Translation: X:38.95, Y:0.02, Z:-0.51 [[ 9.99949250e-01 -4.03428720e-04 -1.00665202e-02 3.89475787e+01] [ 4.17200641e-04 9.99998980e-01 1.36602917e-03 1.89781830e-02] [ 1.00659589e-02 -1.37015960e-03 9.99948398e-01 -5.14814372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032791605 meters Centerline goodness : 0.221200 Centerline is valid? [False, False] Translation: X:38.95, Y:0.01, Z:-0.52 [[ 9.99950888e-01 -4.79369341e-04 -9.89912091e-03 3.89474183e+01] [ 5.09163638e-04 9.99995348e-01 3.00749141e-03 1.11380891e-02] [ 9.89763316e-03 -3.01238398e-03 9.99946480e-01 -5.17016279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062791605 meters Centerline goodness : 0.140538 Centerline is valid? [False, False] Translation: X:38.95, Y:-0.00, Z:-0.52 [[ 9.99938052e-01 -3.21408853e-03 -1.06565291e-02 3.89524494e+01] [ 3.24153231e-03 9.99991472e-01 2.55903121e-03 -1.08612945e-03] [ 1.06482133e-02 -2.59341617e-03 9.99939943e-01 -5.24736071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092791605 meters Centerline goodness : 0.206609 Centerline is valid? [False, False] Translation: X:38.95, Y:-0.01, Z:-0.53 [[ 9.99938629e-01 -3.24110788e-03 -1.05940508e-02 3.89527109e+01] [ 3.28484710e-03 9.99986143e-01 4.11386849e-03 -8.40168843e-03] [ 1.05805705e-02 -4.14841586e-03 9.99935419e-01 -5.27643415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122791605 meters Centerline goodness : 0.235761 Centerline is valid? [False, False] Translation: X:38.98, Y:-0.02, Z:-0.53 [[ 9.99951894e-01 1.48976841e-03 -9.69487271e-03 3.89757286e+01] [-1.46836368e-03 9.99996470e-01 2.21458353e-03 -1.68760725e-02] [ 9.69813770e-03 -2.20024139e-03 9.99950551e-01 -5.31465262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152791605000004 meters Centerline goodness : 0.250541 Centerline is valid? [False, False] Translation: X:38.98, Y:-0.02, Z:-0.53 [[ 9.99954247e-01 -2.49061667e-03 -9.23587270e-03 3.89752308e+01] [ 2.48106079e-03 9.99996375e-01 -1.04596126e-03 -2.11168838e-02] [ 9.23844431e-03 1.02299865e-03 9.99956801e-01 -5.33712187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182791605 meters Centerline goodness : 0.148176 Centerline is valid? [False, False] Translation: X:38.95, Y:-0.03, Z:-0.54 [[ 9.99989072e-01 1.07218158e-03 4.55050654e-03 3.89483301e+01] [-1.07204119e-03 9.99999425e-01 -3.32896808e-05 -3.24879838e-02] [-4.55053962e-03 2.84109865e-05 9.99989646e-01 -5.43025510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212791605 meters Centerline goodness : 0.125164 Centerline is valid? [False, False] Translation: X:38.95, Y:-0.04, Z:-0.55 [[ 9.99987218e-01 1.10252202e-03 4.93430494e-03 3.89483685e+01] [-1.10639127e-03 9.99999083e-01 7.81490693e-04 -3.72425483e-02] [-4.93343881e-03 -7.86939977e-04 9.99987521e-01 -5.46062331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242791605 meters Centerline goodness : 0.147884 Centerline is valid? [False, False] Translation: X:38.95, Y:-0.04, Z:-0.55 [[ 9.99985860e-01 1.10375757e-03 5.20198766e-03 3.89486175e+01] [-1.11178903e-03 9.99998194e-01 1.54128313e-03 -4.20123549e-02] [-5.20027707e-03 -1.54704485e-03 9.99985282e-01 -5.49329618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272791605 meters Centerline goodness : 0.202166 Centerline is valid? [False, False] Translation: X:38.95, Y:-0.05, Z:-0.56 [[ 9.99973024e-01 -9.09614061e-04 7.28855378e-03 3.89514353e+01] [ 9.09394470e-04 9.99999586e-01 3.34423023e-05 -4.58627367e-02] [-7.28858118e-03 -2.68132296e-05 9.99973438e-01 -5.57819474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302791605 meters Centerline goodness : 0.106350 Centerline is valid? [False, False] Translation: X:38.95, Y:-0.05, Z:-0.56 [[ 9.99971634e-01 -8.00590281e-04 7.48934174e-03 3.89517841e+01] [ 8.00478049e-04 9.99999679e-01 1.79831342e-05 -4.56860422e-02] [-7.48935373e-03 -1.19875705e-05 9.99971954e-01 -5.61193421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332791605000004 meters Centerline goodness : 0.093637 Centerline is valid? [False, False] Translation: X:38.96, Y:-0.04, Z:-0.57 [[ 9.99962229e-01 -2.26230731e-03 8.39178783e-03 3.89570466e+01] [ 2.28184744e-03 9.99994706e-01 -2.31964013e-03 -4.34695586e-02] [-8.38649567e-03 2.33870129e-03 9.99962098e-01 -5.70365206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362791605000005 meters Centerline goodness : 0.088246 Centerline is valid? [False, False] Translation: X:38.96, Y:-0.05, Z:-0.57 [[ 9.99961918e-01 -2.08563389e-03 8.47428697e-03 3.89579252e+01] [ 2.10241634e-03 9.99995846e-01 -1.97197110e-03 -4.51248973e-02] [-8.47013896e-03 1.98971248e-03 9.99962148e-01 -5.73855936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392791605 meters Centerline goodness : 0.107094 Centerline is valid? [False, False] Translation: X:38.96, Y:-0.05, Z:-0.58 [[ 9.99940047e-01 -1.27723145e-04 1.09492152e-02 3.89618343e+01] [ 1.20467641e-04 9.99999773e-01 6.63307531e-04 -4.95033623e-02] [-1.09492975e-02 -6.61948738e-04 9.99939836e-01 -5.82536381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422791605 meters Centerline goodness : 0.105940 Centerline is valid? [False, False] Translation: X:38.98, Y:-0.04, Z:-0.58 [[ 9.99873580e-01 6.83210261e-03 1.43577704e-02 3.89762468e+01] [-6.79891104e-03 9.99974104e-01 -2.35929062e-03 -3.97929209e-02] [-1.43735175e-02 2.26137516e-03 9.99894138e-01 -5.76304041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452791605 meters Centerline goodness : 0.100605 Centerline is valid? [False, False] Translation: X:38.99, Y:-0.04, Z:-0.59 [[ 9.99888208e-01 6.41080596e-03 1.35082273e-02 3.89860976e+01] [-6.36403529e-03 9.99973615e-01 -3.50253030e-03 -3.68790399e-02] [-1.35303249e-02 3.41617191e-03 9.99902625e-01 -5.89265602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482791605 meters Centerline goodness : 0.120299 Centerline is valid? [False, False] Translation: X:39.00, Y:-0.03, Z:-0.61 [[ 9.99852208e-01 7.64828434e-03 1.53969563e-02 3.89983917e+01] [-7.60250996e-03 9.99966512e-01 -3.02929000e-03 -3.38065849e-02] [-1.54196095e-02 2.91178678e-03 9.99876871e-01 -6.05525974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512791605000004 meters Centerline goodness : 0.122179 Centerline is valid? [False, False] Translation: X:39.02, Y:-0.03, Z:-0.61 [[ 9.99833105e-01 1.29630798e-03 1.82231022e-02 3.90191020e+01] [-1.29584275e-03 9.99999160e-01 -3.73378243e-05 -2.97980409e-02] [-1.82231353e-02 1.37173181e-05 9.99833945e-01 -6.06899924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542791605000005 meters Centerline goodness : 0.123122 Centerline is valid? [False, False] Translation: X:39.03, Y:-0.03, Z:-0.62 [[ 9.99865839e-01 1.22825893e-03 1.63338452e-02 3.90309687e+01] [-1.21738852e-03 9.99999031e-01 -6.75441013e-04 -2.52918873e-02] [-1.63346589e-02 6.55465760e-04 9.99866366e-01 -6.20820695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572791605 meters Centerline goodness : 0.122906 Centerline is valid? [False, False] Translation: X:39.04, Y:-0.02, Z:-0.64 [[ 9.99896957e-01 8.65443814e-04 1.43292231e-02 3.90431549e+01] [-8.42758528e-04 9.99998382e-01 -1.58911104e-03 -2.14557299e-02] [-1.43305752e-02 1.57687122e-03 9.99896069e-01 -6.35446004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602791605 meters Centerline goodness : 0.121923 Centerline is valid? [False, False] Translation: X:39.08, Y:-0.01, Z:-0.63 [[ 9.99870036e-01 -1.53315835e-03 1.60487134e-02 3.90801402e+01] [ 1.59645041e-03 9.99990997e-01 -3.93167849e-03 -7.37908605e-03] [-1.60425410e-02 3.95678848e-03 9.99863481e-01 -6.27259107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632791605 meters Centerline goodness : 0.122408 Centerline is valid? [False, False] Translation: X:39.08, Y:-0.01, Z:-0.65 [[ 9.99841230e-01 -2.76483146e-03 1.76031567e-02 3.90831290e+01] [ 2.76836146e-03 9.99996153e-01 -1.76167444e-04 -8.30934639e-03] [-1.76026019e-02 2.24871374e-04 9.99845037e-01 -6.53430465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662791605 meters Centerline goodness : 0.094604 Centerline is valid? [False, False] Translation: X:39.12, Y:0.01, Z:-0.65 [[ 9.99795377e-01 -4.36860306e-03 1.97514238e-02 3.91204201e+01] [ 4.41536498e-03 9.99987550e-01 -2.32453251e-03 1.01787771e-02] [-1.97410230e-02 2.41126660e-03 9.99802219e-01 -6.46055785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692791605000004 meters Centerline goodness : 0.095669 Centerline is valid? [False, False] Translation: X:39.14, Y:0.02, Z:-0.66 [[ 9.99840244e-01 -3.39638520e-03 1.75485119e-02 3.91363575e+01] [ 3.43143278e-03 9.99992177e-01 -1.96745810e-03 1.53049420e-02] [-1.75416924e-02 2.02736032e-03 9.99844077e-01 -6.64192933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722791605000005 meters Centerline goodness : 0.132070 Centerline is valid? [False, False] Translation: X:39.14, Y:0.02, Z:-0.67 [[ 9.99856707e-01 -1.79050677e-03 1.68332717e-02 3.91430854e+01] [ 1.80432602e-03 9.99998048e-01 -8.05797154e-04 1.91366624e-02] [-1.68317961e-02 8.36054399e-04 9.99857986e-01 -6.72364759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752791605 meters Centerline goodness : 0.105049 Centerline is valid? [False, False] Translation: X:39.18, Y:0.03, Z:-0.67 [[ 9.99876328e-01 -6.53139121e-03 1.43062678e-02 3.91815622e+01] [ 6.57084972e-03 9.99974732e-01 -2.71286122e-03 3.44929807e-02] [-1.42881875e-02 2.80653005e-03 9.99893980e-01 -6.68412520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782791605 meters Centerline goodness : 0.184170 Centerline is valid? [False, False] Translation: X:39.19, Y:0.04, Z:-0.68 [[ 9.99880584e-01 -4.80317184e-03 1.46883115e-02 3.91947211e+01] [ 4.82485127e-03 9.99987322e-01 -1.44088478e-03 4.40111425e-02] [-1.46812045e-02 1.51158164e-03 9.99891083e-01 -6.81001029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812791605 meters Centerline goodness : 0.095577 Centerline is valid? [False, False] Translation: X:39.21, Y:0.05, Z:-0.69 [[ 9.99916876e-01 -2.06201901e-03 1.27274725e-02 3.92063895e+01] [ 2.05024259e-03 9.99997458e-01 9.38253893e-04 4.70051597e-02] [-1.27293749e-02 -9.12081496e-04 9.99918562e-01 -6.93381534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842791605 meters Centerline goodness : 0.110165 Centerline is valid? [False, False] Translation: X:39.23, Y:0.05, Z:-0.69 [[ 9.99879477e-01 -1.04408729e-02 1.14899791e-02 3.92253259e+01] [ 1.04100699e-02 9.99942067e-01 2.73740638e-03 4.71930916e-02] [-1.15178944e-02 -2.61746497e-03 9.99930241e-01 -6.89538856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872791605 meters Centerline goodness : 0.112695 Centerline is valid? [False, False] Translation: X:39.23, Y:0.05, Z:-0.70 [[ 9.99842716e-01 -1.14705542e-02 1.35266433e-02 3.92349336e+01] [ 1.14524907e-02 9.99933421e-01 1.41211557e-03 5.48699800e-02] [-1.35419405e-02 -1.25697971e-03 9.99907514e-01 -6.98407081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902791605000004 meters Centerline goodness : 0.104086 Centerline is valid? [False, False] Translation: X:39.26, Y:0.07, Z:-0.70 [[ 9.99922747e-01 -5.40123574e-03 1.11949815e-02 3.92569338e+01] [ 5.41188864e-03 9.99984931e-01 -9.21502587e-04 6.54734074e-02] [-1.11898355e-02 9.82017391e-04 9.99936910e-01 -6.96058441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932791605 meters Centerline goodness : 0.117976 Centerline is valid? [False, False] Translation: X:39.29, Y:0.08, Z:-0.69 [[ 9.99828206e-01 -6.97384298e-03 1.71733694e-02 3.92898533e+01] [ 6.99477990e-03 9.99974864e-01 -1.15938519e-03 7.68908338e-02] [-1.71648524e-02 1.27930995e-03 9.99851855e-01 -6.91155354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962791605 meters Centerline goodness : 0.203722 Centerline is valid? [False, False] Translation: X:39.30, Y:0.08, Z:-0.70 [[ 9.99837508e-01 -7.70541046e-03 1.62967647e-02 3.93000379e+01] [ 7.75107417e-03 9.99966204e-01 -2.74070567e-03 8.29422020e-02] [-1.62750957e-02 2.86657776e-03 9.99863443e-01 -7.03360419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992791605 meters Centerline goodness : 0.123896 Centerline is valid? [False, False] Translation: X:39.32, Y:0.09, Z:-0.70 [[ 9.99726956e-01 -1.75260729e-02 1.54548068e-02 3.93215069e+01] [ 1.75649395e-02 9.99842885e-01 -2.38269984e-03 8.75211571e-02] [-1.54106192e-02 2.65351200e-03 9.99877728e-01 -7.01313300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022791605 meters Centerline goodness : 0.143077 Centerline is valid? [False, False] Translation: X:39.33, Y:0.09, Z:-0.71 [[ 9.99796509e-01 -1.48466037e-02 1.36571800e-02 3.93329094e+01] [ 1.48434107e-02 9.99889774e-01 3.35139731e-04 8.92336992e-02] [-1.36606503e-02 -1.32352402e-04 9.99906680e-01 -7.12905905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052791605 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 40.082791605000004 meters Centerline goodness : 0.124211 Centerline is valid? [False, False] Translation: X:39.36, Y:0.10, Z:-0.72 [[ 9.99807760e-01 -9.64032514e-03 1.70735686e-02 3.93629415e+01] [ 9.67061996e-03 9.99951806e-01 -1.69269534e-03 1.01100713e-01] [-1.70564276e-02 1.85748193e-03 9.99852803e-01 -7.22343316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112791605000005 meters Centerline goodness : 0.128202 Centerline is valid? [False, False] Translation: X:39.38, Y:0.11, Z:-0.72 [[ 9.99875529e-01 -3.50089280e-03 1.53840929e-02 3.93842201e+01] [ 3.55799899e-03 9.99986876e-01 -3.68622771e-03 1.08223301e-01] [-1.53709859e-02 3.74050547e-03 9.99874863e-01 -7.19692848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142791605 meters Centerline goodness : 0.128310 Centerline is valid? [False, False] Translation: X:39.39, Y:0.11, Z:-0.72 [[ 9.99864275e-01 -5.56099884e-04 1.64657823e-02 3.93862324e+01] [ 5.49050713e-04 9.99999756e-01 4.32627803e-04 1.08413583e-01] [-1.64660189e-02 -4.23528535e-04 9.99864336e-01 -7.19670259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172791605 meters Centerline goodness : 0.133504 Centerline is valid? [False, False] Translation: X:39.40, Y:0.11, Z:-0.73 [[ 9.99889236e-01 -1.17741083e-03 1.48367858e-02 3.93971238e+01] [ 1.18672687e-03 9.99999104e-01 -6.19112692e-04 1.12062868e-01] [-1.48360436e-02 6.36651328e-04 9.99889737e-01 -7.30534746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202791605 meters Centerline goodness : 0.137960 Centerline is valid? [False, False] Translation: X:39.41, Y:0.11, Z:-0.74 [[ 9.99908858e-01 -2.05935522e-03 1.33429832e-02 3.94094471e+01] [ 2.07754333e-03 9.99996931e-01 -1.34940406e-03 1.13655139e-01] [-1.33401634e-02 1.37700170e-03 9.99910068e-01 -7.42294737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232791605 meters Centerline goodness : 0.140283 Centerline is valid? [False, False] Translation: X:39.43, Y:0.11, Z:-0.74 [[ 9.99867928e-01 -1.02946502e-02 1.25756332e-02 3.94257617e+01] [ 1.02764738e-02 9.99946057e-01 1.50912883e-03 1.10261345e-01] [-1.25904908e-02 -1.37969635e-03 9.99919785e-01 -7.36476872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262791605000004 meters Centerline goodness : 0.125438 Centerline is valid? [False, False] Translation: X:39.44, Y:0.11, Z:-0.75 [[ 9.99886207e-01 -9.03588866e-03 1.20799533e-02 3.94391796e+01] [ 8.99539665e-03 9.99953753e-01 3.40214406e-03 1.12550589e-01] [-1.21101360e-02 -3.29309294e-03 9.99921247e-01 -7.48735434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292791605000005 meters Centerline goodness : 0.124788 Centerline is valid? [False, False] Translation: X:39.46, Y:0.12, Z:-0.75 [[ 9.99939067e-01 -2.58559609e-03 1.07320369e-02 3.94601610e+01] [ 2.57046782e-03 9.99995684e-01 1.42319037e-03 1.18893083e-01] [-1.07356704e-02 -1.39551730e-03 9.99941397e-01 -7.45550590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322791605 meters Centerline goodness : 0.129972 Centerline is valid? [False, False] Translation: X:39.47, Y:0.12, Z:-0.76 [[ 9.99947405e-01 -1.74375644e-03 1.01067748e-02 3.94748565e+01] [ 1.72380140e-03 9.99996549e-01 1.98279735e-03 1.20118451e-01] [-1.01101975e-02 -1.96527099e-03 9.99946959e-01 -7.61179617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352791605 meters Centerline goodness : 0.135138 Centerline is valid? [False, False] Translation: X:39.48, Y:0.12, Z:-0.77 [[ 9.99954982e-01 -4.10100102e-04 9.47973804e-03 3.94803339e+01] [ 3.80272892e-04 9.99994973e-01 3.14800557e-03 1.20046931e-01] [-9.48098138e-03 -3.14425897e-03 9.99950111e-01 -7.66796183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382791605 meters Centerline goodness : 0.141430 Centerline is valid? [False, False] Translation: X:39.49, Y:0.12, Z:-0.78 [[ 9.99967510e-01 -8.15225575e-04 8.01961747e-03 3.94906308e+01] [ 7.95183313e-04 9.99996554e-01 2.50202557e-03 1.22954188e-01] [-8.02162955e-03 -2.49556722e-03 9.99964712e-01 -7.76724911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412791605 meters Centerline goodness : 0.147721 Centerline is valid? [False, False] Translation: X:39.53, Y:0.13, Z:-0.77 [[ 9.99991338e-01 -2.76897711e-03 3.10757975e-03 3.95344581e+01] [ 2.76088908e-03 9.99992798e-01 2.60395648e-03 1.27629323e-01] [-3.11476766e-03 -2.59535424e-03 9.99991781e-01 -7.70569451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442791605000004 meters Centerline goodness : 0.166292 Centerline is valid? [False, False] Translation: X:39.56, Y:0.13, Z:-0.77 [[ 9.99987933e-01 4.67981761e-03 1.49436783e-03 3.95600793e+01] [-4.68260723e-03 9.99987290e-01 1.86874684e-03 1.33415439e-01] [-1.48560344e-03 -1.87572183e-03 9.99997137e-01 -7.70688036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472791605000005 meters Centerline goodness : 0.168507 Centerline is valid? [False, False] Translation: X:39.57, Y:0.14, Z:-0.78 [[ 9.99991129e-01 4.21072444e-03 1.04270723e-04 3.95707057e+01] [-4.21086381e-03 9.99990190e-01 1.37452144e-03 1.35115679e-01] [-9.84819687e-05 -1.37494832e-03 9.99999050e-01 -7.80995327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502791605 meters Centerline goodness : 0.131685 Centerline is valid? [False, False] Translation: X:39.61, Y:0.14, Z:-0.78 [[ 9.99977576e-01 2.52844387e-03 -6.20120025e-03 3.96144992e+01] [-2.52076262e-03 9.99996046e-01 1.24617477e-03 1.38129967e-01] [ 6.20432661e-03 -1.23051507e-03 9.99979996e-01 -7.76088550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532791605 meters Centerline goodness : 0.141530 Centerline is valid? [False, False] Translation: X:39.63, Y:0.14, Z:-0.79 [[ 9.99962306e-01 3.36684760e-03 -8.00317342e-03 3.96300981e+01] [-3.34881576e-03 9.99991827e-01 2.26542077e-03 1.38251432e-01] [ 8.01073533e-03 -2.23853423e-03 9.99965408e-01 -7.90676566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562791605 meters Centerline goodness : 0.136902 Centerline is valid? [False, False] Translation: X:39.65, Y:0.13, Z:-0.79 [[ 9.99946314e-01 -3.97238765e-03 -9.57021168e-03 3.96465008e+01] [ 4.03415170e-03 9.99971105e-01 6.44314367e-03 1.33501542e-01] [ 9.54434049e-03 -6.48140545e-03 9.99933446e-01 -7.85162820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592791605 meters Centerline goodness : 0.142108 Centerline is valid? [False, False] Translation: X:39.65, Y:0.13, Z:-0.79 [[ 9.99953038e-01 -2.29630985e-03 -9.41531925e-03 3.96522235e+01] [ 2.37716415e-03 9.99960320e-01 8.58534736e-03 1.31376362e-01] [ 9.39523103e-03 -8.60732594e-03 9.99918818e-01 -7.90793575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622791605 meters Centerline goodness : 0.142647 Centerline is valid? [False, False] Translation: X:39.67, Y:0.14, Z:-0.78 [[ 9.99951225e-01 2.96132465e-03 -9.42224781e-03 3.96682717e+01] [-2.91235539e-03 9.99982204e-01 5.20667795e-03 1.36057285e-01] [ 9.43749880e-03 -5.17898306e-03 9.99942054e-01 -7.82761448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652791605000004 meters Centerline goodness : 0.143529 Centerline is valid? [False, False] Translation: X:39.69, Y:0.14, Z:-0.78 [[ 9.99912494e-01 9.39389313e-03 -9.31445819e-03 3.96887653e+01] [-9.35795576e-03 9.99948630e-01 3.89434211e-03 1.37846241e-01] [ 9.35056274e-03 -3.80683704e-03 9.99949036e-01 -7.79394551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682791605 meters Centerline goodness : 0.287037 Centerline is valid? [False, False] Translation: X:39.70, Y:0.13, Z:-0.77 [[ 9.99953002e-01 1.99464950e-03 -9.48763801e-03 3.97030256e+01] [-1.91528783e-03 9.99963166e-01 8.36648759e-03 1.32069251e-01] [ 9.50397676e-03 -8.34792282e-03 9.99919990e-01 -7.73070601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712791605 meters Centerline goodness : 0.158687 Centerline is valid? [False, False] Translation: X:39.72, Y:0.14, Z:-0.76 [[ 9.99942965e-01 6.69034232e-03 -8.32501082e-03 3.97161486e+01] [-6.65389179e-03 9.99968189e-01 4.39845775e-03 1.36836141e-01] [ 8.35417318e-03 -4.34281316e-03 9.99955673e-01 -7.62848021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742791605 meters Centerline goodness : 0.027758 Centerline is valid? [False, False] Translation: X:39.71, Y:0.13, Z:-0.76 [[ 9.99973431e-01 4.90030652e-03 -5.39660408e-03 3.97098203e+01] [-4.88223112e-03 9.99982445e-01 3.35749902e-03 1.32772578e-01] [ 5.41296212e-03 -3.33106235e-03 9.99979802e-01 -7.57852296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772791605 meters Centerline goodness : 0.027758 Centerline is valid? [False, False] Translation: X:39.71, Y:0.13, Z:-0.76 [[ 9.99973431e-01 4.90030652e-03 -5.39660408e-03 3.97098203e+01] [-4.88223112e-03 9.99982445e-01 3.35749902e-03 1.32772578e-01] [ 5.41296212e-03 -3.33106235e-03 9.99979802e-01 -7.57852296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802791605 meters Centerline goodness : 0.117049 Centerline is valid? [False, False] Translation: X:39.71, Y:0.13, Z:-0.76 [[ 9.99981386e-01 2.53027134e-03 -5.55206959e-03 3.97148241e+01] [-2.52334405e-03 9.99996030e-01 1.25434416e-03 1.32317132e-01] [ 5.55522138e-03 -1.24031103e-03 9.99983800e-01 -7.63046791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832791605000004 meters Centerline goodness : 0.112661 Centerline is valid? [False, False] Translation: X:39.71, Y:0.12, Z:-0.76 [[ 9.99996068e-01 3.83619811e-05 -2.80405188e-03 3.97090630e+01] [-3.73418660e-05 9.99999933e-01 3.63851806e-04 1.23757145e-01] [ 2.80406565e-03 -3.63745667e-04 9.99996002e-01 -7.59132465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862791605000005 meters Centerline goodness : 0.165040 Centerline is valid? [False, False] Translation: X:39.71, Y:0.12, Z:-0.76 [[ 9.99998251e-01 -1.16071543e-03 -1.46642200e-03 3.97051754e+01] [ 1.16072401e-03 9.99999326e-01 5.00150882e-06 1.19509893e-01] [ 1.46641520e-03 -6.70361129e-06 9.99998925e-01 -7.56077979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892791605 meters Centerline goodness : 0.150890 Centerline is valid? [False, False] Translation: X:39.71, Y:0.11, Z:-0.76 [[ 9.99998398e-01 -1.04343147e-04 -1.78687262e-03 3.97098846e+01] [ 1.08497953e-04 9.99997291e-01 2.32524402e-03 1.13878987e-01] [ 1.78662515e-03 -2.32543417e-03 9.99995700e-01 -7.60407944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922791605 meters Centerline goodness : 0.114160 Centerline is valid? [False, False] Translation: X:39.71, Y:0.10, Z:-0.77 [[ 9.99995909e-01 -2.78183151e-03 -6.65986339e-04 3.97138998e+01] [ 2.78312830e-03 9.99994218e-01 1.95422445e-03 1.03551804e-01] [ 6.60546165e-04 -1.95606998e-03 9.99997869e-01 -7.65409408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952791605 meters Centerline goodness : 0.898633 Centerline is valid? [False, False] Translation: X:39.72, Y:0.09, Z:-0.77 [[ 9.99985676e-01 -5.34533123e-03 -2.72543098e-04 3.97183861e+01] [ 5.34577697e-03 9.99984330e-01 1.66185394e-03 9.32212314e-02] [ 2.63655667e-04 -1.66328709e-03 9.99998582e-01 -7.70729593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982791605 meters Centerline goodness : 0.903356 Centerline is valid? [False, False] Translation: X:39.72, Y:0.09, Z:-0.77 [[ 9.99985149e-01 -5.44800783e-03 1.43608656e-04 3.97182566e+01] [ 5.44758906e-03 9.99981323e-01 2.77084885e-03 8.77074158e-02] [-1.58701580e-04 -2.77002538e-03 9.99996151e-01 -7.71165496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012791605000004 meters Centerline goodness : 0.890094 Centerline is valid? [False, False] Translation: X:39.72, Y:0.08, Z:-0.77 [[ 9.99984644e-01 -5.52984960e-03 3.64652033e-04 3.97183756e+01] [ 5.52840630e-03 9.99977319e-01 3.84688555e-03 8.24227718e-02] [-3.85916460e-04 -3.84481053e-03 9.99992534e-01 -7.71482752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042791605000005 meters Centerline goodness : 0.878786 Centerline is valid? [False, False] Translation: X:39.71, Y:0.07, Z:-0.77 [[ 9.99967540e-01 -7.46254130e-03 3.03805971e-03 3.97118341e+01] [ 7.44989758e-03 9.99963629e-01 4.15203577e-03 7.07321144e-02] [-3.06893395e-03 -4.12926776e-03 9.99986765e-01 -7.66881009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072791605 meters Centerline goodness : 0.841079 Centerline is valid? [False, False] Translation: X:39.69, Y:0.07, Z:-0.77 [[ 9.99973950e-01 -1.00580629e-03 7.14760628e-03 3.96945028e+01] [ 9.94957069e-04 9.99998348e-01 1.52127602e-03 6.68271827e-02] [-7.14912458e-03 -1.51412483e-03 9.99973298e-01 -7.72743355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102791605 meters Centerline goodness : 0.839805 Centerline is valid? [False, False] Translation: X:39.70, Y:0.06, Z:-0.78 [[ 9.99963180e-01 -2.96260751e-03 8.05370170e-03 3.96970196e+01] [ 2.95164940e-03 9.99994702e-01 1.37217644e-03 5.82802778e-02] [-8.05772426e-03 -1.34835421e-03 9.99966627e-01 -7.77569359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132791605 meters Centerline goodness : 0.825323 Centerline is valid? [False, False] Translation: X:39.70, Y:0.05, Z:-0.78 [[ 9.99961557e-01 -2.96164645e-03 8.25303573e-03 3.96970359e+01] [ 2.94304192e-03 9.99993103e-01 2.26549840e-03 5.42254525e-02] [-8.25968841e-03 -2.24112228e-03 9.99963377e-01 -7.78328290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162791605 meters Centerline goodness : 0.861014 Centerline is valid? [False, False] Translation: X:39.70, Y:0.05, Z:-0.78 [[ 9.99959210e-01 -3.06748016e-03 8.49525251e-03 3.96967385e+01] [ 3.04214138e-03 9.99990891e-01 2.99401618e-03 5.04594724e-02] [-8.50435921e-03 -2.96805030e-03 9.99959432e-01 -7.78750109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192791605000004 meters Centerline goodness : 0.876273 Centerline is valid? [False, False] Translation: X:39.70, Y:0.04, Z:-0.78 [[ 9.99965989e-01 -2.01582725e-03 7.99734031e-03 3.97006987e+01] [ 1.97282908e-03 9.99983577e-01 5.38081024e-03 4.33658995e-02] [-8.00805575e-03 -5.36484985e-03 9.99953544e-01 -7.83071246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222791605000005 meters Centerline goodness : 0.860987 Centerline is valid? [False, False] Translation: X:39.70, Y:0.04, Z:-0.79 [[ 9.99955008e-01 -3.83856185e-03 8.67453011e-03 3.97032240e+01] [ 3.80608347e-03 9.99985697e-01 3.75751951e-03 4.29211667e-02] [-8.68882951e-03 -3.72433446e-03 9.99955316e-01 -7.86897690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252791605 meters Centerline goodness : 0.873468 Centerline is valid? [False, False] Translation: X:39.70, Y:0.04, Z:-0.79 [[ 9.99952620e-01 -3.86430893e-03 8.93449369e-03 3.97031272e+01] [ 3.82754899e-03 9.99984155e-01 4.12782913e-03 4.10420738e-02] [-8.95030333e-03 -4.09343634e-03 9.99951567e-01 -7.87051564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282791605 meters Centerline goodness : 0.178170 Centerline is valid? [False, False] Translation: X:39.70, Y:0.04, Z:-0.79 [[ 9.99950147e-01 -3.97001447e-03 9.16196847e-03 3.97031682e+01] [ 3.92888570e-03 9.99982145e-01 4.50271696e-03 3.88587056e-02] [-9.17968073e-03 -4.46649617e-03 9.99947891e-01 -7.87567094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312791605 meters Centerline goodness : 0.181070 Centerline is valid? [False, False] Translation: X:39.71, Y:0.04, Z:-0.79 [[ 9.99940738e-01 -6.19698316e-03 8.95081780e-03 3.97076544e+01] [ 6.17331727e-03 9.99977382e-01 2.66920500e-03 3.74883916e-02] [-8.96715638e-03 -2.61379058e-03 9.99956378e-01 -7.92603477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342791605 meters Centerline goodness : 0.447175 Centerline is valid? [False, False] Translation: X:39.71, Y:0.04, Z:-0.79 [[ 9.99941251e-01 -6.16951146e-03 8.91247330e-03 3.97080738e+01] [ 6.14429536e-03 9.99977051e-01 2.85392133e-03 3.68320085e-02] [-8.92987607e-03 -2.79899280e-03 9.99956211e-01 -7.93408297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372791605 meters Centerline goodness : 0.280425 Centerline is valid? [False, False] Translation: X:39.71, Y:0.03, Z:-0.79 [[ 9.99937381e-01 -6.23813690e-03 9.29086909e-03 3.97080889e+01] [ 6.20763008e-03 9.99975258e-01 3.30875318e-03 3.45993969e-02] [-9.31127968e-03 -3.25087171e-03 9.99951365e-01 -7.93507159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402791605000004 meters Centerline goodness : 0.225036 Centerline is valid? [False, False] Translation: X:39.71, Y:0.03, Z:-0.79 [[ 9.99936282e-01 -6.31196288e-03 9.35896486e-03 3.97082960e+01] [ 6.27716290e-03 9.99973293e-01 3.74308187e-03 3.24015122e-02] [-9.38234110e-03 -3.68409562e-03 9.99949198e-01 -7.93901416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432791605 meters Centerline goodness : 0.181966 Centerline is valid? [False, False] Translation: X:39.71, Y:0.03, Z:-0.79 [[ 9.99934551e-01 -6.37686749e-03 9.49892065e-03 3.97084689e+01] [ 6.33623125e-03 9.99970672e-01 4.30195392e-03 2.96084191e-02] [-9.52607506e-03 -4.24148501e-03 9.99945630e-01 -7.94537139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462791605 meters Centerline goodness : 0.148989 Centerline is valid? [False, False] Translation: X:39.71, Y:0.03, Z:-0.80 [[ 9.99931526e-01 -6.53824179e-03 9.70542561e-03 3.97089569e+01] [ 6.48971382e-03 9.99966325e-01 5.02318703e-03 2.57899109e-02] [-9.73794159e-03 -4.95985763e-03 9.99940284e-01 -7.95668999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492791605 meters Centerline goodness : 0.131163 Centerline is valid? [False, False] Translation: X:39.73, Y:0.03, Z:-0.79 [[ 9.99989549e-01 -3.20172894e-03 3.26371114e-03 3.97297408e+01] [ 3.19437999e-03 9.99992357e-01 2.25444895e-03 3.09557370e-02] [-3.27090433e-03 -2.24399986e-03 9.99992133e-01 -7.92558442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522791605 meters Centerline goodness : 0.904349 Centerline is valid? [False, False] Translation: X:39.73, Y:0.03, Z:-0.79 [[ 9.99988890e-01 -3.26343283e-03 3.40151022e-03 3.97298196e+01] [ 3.25406750e-03 9.99990910e-01 2.75519439e-03 2.83642462e-02] [-3.41047069e-03 -2.74409504e-03 9.99990419e-01 -7.92716110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552791605 meters Centerline goodness : 0.244095 Centerline is valid? [False, False] Translation: X:39.73, Y:0.03, Z:-0.79 [[ 9.99987766e-01 -3.39295944e-03 3.59928673e-03 3.97298366e+01] [ 3.38097333e-03 9.99988737e-01 3.33100714e-03 2.51269329e-02] [-3.61054816e-03 -3.31879729e-03 9.99987975e-01 -7.93017775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582791605000004 meters Centerline goodness : 0.302183 Centerline is valid? [False, False] Translation: X:39.73, Y:0.02, Z:-0.79 [[ 9.99985795e-01 -3.65269814e-03 3.88158883e-03 3.97306108e+01] [ 3.63459206e-03 9.99982530e-01 4.66146688e-03 1.80690270e-02] [-3.89854795e-03 -4.64729267e-03 9.99981602e-01 -7.94031572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612791605000005 meters Centerline goodness : 0.153544 Centerline is valid? [False, False] Translation: X:39.73, Y:0.02, Z:-0.80 [[ 9.99985411e-01 -3.86206253e-03 3.77660748e-03 3.97312542e+01] [ 3.84257386e-03 9.99979335e-01 5.15407614e-03 1.52696288e-02] [-3.79643480e-03 -5.13948905e-03 9.99979586e-01 -7.95122493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642791605 meters Centerline goodness : 0.327299 Centerline is valid? [False, False] Translation: X:39.73, Y:0.01, Z:-0.80 [[ 9.99985851e-01 -4.10667639e-03 3.38133530e-03 3.97327840e+01] [ 4.08659226e-03 9.99974095e-01 5.92534004e-03 1.12236555e-02] [-3.40558116e-03 -5.91143806e-03 9.99976728e-01 -7.96579006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672791605 meters Centerline goodness : 0.159728 Centerline is valid? [False, False] Translation: X:39.73, Y:0.01, Z:-0.80 [[ 9.99985669e-01 -4.13741148e-03 3.39749287e-03 3.97330130e+01] [ 4.11559625e-03 9.99971031e-01 6.40306030e-03 8.98642409e-03] [-3.42388654e-03 -6.38898583e-03 9.99973729e-01 -7.96800974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702791605 meters Centerline goodness : 0.385431 Centerline is valid? [False, False] Translation: X:39.73, Y:0.01, Z:-0.80 [[ 9.99984910e-01 -4.21181513e-03 3.52712906e-03 3.97329775e+01] [ 4.18677293e-03 9.99966190e-01 7.07741969e-03 5.62194197e-03] [-3.55681859e-03 -7.06254561e-03 9.99968734e-01 -7.96940023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732791605 meters Centerline goodness : 0.142645 Centerline is valid? [False, False] Translation: X:39.75, Y:0.01, Z:-0.79 [[ 9.99996511e-01 -2.54162835e-03 -7.19270552e-04 3.97537532e+01] [ 2.54258287e-03 9.99995884e-01 1.32927201e-03 6.76083380e-03] [ 7.15889077e-04 -1.33109618e-03 9.99998858e-01 -7.93032266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762791605000004 meters Centerline goodness : 0.145943 Centerline is valid? [False, False] Translation: X:39.75, Y:0.00, Z:-0.79 [[ 9.99996492e-01 -2.55612609e-03 -6.94182313e-04 3.97539783e+01] [ 2.55753000e-03 9.99994671e-01 2.02909326e-03 3.47164963e-03] [ 6.88991996e-04 -2.03086153e-03 9.99997700e-01 -7.93927498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792791605000005 meters Centerline goodness : 0.294754 Centerline is valid? [False, False] Translation: X:39.75, Y:-0.00, Z:-0.80 [[ 9.99996673e-01 -2.51628584e-03 -5.67938577e-04 3.97544015e+01] [ 2.51802780e-03 9.99992063e-01 3.08757742e-03 -1.91194725e-03] [ 5.60164842e-04 -3.08899724e-03 9.99995072e-01 -7.95080813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822791605 meters Centerline goodness : 0.143939 Centerline is valid? [False, False] Translation: X:39.75, Y:-0.01, Z:-0.80 [[ 9.99996554e-01 -2.57698157e-03 -5.00989357e-04 3.97546065e+01] [ 2.57891058e-03 9.99989114e-01 3.88865243e-03 -6.10690088e-03] [ 4.90962917e-04 -3.88993103e-03 9.99992314e-01 -7.95936973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852791605 meters Centerline goodness : 0.141705 Centerline is valid? [False, False] Translation: X:39.75, Y:-0.01, Z:-0.80 [[ 9.99996576e-01 -2.58790674e-03 -3.87939799e-04 3.97548319e+01] [ 2.58970899e-03 9.99985510e-01 4.71950546e-03 -1.05246731e-02] [ 3.75720537e-04 -4.72049395e-03 9.99988788e-01 -7.97037004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882791605 meters Centerline goodness : 0.144200 Centerline is valid? [False, False] Translation: X:39.76, Y:-0.01, Z:-0.80 [[ 9.99997641e-01 -2.17213711e-03 5.91175446e-06 3.97550741e+01] [ 2.17207442e-03 9.99983336e-01 5.34883505e-03 -1.31018079e-02] [-1.75300591e-05 -5.34880959e-03 9.99985695e-01 -7.98857051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912791605 meters Centerline goodness : 0.322108 Centerline is valid? [False, False] Translation: X:39.76, Y:-0.01, Z:-0.80 [[ 9.99997896e-01 -2.04442273e-03 1.66811333e-04 3.97550231e+01] [ 2.04348480e-03 9.99983107e-01 5.44143236e-03 -1.32891507e-02] [-1.77933103e-04 -5.44108004e-03 9.99985181e-01 -7.99654485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942791605000004 meters Centerline goodness : 0.304140 Centerline is valid? [False, False] Translation: X:39.76, Y:-0.02, Z:-0.80 [[ 9.99998351e-01 -1.74547814e-03 5.01777444e-04 3.97556673e+01] [ 1.74226129e-03 9.99978375e-01 6.34140398e-03 -1.80132756e-02] [-5.12835375e-04 -6.34051929e-03 9.99979767e-01 -8.01811482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972791605000005 meters Centerline goodness : 0.298149 Centerline is valid? [False, False] Translation: X:39.76, Y:-0.02, Z:-0.80 [[ 9.99998414e-01 -1.70647920e-03 5.10013179e-04 3.97560728e+01] [ 1.70296108e-03 9.99975289e-01 6.82070810e-03 -2.06756929e-02] [-5.21639973e-04 -6.81982875e-03 9.99976609e-01 -8.03428557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002791605 meters Centerline goodness : 0.309861 Centerline is valid? [False, False] Translation: X:39.76, Y:-0.02, Z:-0.80 [[ 9.99998495e-01 -1.59384318e-03 6.84856886e-04 3.97561607e+01] [ 1.58898277e-03 9.99973957e-01 7.03985073e-03 -2.19303645e-02] [-6.96059469e-04 -7.03875191e-03 9.99974985e-01 -8.04838691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032791605 meters Centerline goodness : 0.220878 Centerline is valid? [False, False] Translation: X:39.78, Y:-0.02, Z:-0.81 [[ 9.99964844e-01 8.07464860e-03 2.26075763e-03 3.97788211e+01] [-8.08999013e-03 9.99943737e-01 6.86116216e-03 -1.59431019e-02] [-2.20522896e-03 -6.87921046e-03 9.99973906e-01 -8.06324569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062791605 meters Centerline goodness : 0.175626 Centerline is valid? [False, False] Translation: X:39.78, Y:-0.01, Z:-0.81 [[ 9.99987590e-01 4.36361110e-03 2.40389843e-03 3.97790433e+01] [-4.36916995e-03 9.99987782e-01 2.31205036e-03 -1.24327403e-02] [-2.39378017e-03 -2.32252471e-03 9.99994438e-01 -8.07546769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092791605 meters Centerline goodness : 0.114286 Centerline is valid? [False, False] Translation: X:39.78, Y:-0.01, Z:-0.81 [[ 9.99985385e-01 4.72885455e-03 2.62044613e-03 3.97798572e+01] [-4.73545724e-03 9.99985614e-01 2.51923294e-03 -1.30208495e-02] [-2.60849535e-03 -2.53160513e-03 9.99993393e-01 -8.09675505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122791605 meters Centerline goodness : 0.109846 Centerline is valid? [False, False] Translation: X:39.78, Y:-0.01, Z:-0.82 [[ 9.99993418e-01 2.93224479e-03 2.13674287e-03 3.97849352e+01] [-2.93269616e-03 9.99995678e-01 2.08138373e-04 -1.02780521e-02] [-2.13612332e-03 -2.14403420e-04 9.99997696e-01 -8.15941818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152791605000004 meters Centerline goodness : 0.112048 Centerline is valid? [False, False] Translation: X:39.79, Y:-0.01, Z:-0.82 [[ 9.99993077e-01 3.03010219e-03 2.15964251e-03 3.97853475e+01] [-3.03055954e-03 9.99995386e-01 2.08530407e-04 -1.01768715e-02] [-2.15900067e-03 -2.15073888e-04 9.99997646e-01 -8.17135984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182791605000006 meters Centerline goodness : 0.101282 Centerline is valid? [False, False] Translation: X:39.79, Y:-0.01, Z:-0.83 [[ 9.99995139e-01 2.68738691e-03 1.58126980e-03 3.97949719e+01] [-2.68694776e-03 9.99996351e-01 -2.79780607e-04 -1.10524859e-02] [-1.58201591e-03 2.75530458e-04 9.99998711e-01 -8.27299870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212791605 meters Centerline goodness : 0.105577 Centerline is valid? [False, False] Translation: X:39.80, Y:-0.01, Z:-0.83 [[ 9.99995322e-01 2.67024506e-03 1.49210253e-03 3.97956462e+01] [-2.67036000e-03 9.99996432e-01 7.50479630e-05 -1.30037685e-02] [-1.49189681e-03 -7.90320628e-05 9.99998884e-01 -8.28544365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242791605 meters Centerline goodness : 0.106726 Centerline is valid? [False, False] Translation: X:39.80, Y:-0.02, Z:-0.83 [[ 9.99995200e-01 2.67094345e-03 1.57061340e-03 3.97970177e+01] [-2.67196366e-03 9.99996220e-01 6.47820401e-04 -1.65975739e-02] [-1.56887717e-03 -6.52013913e-04 9.99998557e-01 -8.30061413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272791605 meters Centerline goodness : 0.113332 Centerline is valid? [False, False] Translation: X:39.81, Y:-0.02, Z:-0.84 [[ 9.99997514e-01 2.19172715e-03 4.09421267e-04 3.98067304e+01] [-2.19186910e-03 9.99997538e-01 3.46599705e-04 -1.73994620e-02] [-4.08660607e-04 -3.47496242e-04 9.99999856e-01 -8.40414979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302791605 meters Centerline goodness : 0.194468 Centerline is valid? [False, False] Translation: X:39.81, Y:-0.02, Z:-0.84 [[ 9.99997681e-01 2.14216561e-03 2.20177768e-04 3.98078149e+01] [-2.14233435e-03 9.99997410e-01 7.69010173e-04 -1.98949977e-02] [-2.18529850e-04 -7.69480084e-04 9.99999680e-01 -8.41938860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332791605000004 meters Centerline goodness : 0.175274 Centerline is valid? [False, False] Translation: X:39.81, Y:-0.03, Z:-0.84 [[ 9.99997697e-01 2.09777271e-03 4.53162856e-04 3.98091612e+01] [-2.09850556e-03 9.99996481e-01 1.62281172e-03 -2.52962842e-02] [-4.49756972e-04 -1.62375894e-03 9.99998581e-01 -8.43539772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362791605000005 meters Centerline goodness : 0.161391 Centerline is valid? [False, False] Translation: X:39.81, Y:-0.03, Z:-0.84 [[ 9.99997664e-01 2.12468355e-03 3.97099837e-04 3.98099109e+01] [-2.12545065e-03 9.99995857e-01 1.94143145e-03 -2.71504000e-02] [-3.92973264e-04 -1.94227093e-03 9.99998037e-01 -8.44768231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392791605 meters Centerline goodness : 0.167303 Centerline is valid? [False, False] Translation: X:39.82, Y:-0.03, Z:-0.86 [[ 9.99998774e-01 1.56557367e-03 2.50206955e-05 3.98200073e+01] [-1.56562685e-03 9.99996153e-01 2.28970492e-03 -3.23339555e-02] [-2.14358975e-05 -2.28974129e-03 9.99997378e-01 -8.56279877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422791605 meters Centerline goodness : 0.102000 Centerline is valid? [False, False] Translation: X:39.82, Y:-0.04, Z:-0.86 [[ 9.99999055e-01 1.37368776e-03 -5.82043031e-05 3.98207663e+01] [-1.37351428e-03 9.99994902e-01 2.88253789e-03 -3.68113459e-02] [ 6.21637134e-05 -2.88245522e-03 9.99995844e-01 -8.57939706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452791605 meters Centerline goodness : 0.103263 Centerline is valid? [False, False] Translation: X:39.83, Y:-0.04, Z:-0.87 [[ 9.99998729e-01 5.26266008e-04 -1.50511149e-03 3.98311042e+01] [-5.22287831e-04 9.99996373e-01 2.64228388e-03 -4.02355876e-02] [ 1.50649658e-03 -2.64149442e-03 9.99995376e-01 -8.69131046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482791605 meters Centerline goodness : 0.102211 Centerline is valid? [False, False] Translation: X:39.86, Y:-0.04, Z:-0.87 [[ 9.99959028e-01 7.98042133e-03 -4.27255300e-03 3.98560314e+01] [-7.97143659e-03 9.99965989e-01 2.11581359e-03 -3.75035256e-02] [ 4.28929277e-03 -2.08166851e-03 9.99988634e-01 -8.68585377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 938.67 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