+ python -m lidar_slam --no-model /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: 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 0.024340128 Adjusted end_distance from 9.223372036854776e+18 to 59.974340128 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [0, True] SLAMing on 0.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99999977e-01 -2.15754914e-04 0.00000000e+00 2.98792882e-02] [ 2.15754914e-04 9.99999977e-01 0.00000000e+00 -1.46868875e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73658227e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99999999e-01 -4.69189018e-05 0.00000000e+00 5.94536404e-02] [ 4.69189018e-05 9.99999999e-01 0.00000000e+00 -4.09549152e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41583453e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11434012800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:-0.00 [[ 9.99999975e-01 -2.25821842e-04 0.00000000e+00 9.04019031e-02] [ 2.25821842e-04 9.99999975e-01 0.00000000e+00 -5.83262097e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82129964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.00 [[ 1.00000000e+00 1.32503605e-05 0.00000000e+00 1.20251940e-01] [-1.32503605e-05 1.00000000e+00 0.00000000e+00 -7.64828491e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92278333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:-0.00 [[ 9.99999865e-01 5.19957323e-04 0.00000000e+00 1.50858567e-01] [-5.19957323e-04 9.99999865e-01 0.00000000e+00 -9.15497643e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68993024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.00 [[ 0.9999975 0.00223574 0. 0.18092946] [-0.00223574 0.9999975 0. -0.01181773] [ 0. 0. 1. -0.00314815] [ 0. 0. 0. 1. ]] SLAMing on 0.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.01, Z:-0.00 [[ 0.99999367 0.00355731 0. 0.21095818] [-0.00355731 0.99999367 0. -0.01337501] [ 0. 0. 1. -0.00325504] [ 0. 0. 0. 1. ]] SLAMing on 0.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.02, Z:-0.00 [[ 0.9999808 0.00619722 0. 0.24108608] [-0.00619722 0.9999808 0. -0.0155119 ] [ 0. 0. 1. -0.00259431] [ 0. 0. 0. 1. ]] SLAMing on 0.29434012800000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.02, Z:-0.00 [[ 0.99996931 0.00783402 0. 0.27092078] [-0.00783402 0.99996931 0. -0.01687201] [ 0. 0. 1. -0.0022204 ] [ 0. 0. 0. 1. ]] SLAMing on 0.32434012800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.02, Z:-0.00 [[ 0.99995864 0.00909516 0. 0.30159458] [-0.00909516 0.99995864 0. -0.01819965] [ 0. 0. 1. -0.00172698] [ 0. 0. 0. 1. ]] SLAMing on 0.35434012800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.02, Z:-0.00 [[ 0.99994794 0.01020361 0. 0.33198653] [-0.01020361 0.99994794 0. -0.01947614] [ 0. 0. 1. -0.00149141] [ 0. 0. 0. 1. ]] SLAMing on 0.38434012800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.02, Z:-0.00 [[ 0.99992265 0.01243785 0. 0.36212285] [-0.01243785 0.99992265 0. -0.02172983] [ 0. 0. 1. -0.00107575] [ 0. 0. 0. 1. ]] SLAMing on 0.41434012800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.02, Z:-0.00 [[ 9.99912207e-01 1.32505979e-02 0.00000000e+00 3.93353287e-01] [-1.32505979e-02 9.99912207e-01 0.00000000e+00 -2.38711034e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05407330e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44434012800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.03, Z:0.00 [[ 9.99916867e-01 1.28941326e-02 0.00000000e+00 4.25141042e-01] [-1.28941326e-02 9.99916867e-01 0.00000000e+00 -2.52871927e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15937131e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.03, Z:-0.00 [[ 9.99924009e-01 1.23278513e-02 0.00000000e+00 4.56546693e-01] [-1.23278513e-02 9.99924009e-01 0.00000000e+00 -2.71758568e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68037752e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.03, Z:-0.00 [[ 0.99993436 0.01145767 0. 0.48781703] [-0.01145767 0.99993436 0. -0.0289068 ] [ 0. 0. 1. -0.00149263] [ 0. 0. 0. 1. ]] SLAMing on 0.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.03, Z:-0.00 [[ 0.99996208 0.00870826 0. 0.5176669 ] [-0.00870826 0.99996208 0. -0.03126708] [ 0. 0. 1. -0.00150062] [ 0. 0. 0. 1. ]] SLAMing on 0.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.03, Z:-0.00 [[ 0.99997447 0.00714592 0. 0.54818332] [-0.00714592 0.99997447 0. -0.03291491] [ 0. 0. 1. -0.00150434] [ 0. 0. 0. 1. ]] SLAMing on 0.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.03, Z:-0.00 [[ 0.99998695 0.00510847 0. 0.57887176] [-0.00510847 0.99998695 0. -0.03429048] [ 0. 0. 1. -0.00143397] [ 0. 0. 0. 1. ]] SLAMing on 0.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.04, Z:-0.00 [[ 0.99999427 0.00338544 0. 0.60957203] [-0.00338544 0.99999427 0. -0.03572324] [ 0. 0. 1. -0.00314022] [ 0. 0. 0. 1. ]] SLAMing on 0.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.04, Z:-0.01 [[ 9.99999792e-01 6.45557963e-04 0.00000000e+00 6.40386651e-01] [-6.45557963e-04 9.99999792e-01 0.00000000e+00 -3.82507741e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09836476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.684340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.04, Z:-0.01 [[ 9.99999999e-01 4.53150536e-05 0.00000000e+00 6.71348436e-01] [-4.53150536e-05 9.99999999e-01 0.00000000e+00 -3.96447984e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01133447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.04, Z:-0.00 [[ 9.99999923e-01 -3.93654522e-04 0.00000000e+00 7.00959882e-01] [ 3.93654522e-04 9.99999923e-01 0.00000000e+00 -4.01404072e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00916251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.04, Z:-0.01 [[ 9.99999953e-01 3.07900093e-04 0.00000000e+00 7.31220214e-01] [-3.07900093e-04 9.99999953e-01 0.00000000e+00 -4.10628519e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29419984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7743401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.04, Z:-0.01 [[ 0.99999929 0.00118944 0. 0.76211518] [-0.00118944 0.99999929 0. -0.04234099] [ 0. 0. 1. -0.0061152 ] [ 0. 0. 0. 1. ]] SLAMing on 0.804340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.04, Z:-0.01 [[ 0.9999979 0.00204708 0. 0.79216418] [-0.00204708 0.9999979 0. -0.04356662] [ 0. 0. 1. -0.00605873] [ 0. 0. 0. 1. ]] SLAMing on 0.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.05, Z:-0.01 [[ 0.99999423 0.00339847 0. 0.82236284] [-0.00339847 0.99999423 0. -0.0452402 ] [ 0. 0. 1. -0.0084734 ] [ 0. 0. 0. 1. ]] SLAMing on 0.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.05, Z:-0.01 [[ 0.99999117 0.00420259 0. 0.85270501] [-0.00420259 0.99999117 0. -0.04630841] [ 0. 0. 1. -0.00708705] [ 0. 0. 0. 1. ]] SLAMing on 0.8943401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.05, Z:-0.01 [[ 0.99998572 0.0053434 0. 0.88276097] [-0.0053434 0.99998572 0. -0.04659203] [ 0. 0. 1. -0.00694638] [ 0. 0. 0. 1. ]] SLAMing on 0.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.05, Z:-0.01 [[ 0.99998527 0.00542852 0. 0.9136995 ] [-0.00542852 0.99998527 0. -0.0474897 ] [ 0. 0. 1. -0.01061321] [ 0. 0. 0. 1. ]] SLAMing on 0.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.05, Z:-0.01 [[ 0.99997872 0.00652385 0. 0.94402847] [-0.00652385 0.99997872 0. -0.0477399 ] [ 0. 0. 1. -0.00816249] [ 0. 0. 0. 1. ]] SLAMing on 0.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.05, Z:-0.01 [[ 0.99997361 0.00726496 0. 0.97444246] [-0.00726496 0.99997361 0. -0.04762879] [ 0. 0. 1. -0.01106403] [ 0. 0. 0. 1. ]] SLAMing on 1.0143401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.05, Z:-0.01 [[ 0.9999721 0.00746984 0. 1.00417493] [-0.00746984 0.9999721 0. -0.04772606] [ 0. 0. 1. -0.01132497] [ 0. 0. 0. 1. ]] SLAMing on 1.044340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.05, Z:-0.01 [[ 0.99996804 0.00799478 0. 1.03511515] [-0.00799478 0.99996804 0. -0.04857253] [ 0. 0. 1. -0.0102843 ] [ 0. 0. 0. 1. ]] SLAMing on 1.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.05, Z:-0.01 [[ 0.99996789 0.00801333 0. 1.06504622] [-0.00801333 0.99996789 0. -0.0493025 ] [ 0. 0. 1. -0.01139869] [ 0. 0. 0. 1. ]] SLAMing on 1.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.05, Z:-0.01 [[ 0.99996728 0.00808971 0. 1.09473302] [-0.00808971 0.99996728 0. -0.05035457] [ 0. 0. 1. -0.01086249] [ 0. 0. 0. 1. ]] SLAMing on 1.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.05, Z:-0.01 [[ 0.99997357 0.00727068 0. 1.12502745] [-0.00727068 0.99997357 0. -0.05150591] [ 0. 0. 1. -0.01170527] [ 0. 0. 0. 1. ]] SLAMing on 1.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.05, Z:-0.01 [[ 0.99997357 0.00727068 0. 1.15601937] [-0.00727068 0.99997357 0. -0.05221359] [ 0. 0. 1. -0.01170527] [ 0. 0. 0. 1. ]] SLAMing on 1.1943401280000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.05, Z:-0.01 [[ 0.99998416 0.00562802 0. 1.18656224] [-0.00562802 0.99998416 0. -0.05374432] [ 0. 0. 1. -0.01152095] [ 0. 0. 0. 1. ]] SLAMing on 1.2243401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.05, Z:-0.01 [[ 0.99998942 0.00460057 0. 1.21683201] [-0.00460057 0.99998942 0. -0.05446409] [ 0. 0. 1. -0.01203562] [ 0. 0. 0. 1. ]] SLAMing on 1.2543401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.06, Z:-0.01 [[ 0.99998983 0.0045101 0. 1.24749309] [-0.0045101 0.99998983 0. -0.05536837] [ 0. 0. 1. -0.01216606] [ 0. 0. 0. 1. ]] SLAMing on 1.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.06, Z:-0.01 [[ 0.999987 0.00509961 0. 1.27716716] [-0.00509961 0.999987 0. -0.05655714] [ 0. 0. 1. -0.01205224] [ 0. 0. 0. 1. ]] SLAMing on 1.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.06, Z:-0.01 [[ 0.99998323 0.00579201 0. 1.3074389 ] [-0.00579201 0.99998323 0. -0.0574754 ] [ 0. 0. 1. -0.01243695] [ 0. 0. 0. 1. ]] SLAMing on 1.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.06, Z:-0.01 [[ 0.99998055 0.00623655 0. 1.33768715] [-0.00623655 0.99998055 0. -0.05800609] [ 0. 0. 1. -0.01250615] [ 0. 0. 0. 1. ]] SLAMing on 1.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.06, Z:-0.01 [[ 0.99997329 0.00730859 0. 1.36864277] [-0.00730859 0.99997329 0. -0.05921406] [ 0. 0. 1. -0.01269294] [ 0. 0. 0. 1. ]] SLAMing on 1.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.06, Z:-0.01 [[ 0.99996138 0.00878856 0. 1.39923226] [-0.00878856 0.99996138 0. -0.06104535] [ 0. 0. 1. -0.01259365] [ 0. 0. 0. 1. ]] SLAMing on 1.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.06, Z:-0.01 [[ 0.99994695 0.01030001 0. 1.42910399] [-0.01030001 0.99994695 0. -0.06365135] [ 0. 0. 1. -0.01273803] [ 0. 0. 0. 1. ]] SLAMing on 1.4643401280000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.06, Z:-0.01 [[ 0.99994046 0.01091218 0. 1.46004624] [-0.01091218 0.99994046 0. -0.06481111] [ 0. 0. 1. -0.01149234] [ 0. 0. 0. 1. ]] SLAMing on 1.4943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.07, Z:-0.01 [[ 0.99992145 0.0125337 0. 1.49000165] [-0.0125337 0.99992145 0. -0.06620225] [ 0. 0. 1. -0.01221101] [ 0. 0. 0. 1. ]] SLAMing on 1.5243401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.07, Z:-0.01 [[ 0.99991443 0.01308182 0. 1.52050803] [-0.01308182 0.99991443 0. -0.06724585] [ 0. 0. 1. -0.01132009] [ 0. 0. 0. 1. ]] SLAMing on 1.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.07, Z:-0.01 [[ 0.99989902 0.01421069 0. 1.55028589] [-0.01421069 0.99989902 0. -0.07047386] [ 0. 0. 1. -0.01120569] [ 0. 0. 0. 1. ]] SLAMing on 1.584340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.07, Z:-0.01 [[ 0.99989762 0.01430928 0. 1.58139414] [-0.01430928 0.99989762 0. -0.07227358] [ 0. 0. 1. -0.0092411 ] [ 0. 0. 0. 1. ]] SLAMing on 1.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.07, Z:-0.01 [[ 0.99989196 0.01469908 0. 1.61229005] [-0.01469908 0.99989196 0. -0.07498067] [ 0. 0. 1. -0.00821551] [ 0. 0. 0. 1. ]] SLAMing on 1.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.08, Z:-0.01 [[ 0.99988118 0.01541519 0. 1.64240817] [-0.01541519 0.99988118 0. -0.07918144] [ 0. 0. 1. -0.00864121] [ 0. 0. 0. 1. ]] SLAMing on 1.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.08, Z:-0.01 [[ 0.99982775 0.01855976 0. 1.67379186] [-0.01855976 0.99982775 0. -0.0830826 ] [ 0. 0. 1. -0.00502711] [ 0. 0. 0. 1. ]] SLAMing on 1.7043401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.08, Z:-0.01 [[ 0.9998471 0.01748673 0. 1.70535481] [-0.01748673 0.9998471 0. -0.08429846] [ 0. 0. 1. -0.00613136] [ 0. 0. 0. 1. ]] SLAMing on 1.7343401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.09, Z:-0.00 [[ 0.99982993 0.01844233 0. 1.73616811] [-0.01844233 0.99982993 0. -0.08831113] [ 0. 0. 1. -0.00440633] [ 0. 0. 0. 1. ]] SLAMing on 1.7643401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.09, Z:-0.00 [[ 0.99980551 0.01972154 0. 1.76589158] [-0.01972154 0.99980551 0. -0.09114758] [ 0. 0. 1. -0.00426257] [ 0. 0. 0. 1. ]] SLAMing on 1.7943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.10, Z:-0.00 [[ 0.99979131 0.02042896 0. 1.79669757] [-0.02042896 0.99979131 0. -0.09575762] [ 0. 0. 1. -0.00367581] [ 0. 0. 0. 1. ]] SLAMing on 1.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.10, Z:-0.00 [[ 0.99979982 0.02000795 0. 1.82761834] [-0.02000795 0.99979982 0. -0.10128 ] [ 0. 0. 1. -0.0025214 ] [ 0. 0. 0. 1. ]] SLAMing on 1.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.10, Z:-0.00 [[ 9.99782272e-01 2.08664553e-02 0.00000000e+00 1.85866728e+00] [-2.08664553e-02 9.99782272e-01 0.00000000e+00 -1.04911377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54727510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.11, Z:-0.00 [[ 0.99976813 0.02153347 0. 1.89016482] [-0.02153347 0.99976813 0. -0.10823538] [ 0. 0. 1. -0.00267508] [ 0. 0. 0. 1. ]] SLAMing on 1.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.11, Z:-0.00 [[ 0.9997434 0.02265231 0. 1.92215044] [-0.02265231 0.9997434 0. -0.11376698] [ 0. 0. 1. -0.00236074] [ 0. 0. 0. 1. ]] SLAMing on 1.9443401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.12, Z:-0.00 [[ 0.99972734 0.02335046 0. 1.95418764] [-0.02335046 0.99972734 0. -0.11784798] [ 0. 0. 1. -0.00208466] [ 0. 0. 0. 1. ]] SLAMing on 1.9743401280000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.12, Z:-0.00 [[ 9.99701500e-01 2.44317690e-02 0.00000000e+00 1.98596800e+00] [-2.44317690e-02 9.99701500e-01 0.00000000e+00 -1.22227519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42667416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0043401280000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.13, Z:-0.00 [[ 0.99968442 0.02512091 0. 2.0171261 ] [-0.02512091 0.99968442 0. -0.12864902] [ 0. 0. 1. -0.00257774] [ 0. 0. 0. 1. ]] SLAMing on 2.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.13, Z:-0.00 [[ 9.99665235e-01 2.58731008e-02 0.00000000e+00 2.05047399e+00] [-2.58731008e-02 9.99665235e-01 0.00000000e+00 -1.32571467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18375553e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.14, Z:-0.00 [[ 9.99669001e-01 2.57271869e-02 0.00000000e+00 2.08247732e+00] [-2.57271869e-02 9.99669001e-01 0.00000000e+00 -1.35596552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65776413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.14, Z:-0.00 [[ 9.99644556e-01 2.66601284e-02 0.00000000e+00 2.11486442e+00] [-2.66601284e-02 9.99644556e-01 0.00000000e+00 -1.42468794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27638801e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.124340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.15, Z:-0.00 [[ 9.99603260e-01 2.81659661e-02 0.00000000e+00 2.14659844e+00] [-2.81659661e-02 9.99603260e-01 0.00000000e+00 -1.47155820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16183163e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1543401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.15, Z:0.00 [[ 9.99593556e-01 2.85082953e-02 0.00000000e+00 2.17868746e+00] [-2.85082953e-02 9.99593556e-01 0.00000000e+00 -1.51539774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51978863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.16, Z:0.00 [[ 9.99598148e-01 2.83468231e-02 0.00000000e+00 2.21073439e+00] [-2.83468231e-02 9.99598148e-01 0.00000000e+00 -1.55078250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69136208e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2143401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.16, Z:0.00 [[ 9.99559981e-01 2.96621662e-02 0.00000000e+00 2.24254725e+00] [-2.96621662e-02 9.99559981e-01 0.00000000e+00 -1.63123379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12552025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.17, Z:0.00 [[ 9.99555025e-01 2.98287136e-02 0.00000000e+00 2.27406289e+00] [-2.98287136e-02 9.99555025e-01 0.00000000e+00 -1.67141632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53195180e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.17, Z:0.00 [[ 0.99955769 0.02973927 0. 2.30800306] [-0.02973927 0.99955769 0. -0.17188651] [ 0. 0. 1. 0.00334751] [ 0. 0. 0. 1. ]] SLAMing on 2.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.18, Z:0.00 [[ 0.99955052 0.02997943 0. 2.33961301] [-0.02997943 0.99955052 0. -0.17944432] [ 0. 0. 1. 0.00393095] [ 0. 0. 0. 1. ]] SLAMing on 2.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.18, Z:0.01 [[ 0.99954815 0.03005827 0. 2.37287697] [-0.03005827 0.99954815 0. -0.1836761 ] [ 0. 0. 1. 0.00519902] [ 0. 0. 0. 1. ]] SLAMing on 2.3643401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.19, Z:0.01 [[ 0.99954864 0.03004204 0. 2.40567491] [-0.03004204 0.99954864 0. -0.19028187] [ 0. 0. 1. 0.00598668] [ 0. 0. 0. 1. ]] SLAMing on 2.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.19, Z:0.01 [[ 0.99954697 0.03009745 0. 2.43720403] [-0.03009745 0.99954697 0. -0.19403509] [ 0. 0. 1. 0.00538421] [ 0. 0. 0. 1. ]] SLAMing on 2.4243401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.20, Z:0.01 [[ 0.99956252 0.0295764 0. 2.46987539] [-0.0295764 0.99956252 0. -0.19782237] [ 0. 0. 1. 0.005149 ] [ 0. 0. 0. 1. ]] SLAMing on 2.454340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.20, Z:0.01 [[ 0.99958622 0.02876433 0. 2.50318323] [-0.02876433 0.99958622 0. -0.20171672] [ 0. 0. 1. 0.00502451] [ 0. 0. 0. 1. ]] SLAMing on 2.4843401280000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.21, Z:0.01 [[ 0.99965557 0.02624384 0. 2.53508737] [-0.02624384 0.99965557 0. -0.20827487] [ 0. 0. 1. 0.0056359 ] [ 0. 0. 0. 1. ]] SLAMing on 2.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.21, Z:0.01 [[ 0.99968931 0.02492573 0. 2.56786553] [-0.02492573 0.99968931 0. -0.21187079] [ 0. 0. 1. 0.00610708] [ 0. 0. 0. 1. ]] SLAMing on 2.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.22, Z:0.01 [[ 0.99971542 0.0238553 0. 2.59735272] [-0.0238553 0.99971542 0. -0.21765147] [ 0. 0. 1. 0.00573533] [ 0. 0. 0. 1. ]] SLAMing on 2.5743401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.22, Z:0.01 [[ 0.9997635 0.02174708 0. 2.63094398] [-0.02174708 0.9997635 0. -0.2207837 ] [ 0. 0. 1. 0.00505312] [ 0. 0. 0. 1. ]] SLAMing on 2.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.22, Z:0.00 [[ 0.99977635 0.02114815 0. 2.66386338] [-0.02114815 0.99977635 0. -0.22418089] [ 0. 0. 1. 0.00484608] [ 0. 0. 0. 1. ]] SLAMing on 2.6343401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.23, Z:0.00 [[ 0.99977908 0.02101884 0. 2.69477846] [-0.02101884 0.99977908 0. -0.22861427] [ 0. 0. 1. 0.00381185] [ 0. 0. 0. 1. ]] SLAMing on 2.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.23, Z:0.01 [[ 0.99975232 0.02225552 0. 2.72546289] [-0.02225552 0.99975232 0. -0.23201165] [ 0. 0. 1. 0.00606346] [ 0. 0. 0. 1. ]] SLAMing on 2.6943401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.24, Z:0.01 [[ 0.99972168 0.02359156 0. 2.75737786] [-0.02359156 0.99972168 0. -0.23552642] [ 0. 0. 1. 0.00640233] [ 0. 0. 0. 1. ]] SLAMing on 2.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.24, Z:0.01 [[ 0.99969239 0.02480192 0. 2.79148526] [-0.02480192 0.99969239 0. -0.23817589] [ 0. 0. 1. 0.00612767] [ 0. 0. 0. 1. ]] SLAMing on 2.7543401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.24, Z:0.01 [[ 0.99966418 0.02591376 0. 2.82444858] [-0.02591376 0.99966418 0. -0.24014628] [ 0. 0. 1. 0.00674864] [ 0. 0. 0. 1. ]] SLAMing on 2.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.24, Z:0.01 [[ 0.99963103 0.02716255 0. 2.85594825] [-0.02716255 0.99963103 0. -0.24259265] [ 0. 0. 1. 0.0059237 ] [ 0. 0. 0. 1. ]] SLAMing on 2.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.25, Z:0.01 [[ 0.99959385 0.028498 0. 2.88801982] [-0.028498 0.99959385 0. -0.24601356] [ 0. 0. 1. 0.00571216] [ 0. 0. 0. 1. ]] SLAMing on 2.8443401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.25, Z:0.01 [[ 0.99951592 0.03111147 0. 2.91750099] [-0.03111147 0.99951592 0. -0.24859968] [ 0. 0. 1. 0.00727984] [ 0. 0. 0. 1. ]] SLAMing on 2.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.25, Z:0.01 [[ 0.99956259 0.02957417 0. 2.95270404] [-0.02957417 0.99956259 0. -0.24982659] [ 0. 0. 1. 0.00621398] [ 0. 0. 0. 1. ]] SLAMing on 2.9043401280000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.25, Z:0.01 [[ 0.99954161 0.03027506 0. 2.98607274] [-0.03027506 0.99954161 0. -0.25194575] [ 0. 0. 1. 0.00754641] [ 0. 0. 0. 1. ]] SLAMing on 2.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.25, Z:0.01 [[ 0.9995289 0.03069156 0. 3.0178361 ] [-0.03069156 0.9995289 0. -0.25371946] [ 0. 0. 1. 0.00644251] [ 0. 0. 0. 1. ]] SLAMing on 2.9643401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.26, Z:0.01 [[ 0.99953593 0.03046177 0. 3.05039547] [-0.03046177 0.99953593 0. -0.25538409] [ 0. 0. 1. 0.00727896] [ 0. 0. 0. 1. ]] SLAMing on 2.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.26, Z:0.01 [[ 0.99957221 0.02924718 0. 3.0833594 ] [-0.02924718 0.99957221 0. -0.25814371] [ 0. 0. 1. 0.00966898] [ 0. 0. 0. 1. ]] SLAMing on 3.0243401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.26, Z:0.01 [[ 0.99959706 0.0283853 0. 3.11668068] [-0.0283853 0.99959706 0. -0.26024415] [ 0. 0. 1. 0.01055139] [ 0. 0. 0. 1. ]] SLAMing on 3.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.26, Z:0.01 [[ 0.99962375 0.02742933 0. 3.15004015] [-0.02742933 0.99962375 0. -0.2622418 ] [ 0. 0. 1. 0.01090369] [ 0. 0. 0. 1. ]] SLAMing on 3.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.26, Z:0.01 [[ 0.99961483 0.02775226 0. 3.18346431] [-0.02775226 0.99961483 0. -0.26357777] [ 0. 0. 1. 0.01090369] [ 0. 0. 0. 1. ]] SLAMing on 3.1143401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.27, Z:0.01 [[ 0.99964316 0.02671246 0. 3.21657884] [-0.02671246 0.99964316 0. -0.26572994] [ 0. 0. 1. 0.01074789] [ 0. 0. 0. 1. ]] SLAMing on 3.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.27, Z:0.01 [[ 0.99964565 0.02661914 0. 3.24880647] [-0.02661914 0.99964565 0. -0.26738302] [ 0. 0. 1. 0.01007342] [ 0. 0. 0. 1. ]] SLAMing on 3.1743401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.27, Z:0.01 [[ 0.99964814 0.02652521 0. 3.28133502] [-0.02652521 0.99964814 0. -0.26892361] [ 0. 0. 1. 0.00997301] [ 0. 0. 0. 1. ]] SLAMing on 3.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.27, Z:0.01 [[ 0.99963382 0.02705982 0. 3.31329755] [-0.02705982 0.99963382 0. -0.27128563] [ 0. 0. 1. 0.01010729] [ 0. 0. 0. 1. ]] SLAMing on 3.2343401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.27, Z:0.01 [[ 0.99962787 0.02727877 0. 3.34604754] [-0.02727877 0.99962787 0. -0.27303722] [ 0. 0. 1. 0.01006127] [ 0. 0. 0. 1. ]] SLAMing on 3.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.28, Z:0.01 [[ 0.99959962 0.02829501 0. 3.37884847] [-0.02829501 0.99959962 0. -0.27505039] [ 0. 0. 1. 0.01037032] [ 0. 0. 0. 1. ]] SLAMing on 3.2943401280000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.28, Z:0.01 [[ 0.99954385 0.03020093 0. 3.4110298 ] [-0.03020093 0.99954385 0. -0.27702647] [ 0. 0. 1. 0.00982947] [ 0. 0. 0. 1. ]] SLAMing on 3.3243401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.28, Z:0.01 [[ 0.99950704 0.0313954 0. 3.44404053] [-0.0313954 0.99950704 0. -0.27887386] [ 0. 0. 1. 0.00951448] [ 0. 0. 0. 1. ]] SLAMing on 3.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.28, Z:0.01 [[ 0.99947543 0.03238629 0. 3.47718344] [-0.03238629 0.99947543 0. -0.28050241] [ 0. 0. 1. 0.00925973] [ 0. 0. 0. 1. ]] SLAMing on 3.3843401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.28, Z:0.01 [[ 0.99943329 0.03366156 0. 3.50881839] [-0.03366156 0.99943329 0. -0.28229648] [ 0. 0. 1. 0.00945748] [ 0. 0. 0. 1. ]] SLAMing on 3.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.28, Z:0.01 [[ 0.99943331 0.03366079 0. 3.54129325] [-0.03366079 0.99943331 0. -0.28393315] [ 0. 0. 1. 0.0095436 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4443401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.29, Z:0.01 [[ 0.99943268 0.03367963 0. 3.57313923] [-0.03367963 0.99943268 0. -0.28576531] [ 0. 0. 1. 0.00976804] [ 0. 0. 0. 1. ]] SLAMing on 3.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.29, Z:0.01 [[ 0.99945477 0.03301764 0. 3.6030385 ] [-0.03301764 0.99945477 0. -0.28777124] [ 0. 0. 1. 0.00846617] [ 0. 0. 0. 1. ]] SLAMing on 3.5043401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.29, Z:0.01 [[ 0.99946724 0.03263804 0. 3.6361739 ] [-0.03263804 0.99946724 0. -0.29067938] [ 0. 0. 1. 0.01093773] [ 0. 0. 0. 1. ]] SLAMing on 3.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.29, Z:0.01 [[ 0.99948442 0.03210762 0. 3.66787259] [-0.03210762 0.99948442 0. -0.29316112] [ 0. 0. 1. 0.01136407] [ 0. 0. 0. 1. ]] SLAMing on 3.5643401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.30, Z:0.01 [[ 0.99951604 0.03110769 0. 3.69959726] [-0.03110769 0.99951604 0. -0.29731554] [ 0. 0. 1. 0.0104201 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5943401280000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.30, Z:0.01 [[ 0.99953477 0.03049981 0. 3.73101846] [-0.03049981 0.99953477 0. -0.30013952] [ 0. 0. 1. 0.01004348] [ 0. 0. 0. 1. ]] SLAMing on 3.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.30, Z:0.01 [[ 0.99953064 0.03063496 0. 3.76208913] [-0.03063496 0.99953064 0. -0.30318645] [ 0. 0. 1. 0.00981225] [ 0. 0. 0. 1. ]] SLAMing on 3.6543401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.31, Z:0.01 [[ 0.99954914 0.03002531 0. 3.79492461] [-0.03002531 0.99954914 0. -0.30663898] [ 0. 0. 1. 0.00937648] [ 0. 0. 0. 1. ]] SLAMing on 3.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.31, Z:0.01 [[ 0.99955979 0.02966848 0. 3.82743626] [-0.02966848 0.99955979 0. -0.31089943] [ 0. 0. 1. 0.01038967] [ 0. 0. 0. 1. ]] SLAMing on 3.7143401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.31, Z:0.01 [[ 0.99955873 0.02970429 0. 3.85891958] [-0.02970429 0.99955873 0. -0.31389311] [ 0. 0. 1. 0.01050061] [ 0. 0. 0. 1. ]] SLAMing on 3.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.32, Z:0.01 [[ 0.9995486 0.03004333 0. 3.89128317] [-0.03004333 0.9995486 0. -0.31899375] [ 0. 0. 1. 0.01114453] [ 0. 0. 0. 1. ]] SLAMing on 3.7743401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.32, Z:0.01 [[ 0.99954277 0.03023644 0. 3.92436221] [-0.03023644 0.99954277 0. -0.32238092] [ 0. 0. 1. 0.01098204] [ 0. 0. 0. 1. ]] SLAMing on 3.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.33, Z:0.01 [[ 0.99953309 0.03055486 0. 3.95720719] [-0.03055486 0.99953309 0. -0.3260338 ] [ 0. 0. 1. 0.01117956] [ 0. 0. 0. 1. ]] SLAMing on 3.8343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.33, Z:0.01 [[ 0.99954236 0.03025007 0. 3.98854837] [-0.03025007 0.99954236 0. -0.33120515] [ 0. 0. 1. 0.00873753] [ 0. 0. 0. 1. ]] SLAMing on 3.8643401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.34, Z:0.01 [[ 0.99953822 0.03038669 0. 4.0212722 ] [-0.03038669 0.99953822 0. -0.33579579] [ 0. 0. 1. 0.01196859] [ 0. 0. 0. 1. ]] SLAMing on 3.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.34, Z:0.01 [[ 0.99953575 0.03046762 0. 4.0524574 ] [-0.03046762 0.99953575 0. -0.33867416] [ 0. 0. 1. 0.00981283] [ 0. 0. 0. 1. ]] SLAMing on 3.9243401280000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.34, Z:0.01 [[ 0.99954233 0.03025107 0. 4.0848662 ] [-0.03025107 0.99954233 0. -0.34481036] [ 0. 0. 1. 0.01398934] [ 0. 0. 0. 1. ]] SLAMing on 3.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.35, Z:0.01 [[ 0.99951016 0.03129585 0. 4.11533808] [-0.03129585 0.99951016 0. -0.3481193 ] [ 0. 0. 1. 0.01136292] [ 0. 0. 0. 1. ]] SLAMing on 3.9843401280000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.35, Z:0.01 [[ 0.99952341 0.03086987 0. 4.14854946] [-0.03086987 0.99952341 0. -0.35166575] [ 0. 0. 1. 0.01450438] [ 0. 0. 0. 1. ]] SLAMing on 4.014340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.36, Z:0.01 [[ 0.99950337 0.03151205 0. 4.18097147] [-0.03151205 0.99950337 0. -0.35526097] [ 0. 0. 1. 0.01369118] [ 0. 0. 0. 1. ]] SLAMing on 4.044340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.36, Z:0.01 [[ 0.99946861 0.03259595 0. 4.21355785] [-0.03259595 0.99946861 0. -0.36142573] [ 0. 0. 1. 0.01257383] [ 0. 0. 0. 1. ]] SLAMing on 4.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.37, Z:0.01 [[ 0.99942696 0.03384883 0. 4.2440477 ] [-0.03384883 0.99942696 0. -0.36535684] [ 0. 0. 1. 0.00888656] [ 0. 0. 0. 1. ]] SLAMing on 4.1043401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.37, Z:0.01 [[ 0.99939347 0.0348237 0. 4.27473424] [-0.0348237 0.99939347 0. -0.37148991] [ 0. 0. 1. 0.00853806] [ 0. 0. 0. 1. ]] SLAMing on 4.134340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.37, Z:0.01 [[ 0.99938601 0.03503717 0. 4.30641762] [-0.03503717 0.99938601 0. -0.37498276] [ 0. 0. 1. 0.00808691] [ 0. 0. 0. 1. ]] SLAMing on 4.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.38, Z:0.01 [[ 0.99938331 0.03511414 0. 4.33836769] [-0.03511414 0.99938331 0. -0.38137056] [ 0. 0. 1. 0.00804242] [ 0. 0. 0. 1. ]] SLAMing on 4.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.39, Z:0.01 [[ 0.99937224 0.03542779 0. 4.37096822] [-0.03542779 0.99937224 0. -0.38562694] [ 0. 0. 1. 0.00764046] [ 0. 0. 0. 1. ]] SLAMing on 4.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.39, Z:0.01 [[ 0.99940265 0.03455938 0. 4.40339575] [-0.03455938 0.99940265 0. -0.38969591] [ 0. 0. 1. 0.00935926] [ 0. 0. 0. 1. ]] SLAMing on 4.254340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.40, Z:0.01 [[ 0.99946303 0.03276652 0. 4.43606533] [-0.03276652 0.99946303 0. -0.39616799] [ 0. 0. 1. 0.00967365] [ 0. 0. 0. 1. ]] SLAMing on 4.284340128000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.40, Z:0.01 [[ 0.99947092 0.03252497 0. 4.46638618] [-0.03252497 0.99947092 0. -0.40030937] [ 0. 0. 1. 0.00757256] [ 0. 0. 0. 1. ]] SLAMing on 4.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.40, Z:0.01 [[ 0.99953776 0.03040186 0. 4.49868003] [-0.03040186 0.99953776 0. -0.40388431] [ 0. 0. 1. 0.00717394] [ 0. 0. 0. 1. ]] SLAMing on 4.344340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.41, Z:0.01 [[ 0.99956801 0.02939038 0. 4.53152253] [-0.02939038 0.99956801 0. -0.40968613] [ 0. 0. 1. 0.00922509] [ 0. 0. 0. 1. ]] SLAMing on 4.374340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.42, Z:0.01 [[ 0.99964243 0.02673962 0. 4.56394377] [-0.02673962 0.99964243 0. -0.41576598] [ 0. 0. 1. 0.01005641] [ 0. 0. 0. 1. ]] SLAMing on 4.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.42, Z:0.01 [[ 0.99964227 0.02674559 0. 4.59329796] [-0.02674559 0.99964227 0. -0.4184733 ] [ 0. 0. 1. 0.00860634] [ 0. 0. 0. 1. ]] SLAMing on 4.4343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.43, Z:0.01 [[ 0.9996443 0.02666971 0. 4.62548563] [-0.02666971 0.9996443 0. -0.42609052] [ 0. 0. 1. 0.00877262] [ 0. 0. 0. 1. ]] SLAMing on 4.464340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.43, Z:0.01 [[ 0.99966682 0.02581192 0. 4.65632334] [-0.02581192 0.99966682 0. -0.42879534] [ 0. 0. 1. 0.00736885] [ 0. 0. 0. 1. ]] SLAMing on 4.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.43, Z:0.01 [[ 0.99964263 0.02673232 0. 4.68798055] [-0.02673232 0.99964263 0. -0.43387592] [ 0. 0. 1. 0.00762445] [ 0. 0. 0. 1. ]] SLAMing on 4.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.44, Z:0.01 [[ 0.99965752 0.02616941 0. 4.71839131] [-0.02616941 0.99965752 0. -0.43737069] [ 0. 0. 1. 0.00796997] [ 0. 0. 0. 1. ]] SLAMing on 4.554340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.44, Z:0.01 [[ 0.99964821 0.02652258 0. 4.75374682] [-0.02652258 0.99964821 0. -0.4422733 ] [ 0. 0. 1. 0.00816125] [ 0. 0. 0. 1. ]] SLAMing on 4.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.44, Z:0.01 [[ 0.99960167 0.02822224 0. 4.78091057] [-0.02822224 0.99960167 0. -0.44276308] [ 0. 0. 1. 0.00565217] [ 0. 0. 0. 1. ]] SLAMing on 4.614340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.45, Z:0.00 [[ 0.99956932 0.02934568 0. 4.81366143] [-0.02934568 0.99956932 0. -0.44631135] [ 0. 0. 1. 0.00496189] [ 0. 0. 0. 1. ]] SLAMing on 4.6443401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.45, Z:0.00 [[ 9.99560219e-01 2.96541574e-02 0.00000000e+00 4.84864060e+00] [-2.96541574e-02 9.99560219e-01 0.00000000e+00 -4.52722102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99561324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.674340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.46, Z:0.00 [[ 9.99423873e-01 3.39399675e-02 0.00000000e+00 4.87706213e+00] [-3.39399675e-02 9.99423873e-01 0.00000000e+00 -4.57158102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84180463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.46, Z:0.00 [[ 9.99253498e-01 3.86321896e-02 0.00000000e+00 4.91059941e+00] [-3.86321896e-02 9.99253498e-01 0.00000000e+00 -4.61180329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37458052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.734340128 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.46, Z:0.00 [[ 9.99197777e-01 4.00474942e-02 0.00000000e+00 4.94475386e+00] [-4.00474942e-02 9.99197777e-01 0.00000000e+00 -4.63234597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37518260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.764340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.47, Z:0.00 [[ 9.99084787e-01 4.27736949e-02 0.00000000e+00 4.97634844e+00] [-4.27736949e-02 9.99084787e-01 0.00000000e+00 -4.65230728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80924887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.794340128000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.47, Z:0.00 [[ 9.98907704e-01 4.67268585e-02 0.00000000e+00 5.00967328e+00] [-4.67268585e-02 9.98907704e-01 0.00000000e+00 -4.67490584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45664313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.47, Z:0.00 [[ 9.98849250e-01 4.79601526e-02 0.00000000e+00 5.04215712e+00] [-4.79601526e-02 9.98849250e-01 0.00000000e+00 -4.70564372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45975628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8543401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.47, Z:0.00 [[ 9.98834261e-01 4.82713055e-02 0.00000000e+00 5.07368413e+00] [-4.82713055e-02 9.98834261e-01 0.00000000e+00 -4.74085816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30611787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.884340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.48, Z:0.00 [[ 9.98906285e-01 4.67571770e-02 0.00000000e+00 5.10509759e+00] [-4.67571770e-02 9.98906285e-01 0.00000000e+00 -4.78974216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47815272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.48, Z:0.00 [[ 9.98957888e-01 4.56414121e-02 0.00000000e+00 5.13762025e+00] [-4.56414121e-02 9.98957888e-01 0.00000000e+00 -4.80926269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32077954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.944340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.48, Z:0.00 [[ 9.99014641e-01 4.43818310e-02 0.00000000e+00 5.16938983e+00] [-4.43818310e-02 9.99014641e-01 0.00000000e+00 -4.82177247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66525074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.974340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.48, Z:0.00 [[ 9.99081004e-01 4.28619534e-02 0.00000000e+00 5.20215338e+00] [-4.28619534e-02 9.99081004e-01 0.00000000e+00 -4.82928673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32541879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.004340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.48, Z:0.00 [[ 9.99068492e-01 4.31526261e-02 0.00000000e+00 5.23552108e+00] [-4.31526261e-02 9.99068492e-01 0.00000000e+00 -4.84845291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32541879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.034340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.49, Z:0.00 [[ 9.99248555e-01 3.87598289e-02 0.00000000e+00 5.26841320e+00] [-3.87598289e-02 9.99248555e-01 0.00000000e+00 -4.85774321e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59677818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.49, Z:0.00 [[ 9.99343313e-01 3.62345648e-02 0.00000000e+00 5.30146937e+00] [-3.62345648e-02 9.99343313e-01 0.00000000e+00 -4.88224632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14032697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.094340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.49, Z:0.00 [[ 9.99417815e-01 3.41179072e-02 0.00000000e+00 5.33380031e+00] [-3.41179072e-02 9.99417815e-01 0.00000000e+00 -4.90935401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85136894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.124340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.49, Z:0.00 [[ 9.99596024e-01 2.84216340e-02 0.00000000e+00 5.36612368e+00] [-2.84216340e-02 9.99596024e-01 0.00000000e+00 -4.93362038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85337680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.154340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.49, Z:0.01 [[ 9.99660252e-01 2.60649349e-02 0.00000000e+00 5.39877071e+00] [-2.60649349e-02 9.99660252e-01 0.00000000e+00 -4.94995315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35444101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1843401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.50, Z:0.01 [[ 9.99724097e-01 2.34889230e-02 0.00000000e+00 5.43058201e+00] [-2.34889230e-02 9.99724097e-01 0.00000000e+00 -4.95992144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42483638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.214340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.50, Z:0.01 [[ 9.99824909e-01 1.87123199e-02 0.00000000e+00 5.46276297e+00] [-1.87123199e-02 9.99824909e-01 0.00000000e+00 -4.95714264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40195948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.244340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.50, Z:0.01 [[ 9.99860092e-01 1.67271107e-02 0.00000000e+00 5.49570037e+00] [-1.67271107e-02 9.99860092e-01 0.00000000e+00 -4.97326974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37488462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.50, Z:0.01 [[ 0.99988812 0.01495844 0. 5.52853313] [-0.01495844 0.99988812 0. -0.499267 ] [ 0. 0. 1. 0.00642565] [ 0. 0. 0. 1. ]] SLAMing on 5.304340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.50, Z:0.01 [[ 0.99991989 0.01265765 0. 5.56079738] [-0.01265765 0.99991989 0. -0.50171629] [ 0. 0. 1. 0.0083439 ] [ 0. 0. 0. 1. ]] SLAMing on 5.334340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.50, Z:0.01 [[ 0.99991796 0.01280942 0. 5.5932701 ] [-0.01280942 0.99991796 0. -0.50344779] [ 0. 0. 1. 0.00884166] [ 0. 0. 0. 1. ]] SLAMing on 5.364340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.50, Z:0.01 [[ 0.9999118 0.01328093 0. 5.62611373] [-0.01328093 0.9999118 0. -0.50465664] [ 0. 0. 1. 0.00956683] [ 0. 0. 0. 1. ]] SLAMing on 5.3943401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.50, Z:0.01 [[ 0.99988176 0.01537757 0. 5.65851456] [-0.01537757 0.99988176 0. -0.50402367] [ 0. 0. 1. 0.01094225] [ 0. 0. 0. 1. ]] SLAMing on 5.424340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.51, Z:0.01 [[ 0.99984986 0.01732818 0. 5.69185966] [-0.01732818 0.99984986 0. -0.50518288] [ 0. 0. 1. 0.01209906] [ 0. 0. 0. 1. ]] SLAMing on 5.454340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.51, Z:0.01 [[ 0.99975998 0.02190852 0. 5.72472342] [-0.02190852 0.99975998 0. -0.50581389] [ 0. 0. 1. 0.01353233] [ 0. 0. 0. 1. ]] SLAMing on 5.484340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.51, Z:0.01 [[ 0.99970337 0.02435526 0. 5.75627013] [-0.02435526 0.99970337 0. -0.50688109] [ 0. 0. 1. 0.014092 ] [ 0. 0. 0. 1. ]] SLAMing on 5.514340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.51, Z:0.01 [[ 0.99962078 0.02753705 0. 5.79101166] [-0.02753705 0.99962078 0. -0.50951528] [ 0. 0. 1. 0.01384198] [ 0. 0. 0. 1. ]] SLAMing on 5.544340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.51, Z:0.01 [[ 0.99955959 0.02967518 0. 5.82353155] [-0.02967518 0.99955959 0. -0.50977081] [ 0. 0. 1. 0.01303383] [ 0. 0. 0. 1. ]] SLAMing on 5.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.51, Z:0.01 [[ 0.99944874 0.03319954 0. 5.85280273] [-0.03319954 0.99944874 0. -0.50718541] [ 0. 0. 1. 0.01370643] [ 0. 0. 0. 1. ]] SLAMing on 5.6043401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.51, Z:0.01 [[ 0.99940306 0.03454729 0. 5.88585899] [-0.03454729 0.99940306 0. -0.50775277] [ 0. 0. 1. 0.01381425] [ 0. 0. 0. 1. ]] SLAMing on 5.634340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.51, Z:0.01 [[ 0.99930156 0.03736826 0. 5.91796283] [-0.03736826 0.99930156 0. -0.51026228] [ 0. 0. 1. 0.01292317] [ 0. 0. 0. 1. ]] SLAMing on 5.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.51, Z:0.01 [[ 0.99919235 0.04018275 0. 5.94558029] [-0.04018275 0.99919235 0. -0.51032334] [ 0. 0. 1. 0.01362275] [ 0. 0. 0. 1. ]] SLAMing on 5.694340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.51, Z:0.01 [[ 0.99932823 0.03664807 0. 5.98146081] [-0.03664807 0.99932823 0. -0.50923757] [ 0. 0. 1. 0.01471946] [ 0. 0. 0. 1. ]] SLAMing on 5.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.51, Z:0.01 [[ 0.99939281 0.03484281 0. 6.01618487] [-0.03484281 0.99939281 0. -0.5092135 ] [ 0. 0. 1. 0.01317708] [ 0. 0. 0. 1. ]] SLAMing on 5.754340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.51, Z:0.01 [[ 0.99939964 0.03464618 0. 6.04673676] [-0.03464618 0.99939964 0. -0.50943164] [ 0. 0. 1. 0.01491082] [ 0. 0. 0. 1. ]] SLAMing on 5.784340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.51, Z:0.01 [[ 0.99946236 0.03278691 0. 6.08003194] [-0.03278691 0.99946236 0. -0.51021775] [ 0. 0. 1. 0.01322785] [ 0. 0. 0. 1. ]] SLAMing on 5.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.51, Z:0.01 [[ 0.99948002 0.03224412 0. 6.11293939] [-0.03224412 0.99948002 0. -0.51155084] [ 0. 0. 1. 0.01223923] [ 0. 0. 0. 1. ]] SLAMing on 5.844340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.51, Z:0.01 [[ 0.99960219 0.02820396 0. 6.14465573] [-0.02820396 0.99960219 0. -0.51044452] [ 0. 0. 1. 0.01458273] [ 0. 0. 0. 1. ]] SLAMing on 5.874340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.51, Z:0.02 [[ 0.99956536 0.02948048 0. 6.18190475] [-0.02948048 0.99956536 0. -0.5149599 ] [ 0. 0. 1. 0.01557715] [ 0. 0. 0. 1. ]] SLAMing on 5.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.51, Z:0.02 [[ 0.99967456 0.02551015 0. 6.20895701] [-0.02551015 0.99967456 0. -0.51129825] [ 0. 0. 1. 0.01576578] [ 0. 0. 0. 1. ]] SLAMing on 5.9343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.51, Z:0.02 [[ 0.99970683 0.02421282 0. 6.24204846] [-0.02421282 0.99970683 0. -0.51066484] [ 0. 0. 1. 0.01514881] [ 0. 0. 0. 1. ]] SLAMing on 5.964340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.51, Z:0.01 [[ 0.99972864 0.02329477 0. 6.27313529] [-0.02329477 0.99972864 0. -0.51028932] [ 0. 0. 1. 0.01376249] [ 0. 0. 0. 1. ]] SLAMing on 5.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.51, Z:0.01 [[ 0.999707 0.0242058 0. 6.30444802] [-0.0242058 0.999707 0. -0.50984671] [ 0. 0. 1. 0.01089353] [ 0. 0. 0. 1. ]] SLAMing on 6.024340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.51, Z:0.01 [[ 0.99972484 0.02345741 0. 6.33759428] [-0.02345741 0.99972484 0. -0.51006069] [ 0. 0. 1. 0.00979499] [ 0. 0. 0. 1. ]] SLAMing on 6.054340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.51, Z:0.01 [[ 0.999683 0.02517731 0. 6.37087627] [-0.02517731 0.999683 0. -0.51236893] [ 0. 0. 1. 0.01049107] [ 0. 0. 0. 1. ]] SLAMing on 6.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.51, Z:0.01 [[ 0.99963447 0.02703563 0. 6.40116591] [-0.02703563 0.99963447 0. -0.51170228] [ 0. 0. 1. 0.00797237] [ 0. 0. 0. 1. ]] SLAMing on 6.114340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.51, Z:0.01 [[ 0.99956854 0.02937233 0. 6.43430171] [-0.02937233 0.99956854 0. -0.51365825] [ 0. 0. 1. 0.00903585] [ 0. 0. 0. 1. ]] SLAMing on 6.1443401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.51, Z:0.01 [[ 0.9995179 0.03104778 0. 6.46495569] [-0.03104778 0.9995179 0. -0.51385116] [ 0. 0. 1. 0.00672367] [ 0. 0. 0. 1. ]] SLAMing on 6.174340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.51, Z:0.01 [[ 0.99955273 0.02990564 0. 6.50027989] [-0.02990564 0.99955273 0. -0.51378284] [ 0. 0. 1. 0.00769633] [ 0. 0. 0. 1. ]] SLAMing on 6.204340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.51, Z:0.01 [[ 9.99449138e-01 3.31876505e-02 0.00000000e+00 6.52809729e+00] [-3.31876505e-02 9.99449138e-01 0.00000000e+00 -5.14486221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06922869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.52, Z:0.01 [[ 9.99505872e-01 3.14326459e-02 0.00000000e+00 6.56245258e+00] [-3.14326459e-02 9.99505872e-01 0.00000000e+00 -5.15387097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09272500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.264340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.52, Z:0.01 [[ 9.99471333e-01 3.25123674e-02 0.00000000e+00 6.59873639e+00] [-3.25123674e-02 9.99471333e-01 0.00000000e+00 -5.18573193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35247342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.294340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.52, Z:0.01 [[ 0.99953639 0.03044692 0. 6.63019053] [-0.03044692 0.99953639 0. -0.51893461] [ 0. 0. 1. 0.00771964] [ 0. 0. 0. 1. ]] SLAMing on 6.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.52, Z:0.01 [[ 0.99954748 0.03008034 0. 6.66360939] [-0.03008034 0.99954748 0. -0.51983602] [ 0. 0. 1. 0.00878777] [ 0. 0. 0. 1. ]] SLAMing on 6.3543401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.52, Z:0.01 [[ 9.99518357e-01 3.10331259e-02 0.00000000e+00 6.69426391e+00] [-3.10331259e-02 9.99518357e-01 0.00000000e+00 -5.21265063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82266290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.384340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.52, Z:0.01 [[ 9.99506228e-01 3.14213301e-02 0.00000000e+00 6.72663959e+00] [-3.14213301e-02 9.99506228e-01 0.00000000e+00 -5.22482163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56169787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.52, Z:0.01 [[ 0.99956868 0.02936749 0. 6.75750586] [-0.02936749 0.99956868 0. -0.52278544] [ 0. 0. 1. 0.00732755] [ 0. 0. 0. 1. ]] SLAMing on 6.444340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.53, Z:0.01 [[ 0.99950161 0.03156797 0. 6.78889632] [-0.03156797 0.99950161 0. -0.526006 ] [ 0. 0. 1. 0.00975088] [ 0. 0. 0. 1. ]] SLAMing on 6.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.53, Z:0.01 [[ 0.99948044 0.03223108 0. 6.82216037] [-0.03223108 0.99948044 0. -0.52796768] [ 0. 0. 1. 0.01059416] [ 0. 0. 0. 1. ]] SLAMing on 6.504340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.53, Z:0.01 [[ 0.99949126 0.03189388 0. 6.85422128] [-0.03189388 0.99949126 0. -0.52910388] [ 0. 0. 1. 0.01038572] [ 0. 0. 0. 1. ]] SLAMing on 6.534340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.53, Z:0.01 [[ 0.99943615 0.03357641 0. 6.88610956] [-0.03357641 0.99943615 0. -0.53045749] [ 0. 0. 1. 0.00919109] [ 0. 0. 0. 1. ]] SLAMing on 6.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.53, Z:0.01 [[ 0.99940562 0.03447327 0. 6.91871926] [-0.03447327 0.99940562 0. -0.532275 ] [ 0. 0. 1. 0.00783943] [ 0. 0. 0. 1. ]] SLAMing on 6.594340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.53, Z:0.01 [[ 0.99940149 0.03459266 0. 6.94836399] [-0.03459266 0.99940149 0. -0.53348571] [ 0. 0. 1. 0.00913917] [ 0. 0. 0. 1. ]] SLAMing on 6.624340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.54, Z:0.01 [[ 9.99329374e-01 3.66169648e-02 0.00000000e+00 6.98199172e+00] [-3.66169648e-02 9.99329374e-01 0.00000000e+00 -5.36713207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25840427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.54, Z:0.01 [[ 9.99407287e-01 3.44248994e-02 0.00000000e+00 7.01345605e+00] [-3.44248994e-02 9.99407287e-01 0.00000000e+00 -5.37063482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91209622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6843401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.54, Z:0.01 [[ 0.99937253 0.03541954 0. 7.04570776] [-0.03541954 0.99937253 0. -0.53989916] [ 0. 0. 1. 0.00768523] [ 0. 0. 0. 1. ]] SLAMing on 6.714340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.54, Z:0.01 [[ 0.99934656 0.03614486 0. 7.08101658] [-0.03614486 0.99934656 0. -0.54331735] [ 0. 0. 1. 0.00719797] [ 0. 0. 0. 1. ]] SLAMing on 6.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.54, Z:0.01 [[ 0.99938431 0.03508563 0. 7.11154731] [-0.03508563 0.99938431 0. -0.54371656] [ 0. 0. 1. 0.00900723] [ 0. 0. 0. 1. ]] SLAMing on 6.774340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.55, Z:0.01 [[ 0.99931265 0.03707059 0. 7.14407368] [-0.03707059 0.99931265 0. -0.54692552] [ 0. 0. 1. 0.00925183] [ 0. 0. 0. 1. ]] SLAMing on 6.804340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.55, Z:0.01 [[ 0.99921395 0.03964191 0. 7.17535005] [-0.03964191 0.99921395 0. -0.54861903] [ 0. 0. 1. 0.00995424] [ 0. 0. 0. 1. ]] SLAMing on 6.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.55, Z:0.01 [[ 0.99914494 0.0413448 0. 7.20775839] [-0.0413448 0.99914494 0. -0.55087689] [ 0. 0. 1. 0.01095918] [ 0. 0. 0. 1. ]] SLAMing on 6.864340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.55, Z:0.01 [[ 0.99908358 0.04280187 0. 7.23978053] [-0.04280187 0.99908358 0. -0.5525134 ] [ 0. 0. 1. 0.01110732] [ 0. 0. 0. 1. ]] SLAMing on 6.8943401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.55, Z:0.01 [[ 0.99899153 0.04489908 0. 7.27160866] [-0.04489908 0.99899153 0. -0.5541295 ] [ 0. 0. 1. 0.01086276] [ 0. 0. 0. 1. ]] SLAMing on 6.924340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.56, Z:0.01 [[ 0.9989786 0.04518578 0. 7.30497381] [-0.04518578 0.9989786 0. -0.55635878] [ 0. 0. 1. 0.01086276] [ 0. 0. 0. 1. ]] SLAMing on 6.954340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.56, Z:0.01 [[ 0.99879476 0.04908187 0. 7.33676946] [-0.04908187 0.99879476 0. -0.55806113] [ 0. 0. 1. 0.01081669] [ 0. 0. 0. 1. ]] SLAMing on 6.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.56, Z:0.01 [[ 0.9987185 0.05060985 0. 7.36834031] [-0.05060985 0.9987185 0. -0.56001248] [ 0. 0. 1. 0.0117575 ] [ 0. 0. 0. 1. ]] SLAMing on 7.014340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.56, Z:0.01 [[ 0.99866864 0.05158434 0. 7.40041814] [-0.05158434 0.99866864 0. -0.56197747] [ 0. 0. 1. 0.0106017 ] [ 0. 0. 0. 1. ]] SLAMing on 7.044340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.56, Z:0.01 [[ 0.9986448 0.05204377 0. 7.43341102] [-0.05204377 0.9986448 0. -0.56470262] [ 0. 0. 1. 0.01082059] [ 0. 0. 0. 1. ]] SLAMing on 7.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.57, Z:0.01 [[ 0.99871672 0.05064501 0. 7.46476629] [-0.05064501 0.99871672 0. -0.56683474] [ 0. 0. 1. 0.01093824] [ 0. 0. 0. 1. ]] SLAMing on 7.104340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.57, Z:0.01 [[ 0.99877752 0.04943149 0. 7.49660453] [-0.04943149 0.99877752 0. -0.56958914] [ 0. 0. 1. 0.01149287] [ 0. 0. 0. 1. ]] SLAMing on 7.134340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.57, Z:0.01 [[ 0.99896721 0.045437 0. 7.52897802] [-0.045437 0.99896721 0. -0.57284775] [ 0. 0. 1. 0.01363231] [ 0. 0. 0. 1. ]] SLAMing on 7.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.58, Z:0.01 [[ 0.99904801 0.0436243 0. 7.56225993] [-0.0436243 0.99904801 0. -0.57552504] [ 0. 0. 1. 0.0147905 ] [ 0. 0. 0. 1. ]] SLAMing on 7.194340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.58, Z:0.02 [[ 0.99919363 0.04015084 0. 7.59445509] [-0.04015084 0.99919363 0. -0.57807603] [ 0. 0. 1. 0.01589894] [ 0. 0. 0. 1. ]] SLAMing on 7.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.58, Z:0.02 [[ 0.99922487 0.03936568 0. 7.62666132] [-0.03936568 0.99922487 0. -0.58040064] [ 0. 0. 1. 0.01558695] [ 0. 0. 0. 1. ]] SLAMing on 7.254340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.58, Z:0.01 [[ 0.99926689 0.03828412 0. 7.65928237] [-0.03828412 0.99926689 0. -0.58212009] [ 0. 0. 1. 0.01457042] [ 0. 0. 0. 1. ]] SLAMing on 7.284340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.58, Z:0.01 [[ 0.99919621 0.04008666 0. 7.69000817] [-0.04008666 0.99919621 0. -0.58444931] [ 0. 0. 1. 0.01417519] [ 0. 0. 0. 1. ]] SLAMing on 7.314340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.59, Z:0.01 [[ 0.99913703 0.04153542 0. 7.72278968] [-0.04153542 0.99913703 0. -0.5866813 ] [ 0. 0. 1. 0.01321549] [ 0. 0. 0. 1. ]] SLAMing on 7.344340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.59, Z:0.01 [[ 0.99896139 0.0455647 0. 7.7560023 ] [-0.0455647 0.99896139 0. -0.58870922] [ 0. 0. 1. 0.01207237] [ 0. 0. 0. 1. ]] SLAMing on 7.374340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.59, Z:0.01 [[ 0.99884547 0.04803888 0. 7.78849922] [-0.04803888 0.99884547 0. -0.59043853] [ 0. 0. 1. 0.01137956] [ 0. 0. 0. 1. ]] SLAMing on 7.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.59, Z:0.01 [[ 0.99873856 0.05021238 0. 7.82003532] [-0.05021238 0.99873856 0. -0.59206968] [ 0. 0. 1. 0.01025942] [ 0. 0. 0. 1. ]] SLAMing on 7.4343401280000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.59, Z:0.01 [[ 0.99846478 0.05539035 0. 7.85232416] [-0.05539035 0.99846478 0. -0.59442561] [ 0. 0. 1. 0.00996412] [ 0. 0. 0. 1. ]] SLAMing on 7.464340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.60, Z:0.01 [[ 0.99827856 0.05865076 0. 7.88521246] [-0.05865076 0.99827856 0. -0.59708493] [ 0. 0. 1. 0.0097881 ] [ 0. 0. 0. 1. ]] SLAMing on 7.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.60, Z:0.01 [[ 0.99821636 0.05970014 0. 7.91781978] [-0.05970014 0.99821636 0. -0.60110603] [ 0. 0. 1. 0.01056532] [ 0. 0. 0. 1. ]] SLAMing on 7.524340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.61, Z:0.01 [[ 0.99814802 0.06083205 0. 7.95237198] [-0.06083205 0.99814802 0. -0.60651175] [ 0. 0. 1. 0.01057574] [ 0. 0. 0. 1. ]] SLAMing on 7.554340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.61, Z:0.01 [[ 0.99813884 0.06098239 0. 7.98577054] [-0.06098239 0.99813884 0. -0.60879235] [ 0. 0. 1. 0.01057574] [ 0. 0. 0. 1. ]] SLAMing on 7.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.61, Z:0.01 [[ 0.99822555 0.05954619 0. 8.01752129] [-0.05954619 0.99822555 0. -0.61044919] [ 0. 0. 1. 0.01144275] [ 0. 0. 0. 1. ]] SLAMing on 7.614340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.61, Z:0.01 [[ 0.99825784 0.05900238 0. 8.04773837] [-0.05900238 0.99825784 0. -0.61207059] [ 0. 0. 1. 0.01264803] [ 0. 0. 0. 1. ]] SLAMing on 7.644340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.62, Z:0.01 [[ 0.99824303 0.0592524 0. 8.08130034] [-0.0592524 0.99824303 0. -0.61575766] [ 0. 0. 1. 0.01263711] [ 0. 0. 0. 1. ]] SLAMing on 7.674340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.62, Z:0.01 [[ 0.99828598 0.05852442 0. 8.11269358] [-0.05852442 0.99828598 0. -0.61907032] [ 0. 0. 1. 0.01278477] [ 0. 0. 0. 1. ]] SLAMing on 7.704340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.62, Z:0.01 [[ 0.9982833 0.05857014 0. 8.14329149] [-0.05857014 0.9982833 0. -0.62272867] [ 0. 0. 1. 0.01149223] [ 0. 0. 0. 1. ]] SLAMing on 7.734340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.63, Z:0.01 [[ 0.99822381 0.05957532 0. 8.17584073] [-0.05957532 0.99822381 0. -0.62618795] [ 0. 0. 1. 0.01225306] [ 0. 0. 0. 1. ]] SLAMing on 7.764340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.63, Z:0.01 [[ 0.99820591 0.05987447 0. 8.20883838] [-0.05987447 0.99820591 0. -0.62883029] [ 0. 0. 1. 0.01175776] [ 0. 0. 0. 1. ]] SLAMing on 7.794340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.63, Z:0.01 [[ 0.99816279 0.06058911 0. 8.23953309] [-0.06058911 0.99816279 0. -0.63116009] [ 0. 0. 1. 0.01142276] [ 0. 0. 0. 1. ]] SLAMing on 7.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.63, Z:0.01 [[ 0.99824475 0.05922343 0. 8.27345459] [-0.05922343 0.99824475 0. -0.63423582] [ 0. 0. 1. 0.01159314] [ 0. 0. 0. 1. ]] SLAMing on 7.854340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.64, Z:0.01 [[ 0.99825406 0.0590663 0. 8.30361659] [-0.0590663 0.99825406 0. -0.63755652] [ 0. 0. 1. 0.01081313] [ 0. 0. 0. 1. ]] SLAMing on 7.884340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.64, Z:0.01 [[ 0.99846236 0.0554338 0. 8.33317412] [-0.0554338 0.99846236 0. -0.64182199] [ 0. 0. 1. 0.0109655 ] [ 0. 0. 0. 1. ]] SLAMing on 7.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.65, Z:0.01 [[ 0.99853036 0.05419526 0. 8.36705482] [-0.05419526 0.99853036 0. -0.64544459] [ 0. 0. 1. 0.01062613] [ 0. 0. 0. 1. ]] SLAMing on 7.944340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.65, Z:0.01 [[ 0.99860235 0.05285221 0. 8.39948109] [-0.05285221 0.99860235 0. -0.64929484] [ 0. 0. 1. 0.01038248] [ 0. 0. 0. 1. ]] SLAMing on 7.9743401280000015 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.65, Z:0.01 [[ 0.99866942 0.05156934 0. 8.43126373] [-0.05156934 0.99866942 0. -0.65308079] [ 0. 0. 1. 0.00921985] [ 0. 0. 0. 1. ]] SLAMing on 8.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.66, Z:0.01 [[ 0.99875524 0.04987946 0. 8.46341164] [-0.04987946 0.99875524 0. -0.65753667] [ 0. 0. 1. 0.00896158] [ 0. 0. 0. 1. ]] SLAMing on 8.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.66, Z:0.01 [[ 9.98773860e-01 4.95053117e-02 0.00000000e+00 8.49446719e+00] [-4.95053117e-02 9.98773860e-01 0.00000000e+00 -6.61216861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.11152126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.66, Z:0.01 [[ 9.98895856e-01 4.69794451e-02 0.00000000e+00 8.52984177e+00] [-4.69794451e-02 9.98895856e-01 0.00000000e+00 -6.64432187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38796255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.67, Z:0.01 [[ 9.98891364e-01 4.70748683e-02 0.00000000e+00 8.56064708e+00] [-4.70748683e-02 9.98891364e-01 0.00000000e+00 -6.69604724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14420896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.67, Z:0.01 [[ 9.98791318e-01 4.91518347e-02 0.00000000e+00 8.59009456e+00] [-4.91518347e-02 9.98791318e-01 0.00000000e+00 -6.73780357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18642376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.154340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.68, Z:0.01 [[ 9.98872565e-01 4.74720852e-02 0.00000000e+00 8.62215396e+00] [-4.74720852e-02 9.98872565e-01 0.00000000e+00 -6.78446031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90385441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.68, Z:0.01 [[ 9.98848698e-01 4.79716472e-02 0.00000000e+00 8.65358822e+00] [-4.79716472e-02 9.98848698e-01 0.00000000e+00 -6.82402887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71383528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.214340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.69, Z:0.01 [[ 9.98802448e-01 4.89251461e-02 0.00000000e+00 8.68616778e+00] [-4.89251461e-02 9.98802448e-01 0.00000000e+00 -6.85981965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23581122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.69, Z:0.01 [[ 9.98666962e-01 5.16168525e-02 0.00000000e+00 8.71677991e+00] [-5.16168525e-02 9.98666962e-01 0.00000000e+00 -6.89792619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29350597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.69, Z:0.01 [[ 0.99857431 0.05337928 0. 8.75013385] [-0.05337928 0.99857431 0. -0.69221038] [ 0. 0. 1. 0.01014535] [ 0. 0. 0. 1. ]] SLAMing on 8.304340128000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.70, Z:0.01 [[ 9.98556847e-01 5.37049575e-02 0.00000000e+00 8.78411374e+00] [-5.37049575e-02 9.98556847e-01 0.00000000e+00 -6.95139307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65415205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.334340128000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.70, Z:0.01 [[ 0.99838191 0.05686439 0. 8.81540798] [-0.05686439 0.99838191 0. -0.69955639] [ 0. 0. 1. 0.01136253] [ 0. 0. 0. 1. ]] SLAMing on 8.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.70, Z:0.01 [[ 0.99830662 0.05817128 0. 8.8474371 ] [-0.05817128 0.99830662 0. -0.70307634] [ 0. 0. 1. 0.01081138] [ 0. 0. 0. 1. ]] SLAMing on 8.394340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.71, Z:0.01 [[ 0.99812543 0.06120158 0. 8.88340125] [-0.06120158 0.99812543 0. -0.70979522] [ 0. 0. 1. 0.00967555] [ 0. 0. 0. 1. ]] SLAMing on 8.424340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.71, Z:0.01 [[ 0.99829124 0.05843455 0. 8.90885945] [-0.05843455 0.99829124 0. -0.70993483] [ 0. 0. 1. 0.00930693] [ 0. 0. 0. 1. ]] SLAMing on 8.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.71, Z:0.01 [[ 0.9983691 0.0570889 0. 8.93992505] [-0.0570889 0.9983691 0. -0.71231611] [ 0. 0. 1. 0.01023757] [ 0. 0. 0. 1. ]] SLAMing on 8.484340128000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.72, Z:0.01 [[ 0.99842498 0.05610309 0. 8.97228531] [-0.05610309 0.99842498 0. -0.71589611] [ 0. 0. 1. 0.01100731] [ 0. 0. 0. 1. ]] SLAMing on 8.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.72, Z:0.01 [[ 0.9985737 0.0533906 0. 9.00395525] [-0.0533906 0.9985737 0. -0.7209697 ] [ 0. 0. 1. 0.0118409 ] [ 0. 0. 0. 1. ]] SLAMing on 8.544340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.73, Z:0.01 [[ 0.99860589 0.05278527 0. 9.03645471] [-0.05278527 0.99860589 0. -0.72530048] [ 0. 0. 1. 0.01103452] [ 0. 0. 0. 1. ]] SLAMing on 8.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.73, Z:0.01 [[ 0.99867311 0.05149785 0. 9.06611325] [-0.05149785 0.99867311 0. -0.72777335] [ 0. 0. 1. 0.01363703] [ 0. 0. 0. 1. ]] SLAMing on 8.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.73, Z:0.01 [[ 0.99871591 0.05066096 0. 9.09871161] [-0.05066096 0.99871591 0. -0.73140806] [ 0. 0. 1. 0.01421513] [ 0. 0. 0. 1. ]] SLAMing on 8.634340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.73, Z:0.01 [[ 0.99870415 0.05089231 0. 9.13090348] [-0.05089231 0.99870415 0. -0.73423912] [ 0. 0. 1. 0.01360513] [ 0. 0. 0. 1. ]] SLAMing on 8.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.74, Z:0.01 [[ 0.9986739 0.05148239 0. 9.1625578 ] [-0.05148239 0.9986739 0. -0.73699909] [ 0. 0. 1. 0.01306091] [ 0. 0. 0. 1. ]] SLAMing on 8.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.74, Z:0.01 [[ 0.99849608 0.0548231 0. 9.18956664] [-0.0548231 0.99849608 0. -0.73971629] [ 0. 0. 1. 0.01086701] [ 0. 0. 0. 1. ]] SLAMing on 8.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.74, Z:0.01 [[ 0.9984854 0.05501735 0. 9.22376069] [-0.05501735 0.9984854 0. -0.74202466] [ 0. 0. 1. 0.0114568 ] [ 0. 0. 0. 1. ]] SLAMing on 8.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.75, Z:0.01 [[ 0.99841009 0.05636741 0. 9.25945359] [-0.05636741 0.99841009 0. -0.74598031] [ 0. 0. 1. 0.01185478] [ 0. 0. 0. 1. ]] SLAMing on 8.784340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.75, Z:0.01 [[ 0.99828023 0.05862232 0. 9.28851896] [-0.05862232 0.99828023 0. -0.74875664] [ 0. 0. 1. 0.0119539 ] [ 0. 0. 0. 1. ]] SLAMing on 8.814340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.75, Z:0.01 [[ 0.99826543 0.05887379 0. 9.32183363] [-0.05887379 0.99826543 0. -0.75149213] [ 0. 0. 1. 0.0119539 ] [ 0. 0. 0. 1. ]] SLAMing on 8.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.75, Z:0.01 [[ 0.99831158 0.05808609 0. 9.35414608] [-0.05808609 0.99831158 0. -0.75275513] [ 0. 0. 1. 0.00945282] [ 0. 0. 0. 1. ]] SLAMing on 8.874340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.76, Z:0.01 [[ 0.99825761 0.05900624 0. 9.38484857] [-0.05900624 0.99825761 0. -0.75601524] [ 0. 0. 1. 0.01152094] [ 0. 0. 0. 1. ]] SLAMing on 8.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.76, Z:0.01 [[ 0.99825544 0.05904308 0. 9.41767386] [-0.05904308 0.99825544 0. -0.76056152] [ 0. 0. 1. 0.01173631] [ 0. 0. 0. 1. ]] SLAMing on 8.934340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.76, Z:0.01 [[ 0.99830609 0.05818028 0. 9.45133011] [-0.05818028 0.99830609 0. -0.76459591] [ 0. 0. 1. 0.01312544] [ 0. 0. 0. 1. ]] SLAMing on 8.964340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.77, Z:0.01 [[ 0.99833276 0.05772097 0. 9.48285276] [-0.05772097 0.99833276 0. -0.76805876] [ 0. 0. 1. 0.01330825] [ 0. 0. 0. 1. ]] SLAMing on 8.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.77, Z:0.01 [[ 0.9983638 0.0571815 0. 9.5127372 ] [-0.0571815 0.9983638 0. -0.77173545] [ 0. 0. 1. 0.01272831] [ 0. 0. 0. 1. ]] SLAMing on 9.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.78, Z:0.01 [[ 0.99842189 0.05615806 0. 9.54506703] [-0.05615806 0.99842189 0. -0.77511218] [ 0. 0. 1. 0.01297823] [ 0. 0. 0. 1. ]] SLAMing on 9.054340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.78, Z:0.01 [[ 0.99849147 0.05490698 0. 9.57841514] [-0.05490698 0.99849147 0. -0.78001904] [ 0. 0. 1. 0.01283849] [ 0. 0. 0. 1. ]] SLAMing on 9.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.78, Z:0.01 [[ 0.99860584 0.05278617 0. 9.61157031] [-0.05278617 0.99860584 0. -0.78344574] [ 0. 0. 1. 0.01399249] [ 0. 0. 0. 1. ]] SLAMing on 9.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.79, Z:0.01 [[ 0.99856097 0.05362824 0. 9.64137433] [-0.05362824 0.99856097 0. -0.78728296] [ 0. 0. 1. 0.01343211] [ 0. 0. 0. 1. ]] SLAMing on 9.144340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.79, Z:0.01 [[ 0.99857341 0.05339605 0. 9.67290268] [-0.05339605 0.99857341 0. -0.79093887] [ 0. 0. 1. 0.01386679] [ 0. 0. 0. 1. ]] SLAMing on 9.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.79, Z:0.01 [[ 0.99866205 0.05171178 0. 9.70628118] [-0.05171178 0.99866205 0. -0.79466168] [ 0. 0. 1. 0.01458874] [ 0. 0. 0. 1. ]] SLAMing on 9.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.80, Z:0.01 [[ 0.99849412 0.05485876 0. 9.73656973] [-0.05485876 0.99849412 0. -0.79834843] [ 0. 0. 1. 0.013049 ] [ 0. 0. 0. 1. ]] SLAMing on 9.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.80, Z:0.01 [[ 0.99842451 0.05611147 0. 9.76763984] [-0.05611147 0.99842451 0. -0.80099471] [ 0. 0. 1. 0.01298704] [ 0. 0. 0. 1. ]] SLAMing on 9.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.80, Z:0.01 [[ 0.99832045 0.05793334 0. 9.80184268] [-0.05793334 0.99832045 0. -0.80339614] [ 0. 0. 1. 0.01277641] [ 0. 0. 0. 1. ]] SLAMing on 9.294340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.80, Z:0.01 [[ 0.99823617 0.05936797 0. 9.83409939] [-0.05936797 0.99823617 0. -0.80491804] [ 0. 0. 1. 0.01189634] [ 0. 0. 0. 1. ]] SLAMing on 9.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.81, Z:0.01 [[ 0.99811375 0.06139164 0. 9.86677617] [-0.06139164 0.99811375 0. -0.8075322 ] [ 0. 0. 1. 0.01183485] [ 0. 0. 0. 1. ]] SLAMing on 9.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.81, Z:0.01 [[ 0.99808115 0.06191952 0. 9.8979553 ] [-0.06191952 0.99808115 0. -0.80953522] [ 0. 0. 1. 0.01230253] [ 0. 0. 0. 1. ]] SLAMing on 9.384340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.81, Z:0.01 [[ 0.99816967 0.06047565 0. 9.93225994] [-0.06047565 0.99816967 0. -0.8127858 ] [ 0. 0. 1. 0.0125932 ] [ 0. 0. 0. 1. ]] SLAMing on 9.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.81, Z:0.01 [[ 0.99809461 0.06170202 0. 9.95935691] [-0.06170202 0.99809461 0. -0.81355663] [ 0. 0. 1. 0.01241112] [ 0. 0. 0. 1. ]] SLAMing on 9.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.82, Z:0.01 [[ 0.99817532 0.0603823 0. 9.99531149] [-0.0603823 0.99817532 0. -0.81811925] [ 0. 0. 1. 0.01340165] [ 0. 0. 0. 1. ]] SLAMing on 9.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.82, Z:0.01 [[ 0.99815434 0.06072827 0. 10.02212751] [-0.06072827 0.99815434 0. -0.81847402] [ 0. 0. 1. 0.01385207] [ 0. 0. 0. 1. ]] SLAMing on 9.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.82, Z:0.01 [[ 0.99810053 0.06160626 0. 10.05419936] [-0.06160626 0.99810053 0. -0.82172496] [ 0. 0. 1. 0.01412009] [ 0. 0. 0. 1. ]] SLAMing on 9.534340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.82, Z:0.01 [[ 0.9981869 0.06019058 0. 10.08647338] [-0.06019058 0.9981869 0. -0.82112568] [ 0. 0. 1. 0.01289803] [ 0. 0. 0. 1. ]] SLAMing on 9.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.83, Z:0.01 [[ 0.9979978 0.06324859 0. 10.11822523] [-0.06324859 0.9979978 0. -0.82521524] [ 0. 0. 1. 0.01177052] [ 0. 0. 0. 1. ]] SLAMing on 9.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.83, Z:0.01 [[ 0.99796247 0.06380363 0. 10.15041013] [-0.06380363 0.99796247 0. -0.8283744 ] [ 0. 0. 1. 0.01177052] [ 0. 0. 0. 1. ]] SLAMing on 9.624340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.83, Z:0.01 [[ 0.99806851 0.06212281 0. 10.17908534] [-0.06212281 0.99806851 0. -0.82813874] [ 0. 0. 1. 0.01109495] [ 0. 0. 0. 1. ]] SLAMing on 9.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.83, Z:0.01 [[ 0.9980274 0.06277986 0. 10.21122766] [-0.06277986 0.9980274 0. -0.83142635] [ 0. 0. 1. 0.01109495] [ 0. 0. 0. 1. ]] SLAMing on 9.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.84, Z:0.01 [[ 0.9978647 0.0653149 0. 10.2425682 ] [-0.0653149 0.9978647 0. -0.83632161] [ 0. 0. 1. 0.01115507] [ 0. 0. 0. 1. ]] SLAMing on 9.714340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.84, Z:0.01 [[ 0.99796043 0.06383553 0. 10.27547838] [-0.06383553 0.99796043 0. -0.83841354] [ 0. 0. 1. 0.01120641] [ 0. 0. 0. 1. ]] SLAMing on 9.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.84, Z:0.01 [[ 0.99804462 0.06250551 0. 10.30791493] [-0.06250551 0.99804462 0. -0.8407126 ] [ 0. 0. 1. 0.01156492] [ 0. 0. 0. 1. ]] SLAMing on 9.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.84, Z:0.01 [[ 0.99818608 0.06020426 0. 10.34141555] [-0.06020426 0.99818608 0. -0.84468435] [ 0. 0. 1. 0.01497954] [ 0. 0. 0. 1. ]] SLAMing on 9.804340128000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.85, Z:0.01 [[ 0.99818497 0.06022265 0. 10.37390536] [-0.06022265 0.99818497 0. -0.84859507] [ 0. 0. 1. 0.01462998] [ 0. 0. 0. 1. ]] SLAMing on 9.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.85, Z:0.01 [[ 0.99827466 0.05871711 0. 10.40601377] [-0.05871711 0.99827466 0. -0.85098176] [ 0. 0. 1. 0.01266072] [ 0. 0. 0. 1. ]] SLAMing on 9.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.85, Z:0.01 [[ 9.98440565e-01 5.58250704e-02 0.00000000e+00 1.04352128e+01] [-5.58250704e-02 9.98440565e-01 0.00000000e+00 -8.50905370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78368783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.894340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.85, Z:0.01 [[ 9.98507844e-01 5.46084754e-02 0.00000000e+00 1.04690732e+01] [-5.46084754e-02 9.98507844e-01 0.00000000e+00 -8.53340166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96989008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.86, Z:0.01 [[ 9.98520763e-01 5.43717359e-02 0.00000000e+00 1.05009219e+01] [-5.43717359e-02 9.98520763e-01 0.00000000e+00 -8.55218806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04926511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.86, Z:0.01 [[ 9.98501973e-01 5.47157240e-02 0.00000000e+00 1.05341958e+01] [-5.47157240e-02 9.98501973e-01 0.00000000e+00 -8.58305691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04509916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.86, Z:0.01 [[ 9.98350741e-01 5.74090400e-02 0.00000000e+00 1.05644650e+01] [-5.74090400e-02 9.98350741e-01 0.00000000e+00 -8.61509066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02469318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.86, Z:0.01 [[ 9.98350848e-01 5.74071799e-02 0.00000000e+00 1.05965943e+01] [-5.74071799e-02 9.98350848e-01 0.00000000e+00 -8.61352481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00698131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.86, Z:0.01 [[ 9.98273905e-01 5.87299742e-02 0.00000000e+00 1.06285074e+01] [-5.87299742e-02 9.98273905e-01 0.00000000e+00 -8.63793525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69463014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.87, Z:0.01 [[ 9.98177451e-01 6.03471295e-02 0.00000000e+00 1.06610287e+01] [-6.03471295e-02 9.98177451e-01 0.00000000e+00 -8.67561115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02074383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.87, Z:0.01 [[ 0.99818058 0.06029529 0. 10.69260691] [-0.06029529 0.99818058 0. -0.86896548] [ 0. 0. 1. 0.0108657 ] [ 0. 0. 0. 1. ]] SLAMing on 10.134340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.87, Z:0.01 [[ 0.99801135 0.06303445 0. 10.72697071] [-0.06303445 0.99801135 0. -0.87322525] [ 0. 0. 1. 0.01276749] [ 0. 0. 0. 1. ]] SLAMing on 10.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.87, Z:0.01 [[ 0.99796549 0.06375644 0. 10.75676342] [-0.06375644 0.99796549 0. -0.87139992] [ 0. 0. 1. 0.01399945] [ 0. 0. 0. 1. ]] SLAMing on 10.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.87, Z:0.01 [[ 0.99795243 0.06396051 0. 10.79088567] [-0.06396051 0.99795243 0. -0.87329048] [ 0. 0. 1. 0.01386628] [ 0. 0. 0. 1. ]] SLAMing on 10.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.87, Z:0.01 [[ 0.99783392 0.06578352 0. 10.82220954] [-0.06578352 0.99783392 0. -0.87479211] [ 0. 0. 1. 0.01437932] [ 0. 0. 0. 1. ]] SLAMing on 10.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.88, Z:0.02 [[ 0.99777203 0.06671562 0. 10.8539475 ] [-0.06671562 0.99777203 0. -0.87599516] [ 0. 0. 1. 0.01640632] [ 0. 0. 0. 1. ]] SLAMing on 10.284340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.88, Z:0.02 [[ 0.99771163 0.06761282 0. 10.88793743] [-0.06761282 0.99771163 0. -0.88078909] [ 0. 0. 1. 0.01744338] [ 0. 0. 0. 1. ]] SLAMing on 10.314340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.88, Z:0.02 [[ 0.99768047 0.06807112 0. 10.91943344] [-0.06807112 0.99768047 0. -0.8848644 ] [ 0. 0. 1. 0.01799087] [ 0. 0. 0. 1. ]] SLAMing on 10.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.88, Z:0.02 [[ 0.99791159 0.06459459 0. 10.95090666] [-0.06459459 0.99791159 0. -0.88354491] [ 0. 0. 1. 0.01866702] [ 0. 0. 0. 1. ]] SLAMing on 10.374340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.89, Z:0.02 [[ 0.9978942 0.06486273 0. 10.98377824] [-0.06486273 0.9978942 0. -0.88679993] [ 0. 0. 1. 0.01773734] [ 0. 0. 0. 1. ]] SLAMing on 10.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.89, Z:0.02 [[ 0.99795309 0.06395028 0. 11.01393001] [-0.06395028 0.99795309 0. -0.8879398 ] [ 0. 0. 1. 0.01769202] [ 0. 0. 0. 1. ]] SLAMing on 10.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.89, Z:0.02 [[ 0.99799172 0.06334443 0. 11.04633776] [-0.06334443 0.99799172 0. -0.8894719 ] [ 0. 0. 1. 0.01706719] [ 0. 0. 0. 1. ]] SLAMing on 10.464340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.89, Z:0.02 [[ 0.99794876 0.06401773 0. 11.08013982] [-0.06401773 0.99794876 0. -0.8939374 ] [ 0. 0. 1. 0.01624888] [ 0. 0. 0. 1. ]] SLAMing on 10.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.89, Z:0.02 [[ 0.9980476 0.06245784 0. 11.11041936] [-0.06245784 0.9980476 0. -0.89408643] [ 0. 0. 1. 0.01605118] [ 0. 0. 0. 1. ]] SLAMing on 10.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.90, Z:0.02 [[ 0.99804725 0.06246341 0. 11.14294433] [-0.06246341 0.99804725 0. -0.89696146] [ 0. 0. 1. 0.0151194 ] [ 0. 0. 0. 1. ]] SLAMing on 10.554340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.90, Z:0.01 [[ 0.99801476 0.06298043 0. 11.17559608] [-0.06298043 0.99801476 0. -0.90133604] [ 0. 0. 1. 0.01479964] [ 0. 0. 0. 1. ]] SLAMing on 10.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.90, Z:0.01 [[ 0.9981484 0.06082576 0. 11.20923834] [-0.06082576 0.9981484 0. -0.9020784 ] [ 0. 0. 1. 0.01319301] [ 0. 0. 0. 1. ]] SLAMing on 10.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.91, Z:0.01 [[ 0.99813834 0.06099057 0. 11.24155386] [-0.06099057 0.99813834 0. -0.90523553] [ 0. 0. 1. 0.01319301] [ 0. 0. 0. 1. ]] SLAMing on 10.644340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.91, Z:0.01 [[ 0.99815417 0.060731 0. 11.2719231 ] [-0.060731 0.99815417 0. -0.90700186] [ 0. 0. 1. 0.01321895] [ 0. 0. 0. 1. ]] SLAMing on 10.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.91, Z:0.01 [[ 0.99819278 0.06009305 0. 11.30310579] [-0.06009305 0.99819278 0. -0.90888451] [ 0. 0. 1. 0.01331222] [ 0. 0. 0. 1. ]] SLAMing on 10.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.91, Z:0.01 [[ 9.98175969e-01 6.03716479e-02 0.00000000e+00 1.13365594e+01] [-6.03716479e-02 9.98175969e-01 0.00000000e+00 -9.11730768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09752024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.734340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.92, Z:0.01 [[ 9.98170290e-01 6.04654650e-02 0.00000000e+00 1.13698831e+01] [-6.04654650e-02 9.98170290e-01 0.00000000e+00 -9.15000644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09752024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.91, Z:0.01 [[ 9.98278147e-01 5.86578304e-02 0.00000000e+00 1.13991389e+01] [-5.86578304e-02 9.98278147e-01 0.00000000e+00 -9.14915327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12973811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.794340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.92, Z:0.01 [[ 9.98290371e-01 5.84494196e-02 0.00000000e+00 1.14313479e+01] [-5.84494196e-02 9.98290371e-01 0.00000000e+00 -9.18047087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11205574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.92, Z:0.01 [[ 9.98312381e-01 5.80722880e-02 0.00000000e+00 1.14649782e+01] [-5.80722880e-02 9.98312381e-01 0.00000000e+00 -9.21285703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05687766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.92, Z:0.01 [[ 9.98219671e-01 5.96446899e-02 0.00000000e+00 1.14971456e+01] [-5.96446899e-02 9.98219671e-01 0.00000000e+00 -9.23842001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07338226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.92, Z:0.01 [[ 9.98177804e-01 6.03412995e-02 0.00000000e+00 1.15277141e+01] [-6.03412995e-02 9.98177804e-01 0.00000000e+00 -9.24625230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02917157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.93, Z:0.01 [[ 9.98067202e-01 6.21438672e-02 0.00000000e+00 1.15617429e+01] [-6.21438672e-02 9.98067202e-01 0.00000000e+00 -9.27817985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98083584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.93, Z:0.01 [[ 9.97875214e-01 6.51541024e-02 0.00000000e+00 1.15927299e+01] [-6.51541024e-02 9.97875214e-01 0.00000000e+00 -9.26792656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32951350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.974340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.93, Z:0.00 [[ 9.97721419e-01 6.74682879e-02 0.00000000e+00 1.16242839e+01] [-6.74682879e-02 9.97721419e-01 0.00000000e+00 -9.28712914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38429250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.93, Z:0.00 [[ 9.97365025e-01 7.25465905e-02 0.00000000e+00 1.16540008e+01] [-7.25465905e-02 9.97365025e-01 0.00000000e+00 -9.29918870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72447573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.034340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.93, Z:0.00 [[ 9.97301714e-01 7.34117933e-02 0.00000000e+00 1.16889403e+01] [-7.34117933e-02 9.97301714e-01 0.00000000e+00 -9.33485712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06441144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.94, Z:0.00 [[ 9.97227012e-01 7.44196657e-02 0.00000000e+00 1.17211615e+01] [-7.44196657e-02 9.97227012e-01 0.00000000e+00 -9.36261832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01486288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.94, Z:-0.00 [[ 9.97106776e-01 7.60136644e-02 0.00000000e+00 1.17523573e+01] [-7.60136644e-02 9.97106776e-01 0.00000000e+00 -9.39858408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33079666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.94, Z:0.00 [[ 9.97039921e-01 7.68856090e-02 0.00000000e+00 1.17844372e+01] [-7.68856090e-02 9.97039921e-01 0.00000000e+00 -9.42504806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84858454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.154340128000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.95, Z:0.00 [[ 9.96983883e-01 7.76088694e-02 0.00000000e+00 1.18183267e+01] [-7.76088694e-02 9.96983883e-01 0.00000000e+00 -9.46218560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96637139e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.95, Z:-0.00 [[ 9.96807574e-01 7.98414712e-02 0.00000000e+00 1.18543472e+01] [-7.98414712e-02 9.96807574e-01 0.00000000e+00 -9.53022312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82404128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.214340128000002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.95, Z:0.00 [[ 9.96986637e-01 7.75734896e-02 0.00000000e+00 1.18854029e+01] [-7.75734896e-02 9.96986637e-01 0.00000000e+00 -9.52918217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63759484e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244340128000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.96, Z:0.00 [[ 9.96940719e-01 7.81613883e-02 0.00000000e+00 1.19155151e+01] [-7.81613883e-02 9.96940719e-01 0.00000000e+00 -9.56049038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15747165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.96, Z:0.00 [[ 9.96985180e-01 7.75922090e-02 0.00000000e+00 1.19477711e+01] [-7.75922090e-02 9.96985180e-01 0.00000000e+00 -9.60296955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97549392e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.96, Z:0.00 [[ 9.97038673e-01 7.69017830e-02 0.00000000e+00 1.19792253e+01] [-7.69017830e-02 9.97038673e-01 0.00000000e+00 -9.64171417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11609581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.334340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.97, Z:0.00 [[ 9.97117032e-01 7.58790093e-02 0.00000000e+00 1.20102720e+01] [-7.58790093e-02 9.97117032e-01 0.00000000e+00 -9.67418284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09221080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.97, Z:0.00 [[ 9.97299415e-01 7.34430204e-02 0.00000000e+00 1.20419550e+01] [-7.34430204e-02 9.97299415e-01 0.00000000e+00 -9.70833752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47958606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.394340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.97, Z:0.00 [[ 9.97406327e-01 7.19765163e-02 0.00000000e+00 1.20733181e+01] [-7.19765163e-02 9.97406327e-01 0.00000000e+00 -9.72894470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72450044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.98, Z:0.00 [[ 9.97383849e-01 7.22873253e-02 0.00000000e+00 1.21063572e+01] [-7.22873253e-02 9.97383849e-01 0.00000000e+00 -9.76988087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80476741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.98, Z:0.00 [[ 9.97590046e-01 6.93837143e-02 0.00000000e+00 1.21396053e+01] [-6.93837143e-02 9.97590046e-01 0.00000000e+00 -9.79079248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61942535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.98, Z:0.00 [[ 9.97493446e-01 7.07589289e-02 0.00000000e+00 1.21708062e+01] [-7.07589289e-02 9.97493446e-01 0.00000000e+00 -9.83385733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16935827e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.99, Z:-0.00 [[ 9.97437742e-01 7.15398605e-02 0.00000000e+00 1.22005614e+01] [-7.15398605e-02 9.97437742e-01 0.00000000e+00 -9.85265551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.02678874e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.99, Z:-0.00 [[ 9.97360421e-01 7.26098549e-02 0.00000000e+00 1.22332578e+01] [-7.26098549e-02 9.97360421e-01 0.00000000e+00 -9.88226903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26807730e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.99, Z:-0.00 [[ 9.97317351e-01 7.31990478e-02 0.00000000e+00 1.22651595e+01] [-7.31990478e-02 9.97317351e-01 0.00000000e+00 -9.91292184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70957121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.99, Z:-0.00 [[ 9.97429151e-01 7.16595341e-02 0.00000000e+00 1.23024079e+01] [-7.16595341e-02 9.97429151e-01 0.00000000e+00 -9.94280982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84341615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.634340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:-1.00, Z:-0.00 [[ 9.97131035e-01 7.56947744e-02 0.00000000e+00 1.23325601e+01] [-7.56947744e-02 9.97131035e-01 0.00000000e+00 -9.97628130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20389259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.00, Z:-0.00 [[ 9.97062604e-01 7.65908810e-02 0.00000000e+00 1.23621004e+01] [-7.65908810e-02 9.97062604e-01 0.00000000e+00 -9.99919712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28422162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.694340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.00, Z:-0.00 [[ 9.96889018e-01 7.88180598e-02 0.00000000e+00 1.23954079e+01] [-7.88180598e-02 9.96889018e-01 0.00000000e+00 -1.00271122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29955772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.01, Z:-0.00 [[ 9.96849989e-01 7.93101478e-02 0.00000000e+00 1.24313775e+01] [-7.93101478e-02 9.96849989e-01 0.00000000e+00 -1.00656068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27546918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.01, Z:-0.00 [[ 9.96636117e-01 8.19539533e-02 0.00000000e+00 1.24604686e+01] [-8.19539533e-02 9.96636117e-01 0.00000000e+00 -1.00957047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80626714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.01, Z:-0.00 [[ 9.96567612e-01 8.27828223e-02 0.00000000e+00 1.24911728e+01] [-8.27828223e-02 9.96567612e-01 0.00000000e+00 -1.01263652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78303166e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.814340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:-1.02, Z:-0.00 [[ 9.96482409e-01 8.38021933e-02 0.00000000e+00 1.25243952e+01] [-8.38021933e-02 9.96482409e-01 0.00000000e+00 -1.01611438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10912419e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.02, Z:0.00 [[ 9.96491887e-01 8.36894219e-02 0.00000000e+00 1.25597181e+01] [-8.36894219e-02 9.96491887e-01 0.00000000e+00 -1.01843371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79424460e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.874340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-1.02, Z:-0.00 [[ 9.96419706e-01 8.45444835e-02 0.00000000e+00 1.25907885e+01] [-8.45444835e-02 9.96419706e-01 0.00000000e+00 -1.02054456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50891104e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.02, Z:-0.00 [[ 9.96272740e-01 8.62590735e-02 0.00000000e+00 1.26213566e+01] [-8.62590735e-02 9.96272740e-01 0.00000000e+00 -1.02320122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44406559e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.03, Z:0.00 [[ 9.96145386e-01 8.77175634e-02 0.00000000e+00 1.26536710e+01] [-8.77175634e-02 9.96145386e-01 0.00000000e+00 -1.02724728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19390897e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.03, Z:-0.00 [[ 9.96114784e-01 8.80643944e-02 0.00000000e+00 1.26847569e+01] [-8.80643944e-02 9.96114784e-01 0.00000000e+00 -1.02881018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19890894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:-1.03, Z:-0.00 [[ 9.95782861e-01 9.17414526e-02 0.00000000e+00 1.27166725e+01] [-9.17414526e-02 9.95782861e-01 0.00000000e+00 -1.03473906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18555054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.04, Z:-0.00 [[ 9.95632119e-01 9.33631802e-02 0.00000000e+00 1.27481144e+01] [-9.33631802e-02 9.95632119e-01 0.00000000e+00 -1.03863397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59106142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.054340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.04, Z:-0.00 [[ 9.95674302e-01 9.29122410e-02 0.00000000e+00 1.27780554e+01] [-9.29122410e-02 9.95674302e-01 0.00000000e+00 -1.03969096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07275372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.04, Z:-0.00 [[ 9.95380837e-01 9.60051572e-02 0.00000000e+00 1.28098154e+01] [-9.60051572e-02 9.95380837e-01 0.00000000e+00 -1.04236350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85901465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.05, Z:-0.00 [[ 9.95230385e-01 9.75524479e-02 0.00000000e+00 1.28422087e+01] [-9.75524479e-02 9.95230385e-01 0.00000000e+00 -1.04578928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99609221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.05, Z:-0.00 [[ 9.95124664e-01 9.86250656e-02 0.00000000e+00 1.28735405e+01] [-9.86250656e-02 9.95124664e-01 0.00000000e+00 -1.04937169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39553289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:-1.05, Z:-0.00 [[ 9.95064822e-01 9.92270098e-02 0.00000000e+00 1.29053460e+01] [-9.92270098e-02 9.95064822e-01 0.00000000e+00 -1.05494068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79806349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:-1.06, Z:-0.00 [[ 9.95047904e-01 9.93965195e-02 0.00000000e+00 1.29367347e+01] [-9.93965195e-02 9.95047904e-01 0.00000000e+00 -1.05981401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21506971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.07, Z:-0.00 [[ 9.95158716e-01 9.82808722e-02 0.00000000e+00 1.29673142e+01] [-9.82808722e-02 9.95158716e-01 0.00000000e+00 -1.06525984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36459270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.07, Z:-0.00 [[ 9.95158922e-01 9.82787884e-02 0.00000000e+00 1.29990088e+01] [-9.82787884e-02 9.95158922e-01 0.00000000e+00 -1.06991686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03186235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.294340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.07, Z:-0.00 [[ 9.95138860e-01 9.84817238e-02 0.00000000e+00 1.30320042e+01] [-9.84817238e-02 9.95138860e-01 0.00000000e+00 -1.07446835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03656634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:-1.08, Z:-0.00 [[ 9.95306201e-01 9.67758516e-02 0.00000000e+00 1.30668346e+01] [-9.67758516e-02 9.95306201e-01 0.00000000e+00 -1.08157193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47553717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.354340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.09, Z:-0.00 [[ 9.95339154e-01 9.64363495e-02 0.00000000e+00 1.30992661e+01] [-9.64363495e-02 9.95339154e-01 0.00000000e+00 -1.08690531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14246122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:-1.09, Z:-0.00 [[ 9.95409768e-01 9.57047213e-02 0.00000000e+00 1.31308537e+01] [-9.57047213e-02 9.95409768e-01 0.00000000e+00 -1.09214058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82005200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:-1.10, Z:-0.00 [[ 9.95517485e-01 9.45776734e-02 0.00000000e+00 1.31638331e+01] [-9.45776734e-02 9.95517485e-01 0.00000000e+00 -1.09752943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80454167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.10, Z:-0.00 [[ 9.95744161e-01 9.21605417e-02 0.00000000e+00 1.31955336e+01] [-9.21605417e-02 9.95744161e-01 0.00000000e+00 -1.10406793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39997884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.11, Z:-0.00 [[ 9.95834041e-01 9.11842282e-02 0.00000000e+00 1.32280527e+01] [-9.11842282e-02 9.95834041e-01 0.00000000e+00 -1.10854764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58205490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.11, Z:-0.01 [[ 9.96019672e-01 8.91336764e-02 0.00000000e+00 1.32598908e+01] [-8.91336764e-02 9.96019672e-01 0.00000000e+00 -1.11370439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26081723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.534340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.12, Z:-0.01 [[ 9.96112139e-01 8.80943098e-02 0.00000000e+00 1.32920086e+01] [-8.80943098e-02 9.96112139e-01 0.00000000e+00 -1.11846315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70633503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.12, Z:-0.01 [[ 9.96174018e-01 8.73917915e-02 0.00000000e+00 1.33236776e+01] [-8.73917915e-02 9.96174018e-01 0.00000000e+00 -1.12377930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57637355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:-1.13, Z:-0.01 [[ 9.96257597e-01 8.64337907e-02 0.00000000e+00 1.33561456e+01] [-8.64337907e-02 9.96257597e-01 0.00000000e+00 -1.13101694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96237941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.13, Z:-0.01 [[ 9.96230590e-01 8.67445183e-02 0.00000000e+00 1.33893512e+01] [-8.67445183e-02 9.96230590e-01 0.00000000e+00 -1.13485991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96237941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.14, Z:-0.01 [[ 9.96241286e-01 8.66215893e-02 0.00000000e+00 1.34209543e+01] [-8.66215893e-02 9.96241286e-01 0.00000000e+00 -1.13989308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88639489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.14, Z:-0.00 [[ 9.96196868e-01 8.71309334e-02 0.00000000e+00 1.34536710e+01] [-8.71309334e-02 9.96196868e-01 0.00000000e+00 -1.14497950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80907850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.714340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.15, Z:-0.00 [[ 9.95851867e-01 9.09893396e-02 0.00000000e+00 1.34849323e+01] [-9.09893396e-02 9.95851867e-01 0.00000000e+00 -1.15114446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85945158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.15, Z:-0.00 [[ 9.95881742e-01 9.06617654e-02 0.00000000e+00 1.35169786e+01] [-9.06617654e-02 9.95881742e-01 0.00000000e+00 -1.15437654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16345018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.16, Z:-0.00 [[ 9.95722035e-01 9.23992864e-02 0.00000000e+00 1.35496501e+01] [-9.23992864e-02 9.95722035e-01 0.00000000e+00 -1.15920185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31223167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.17, Z:-0.00 [[ 9.95374001e-01 9.60760013e-02 0.00000000e+00 1.35817356e+01] [-9.60760013e-02 9.95374001e-01 0.00000000e+00 -1.16614893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81512640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.17, Z:-0.00 [[ 9.95184102e-01 9.80234833e-02 0.00000000e+00 1.36128159e+01] [-9.80234833e-02 9.95184102e-01 0.00000000e+00 -1.17137421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33307549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:-1.18, Z:-0.00 [[ 9.94959253e-01 1.00280030e-01 0.00000000e+00 1.36439184e+01] [-1.00280030e-01 9.94959253e-01 0.00000000e+00 -1.17632766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02746109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.894340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.18, Z:-0.00 [[ 9.94459598e-01 1.05119496e-01 0.00000000e+00 1.36734228e+01] [-1.05119496e-01 9.94459598e-01 0.00000000e+00 -1.18161309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17328676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.19, Z:-0.00 [[ 9.94445137e-01 1.05256204e-01 0.00000000e+00 1.37083990e+01] [-1.05256204e-01 9.94445137e-01 0.00000000e+00 -1.18585804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07866639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.19, Z:-0.01 [[ 9.94281877e-01 1.06787405e-01 0.00000000e+00 1.37414172e+01] [-1.06787405e-01 9.94281877e-01 0.00000000e+00 -1.19192027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88835943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.20, Z:-0.00 [[ 9.94286094e-01 1.06748130e-01 0.00000000e+00 1.37707320e+01] [-1.06748130e-01 9.94286094e-01 0.00000000e+00 -1.19629591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50243151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:-1.20, Z:-0.00 [[ 9.94389537e-01 1.05780192e-01 0.00000000e+00 1.38082374e+01] [-1.05780192e-01 9.94389537e-01 0.00000000e+00 -1.20359455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12229551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.044340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:-1.21, Z:-0.00 [[ 9.94474188e-01 1.04981372e-01 0.00000000e+00 1.38339374e+01] [-1.04981372e-01 9.94474188e-01 0.00000000e+00 -1.20715367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43594685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.074340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.21, Z:-0.00 [[ 9.94670894e-01 1.03100982e-01 0.00000000e+00 1.38674067e+01] [-1.03100982e-01 9.94670894e-01 0.00000000e+00 -1.21122805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33592321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.22, Z:0.00 [[ 9.94683446e-01 1.02979814e-01 0.00000000e+00 1.38987106e+01] [-1.02979814e-01 9.94683446e-01 0.00000000e+00 -1.21552953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38405525e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.134340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.22, Z:0.00 [[ 9.94909250e-01 1.00774919e-01 0.00000000e+00 1.39305835e+01] [-1.00774919e-01 9.94909250e-01 0.00000000e+00 -1.21977692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30736053e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.164340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.22, Z:0.00 [[ 9.94950188e-01 1.00369933e-01 0.00000000e+00 1.39624716e+01] [-1.00369933e-01 9.94950188e-01 0.00000000e+00 -1.22400438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06217120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.194340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.23, Z:0.00 [[ 9.95215527e-01 9.77039172e-02 0.00000000e+00 1.39961316e+01] [-9.77039172e-02 9.95215527e-01 0.00000000e+00 -1.22801227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00770644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.224340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.23, Z:-0.00 [[ 9.95394982e-01 9.58583824e-02 0.00000000e+00 1.40265706e+01] [-9.58583824e-02 9.95394982e-01 0.00000000e+00 -1.23210124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99072177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.24, Z:-0.00 [[ 9.95576327e-01 9.39562540e-02 0.00000000e+00 1.40591587e+01] [-9.39562540e-02 9.95576327e-01 0.00000000e+00 -1.23526985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24865121e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.284340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:-1.24, Z:-0.00 [[ 9.95435448e-01 9.54372555e-02 0.00000000e+00 1.40890085e+01] [-9.54372555e-02 9.95435448e-01 0.00000000e+00 -1.24012386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35376158e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.314340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:-1.24, Z:-0.00 [[ 9.95611065e-01 9.35874324e-02 0.00000000e+00 1.41188222e+01] [-9.35874324e-02 9.95611065e-01 0.00000000e+00 -1.24121457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68146106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-1.25, Z:-0.00 [[ 9.95585032e-01 9.38639640e-02 0.00000000e+00 1.41514515e+01] [-9.38639640e-02 9.95585032e-01 0.00000000e+00 -1.24504160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26730090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.374340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.25, Z:-0.00 [[ 9.95460907e-01 9.51713291e-02 0.00000000e+00 1.41851615e+01] [-9.51713291e-02 9.95460907e-01 0.00000000e+00 -1.25020950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33876835e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.404340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:-1.25, Z:-0.00 [[ 9.95220592e-01 9.76523071e-02 0.00000000e+00 1.42145268e+01] [-9.76523071e-02 9.95220592e-01 0.00000000e+00 -1.25427235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89053902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:-1.25, Z:-0.00 [[ 9.95194552e-01 9.79173343e-02 0.00000000e+00 1.42447930e+01] [-9.79173343e-02 9.95194552e-01 0.00000000e+00 -1.25373421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18215681e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.464340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.26, Z:-0.00 [[ 9.95126178e-01 9.86097827e-02 0.00000000e+00 1.42767181e+01] [-9.86097827e-02 9.95126178e-01 0.00000000e+00 -1.25695788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88001379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.494340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.26, Z:-0.00 [[ 9.94922131e-01 1.00647673e-01 0.00000000e+00 1.43101432e+01] [-1.00647673e-01 9.94922131e-01 0.00000000e+00 -1.26241129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06392251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.27, Z:-0.00 [[ 9.95086862e-01 9.90057386e-02 0.00000000e+00 1.43432879e+01] [-9.90057386e-02 9.95086862e-01 0.00000000e+00 -1.26572700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38262811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.554340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.27, Z:-0.00 [[ 9.95171260e-01 9.81537735e-02 0.00000000e+00 1.43727685e+01] [-9.81537735e-02 9.95171260e-01 0.00000000e+00 -1.26737942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38799441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.584340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.27, Z:0.00 [[ 9.95380354e-01 9.60101579e-02 0.00000000e+00 1.44076267e+01] [-9.60101579e-02 9.95380354e-01 0.00000000e+00 -1.27313456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72358830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.28, Z:0.00 [[ 9.95461354e-01 9.51666567e-02 0.00000000e+00 1.44384757e+01] [-9.51666567e-02 9.95461354e-01 0.00000000e+00 -1.27692203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05467153e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.28, Z:0.00 [[ 9.95692746e-01 9.27143805e-02 0.00000000e+00 1.44726223e+01] [-9.27143805e-02 9.95692746e-01 0.00000000e+00 -1.28034255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56817402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.28, Z:0.00 [[ 9.95851888e-01 9.09891032e-02 0.00000000e+00 1.45038837e+01] [-9.09891032e-02 9.95851888e-01 0.00000000e+00 -1.28326097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07505022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:-1.29, Z:0.00 [[ 9.95996881e-01 8.93879892e-02 0.00000000e+00 1.45369098e+01] [-8.93879892e-02 9.95996881e-01 0.00000000e+00 -1.28726552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73256530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.734340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:-1.29, Z:-0.00 [[ 9.96191676e-01 8.71902789e-02 0.00000000e+00 1.45694591e+01] [-8.71902789e-02 9.96191676e-01 0.00000000e+00 -1.28920104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73187974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.29, Z:0.00 [[ 9.96099455e-01 8.82376071e-02 0.00000000e+00 1.45998812e+01] [-8.82376071e-02 9.96099455e-01 0.00000000e+00 -1.29332313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12318559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.794340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.29, Z:0.00 [[ 9.96117573e-01 8.80328419e-02 0.00000000e+00 1.46327564e+01] [-8.80328419e-02 9.96117573e-01 0.00000000e+00 -1.29494288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79364109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.30, Z:0.00 [[ 9.95988160e-01 8.94851080e-02 0.00000000e+00 1.46623523e+01] [-8.94851080e-02 9.95988160e-01 0.00000000e+00 -1.29762247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47509368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.854340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.30, Z:0.01 [[ 9.95901072e-01 9.04491873e-02 0.00000000e+00 1.46955389e+01] [-9.04491873e-02 9.95901072e-01 0.00000000e+00 -1.29882195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20628606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.884340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.30, Z:0.01 [[ 9.95818483e-01 9.13539766e-02 0.00000000e+00 1.47311854e+01] [-9.13539766e-02 9.95818483e-01 0.00000000e+00 -1.30343965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37660286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.914340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.30, Z:0.01 [[ 9.95740309e-01 9.22021489e-02 0.00000000e+00 1.47605553e+01] [-9.22021489e-02 9.95740309e-01 0.00000000e+00 -1.30474140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45029989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.944340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.31, Z:0.01 [[ 9.95369961e-01 9.61178511e-02 0.00000000e+00 1.47930177e+01] [-9.61178511e-02 9.95369961e-01 0.00000000e+00 -1.30677576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10531939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.974340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.31, Z:0.01 [[ 9.95239411e-01 9.74603214e-02 0.00000000e+00 1.48247733e+01] [-9.74603214e-02 9.95239411e-01 0.00000000e+00 -1.30920138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00327462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.86, Y:-1.31, Z:0.01 [[ 9.94929462e-01 1.00575171e-01 0.00000000e+00 1.48561986e+01] [-1.00575171e-01 9.94929462e-01 0.00000000e+00 -1.31257563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73531055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.034340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.32, Z:0.00 [[ 9.94434487e-01 1.05356782e-01 0.00000000e+00 1.48909148e+01] [-1.05356782e-01 9.94434487e-01 0.00000000e+00 -1.31687000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09401283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.32, Z:0.01 [[ 9.94289608e-01 1.06715390e-01 0.00000000e+00 1.49203415e+01] [-1.06715390e-01 9.94289608e-01 0.00000000e+00 -1.31761805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10048686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.32, Z:0.01 [[ 9.94055506e-01 1.08874471e-01 0.00000000e+00 1.49532377e+01] [-1.08874471e-01 9.94055506e-01 0.00000000e+00 -1.32116935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00936412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.32, Z:0.00 [[ 9.93764212e-01 1.11501982e-01 0.00000000e+00 1.49852518e+01] [-1.11501982e-01 9.93764212e-01 0.00000000e+00 -1.32402664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48279271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.154340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.33, Z:0.01 [[ 9.93675378e-01 1.12290890e-01 0.00000000e+00 1.50185988e+01] [-1.12290890e-01 9.93675378e-01 0.00000000e+00 -1.32763793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89094032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.33, Z:0.00 [[ 9.93536127e-01 1.13516361e-01 0.00000000e+00 1.50487628e+01] [-1.13516361e-01 9.93536127e-01 0.00000000e+00 -1.33112261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48412082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.214340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.33, Z:0.00 [[ 9.93523171e-01 1.13629699e-01 0.00000000e+00 1.50795305e+01] [-1.13629699e-01 9.93523171e-01 0.00000000e+00 -1.33422430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74048690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.34, Z:0.00 [[ 9.93787300e-01 1.11296010e-01 0.00000000e+00 1.51140879e+01] [-1.11296010e-01 9.93787300e-01 0.00000000e+00 -1.33748996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73138111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.34, Z:0.00 [[ 9.93872370e-01 1.10533758e-01 0.00000000e+00 1.51463784e+01] [-1.10533758e-01 9.93872370e-01 0.00000000e+00 -1.34113285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91683009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.304340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.34, Z:0.01 [[ 9.94211970e-01 1.07436299e-01 0.00000000e+00 1.51778031e+01] [-1.07436299e-01 9.94211970e-01 0.00000000e+00 -1.34479936e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99086363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.334340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.35, Z:0.01 [[ 9.94183027e-01 1.07703797e-01 0.00000000e+00 1.52059536e+01] [-1.07703797e-01 9.94183027e-01 0.00000000e+00 -1.34895797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76780324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.35, Z:0.01 [[ 9.94432510e-01 1.05375441e-01 0.00000000e+00 1.52383274e+01] [-1.05375441e-01 9.94432510e-01 0.00000000e+00 -1.35255015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71103256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.394340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.36, Z:0.01 [[ 9.94762052e-01 1.02217709e-01 0.00000000e+00 1.52703931e+01] [-1.02217709e-01 9.94762052e-01 0.00000000e+00 -1.35593166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83199712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.36, Z:0.00 [[ 9.95152187e-01 9.83469561e-02 0.00000000e+00 1.53024647e+01] [-9.83469561e-02 9.95152187e-01 0.00000000e+00 -1.35748158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91331345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.36, Z:0.00 [[ 9.95167337e-01 9.81935385e-02 0.00000000e+00 1.53328201e+01] [-9.81935385e-02 9.95167337e-01 0.00000000e+00 -1.36094043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23906677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.36, Z:0.00 [[ 9.95236196e-01 9.74931460e-02 0.00000000e+00 1.53652590e+01] [-9.74931460e-02 9.95236196e-01 0.00000000e+00 -1.36381942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47985234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.514340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.37, Z:0.00 [[ 9.95176290e-01 9.81027587e-02 0.00000000e+00 1.53969264e+01] [-9.81027587e-02 9.95176290e-01 0.00000000e+00 -1.36824731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45248502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.37, Z:0.00 [[ 9.95150723e-01 9.83617763e-02 0.00000000e+00 1.54300630e+01] [-9.83617763e-02 9.95150723e-01 0.00000000e+00 -1.37271546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45248502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.574340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.38, Z:0.00 [[ 9.94761567e-01 1.02222424e-01 0.00000000e+00 1.54610999e+01] [-1.02222424e-01 9.94761567e-01 0.00000000e+00 -1.37967456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81597278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:-1.38, Z:0.00 [[ 9.94898506e-01 1.00880932e-01 0.00000000e+00 1.54932700e+01] [-1.00880932e-01 9.94898506e-01 0.00000000e+00 -1.38154077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26100710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.634340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.39, Z:0.00 [[ 9.94841792e-01 1.01438697e-01 0.00000000e+00 1.55246244e+01] [-1.01438697e-01 9.94841792e-01 0.00000000e+00 -1.38643438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15392064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:-1.39, Z:0.00 [[ 9.94587286e-01 1.03904432e-01 0.00000000e+00 1.55537062e+01] [-1.03904432e-01 9.94587286e-01 0.00000000e+00 -1.39133529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07882627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.694340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:-1.40, Z:0.00 [[ 9.94265635e-01 1.06938522e-01 0.00000000e+00 1.55884793e+01] [-1.06938522e-01 9.94265635e-01 0.00000000e+00 -1.40087181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59306702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.724340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.40, Z:0.00 [[ 9.94100470e-01 1.08463153e-01 0.00000000e+00 1.56177441e+01] [-1.08463153e-01 9.94100470e-01 0.00000000e+00 -1.40474734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57938830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.65, Y:-1.41, Z:0.00 [[ 9.94081684e-01 1.08635196e-01 0.00000000e+00 1.56522150e+01] [-1.08635196e-01 9.94081684e-01 0.00000000e+00 -1.41088992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44527182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.784340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.42, Z:0.00 [[ 9.93983895e-01 1.09526332e-01 0.00000000e+00 1.56849189e+01] [-1.09526332e-01 9.93983895e-01 0.00000000e+00 -1.41554499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60053877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.814340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.42, Z:0.00 [[ 9.93906688e-01 1.10224751e-01 0.00000000e+00 1.57172402e+01] [-1.10224751e-01 9.93906688e-01 0.00000000e+00 -1.42036383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30191515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.43, Z:0.00 [[ 9.93824196e-01 1.10966062e-01 0.00000000e+00 1.57491275e+01] [-1.10966062e-01 9.93824196e-01 0.00000000e+00 -1.42538100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90900812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.874340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.43, Z:0.00 [[ 9.93730321e-01 1.11803619e-01 0.00000000e+00 1.57816020e+01] [-1.11803619e-01 9.93730321e-01 0.00000000e+00 -1.43114298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92368095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.44, Z:0.00 [[ 9.93620606e-01 1.12774511e-01 0.00000000e+00 1.58139074e+01] [-1.12774511e-01 9.93620606e-01 0.00000000e+00 -1.43645514e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43055471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.934340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.45, Z:0.00 [[ 9.93221767e-01 1.16234767e-01 0.00000000e+00 1.58496004e+01] [-1.16234767e-01 9.93221767e-01 0.00000000e+00 -1.44578529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17441106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.45, Z:0.00 [[ 9.93510211e-01 1.13742957e-01 0.00000000e+00 1.58765343e+01] [-1.13742957e-01 9.93510211e-01 0.00000000e+00 -1.44538912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52568403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.994340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.45, Z:0.00 [[ 9.93436493e-01 1.14385030e-01 0.00000000e+00 1.59092272e+01] [-1.14385030e-01 9.93436493e-01 0.00000000e+00 -1.44939144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22726732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.46, Z:0.00 [[ 9.93221943e-01 1.16233262e-01 0.00000000e+00 1.59418327e+01] [-1.16233262e-01 9.93221943e-01 0.00000000e+00 -1.45517952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03443640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.054340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.46, Z:0.01 [[ 9.93405091e-01 1.14657427e-01 0.00000000e+00 1.59740575e+01] [-1.14657427e-01 9.93405091e-01 0.00000000e+00 -1.45802896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15411838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.084340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.46, Z:0.00 [[ 9.93292794e-01 1.15626233e-01 0.00000000e+00 1.60080597e+01] [-1.15626233e-01 9.93292794e-01 0.00000000e+00 -1.46436567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73915366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.47, Z:0.01 [[ 9.93463474e-01 1.14150455e-01 0.00000000e+00 1.60392067e+01] [-1.14150455e-01 9.93463474e-01 0.00000000e+00 -1.46628049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74076617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.144340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.47, Z:0.01 [[ 9.93434499e-01 1.14402347e-01 0.00000000e+00 1.60710023e+01] [-1.14402347e-01 9.93434499e-01 0.00000000e+00 -1.46990081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02847931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.48, Z:0.01 [[ 9.93154168e-01 1.16810955e-01 0.00000000e+00 1.61018714e+01] [-1.16810955e-01 9.93154168e-01 0.00000000e+00 -1.47507569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29529513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.48, Z:0.01 [[ 9.93174286e-01 1.16639781e-01 0.00000000e+00 1.61348268e+01] [-1.16639781e-01 9.93174286e-01 0.00000000e+00 -1.47620989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07358569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.234340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.48, Z:0.01 [[ 9.92936706e-01 1.18645262e-01 0.00000000e+00 1.61684946e+01] [-1.18645262e-01 9.92936706e-01 0.00000000e+00 -1.48125535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75424188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.264340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.48, Z:0.01 [[ 9.92802565e-01 1.19762542e-01 0.00000000e+00 1.62018465e+01] [-1.19762542e-01 9.92802565e-01 0.00000000e+00 -1.48448431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27594345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.294340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.49, Z:0.01 [[ 9.92552648e-01 1.21816421e-01 0.00000000e+00 1.62317908e+01] [-1.21816421e-01 9.92552648e-01 0.00000000e+00 -1.48517691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10899610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.49, Z:0.01 [[ 9.92437521e-01 1.22750831e-01 0.00000000e+00 1.62639364e+01] [-1.22750831e-01 9.92437521e-01 0.00000000e+00 -1.48894835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09497689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.354340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.49, Z:0.01 [[ 9.92336333e-01 1.23566188e-01 0.00000000e+00 1.62986942e+01] [-1.23566188e-01 9.92336333e-01 0.00000000e+00 -1.49274575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31281515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.50, Z:0.01 [[ 9.92336436e-01 1.23565361e-01 0.00000000e+00 1.63316717e+01] [-1.23565361e-01 9.92336436e-01 0.00000000e+00 -1.49658465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05240488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.414340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.50, Z:0.01 [[ 9.92418390e-01 1.22905405e-01 0.00000000e+00 1.63634840e+01] [-1.22905405e-01 9.92418390e-01 0.00000000e+00 -1.49968467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43753144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.50, Z:0.01 [[ 9.92476812e-01 1.22432748e-01 0.00000000e+00 1.63960042e+01] [-1.22432748e-01 9.92476812e-01 0.00000000e+00 -1.50317405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92673076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.474340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.51, Z:0.01 [[ 9.92708305e-01 1.20541369e-01 0.00000000e+00 1.64280945e+01] [-1.20541369e-01 9.92708305e-01 0.00000000e+00 -1.50607780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03579184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.51, Z:0.01 [[ 9.92822253e-01 1.19599221e-01 0.00000000e+00 1.64589842e+01] [-1.19599221e-01 9.92822253e-01 0.00000000e+00 -1.50965156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05613722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.534340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.51, Z:0.01 [[ 9.92998913e-01 1.18123493e-01 0.00000000e+00 1.64905817e+01] [-1.18123493e-01 9.92998913e-01 0.00000000e+00 -1.51313514e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03550809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.52, Z:0.01 [[ 9.93060333e-01 1.17606019e-01 0.00000000e+00 1.65234027e+01] [-1.17606019e-01 9.93060333e-01 0.00000000e+00 -1.51715455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26513103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.594340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.52, Z:0.01 [[ 9.93231707e-01 1.16149797e-01 0.00000000e+00 1.65548287e+01] [-1.16149797e-01 9.93231707e-01 0.00000000e+00 -1.51764753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15680975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.52, Z:0.01 [[ 9.93220363e-01 1.16246769e-01 0.00000000e+00 1.65870893e+01] [-1.16246769e-01 9.93220363e-01 0.00000000e+00 -1.52040142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08045151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.654340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.52, Z:0.01 [[ 9.93032844e-01 1.17837904e-01 0.00000000e+00 1.66176377e+01] [-1.17837904e-01 9.93032844e-01 0.00000000e+00 -1.52383555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90181580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.53, Z:0.01 [[ 9.92964243e-01 1.18414576e-01 0.00000000e+00 1.66488452e+01] [-1.18414576e-01 9.92964243e-01 0.00000000e+00 -1.52607704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00826267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.714340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.53, Z:0.01 [[ 9.93075912e-01 1.17474392e-01 0.00000000e+00 1.66780212e+01] [-1.17474392e-01 9.93075912e-01 0.00000000e+00 -1.52782846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95257052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.53, Z:0.01 [[ 9.93077689e-01 1.17459368e-01 0.00000000e+00 1.67119173e+01] [-1.17459368e-01 9.93077689e-01 0.00000000e+00 -1.53256555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82792645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.53, Z:0.01 [[ 9.93368346e-01 1.14975345e-01 0.00000000e+00 1.67417975e+01] [-1.14975345e-01 9.93368346e-01 0.00000000e+00 -1.53437031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52166549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.804340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.54, Z:0.01 [[ 9.93407012e-01 1.14640776e-01 0.00000000e+00 1.67758583e+01] [-1.14640776e-01 9.93407012e-01 0.00000000e+00 -1.53891658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69988377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.834340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.54, Z:0.01 [[ 9.93488988e-01 1.13928184e-01 0.00000000e+00 1.68062169e+01] [-1.13928184e-01 9.93488988e-01 0.00000000e+00 -1.54234517e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52373954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.55, Z:0.01 [[ 9.93894386e-01 1.10335620e-01 0.00000000e+00 1.68393958e+01] [-1.10335620e-01 9.93894386e-01 0.00000000e+00 -1.54536771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51379733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.894340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.55, Z:0.01 [[ 9.93942802e-01 1.09898622e-01 0.00000000e+00 1.68723949e+01] [-1.09898622e-01 9.93942802e-01 0.00000000e+00 -1.54992833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01364224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.55, Z:0.01 [[ 9.94122606e-01 1.08260073e-01 0.00000000e+00 1.69052181e+01] [-1.08260073e-01 9.94122606e-01 0.00000000e+00 -1.55338857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53630513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.56, Z:0.01 [[ 9.94282077e-01 1.06785535e-01 0.00000000e+00 1.69372635e+01] [-1.06785535e-01 9.94282077e-01 0.00000000e+00 -1.55619932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74334265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984340128000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.56, Z:0.01 [[ 9.94197979e-01 1.07565692e-01 0.00000000e+00 1.69687276e+01] [-1.07565692e-01 9.94197979e-01 0.00000000e+00 -1.56073073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00992969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.56, Z:0.01 [[ 9.94228260e-01 1.07285447e-01 0.00000000e+00 1.70017389e+01] [-1.07285447e-01 9.94228260e-01 0.00000000e+00 -1.56396691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05070901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044340127999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.57, Z:0.01 [[ 9.94047565e-01 1.08946950e-01 0.00000000e+00 1.70328318e+01] [-1.08946950e-01 9.94047565e-01 0.00000000e+00 -1.56621321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40228487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.57, Z:0.01 [[ 9.93865315e-01 1.10597181e-01 0.00000000e+00 1.70659191e+01] [-1.10597181e-01 9.93865315e-01 0.00000000e+00 -1.57038511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50655176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.57, Z:0.01 [[ 9.93398000e-01 1.14718843e-01 0.00000000e+00 1.70975621e+01] [-1.14718843e-01 9.93398000e-01 0.00000000e+00 -1.57341431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29588504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.58, Z:0.01 [[ 9.93091171e-01 1.17345331e-01 0.00000000e+00 1.71298626e+01] [-1.17345331e-01 9.93091171e-01 0.00000000e+00 -1.57788183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44098901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.58, Z:0.01 [[ 9.92815758e-01 1.19653124e-01 0.00000000e+00 1.71619467e+01] [-1.19653124e-01 9.92815758e-01 0.00000000e+00 -1.58157152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81116571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.59, Z:0.01 [[ 9.92497951e-01 1.22261266e-01 0.00000000e+00 1.71939184e+01] [-1.22261266e-01 9.92497951e-01 0.00000000e+00 -1.58560475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56348290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.59, Z:0.01 [[ 9.92001909e-01 1.26222872e-01 0.00000000e+00 1.72256486e+01] [-1.26222872e-01 9.92001909e-01 0.00000000e+00 -1.58957327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95903074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.59, Z:0.01 [[ 9.91840284e-01 1.27486673e-01 0.00000000e+00 1.72586578e+01] [-1.27486673e-01 9.91840284e-01 0.00000000e+00 -1.59386456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09876056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.60, Z:0.01 [[ 9.91695687e-01 1.28606629e-01 0.00000000e+00 1.72913418e+01] [-1.28606629e-01 9.91695687e-01 0.00000000e+00 -1.59860244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45681587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.60, Z:0.01 [[ 9.91582127e-01 1.29479284e-01 0.00000000e+00 1.73225919e+01] [-1.29479284e-01 9.91582127e-01 0.00000000e+00 -1.60342933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04770075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.61, Z:0.01 [[ 9.91482211e-01 1.30242177e-01 0.00000000e+00 1.73519964e+01] [-1.30242177e-01 9.91482211e-01 0.00000000e+00 -1.60807677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52579533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.61, Z:0.01 [[ 9.91666838e-01 1.28828885e-01 0.00000000e+00 1.73848402e+01] [-1.28828885e-01 9.91666838e-01 0.00000000e+00 -1.61398961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84442781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.62, Z:0.01 [[ 9.91648045e-01 1.28973468e-01 0.00000000e+00 1.74179437e+01] [-1.28973468e-01 9.91648045e-01 0.00000000e+00 -1.61894792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84442781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.62, Z:0.01 [[ 9.91742744e-01 1.28243243e-01 0.00000000e+00 1.74485884e+01] [-1.28243243e-01 9.91742744e-01 0.00000000e+00 -1.62360152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94878395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.63, Z:0.01 [[ 9.92006136e-01 1.26189645e-01 0.00000000e+00 1.74822937e+01] [-1.26189645e-01 9.92006136e-01 0.00000000e+00 -1.62865598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03890731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.63, Z:0.01 [[ 9.92031999e-01 1.25986161e-01 0.00000000e+00 1.75143032e+01] [-1.25986161e-01 9.92031999e-01 0.00000000e+00 -1.63362995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79195877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.64, Z:0.01 [[ 9.92088550e-01 1.25540068e-01 0.00000000e+00 1.75461297e+01] [-1.25540068e-01 9.92088550e-01 0.00000000e+00 -1.63894712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52938187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.64, Z:0.01 [[ 9.92064148e-01 1.25732757e-01 0.00000000e+00 1.75781432e+01] [-1.25732757e-01 9.92064148e-01 0.00000000e+00 -1.64417947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13046274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.65, Z:0.01 [[ 9.92208464e-01 1.24588777e-01 0.00000000e+00 1.76106964e+01] [-1.24588777e-01 9.92208464e-01 0.00000000e+00 -1.64904162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39329238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.66, Z:0.01 [[ 9.92187814e-01 1.24753125e-01 0.00000000e+00 1.76414606e+01] [-1.24753125e-01 9.92187814e-01 0.00000000e+00 -1.65526062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95467099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.66, Z:0.01 [[ 9.92239691e-01 1.24339840e-01 0.00000000e+00 1.76737319e+01] [-1.24339840e-01 9.92239691e-01 0.00000000e+00 -1.66043110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60706443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.67, Z:0.00 [[ 9.92270210e-01 1.24096055e-01 0.00000000e+00 1.77038185e+01] [-1.24096055e-01 9.92270210e-01 0.00000000e+00 -1.66598013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89688756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.67, Z:0.00 [[ 9.92331262e-01 1.23606904e-01 0.00000000e+00 1.77370957e+01] [-1.23606904e-01 9.92331262e-01 0.00000000e+00 -1.67170472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06254670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.68, Z:0.00 [[ 9.92310029e-01 1.23777248e-01 0.00000000e+00 1.77694520e+01] [-1.23777248e-01 9.92310029e-01 0.00000000e+00 -1.67723461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91299271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.68, Z:0.00 [[ 9.92155016e-01 1.25013699e-01 0.00000000e+00 1.77988673e+01] [-1.25013699e-01 9.92155016e-01 0.00000000e+00 -1.68315666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20489185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.794340127999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.69, Z:0.00 [[ 9.92174631e-01 1.24857929e-01 0.00000000e+00 1.78308912e+01] [-1.24857929e-01 9.92174631e-01 0.00000000e+00 -1.68885608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46045988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.69, Z:0.01 [[ 9.92070917e-01 1.25679333e-01 0.00000000e+00 1.78636243e+01] [-1.25679333e-01 9.92070917e-01 0.00000000e+00 -1.69474611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29149986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.70, Z:0.01 [[ 9.91674529e-01 1.28769676e-01 0.00000000e+00 1.78925542e+01] [-1.28769676e-01 9.91674529e-01 0.00000000e+00 -1.70068498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85215729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.70, Z:0.01 [[ 9.91864306e-01 1.27299640e-01 0.00000000e+00 1.79240494e+01] [-1.27299640e-01 9.91864306e-01 0.00000000e+00 -1.70338089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71360941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.71, Z:0.01 [[ 9.91576101e-01 1.29525429e-01 0.00000000e+00 1.79527496e+01] [-1.29525429e-01 9.91576101e-01 0.00000000e+00 -1.70896347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92338554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.72, Z:0.01 [[ 9.91632797e-01 1.29090649e-01 0.00000000e+00 1.79880307e+01] [-1.29090649e-01 9.91632797e-01 0.00000000e+00 -1.71603866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12171306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.72, Z:0.01 [[ 9.91567621e-01 1.29590328e-01 0.00000000e+00 1.80166842e+01] [-1.29590328e-01 9.91567621e-01 0.00000000e+00 -1.71900066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33791430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.73, Z:0.01 [[ 9.91365538e-01 1.31127304e-01 0.00000000e+00 1.80477170e+01] [-1.31127304e-01 9.91365538e-01 0.00000000e+00 -1.72602603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69190500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.73, Z:0.01 [[ 9.91286080e-01 1.31726643e-01 0.00000000e+00 1.80785056e+01] [-1.31726643e-01 9.91286080e-01 0.00000000e+00 -1.73143360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02359545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.74, Z:0.01 [[ 9.90965361e-01 1.34118056e-01 0.00000000e+00 1.81088755e+01] [-1.34118056e-01 9.90965361e-01 0.00000000e+00 -1.73765827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10494578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.74, Z:0.01 [[ 9.90913819e-01 1.34498341e-01 0.00000000e+00 1.81418223e+01] [-1.34498341e-01 9.90913819e-01 0.00000000e+00 -1.74384086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13786144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.75, Z:0.01 [[ 9.90983171e-01 1.33986396e-01 0.00000000e+00 1.81775132e+01] [-1.33986396e-01 9.90983171e-01 0.00000000e+00 -1.75128394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18819352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.76, Z:0.01 [[ 9.90987761e-01 1.33952449e-01 0.00000000e+00 1.82097949e+01] [-1.33952449e-01 9.90987761e-01 0.00000000e+00 -1.75679480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27872651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.76, Z:0.01 [[ 9.90970934e-01 1.34076870e-01 0.00000000e+00 1.82412911e+01] [-1.34076870e-01 9.90970934e-01 0.00000000e+00 -1.76259232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36999524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.77, Z:0.01 [[ 9.91036755e-01 1.33589488e-01 0.00000000e+00 1.82733659e+01] [-1.33589488e-01 9.91036755e-01 0.00000000e+00 -1.76873718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43436387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.78, Z:0.02 [[ 9.90687107e-01 1.36158201e-01 0.00000000e+00 1.83006259e+01] [-1.36158201e-01 9.90687107e-01 0.00000000e+00 -1.77517434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50013890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.78, Z:0.02 [[ 9.91325957e-01 1.31426204e-01 0.00000000e+00 1.83362485e+01] [-1.31426204e-01 9.91325957e-01 0.00000000e+00 -1.78200632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51850435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.79, Z:0.01 [[ 9.91158927e-01 1.32679994e-01 0.00000000e+00 1.83648053e+01] [-1.32679994e-01 9.91158927e-01 0.00000000e+00 -1.78745429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44731767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.80, Z:0.01 [[ 9.91370215e-01 1.31091942e-01 0.00000000e+00 1.83993952e+01] [-1.31091942e-01 9.91370215e-01 0.00000000e+00 -1.79529428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43972538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.80, Z:0.01 [[ 9.90775786e-01 1.35511411e-01 0.00000000e+00 1.84253403e+01] [-1.35511411e-01 9.90775786e-01 0.00000000e+00 -1.80086695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31761322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.81, Z:0.01 [[ 9.90887490e-01 1.34692175e-01 0.00000000e+00 1.84623201e+01] [-1.34692175e-01 9.90887490e-01 0.00000000e+00 -1.80778396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49075337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.81, Z:0.01 [[ 9.90642560e-01 1.36481935e-01 0.00000000e+00 1.84942500e+01] [-1.36481935e-01 9.90642560e-01 0.00000000e+00 -1.81370624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49871320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.82, Z:0.01 [[ 9.89846159e-01 1.42142821e-01 0.00000000e+00 1.85197788e+01] [-1.42142821e-01 9.89846159e-01 0.00000000e+00 -1.81990252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34667725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.83, Z:0.01 [[ 9.89640715e-01 1.43566205e-01 0.00000000e+00 1.85594467e+01] [-1.43566205e-01 9.89640715e-01 0.00000000e+00 -1.82905291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25802784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.83, Z:0.01 [[ 9.89346680e-01 1.45578662e-01 0.00000000e+00 1.85873803e+01] [-1.45578662e-01 9.89346680e-01 0.00000000e+00 -1.83278979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36340980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.84, Z:0.01 [[ 9.89412573e-01 1.45130147e-01 0.00000000e+00 1.86201900e+01] [-1.45130147e-01 9.89412573e-01 0.00000000e+00 -1.83793969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39828838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.85, Z:0.01 [[ 9.88916029e-01 1.48475880e-01 0.00000000e+00 1.86518237e+01] [-1.48475880e-01 9.88916029e-01 0.00000000e+00 -1.84627409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37732340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.85, Z:0.01 [[ 9.88818459e-01 1.49124296e-01 0.00000000e+00 1.86834906e+01] [-1.49124296e-01 9.88818459e-01 0.00000000e+00 -1.85313623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39809450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.86, Z:0.01 [[ 9.88725019e-01 1.49742569e-01 0.00000000e+00 1.87160379e+01] [-1.49742569e-01 9.88725019e-01 0.00000000e+00 -1.86285833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45413550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.87, Z:0.01 [[ 9.88766262e-01 1.49469993e-01 0.00000000e+00 1.87471700e+01] [-1.49469993e-01 9.88766262e-01 0.00000000e+00 -1.87013978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35292993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.88, Z:0.01 [[ 9.88892447e-01 1.48632867e-01 0.00000000e+00 1.87791771e+01] [-1.48632867e-01 9.88892447e-01 0.00000000e+00 -1.87745768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49916959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.88, Z:0.02 [[ 9.89043200e-01 1.47626384e-01 0.00000000e+00 1.88080017e+01] [-1.47626384e-01 9.89043200e-01 0.00000000e+00 -1.88370412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53293060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.89, Z:0.02 [[ 9.89377429e-01 1.45369540e-01 0.00000000e+00 1.88401228e+01] [-1.45369540e-01 9.89377429e-01 0.00000000e+00 -1.89385015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59415796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.90, Z:0.02 [[ 9.89508441e-01 1.44475069e-01 0.00000000e+00 1.88722625e+01] [-1.44475069e-01 9.89508441e-01 0.00000000e+00 -1.90151734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58354509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.91, Z:0.02 [[ 9.89675140e-01 1.43328707e-01 0.00000000e+00 1.89030212e+01] [-1.43328707e-01 9.89675140e-01 0.00000000e+00 -1.90892648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56958022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.92, Z:0.02 [[ 9.89773346e-01 1.42648953e-01 0.00000000e+00 1.89323652e+01] [-1.42648953e-01 9.89773346e-01 0.00000000e+00 -1.91926190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51530993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.93, Z:0.02 [[ 9.89989409e-01 1.41141666e-01 0.00000000e+00 1.89674869e+01] [-1.41141666e-01 9.89989409e-01 0.00000000e+00 -1.92726822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53736553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.94, Z:0.01 [[ 9.89894077e-01 1.41808729e-01 0.00000000e+00 1.89956743e+01] [-1.41808729e-01 9.89894077e-01 0.00000000e+00 -1.93619187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41224685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.94, Z:0.01 [[ 9.89599572e-01 1.43849528e-01 0.00000000e+00 1.90254770e+01] [-1.43849528e-01 9.89599572e-01 0.00000000e+00 -1.94445114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35042095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.95, Z:0.01 [[ 9.89731782e-01 1.42937049e-01 0.00000000e+00 1.90587956e+01] [-1.42937049e-01 9.89731782e-01 0.00000000e+00 -1.95087410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14842665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.96, Z:0.01 [[ 9.89505865e-01 1.44492712e-01 0.00000000e+00 1.90891038e+01] [-1.44492712e-01 9.89505865e-01 0.00000000e+00 -1.96028624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07822083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.97, Z:0.01 [[ 9.89329578e-01 1.45694837e-01 0.00000000e+00 1.91197642e+01] [-1.45694837e-01 9.89329578e-01 0.00000000e+00 -1.96755947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47506412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.97, Z:0.01 [[ 9.89271416e-01 1.46089241e-01 0.00000000e+00 1.91496497e+01] [-1.46089241e-01 9.89271416e-01 0.00000000e+00 -1.97423433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84491158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.98, Z:0.01 [[ 9.89315971e-01 1.45787206e-01 0.00000000e+00 1.91820586e+01] [-1.45787206e-01 9.89315971e-01 0.00000000e+00 -1.98141327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75471498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.99, Z:0.01 [[ 9.89236597e-01 1.46324826e-01 0.00000000e+00 1.92119979e+01] [-1.46324826e-01 9.89236597e-01 0.00000000e+00 -1.99146920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90347911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:-1.99, Z:0.01 [[ 9.89422864e-01 1.45059972e-01 0.00000000e+00 1.92388771e+01] [-1.45059972e-01 9.89422864e-01 0.00000000e+00 -1.99461923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10207736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:-2.01, Z:0.01 [[ 9.88581485e-01 1.50687253e-01 0.00000000e+00 1.92755404e+01] [-1.50687253e-01 9.88581485e-01 0.00000000e+00 -2.00530887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68008216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:-2.00, Z:0.01 [[ 9.88806805e-01 1.49201547e-01 0.00000000e+00 1.93021271e+01] [-1.49201547e-01 9.88806805e-01 0.00000000e+00 -2.00410073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03220924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:-2.02, Z:0.01 [[ 9.88210721e-01 1.53099870e-01 0.00000000e+00 1.93383259e+01] [-1.53099870e-01 9.88210721e-01 0.00000000e+00 -2.01544048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66553487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.37, Y:-2.02, Z:0.01 [[ 9.88038197e-01 1.54209341e-01 0.00000000e+00 1.93669208e+01] [-1.54209341e-01 9.88038197e-01 0.00000000e+00 -2.01774312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22191651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:-2.02, Z:0.01 [[ 9.87931977e-01 1.54888374e-01 0.00000000e+00 1.93987833e+01] [-1.54888374e-01 9.87931977e-01 0.00000000e+00 -2.02311436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17628758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:-2.03, Z:0.01 [[ 9.87881674e-01 1.55208888e-01 0.00000000e+00 1.94316979e+01] [-1.55208888e-01 9.87881674e-01 0.00000000e+00 -2.02881070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17628758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:-2.03, Z:0.01 [[ 9.87951236e-01 1.54765482e-01 0.00000000e+00 1.94611355e+01] [-1.54765482e-01 9.87951236e-01 0.00000000e+00 -2.03165395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23469560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-2.04, Z:0.01 [[ 9.87958841e-01 1.54716929e-01 0.00000000e+00 1.94964268e+01] [-1.54716929e-01 9.87958841e-01 0.00000000e+00 -2.03844561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36299128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:-2.04, Z:0.01 [[ 9.88039419e-01 1.54201510e-01 0.00000000e+00 1.95244848e+01] [-1.54201510e-01 9.88039419e-01 0.00000000e+00 -2.04067796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47949836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:-2.05, Z:0.01 [[ 9.88750465e-01 1.49574457e-01 0.00000000e+00 1.95597339e+01] [-1.49574457e-01 9.88750465e-01 0.00000000e+00 -2.04546235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27592107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:-2.05, Z:0.01 [[ 9.89064240e-01 1.47485351e-01 0.00000000e+00 1.95928072e+01] [-1.47485351e-01 9.89064240e-01 0.00000000e+00 -2.04972420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66636326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.62, Y:-2.05, Z:0.01 [[ 9.89258981e-01 1.46173419e-01 0.00000000e+00 1.96206294e+01] [-1.46173419e-01 9.89258981e-01 0.00000000e+00 -2.05351686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29226273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.65, Y:-2.06, Z:0.01 [[ 9.90180513e-01 1.39794677e-01 0.00000000e+00 1.96516930e+01] [-1.39794677e-01 9.90180513e-01 0.00000000e+00 -2.05948236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96972658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:-2.07, Z:0.01 [[ 9.90817464e-01 1.35206334e-01 0.00000000e+00 1.96873869e+01] [-1.35206334e-01 9.90817464e-01 0.00000000e+00 -2.06637090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12805128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.07, Z:0.01 [[ 9.91242936e-01 1.32050908e-01 0.00000000e+00 1.97186627e+01] [-1.32050908e-01 9.91242936e-01 0.00000000e+00 -2.07181888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.36237057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:-2.08, Z:0.01 [[ 9.91612238e-01 1.29248479e-01 0.00000000e+00 1.97507219e+01] [-1.29248479e-01 9.91612238e-01 0.00000000e+00 -2.07763579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74684987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.08, Z:0.01 [[ 9.92231192e-01 1.24407639e-01 0.00000000e+00 1.97821410e+01] [-1.24407639e-01 9.92231192e-01 0.00000000e+00 -2.08230320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50948946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.81, Y:-2.09, Z:0.01 [[ 9.92470206e-01 1.22486283e-01 0.00000000e+00 1.98144627e+01] [-1.22486283e-01 9.92470206e-01 0.00000000e+00 -2.08674617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47754213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-2.09, Z:0.01 [[ 9.92423724e-01 1.22862327e-01 0.00000000e+00 1.98472689e+01] [-1.22862327e-01 9.92423724e-01 0.00000000e+00 -2.09223031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26759870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:-2.10, Z:0.01 [[ 9.92105061e-01 1.25409520e-01 0.00000000e+00 1.98756518e+01] [-1.25409520e-01 9.92105061e-01 0.00000000e+00 -2.09678756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98592800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-2.10, Z:0.01 [[ 9.91673865e-01 1.28774784e-01 0.00000000e+00 1.99074093e+01] [-1.28774784e-01 9.91673865e-01 0.00000000e+00 -2.10001913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.16602070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:-2.10, Z:0.01 [[ 9.91232836e-01 1.32126698e-01 0.00000000e+00 1.99411307e+01] [-1.32126698e-01 9.91232836e-01 0.00000000e+00 -2.10391188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59378768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:-2.11, Z:0.01 [[ 9.90731829e-01 1.35832409e-01 0.00000000e+00 1.99709953e+01] [-1.35832409e-01 9.90731829e-01 0.00000000e+00 -2.10797931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05963107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-2.12, Z:0.01 [[ 9.90414594e-01 1.38126508e-01 0.00000000e+00 2.00085449e+01] [-1.38126508e-01 9.90414594e-01 0.00000000e+00 -2.11596896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00847184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-2.12, Z:0.01 [[ 9.90281970e-01 1.39074151e-01 0.00000000e+00 2.00365029e+01] [-1.39074151e-01 9.90281970e-01 0.00000000e+00 -2.11695488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07488476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-2.12, Z:0.01 [[ 9.89708841e-01 1.43095805e-01 0.00000000e+00 2.00684616e+01] [-1.43095805e-01 9.89708841e-01 0.00000000e+00 -2.12396852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17924460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:-2.13, Z:0.01 [[ 9.89979859e-01 1.41208637e-01 0.00000000e+00 2.00993005e+01] [-1.41208637e-01 9.89979859e-01 0.00000000e+00 -2.12711719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17641084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:-2.14, Z:0.01 [[ 9.89635093e-01 1.43604952e-01 0.00000000e+00 2.01315449e+01] [-1.43604952e-01 9.89635093e-01 0.00000000e+00 -2.13525832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19490416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:-2.14, Z:0.01 [[ 9.90058520e-01 1.40656057e-01 0.00000000e+00 2.01648723e+01] [-1.40656057e-01 9.90058520e-01 0.00000000e+00 -2.14043302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01651723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-2.14, Z:0.01 [[ 9.90300807e-01 1.38939954e-01 0.00000000e+00 2.01962749e+01] [-1.38939954e-01 9.90300807e-01 0.00000000e+00 -2.14455257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17263279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:-2.15, Z:0.01 [[ 9.90288612e-01 1.39026853e-01 0.00000000e+00 2.02241679e+01] [-1.39026853e-01 9.90288612e-01 0.00000000e+00 -2.14837668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33234671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:-2.16, Z:0.01 [[ 9.90381436e-01 1.38364050e-01 0.00000000e+00 2.02590810e+01] [-1.38364050e-01 9.90381436e-01 0.00000000e+00 -2.15654272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23951253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:-2.16, Z:0.01 [[ 9.90625336e-01 1.36606893e-01 0.00000000e+00 2.02887190e+01] [-1.36606893e-01 9.90625336e-01 0.00000000e+00 -2.15907177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34724670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:-2.17, Z:0.01 [[ 9.90846982e-01 1.34989845e-01 0.00000000e+00 2.03239737e+01] [-1.34989845e-01 9.90846982e-01 0.00000000e+00 -2.16539444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26982782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.35, Y:-2.17, Z:0.01 [[ 9.90827485e-01 1.35132879e-01 0.00000000e+00 2.03534056e+01] [-1.35132879e-01 9.90827485e-01 0.00000000e+00 -2.16862851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26532941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.17, Z:0.01 [[ 9.90872277e-01 1.34804043e-01 0.00000000e+00 2.03882374e+01] [-1.34804043e-01 9.90872277e-01 0.00000000e+00 -2.17491377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17429972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:-2.18, Z:0.01 [[ 9.90636634e-01 1.36524941e-01 0.00000000e+00 2.04172520e+01] [-1.36524941e-01 9.90636634e-01 0.00000000e+00 -2.17998943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11575266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:-2.18, Z:0.01 [[ 9.90766333e-01 1.35580507e-01 0.00000000e+00 2.04492206e+01] [-1.35580507e-01 9.90766333e-01 0.00000000e+00 -2.18298267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06146602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.48, Y:-2.19, Z:0.01 [[ 9.90998372e-01 1.33873924e-01 0.00000000e+00 2.04834709e+01] [-1.33873924e-01 9.90998372e-01 0.00000000e+00 -2.18799640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07330069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:-2.19, Z:0.01 [[ 9.91039867e-01 1.33566396e-01 0.00000000e+00 2.05146727e+01] [-1.33566396e-01 9.91039867e-01 0.00000000e+00 -2.19290692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10187397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.20, Z:0.01 [[ 9.91189935e-01 1.32448150e-01 0.00000000e+00 2.05454796e+01] [-1.32448150e-01 9.91189935e-01 0.00000000e+00 -2.19735596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39106572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.20, Z:0.01 [[ 9.91062222e-01 1.33400423e-01 0.00000000e+00 2.05742464e+01] [-1.33400423e-01 9.91062222e-01 0.00000000e+00 -2.20202966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88343442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:-2.21, Z:0.01 [[ 9.91259298e-01 1.31928026e-01 0.00000000e+00 2.06086173e+01] [-1.31928026e-01 9.91259298e-01 0.00000000e+00 -2.20779810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56348245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:-2.21, Z:0.01 [[ 9.91187044e-01 1.32469785e-01 0.00000000e+00 2.06375180e+01] [-1.32469785e-01 9.91187044e-01 0.00000000e+00 -2.21336958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03944674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:-2.22, Z:0.00 [[ 9.91528094e-01 1.29892415e-01 0.00000000e+00 2.06725570e+01] [-1.29892415e-01 9.91528094e-01 0.00000000e+00 -2.21880346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44161704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:-2.22, Z:0.01 [[ 9.91229770e-01 1.32149698e-01 0.00000000e+00 2.07010993e+01] [-1.32149698e-01 9.91229770e-01 0.00000000e+00 -2.22330918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12842347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:-2.23, Z:0.01 [[ 9.91156500e-01 1.32698125e-01 0.00000000e+00 2.07321066e+01] [-1.32698125e-01 9.91156500e-01 0.00000000e+00 -2.22849612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82963444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:-2.23, Z:0.01 [[ 9.91108992e-01 1.33052490e-01 0.00000000e+00 2.07645571e+01] [-1.33052490e-01 9.91108992e-01 0.00000000e+00 -2.23378658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99217785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:-2.24, Z:0.01 [[ 9.91109350e-01 1.33049823e-01 0.00000000e+00 2.07969578e+01] [-1.33049823e-01 9.91109350e-01 0.00000000e+00 -2.23807874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20914263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:-2.24, Z:0.01 [[ 9.91056780e-01 1.33440840e-01 0.00000000e+00 2.08285084e+01] [-1.33440840e-01 9.91056780e-01 0.00000000e+00 -2.24324628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22608168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:-2.25, Z:0.01 [[ 9.91103418e-01 1.33094008e-01 0.00000000e+00 2.08601173e+01] [-1.33094008e-01 9.91103418e-01 0.00000000e+00 -2.24834079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29340943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:-2.26, Z:0.01 [[ 9.91032253e-01 1.33622881e-01 0.00000000e+00 2.08939567e+01] [-1.33622881e-01 9.91032253e-01 0.00000000e+00 -2.25633328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61162188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:-2.26, Z:0.01 [[ 9.91268881e-01 1.31856001e-01 0.00000000e+00 2.09238827e+01] [-1.31856001e-01 9.91268881e-01 0.00000000e+00 -2.25909635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01795310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:-2.26, Z:0.01 [[ 9.91328639e-01 1.31405973e-01 0.00000000e+00 2.09553642e+01] [-1.31405973e-01 9.91328639e-01 0.00000000e+00 -2.26467022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00578384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.27, Z:0.01 [[ 9.91414794e-01 1.30754376e-01 0.00000000e+00 2.09876444e+01] [-1.30754376e-01 9.91414794e-01 0.00000000e+00 -2.27037939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05410685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:-2.28, Z:0.01 [[ 9.91633548e-01 1.29084883e-01 0.00000000e+00 2.10237264e+01] [-1.29084883e-01 9.91633548e-01 0.00000000e+00 -2.27710598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06628262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.28, Z:0.01 [[ 9.91242757e-01 1.32052247e-01 0.00000000e+00 2.10546921e+01] [-1.32052247e-01 9.91242757e-01 0.00000000e+00 -2.28486281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13675848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:-2.29, Z:0.01 [[ 9.91531758e-01 1.29864443e-01 0.00000000e+00 2.10830494e+01] [-1.29864443e-01 9.91531758e-01 0.00000000e+00 -2.28641720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12377960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:-2.29, Z:0.01 [[ 9.91288241e-01 1.31710379e-01 0.00000000e+00 2.11178993e+01] [-1.31710379e-01 9.91288241e-01 0.00000000e+00 -2.29488740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79114607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.15, Y:-2.30, Z:0.01 [[ 9.91177200e-01 1.32543423e-01 0.00000000e+00 2.11508664e+01] [-1.32543423e-01 9.91177200e-01 0.00000000e+00 -2.30094047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75344145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:-2.30, Z:0.01 [[ 9.91320834e-01 1.31464840e-01 0.00000000e+00 2.11822129e+01] [-1.31464840e-01 9.91320834e-01 0.00000000e+00 -2.30359793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01094200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.21, Y:-2.31, Z:0.01 [[ 9.91137624e-01 1.32839038e-01 0.00000000e+00 2.12141781e+01] [-1.32839038e-01 9.91137624e-01 0.00000000e+00 -2.30913904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97432981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:-2.31, Z:0.01 [[ 9.90970032e-01 1.34083538e-01 0.00000000e+00 2.12468392e+01] [-1.34083538e-01 9.90970032e-01 0.00000000e+00 -2.31397461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05353900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:-2.32, Z:0.01 [[ 9.90631939e-01 1.36559002e-01 0.00000000e+00 2.12788894e+01] [-1.36559002e-01 9.90631939e-01 0.00000000e+00 -2.31705928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06219931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.32, Z:0.01 [[ 9.90195426e-01 1.39689009e-01 0.00000000e+00 2.13105989e+01] [-1.39689009e-01 9.90195426e-01 0.00000000e+00 -2.32232796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20243047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.33, Z:0.01 [[ 9.89618817e-01 1.43717072e-01 0.00000000e+00 2.13439591e+01] [-1.43717072e-01 9.89618817e-01 0.00000000e+00 -2.32615252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35158604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:-2.33, Z:0.01 [[ 9.89027193e-01 1.47733584e-01 0.00000000e+00 2.13739792e+01] [-1.47733584e-01 9.89027193e-01 0.00000000e+00 -2.33215693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26094205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:-2.33, Z:0.01 [[ 9.88738517e-01 1.49653413e-01 0.00000000e+00 2.14002660e+01] [-1.49653413e-01 9.88738517e-01 0.00000000e+00 -2.33344349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35415108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.34, Z:0.01 [[ 9.88694814e-01 1.49941874e-01 0.00000000e+00 2.14331814e+01] [-1.49941874e-01 9.88694814e-01 0.00000000e+00 -2.33931280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35415108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.35, Z:0.01 [[ 9.88422261e-01 1.51728158e-01 0.00000000e+00 2.14678066e+01] [-1.51728158e-01 9.88422261e-01 0.00000000e+00 -2.34558850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40248816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:-2.35, Z:0.02 [[ 9.88054240e-01 1.54106516e-01 0.00000000e+00 2.15008779e+01] [-1.54106516e-01 9.88054240e-01 0.00000000e+00 -2.34996936e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54432519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:-2.35, Z:0.02 [[ 9.87803383e-01 1.55706378e-01 0.00000000e+00 2.15309587e+01] [-1.55706378e-01 9.87803383e-01 0.00000000e+00 -2.35481033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51220234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:-2.36, Z:0.02 [[ 9.87733403e-01 1.56149684e-01 0.00000000e+00 2.15592662e+01] [-1.56149684e-01 9.87733403e-01 0.00000000e+00 -2.35766966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53672853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-2.36, Z:0.02 [[ 9.87447830e-01 1.57945506e-01 0.00000000e+00 2.15935139e+01] [-1.57945506e-01 9.87447830e-01 0.00000000e+00 -2.36293782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58817921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:-2.37, Z:0.02 [[ 9.87386289e-01 1.58329773e-01 0.00000000e+00 2.16252527e+01] [-1.58329773e-01 9.87386289e-01 0.00000000e+00 -2.36756676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60059885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.37, Z:0.02 [[ 9.87414083e-01 1.58156342e-01 0.00000000e+00 2.16565978e+01] [-1.58156342e-01 9.87414083e-01 0.00000000e+00 -2.37273521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66300873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:-2.38, Z:0.02 [[ 9.87448847e-01 1.57939149e-01 0.00000000e+00 2.16888036e+01] [-1.57939149e-01 9.87448847e-01 0.00000000e+00 -2.37854060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80838180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.38, Z:0.02 [[ 9.87729861e-01 1.56172089e-01 0.00000000e+00 2.17200158e+01] [-1.56172089e-01 9.87729861e-01 0.00000000e+00 -2.38342238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89712714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.39, Z:0.02 [[ 9.87862120e-01 1.55333292e-01 0.00000000e+00 2.17511715e+01] [-1.55333292e-01 9.87862120e-01 0.00000000e+00 -2.38824937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84248348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:-2.39, Z:0.02 [[ 9.88026455e-01 1.54284555e-01 0.00000000e+00 2.17824102e+01] [-1.54284555e-01 9.88026455e-01 0.00000000e+00 -2.39367092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64256051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:-2.40, Z:0.02 [[ 9.88198756e-01 1.53177083e-01 0.00000000e+00 2.18145063e+01] [-1.53177083e-01 9.88198756e-01 0.00000000e+00 -2.39862716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71985732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.40, Z:0.02 [[ 9.88350938e-01 1.52192060e-01 0.00000000e+00 2.18463854e+01] [-1.52192060e-01 9.88350938e-01 0.00000000e+00 -2.40361375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76532797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:-2.41, Z:0.02 [[ 9.88471887e-01 1.51404521e-01 0.00000000e+00 2.18780226e+01] [-1.51404521e-01 9.88471887e-01 0.00000000e+00 -2.40897856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80874626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.42, Z:0.02 [[ 9.88609053e-01 1.50506281e-01 0.00000000e+00 2.19104676e+01] [-1.50506281e-01 9.88609053e-01 0.00000000e+00 -2.41522656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63061888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.42, Z:0.02 [[ 9.88808145e-01 1.49192671e-01 0.00000000e+00 2.19406371e+01] [-1.49192671e-01 9.88808145e-01 0.00000000e+00 -2.42034863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60996945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.43, Z:0.02 [[ 9.88795156e-01 1.49278731e-01 0.00000000e+00 2.19723645e+01] [-1.49278731e-01 9.88795156e-01 0.00000000e+00 -2.42525514e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65691991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.43, Z:0.02 [[ 9.88806343e-01 1.49204613e-01 0.00000000e+00 2.20048216e+01] [-1.49204613e-01 9.88806343e-01 0.00000000e+00 -2.43063573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54674982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:-2.44, Z:0.01 [[ 9.88885713e-01 1.48677663e-01 0.00000000e+00 2.20358314e+01] [-1.48677663e-01 9.88885713e-01 0.00000000e+00 -2.43504625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44746928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.07, Y:-2.44, Z:0.02 [[ 9.88871567e-01 1.48771717e-01 0.00000000e+00 2.20685431e+01] [-1.48771717e-01 9.88871567e-01 0.00000000e+00 -2.44115128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60681228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:-2.45, Z:0.02 [[ 9.88887841e-01 1.48663508e-01 0.00000000e+00 2.20990050e+01] [-1.48663508e-01 9.88887841e-01 0.00000000e+00 -2.44665668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84005663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.45, Z:0.02 [[ 9.88821850e-01 1.49101810e-01 0.00000000e+00 2.21312264e+01] [-1.49101810e-01 9.88821850e-01 0.00000000e+00 -2.45180224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86115305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.46, Z:0.02 [[ 9.88812647e-01 1.49162829e-01 0.00000000e+00 2.21632629e+01] [-1.49162829e-01 9.88812647e-01 0.00000000e+00 -2.45597574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82046751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.46, Z:0.02 [[ 9.88682307e-01 1.50024316e-01 0.00000000e+00 2.21958991e+01] [-1.50024316e-01 9.88682307e-01 0.00000000e+00 -2.45988269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76497736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.47, Z:0.02 [[ 9.88460906e-01 1.51476191e-01 0.00000000e+00 2.22283846e+01] [-1.51476191e-01 9.88460906e-01 0.00000000e+00 -2.46644784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65861126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.47, Z:0.02 [[ 9.88326277e-01 1.52352127e-01 0.00000000e+00 2.22606168e+01] [-1.52352127e-01 9.88326277e-01 0.00000000e+00 -2.47244048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68443996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:-2.48, Z:0.02 [[ 9.88078270e-01 1.53952370e-01 0.00000000e+00 2.22909001e+01] [-1.53952370e-01 9.88078270e-01 0.00000000e+00 -2.47598727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65402180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.48, Z:0.02 [[ 9.87914732e-01 1.54998327e-01 0.00000000e+00 2.23234312e+01] [-1.54998327e-01 9.87914732e-01 0.00000000e+00 -2.48087194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68109924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:-2.49, Z:0.02 [[ 9.87708784e-01 1.56305337e-01 0.00000000e+00 2.23549995e+01] [-1.56305337e-01 9.87708784e-01 0.00000000e+00 -2.48536888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70658853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-2.49, Z:0.02 [[ 9.87210628e-01 1.59421377e-01 0.00000000e+00 2.23874082e+01] [-1.59421377e-01 9.87210628e-01 0.00000000e+00 -2.48998986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74061577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-2.49, Z:0.02 [[ 9.87128065e-01 1.59931808e-01 0.00000000e+00 2.24180602e+01] [-1.59931808e-01 9.87128065e-01 0.00000000e+00 -2.49408056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66910149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-2.50, Z:0.02 [[ 9.87052928e-01 1.60394880e-01 0.00000000e+00 2.24494329e+01] [-1.60394880e-01 9.87052928e-01 0.00000000e+00 -2.49888683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61850630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:-2.51, Z:0.02 [[ 9.86956558e-01 1.60986810e-01 0.00000000e+00 2.24813958e+01] [-1.60986810e-01 9.86956558e-01 0.00000000e+00 -2.50533547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61994506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:-2.51, Z:0.01 [[ 9.86994723e-01 1.60752658e-01 0.00000000e+00 2.25129926e+01] [-1.60752658e-01 9.86994723e-01 0.00000000e+00 -2.51142523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48354525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:-2.52, Z:0.02 [[ 9.87134689e-01 1.59890917e-01 0.00000000e+00 2.25444110e+01] [-1.59890917e-01 9.87134689e-01 0.00000000e+00 -2.51617423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58100217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.52, Z:0.02 [[ 9.87603782e-01 1.56967418e-01 0.00000000e+00 2.25755213e+01] [-1.56967418e-01 9.87603782e-01 0.00000000e+00 -2.51898285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60527244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:-2.53, Z:0.02 [[ 9.87854050e-01 1.55384603e-01 0.00000000e+00 2.26091468e+01] [-1.55384603e-01 9.87854050e-01 0.00000000e+00 -2.52514383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66033949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:-2.53, Z:0.02 [[ 9.88063138e-01 1.54049459e-01 0.00000000e+00 2.26386858e+01] [-1.54049459e-01 9.88063138e-01 0.00000000e+00 -2.53035222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63896513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:-2.54, Z:0.02 [[ 9.88667728e-01 1.50120367e-01 0.00000000e+00 2.26714505e+01] [-1.50120367e-01 9.88667728e-01 0.00000000e+00 -2.53667484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77187816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-2.54, Z:0.02 [[ 9.88802736e-01 1.49228517e-01 0.00000000e+00 2.27017189e+01] [-1.49228517e-01 9.88802736e-01 0.00000000e+00 -2.54269647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54428299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:-2.55, Z:0.02 [[ 9.89139704e-01 1.46978387e-01 0.00000000e+00 2.27341214e+01] [-1.46978387e-01 9.89139704e-01 0.00000000e+00 -2.54720684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62471089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:-2.55, Z:0.02 [[ 9.88872763e-01 1.48763767e-01 0.00000000e+00 2.27634981e+01] [-1.48763767e-01 9.88872763e-01 0.00000000e+00 -2.55327908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74704704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.56, Z:0.02 [[ 9.89223646e-01 1.46412354e-01 0.00000000e+00 2.27984143e+01] [-1.46412354e-01 9.89223646e-01 0.00000000e+00 -2.55605423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63846915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.83, Y:-2.56, Z:0.01 [[ 9.89170824e-01 1.46768802e-01 0.00000000e+00 2.28288922e+01] [-1.46768802e-01 9.89170824e-01 0.00000000e+00 -2.56040587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34462733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:-2.57, Z:0.01 [[ 9.89063233e-01 1.47492106e-01 0.00000000e+00 2.28605255e+01] [-1.47492106e-01 9.89063233e-01 0.00000000e+00 -2.56561489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26854602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.89, Y:-2.57, Z:0.02 [[ 9.88769290e-01 1.49449965e-01 0.00000000e+00 2.28932354e+01] [-1.49449965e-01 9.88769290e-01 0.00000000e+00 -2.57012870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72155215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:-2.58, Z:0.02 [[ 9.88526260e-01 1.51049107e-01 0.00000000e+00 2.29241701e+01] [-1.51049107e-01 9.88526260e-01 0.00000000e+00 -2.57508365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76070884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:-2.58, Z:0.02 [[ 9.87723870e-01 1.56209975e-01 0.00000000e+00 2.29580366e+01] [-1.56209975e-01 9.87723870e-01 0.00000000e+00 -2.58014772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70988506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:-2.58, Z:0.02 [[ 9.87184718e-01 1.59581745e-01 0.00000000e+00 2.29888920e+01] [-1.59581745e-01 9.87184718e-01 0.00000000e+00 -2.58464924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73413139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:-2.59, Z:0.02 [[ 9.86732415e-01 1.62354986e-01 0.00000000e+00 2.30216673e+01] [-1.62354986e-01 9.86732415e-01 0.00000000e+00 -2.58936876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83805121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.05, Y:-2.59, Z:0.02 [[ 9.85515867e-01 1.69583239e-01 0.00000000e+00 2.30528575e+01] [-1.69583239e-01 9.85515867e-01 0.00000000e+00 -2.59459169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94591832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.09, Y:-2.60, Z:0.02 [[ 9.85166863e-01 1.71599100e-01 0.00000000e+00 2.30850555e+01] [-1.71599100e-01 9.85166863e-01 0.00000000e+00 -2.59902557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02543414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.61, Z:0.02 [[ 9.84212871e-01 1.76988769e-01 0.00000000e+00 2.31193506e+01] [-1.76988769e-01 9.84212871e-01 0.00000000e+00 -2.60757652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81195509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.61, Z:0.02 [[ 9.83141757e-01 1.82844977e-01 0.00000000e+00 2.31515143e+01] [-1.82844977e-01 9.83141757e-01 0.00000000e+00 -2.61213369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89622674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.61, Z:0.02 [[ 9.82829135e-01 1.84517997e-01 0.00000000e+00 2.31806999e+01] [-1.84517997e-01 9.82829135e-01 0.00000000e+00 -2.61475521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19134197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.21, Y:-2.62, Z:0.02 [[ 9.82471363e-01 1.86413577e-01 0.00000000e+00 2.32148531e+01] [-1.86413577e-01 9.82471363e-01 0.00000000e+00 -2.62048624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94526472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.25, Y:-2.63, Z:0.02 [[ 9.82134291e-01 1.88181385e-01 0.00000000e+00 2.32468894e+01] [-1.88181385e-01 9.82134291e-01 0.00000000e+00 -2.62559374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26115292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:-2.63, Z:0.02 [[ 9.82253903e-01 1.87556046e-01 0.00000000e+00 2.32762901e+01] [-1.87556046e-01 9.82253903e-01 0.00000000e+00 -2.63046397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11352008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.31, Y:-2.64, Z:0.02 [[ 0.98210936 0.18831146 0. 23.3091515 ] [-0.18831146 0.98210936 0. -2.63860821] [ 0. 0. 1. 0.02469141] [ 0. 0. 0. 1. ]] SLAMing on 22.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.34, Y:-2.65, Z:0.02 [[ 0.98218444 0.18791947 0. 23.33945949] [-0.18791947 0.98218444 0. -2.64615333] [ 0. 0. 1. 0.02384548] [ 0. 0. 0. 1. ]] SLAMing on 22.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:-2.65, Z:0.02 [[ 0.98230622 0.18728186 0. 23.3699777 ] [-0.18728186 0.98230622 0. -2.65216569] [ 0. 0. 1. 0.02418424] [ 0. 0. 0. 1. ]] SLAMing on 22.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.40, Y:-2.66, Z:0.02 [[ 9.82859376e-01 1.84356849e-01 0.00000000e+00 2.34021186e+01] [-1.84356849e-01 9.82859376e-01 0.00000000e+00 -2.65636602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30453357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.43, Y:-2.67, Z:0.02 [[ 9.83115964e-01 1.82983608e-01 0.00000000e+00 2.34344910e+01] [-1.82983608e-01 9.83115964e-01 0.00000000e+00 -2.66591601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32212974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.46, Y:-2.67, Z:0.02 [[ 9.83451068e-01 1.81173940e-01 0.00000000e+00 2.34645704e+01] [-1.81173940e-01 9.83451068e-01 0.00000000e+00 -2.67276311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23928121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:-2.68, Z:0.02 [[ 9.83441097e-01 1.81228059e-01 0.00000000e+00 2.34975478e+01] [-1.81228059e-01 9.83441097e-01 0.00000000e+00 -2.67868560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23928121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:-2.69, Z:0.02 [[ 9.83831833e-01 1.79094735e-01 0.00000000e+00 2.35278409e+01] [-1.79094735e-01 9.83831833e-01 0.00000000e+00 -2.68537601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28358033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.69, Z:0.02 [[ 9.84081854e-01 1.77715795e-01 0.00000000e+00 2.35609566e+01] [-1.77715795e-01 9.84081854e-01 0.00000000e+00 -2.69448191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33175037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.70, Z:0.02 [[ 9.84774213e-01 1.73838283e-01 0.00000000e+00 2.35910517e+01] [-1.73838283e-01 9.84774213e-01 0.00000000e+00 -2.70415868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30449908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.71, Z:0.02 [[ 9.85079049e-01 1.72102488e-01 0.00000000e+00 2.36206959e+01] [-1.72102488e-01 9.85079049e-01 0.00000000e+00 -2.71126043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15290176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.72, Z:0.02 [[ 9.85875873e-01 1.67477649e-01 0.00000000e+00 2.36521536e+01] [-1.67477649e-01 9.85875873e-01 0.00000000e+00 -2.72038899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06066187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:-2.73, Z:0.02 [[ 9.85926665e-01 1.67178382e-01 0.00000000e+00 2.36850213e+01] [-1.67178382e-01 9.85926665e-01 0.00000000e+00 -2.73047583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30737053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.74, Z:0.02 [[ 9.86224154e-01 1.65414382e-01 0.00000000e+00 2.37138703e+01] [-1.65414382e-01 9.86224154e-01 0.00000000e+00 -2.73822157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31652248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:-2.75, Z:0.02 [[ 9.86680621e-01 1.62669459e-01 0.00000000e+00 2.37450985e+01] [-1.62669459e-01 9.86680621e-01 0.00000000e+00 -2.74746146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23339019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.76, Z:0.02 [[ 0.98645801 0.16401399 0. 23.77450767] [-0.16401399 0.98645801 0. -2.75580651] [ 0. 0. 1. 0.0241675 ] [ 0. 0. 0. 1. ]] SLAMing on 22.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:-2.76, Z:0.02 [[ 0.98646595 0.16396622 0. 23.80617258] [-0.16396622 0.98646595 0. -2.76447941] [ 0. 0. 1. 0.02418479] [ 0. 0. 0. 1. ]] SLAMing on 22.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.84, Y:-2.77, Z:0.02 [[ 9.86174284e-01 1.65711438e-01 0.00000000e+00 2.38375196e+01] [-1.65711438e-01 9.86174284e-01 0.00000000e+00 -2.77173983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38133944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:-2.78, Z:0.02 [[ 9.85653682e-01 1.68780389e-01 0.00000000e+00 2.38693881e+01] [-1.68780389e-01 9.85653682e-01 0.00000000e+00 -2.78005598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34377970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:-2.79, Z:0.02 [[ 9.85265125e-01 1.71034011e-01 0.00000000e+00 2.38979049e+01] [-1.71034011e-01 9.85265125e-01 0.00000000e+00 -2.78545708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17750465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:-2.79, Z:0.02 [[ 9.84889502e-01 1.73183916e-01 0.00000000e+00 2.39316587e+01] [-1.73183916e-01 9.84889502e-01 0.00000000e+00 -2.79402928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34956134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:-2.80, Z:0.03 [[ 0.98420461 0.17703473 0. 23.96189639] [-0.17703473 0.98420461 0. -2.80318994] [ 0. 0. 1. 0.02500161] [ 0. 0. 0. 1. ]] SLAMing on 22.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:-2.81, Z:0.03 [[ 0.98379794 0.17928082 0. 23.99340957] [-0.17928082 0.98379794 0. -2.81188133] [ 0. 0. 1. 0.02618993] [ 0. 0. 0. 1. ]] SLAMing on 22.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:-2.82, Z:0.03 [[ 0.98343528 0.18125961 0. 24.02464047] [-0.18125961 0.98343528 0. -2.82153771] [ 0. 0. 1. 0.02681583] [ 0. 0. 0. 1. ]] SLAMing on 22.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:-2.83, Z:0.03 [[ 0.98321522 0.18244955 0. 24.05580486] [-0.18244955 0.98321522 0. -2.83014525] [ 0. 0. 1. 0.02697944] [ 0. 0. 0. 1. ]] SLAMing on 22.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:-2.84, Z:0.03 [[ 0.98301824 0.18350787 0. 24.08655945] [-0.18350787 0.98301824 0. -2.84026982] [ 0. 0. 1. 0.02833873] [ 0. 0. 0. 1. ]] SLAMing on 22.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:-2.85, Z:0.03 [[ 0.98297735 0.18372679 0. 24.11811334] [-0.18372679 0.98297735 0. -2.84809625] [ 0. 0. 1. 0.02842184] [ 0. 0. 0. 1. ]] SLAMing on 22.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-2.86, Z:0.03 [[ 0.98279553 0.18469691 0. 24.14943388] [-0.18469691 0.98279553 0. -2.85682052] [ 0. 0. 1. 0.02805088] [ 0. 0. 0. 1. ]] SLAMing on 22.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:-2.86, Z:0.03 [[ 0.98314023 0.18285317 0. 24.18199605] [-0.18285317 0.98314023 0. -2.86435457] [ 0. 0. 1. 0.02755284] [ 0. 0. 0. 1. ]] SLAMing on 22.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:-2.87, Z:0.03 [[ 0.98325253 0.18224837 0. 24.2107201 ] [-0.18224837 0.98325253 0. -2.87445219] [ 0. 0. 1. 0.02764346] [ 0. 0. 0. 1. ]] SLAMing on 22.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-2.88, Z:0.03 [[ 0.98331772 0.1818963 0. 24.24191229] [-0.1818963 0.98331772 0. -2.88258145] [ 0. 0. 1. 0.02787171] [ 0. 0. 0. 1. ]] SLAMing on 22.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:-2.89, Z:0.03 [[ 0.98348101 0.18101135 0. 24.27265687] [-0.18101135 0.98348101 0. -2.89071218] [ 0. 0. 1. 0.02869136] [ 0. 0. 0. 1. ]] SLAMing on 22.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:-2.90, Z:0.03 [[ 0.98379482 0.17929792 0. 24.30115098] [-0.17929792 0.98379482 0. -2.89860882] [ 0. 0. 1. 0.0263535 ] [ 0. 0. 0. 1. ]] SLAMing on 22.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:-2.91, Z:0.03 [[ 0.98361012 0.18030846 0. 24.33461857] [-0.18030846 0.98361012 0. -2.90998777] [ 0. 0. 1. 0.02561877] [ 0. 0. 0. 1. ]] SLAMing on 23.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:-2.91, Z:0.03 [[ 0.98416837 0.17723604 0. 24.36484468] [-0.17723604 0.98416837 0. -2.91493212] [ 0. 0. 1. 0.02548473] [ 0. 0. 0. 1. ]] SLAMing on 23.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:-2.92, Z:0.02 [[ 0.98397222 0.1783218 0. 24.39449929] [-0.1783218 0.98397222 0. -2.92395219] [ 0. 0. 1. 0.02456663] [ 0. 0. 0. 1. ]] SLAMing on 23.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:-2.93, Z:0.02 [[ 9.84676018e-01 1.74393631e-01 0.00000000e+00 2.44244390e+01] [-1.74393631e-01 9.84676018e-01 0.00000000e+00 -2.93135037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38585093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.94, Z:0.03 [[ 0.98418414 0.17714845 0. 24.45503415] [-0.17714845 0.98418414 0. -2.93855475] [ 0. 0. 1. 0.02572878] [ 0. 0. 0. 1. ]] SLAMing on 23.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:-2.95, Z:0.03 [[ 0.98419079 0.17711152 0. 24.48748164] [-0.17711152 0.98419079 0. -2.94520322] [ 0. 0. 1. 0.02512971] [ 0. 0. 0. 1. ]] SLAMing on 23.154340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.52, Y:-2.95, Z:0.02 [[ 0.98393175 0.17854499 0. 24.51644426] [-0.17854499 0.98393175 0. -2.94945793] [ 0. 0. 1. 0.02473846] [ 0. 0. 0. 1. ]] SLAMing on 23.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.55, Y:-2.96, Z:0.02 [[ 0.9840369 0.17796454 0. 24.54993772] [-0.17796454 0.9840369 0. -2.95523665] [ 0. 0. 1. 0.02492047] [ 0. 0. 0. 1. ]] SLAMing on 23.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:-2.96, Z:0.02 [[ 9.83994572e-01 1.78198433e-01 0.00000000e+00 2.45826003e+01] [-1.78198433e-01 9.83994572e-01 0.00000000e+00 -2.96183782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34899610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:-2.97, Z:0.02 [[ 9.83517146e-01 1.80814888e-01 0.00000000e+00 2.46106703e+01] [-1.80814888e-01 9.83517146e-01 0.00000000e+00 -2.96778761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43920795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.64, Y:-2.98, Z:0.02 [[ 9.83368336e-01 1.81622452e-01 0.00000000e+00 2.46433698e+01] [-1.81622452e-01 9.83368336e-01 0.00000000e+00 -2.97517185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18663968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:-2.98, Z:0.02 [[ 9.83736060e-01 1.79620056e-01 0.00000000e+00 2.46732936e+01] [-1.79620056e-01 9.83736060e-01 0.00000000e+00 -2.97809709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13243928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.99, Z:0.02 [[ 9.83584671e-01 1.80447210e-01 0.00000000e+00 2.47054417e+01] [-1.80447210e-01 9.83584671e-01 0.00000000e+00 -2.98547774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89467734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:-2.99, Z:0.02 [[ 9.83743097e-01 1.79581510e-01 0.00000000e+00 2.47377107e+01] [-1.79581510e-01 9.83743097e-01 0.00000000e+00 -2.99078063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83930186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:-3.00, Z:0.02 [[ 9.84069458e-01 1.77784424e-01 0.00000000e+00 2.47682681e+01] [-1.77784424e-01 9.84069458e-01 0.00000000e+00 -2.99579334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73953040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.80, Y:-3.00, Z:0.02 [[ 9.84145841e-01 1.77361111e-01 0.00000000e+00 2.48001334e+01] [-1.77361111e-01 9.84145841e-01 0.00000000e+00 -3.00238739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81399642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.83, Y:-3.01, Z:0.02 [[ 9.84276003e-01 1.76637343e-01 0.00000000e+00 2.48308228e+01] [-1.76637343e-01 9.84276003e-01 0.00000000e+00 -3.00715194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70050124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:-3.01, Z:0.02 [[ 9.84554234e-01 1.75079870e-01 0.00000000e+00 2.48618775e+01] [-1.75079870e-01 9.84554234e-01 0.00000000e+00 -3.01149198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74022293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:-3.02, Z:0.02 [[ 9.84280147e-01 1.76614249e-01 0.00000000e+00 2.48912599e+01] [-1.76614249e-01 9.84280147e-01 0.00000000e+00 -3.01799371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96037251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:-3.02, Z:0.02 [[ 9.84145910e-01 1.77360729e-01 0.00000000e+00 2.49240083e+01] [-1.77360729e-01 9.84145910e-01 0.00000000e+00 -3.02460346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02672186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:-3.03, Z:0.02 [[ 9.84212253e-01 1.76992208e-01 0.00000000e+00 2.49555648e+01] [-1.76992208e-01 9.84212253e-01 0.00000000e+00 -3.02954891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12069057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:-3.04, Z:0.02 [[ 9.84116800e-01 1.77522178e-01 0.00000000e+00 2.49855338e+01] [-1.77522178e-01 9.84116800e-01 0.00000000e+00 -3.03525006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41954474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:-3.04, Z:0.02 [[ 9.83985178e-01 1.78250300e-01 0.00000000e+00 2.50180066e+01] [-1.78250300e-01 9.83985178e-01 0.00000000e+00 -3.04190720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45706967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:-3.05, Z:0.03 [[ 0.98374923 0.17954791 0. 25.04926397] [-0.17954791 0.98374923 0. -3.04717531] [ 0. 0. 1. 0.02665148] [ 0. 0. 0. 1. ]] SLAMing on 23.694340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.08, Y:-3.05, Z:0.03 [[ 0.98363322 0.18018238 0. 25.07990556] [-0.18018238 0.98363322 0. -3.05243902] [ 0. 0. 1. 0.02607262] [ 0. 0. 0. 1. ]] SLAMing on 23.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-3.06, Z:0.03 [[ 0.98377577 0.17940241 0. 25.11478904] [-0.17940241 0.98377577 0. -3.05865452] [ 0. 0. 1. 0.026549 ] [ 0. 0. 0. 1. ]] SLAMing on 23.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:-3.07, Z:0.03 [[ 0.98310362 0.1830499 0. 25.14367715] [-0.1830499 0.98310362 0. -3.0652341 ] [ 0. 0. 1. 0.02619928] [ 0. 0. 0. 1. ]] SLAMing on 23.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:-3.07, Z:0.03 [[ 0.98307189 0.18322022 0. 25.17637302] [-0.18322022 0.98307189 0. -3.07150613] [ 0. 0. 1. 0.02574962] [ 0. 0. 0. 1. ]] SLAMing on 23.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:-3.08, Z:0.02 [[ 9.83045468e-01 1.83361958e-01 0.00000000e+00 2.52067987e+01] [-1.83361958e-01 9.83045468e-01 0.00000000e+00 -3.07743788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31644197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:-3.08, Z:0.02 [[ 9.83203115e-01 1.82514752e-01 0.00000000e+00 2.52387376e+01] [-1.82514752e-01 9.83203115e-01 0.00000000e+00 -3.08274821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23445113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:-3.09, Z:0.02 [[ 9.83280080e-01 1.82099657e-01 0.00000000e+00 2.52694427e+01] [-1.82099657e-01 9.83280080e-01 0.00000000e+00 -3.09075924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21938344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.30, Y:-3.10, Z:0.02 [[ 9.84257794e-01 1.76738779e-01 0.00000000e+00 2.53034729e+01] [-1.76738779e-01 9.84257794e-01 0.00000000e+00 -3.09510504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16161962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:-3.10, Z:0.02 [[ 9.84106941e-01 1.77576825e-01 0.00000000e+00 2.53313099e+01] [-1.77576825e-01 9.84106941e-01 0.00000000e+00 -3.10237133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12103052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:-3.11, Z:0.02 [[ 9.85652691e-01 1.68786175e-01 0.00000000e+00 2.53685631e+01] [-1.68786175e-01 9.85652691e-01 0.00000000e+00 -3.10752229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33915609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:-3.11, Z:0.02 [[ 9.85961156e-01 1.66974848e-01 0.00000000e+00 2.53989486e+01] [-1.66974848e-01 9.85961156e-01 0.00000000e+00 -3.11374178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36286997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-3.12, Z:0.02 [[ 9.85528417e-01 1.69510295e-01 0.00000000e+00 2.54241325e+01] [-1.69510295e-01 9.85528417e-01 0.00000000e+00 -3.12091300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27607641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.46, Y:-3.13, Z:0.02 [[ 9.85429811e-01 1.70082591e-01 0.00000000e+00 2.54557111e+01] [-1.70082591e-01 9.85429811e-01 0.00000000e+00 -3.12786415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27607641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:-3.13, Z:0.02 [[ 9.86180406e-01 1.65675006e-01 0.00000000e+00 2.54923917e+01] [-1.65675006e-01 9.86180406e-01 0.00000000e+00 -3.13372192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28413071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:-3.14, Z:0.02 [[ 9.86304744e-01 1.64933175e-01 0.00000000e+00 2.55242208e+01] [-1.64933175e-01 9.86304744e-01 0.00000000e+00 -3.13925012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17940976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.55, Y:-3.14, Z:0.02 [[ 9.86162401e-01 1.65782146e-01 0.00000000e+00 2.55540612e+01] [-1.65782146e-01 9.86162401e-01 0.00000000e+00 -3.14433748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13540729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:-3.15, Z:0.02 [[ 9.85817131e-01 1.67823074e-01 0.00000000e+00 2.55837752e+01] [-1.67823074e-01 9.85817131e-01 0.00000000e+00 -3.15033855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17545025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:-3.16, Z:0.02 [[ 9.86192190e-01 1.65604843e-01 0.00000000e+00 2.56195720e+01] [-1.65604843e-01 9.86192190e-01 0.00000000e+00 -3.15624256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17524470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:-3.16, Z:0.02 [[ 9.86065375e-01 1.66358279e-01 0.00000000e+00 2.56507624e+01] [-1.66358279e-01 9.86065375e-01 0.00000000e+00 -3.16073107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25338971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-3.17, Z:0.02 [[ 9.85853105e-01 1.67611620e-01 0.00000000e+00 2.56817801e+01] [-1.67611620e-01 9.85853105e-01 0.00000000e+00 -3.16725670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35798480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:-3.17, Z:0.02 [[ 9.85669184e-01 1.68689831e-01 0.00000000e+00 2.57129152e+01] [-1.68689831e-01 9.85669184e-01 0.00000000e+00 -3.17370153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49569027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:-3.18, Z:0.02 [[ 9.85667032e-01 1.68702406e-01 0.00000000e+00 2.57465314e+01] [-1.68702406e-01 9.85667032e-01 0.00000000e+00 -3.17920052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46795284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-3.19, Z:0.03 [[ 9.85474344e-01 1.69824373e-01 0.00000000e+00 2.57752448e+01] [-1.69824373e-01 9.85474344e-01 0.00000000e+00 -3.18549808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51034124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.81, Y:-3.19, Z:0.02 [[ 9.85201023e-01 1.71402871e-01 0.00000000e+00 2.58068354e+01] [-1.71402871e-01 9.85201023e-01 0.00000000e+00 -3.19292015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45907234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:-3.20, Z:0.02 [[ 9.84970675e-01 1.72721655e-01 0.00000000e+00 2.58395668e+01] [-1.72721655e-01 9.84970675e-01 0.00000000e+00 -3.19977976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42363802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.87, Y:-3.21, Z:0.02 [[ 9.84717567e-01 1.74158872e-01 0.00000000e+00 2.58716082e+01] [-1.74158872e-01 9.84717567e-01 0.00000000e+00 -3.20629505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43688320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:-3.21, Z:0.02 [[ 9.84481638e-01 1.75487620e-01 0.00000000e+00 2.59045455e+01] [-1.75487620e-01 9.84481638e-01 0.00000000e+00 -3.21289431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48925084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:-3.22, Z:0.02 [[ 9.84108560e-01 1.77567855e-01 0.00000000e+00 2.59324758e+01] [-1.77567855e-01 9.84108560e-01 0.00000000e+00 -3.21562847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33032707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:-3.22, Z:0.02 [[ 9.83685932e-01 1.79894379e-01 0.00000000e+00 2.59676664e+01] [-1.79894379e-01 9.83685932e-01 0.00000000e+00 -3.22405915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27678789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-3.23, Z:0.02 [[ 9.83324155e-01 1.81861503e-01 0.00000000e+00 2.59963691e+01] [-1.81861503e-01 9.83324155e-01 0.00000000e+00 -3.22906941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19205536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:-3.24, Z:0.02 [[ 9.83087044e-01 1.83138920e-01 0.00000000e+00 2.60278913e+01] [-1.83138920e-01 9.83087044e-01 0.00000000e+00 -3.23566902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15577590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.06, Y:-3.24, Z:0.02 [[ 9.82974951e-01 1.83739616e-01 0.00000000e+00 2.60596168e+01] [-1.83739616e-01 9.82974951e-01 0.00000000e+00 -3.24147708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10134806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.09, Y:-3.25, Z:0.02 [[ 9.82898496e-01 1.84148162e-01 0.00000000e+00 2.60910423e+01] [-1.84148162e-01 9.82898496e-01 0.00000000e+00 -3.24757966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02657225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.12, Y:-3.26, Z:0.02 [[ 9.82801782e-01 1.84663634e-01 0.00000000e+00 2.61242892e+01] [-1.84663634e-01 9.82801782e-01 0.00000000e+00 -3.25530540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75560780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-3.26, Z:0.02 [[ 9.82802526e-01 1.84659672e-01 0.00000000e+00 2.61556642e+01] [-1.84659672e-01 9.82802526e-01 0.00000000e+00 -3.26208077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77699725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:-3.27, Z:0.02 [[ 9.83378378e-01 1.81568075e-01 0.00000000e+00 2.61872834e+01] [-1.81568075e-01 9.83378378e-01 0.00000000e+00 -3.26795410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80572374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-3.27, Z:0.02 [[ 9.83819477e-01 1.79162598e-01 0.00000000e+00 2.62185313e+01] [-1.79162598e-01 9.83819477e-01 0.00000000e+00 -3.27304942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84394559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:-3.28, Z:0.02 [[ 9.84057617e-01 1.77849957e-01 0.00000000e+00 2.62505422e+01] [-1.77849957e-01 9.84057617e-01 0.00000000e+00 -3.27991259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82628523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-3.29, Z:0.02 [[ 9.84703114e-01 1.74240573e-01 0.00000000e+00 2.62810709e+01] [-1.74240573e-01 9.84703114e-01 0.00000000e+00 -3.28629292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87753985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.29, Z:0.02 [[ 9.84881361e-01 1.73230206e-01 0.00000000e+00 2.63128484e+01] [-1.73230206e-01 9.84881361e-01 0.00000000e+00 -3.29248464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92637048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.30, Z:0.02 [[ 9.85025970e-01 1.72406027e-01 0.00000000e+00 2.63458886e+01] [-1.72406027e-01 9.85025970e-01 0.00000000e+00 -3.29938236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07016337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-3.30, Z:0.02 [[ 9.85149838e-01 1.71696814e-01 0.00000000e+00 2.63759483e+01] [-1.71696814e-01 9.85149838e-01 0.00000000e+00 -3.30356258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97333248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-3.31, Z:0.02 [[ 9.84999665e-01 1.72556252e-01 0.00000000e+00 2.64083239e+01] [-1.72556252e-01 9.84999665e-01 0.00000000e+00 -3.31007506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02725143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-3.31, Z:0.02 [[ 9.84966895e-01 1.72743205e-01 0.00000000e+00 2.64411182e+01] [-1.72743205e-01 9.84966895e-01 0.00000000e+00 -3.31366892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85834826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.32, Z:0.02 [[ 9.84394937e-01 1.75973317e-01 0.00000000e+00 2.64711119e+01] [-1.75973317e-01 9.84394937e-01 0.00000000e+00 -3.32102776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05571015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:-3.33, Z:0.02 [[ 9.84318201e-01 1.76402039e-01 0.00000000e+00 2.65017192e+01] [-1.76402039e-01 9.84318201e-01 0.00000000e+00 -3.32567221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94518200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:-3.33, Z:0.02 [[ 9.83884456e-01 1.78805419e-01 0.00000000e+00 2.65339883e+01] [-1.78805419e-01 9.83884456e-01 0.00000000e+00 -3.33079101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07924523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:-3.34, Z:0.02 [[ 9.83651809e-01 1.80080870e-01 0.00000000e+00 2.65660087e+01] [-1.80080870e-01 9.83651809e-01 0.00000000e+00 -3.33623911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01006665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:-3.34, Z:0.02 [[ 9.83595908e-01 1.80385945e-01 0.00000000e+00 2.66004820e+01] [-1.80385945e-01 9.83595908e-01 0.00000000e+00 -3.34144046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05323335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:-3.35, Z:0.02 [[ 9.83183827e-01 1.82618624e-01 0.00000000e+00 2.66324514e+01] [-1.82618624e-01 9.83183827e-01 0.00000000e+00 -3.34553856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04487878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:-3.35, Z:0.02 [[ 9.83264840e-01 1.82181929e-01 0.00000000e+00 2.66644013e+01] [-1.82181929e-01 9.83264840e-01 0.00000000e+00 -3.35061676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07496419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:26.69, Y:-3.36, Z:0.02 [[ 9.82969083e-01 1.83771003e-01 0.00000000e+00 2.66947470e+01] [-1.83771003e-01 9.82969083e-01 0.00000000e+00 -3.35691573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06874984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:-3.36, Z:0.02 [[ 9.83124674e-01 1.82936807e-01 0.00000000e+00 2.67286914e+01] [-1.82936807e-01 9.83124674e-01 0.00000000e+00 -3.36096207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02273098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:-3.37, Z:0.02 [[ 9.82684392e-01 1.85287305e-01 0.00000000e+00 2.67562772e+01] [-1.85287305e-01 9.82684392e-01 0.00000000e+00 -3.36618280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84085930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:-3.37, Z:0.02 [[ 9.82814453e-01 1.84596182e-01 0.00000000e+00 2.67908608e+01] [-1.84596182e-01 9.82814453e-01 0.00000000e+00 -3.37152567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87629340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:-3.38, Z:0.02 [[ 9.82428046e-01 1.86641730e-01 0.00000000e+00 2.68192909e+01] [-1.86641730e-01 9.82428046e-01 0.00000000e+00 -3.37709594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75371030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:-3.38, Z:0.02 [[ 9.82692329e-01 1.85245206e-01 0.00000000e+00 2.68534762e+01] [-1.85245206e-01 9.82692329e-01 0.00000000e+00 -3.38158372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76657512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:-3.39, Z:0.02 [[ 9.82672474e-01 1.85350503e-01 0.00000000e+00 2.68858367e+01] [-1.85350503e-01 9.82672474e-01 0.00000000e+00 -3.38813609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80941994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:-3.39, Z:0.02 [[ 9.82723583e-01 1.85079334e-01 0.00000000e+00 2.69136126e+01] [-1.85079334e-01 9.82723583e-01 0.00000000e+00 -3.39354525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72089614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:-3.40, Z:0.02 [[ 9.82951600e-01 1.83864493e-01 0.00000000e+00 2.69465211e+01] [-1.83864493e-01 9.82951600e-01 0.00000000e+00 -3.40024942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73915579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:-3.41, Z:0.02 [[ 9.83023827e-01 1.83477944e-01 0.00000000e+00 2.69771785e+01] [-1.83477944e-01 9.83023827e-01 0.00000000e+00 -3.40674021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76499477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.41, Z:0.02 [[ 9.83146615e-01 1.82818854e-01 0.00000000e+00 2.70085284e+01] [-1.82818854e-01 9.83146615e-01 0.00000000e+00 -3.41371702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76085182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:-3.42, Z:0.02 [[ 9.83762443e-01 1.79475503e-01 0.00000000e+00 2.70414788e+01] [-1.79475503e-01 9.83762443e-01 0.00000000e+00 -3.41956784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81458371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:-3.43, Z:0.02 [[ 9.83908222e-01 1.78674593e-01 0.00000000e+00 2.70713950e+01] [-1.78674593e-01 9.83908222e-01 0.00000000e+00 -3.42588661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84367754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:-3.43, Z:0.02 [[ 9.84206481e-01 1.77024302e-01 0.00000000e+00 2.71056399e+01] [-1.77024302e-01 9.84206481e-01 0.00000000e+00 -3.43310062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81790619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:-3.44, Z:0.02 [[ 9.84286768e-01 1.76577343e-01 0.00000000e+00 2.71368769e+01] [-1.76577343e-01 9.84286768e-01 0.00000000e+00 -3.43905505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77711092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:-3.45, Z:0.02 [[ 9.84165647e-01 1.77251177e-01 0.00000000e+00 2.71691079e+01] [-1.77251177e-01 9.84165647e-01 0.00000000e+00 -3.44680613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69634380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:-3.45, Z:0.02 [[ 9.83860600e-01 1.78936639e-01 0.00000000e+00 2.72005896e+01] [-1.78936639e-01 9.83860600e-01 0.00000000e+00 -3.45426649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59877661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:-3.46, Z:0.02 [[ 9.83091132e-01 1.83116973e-01 0.00000000e+00 2.72316696e+01] [-1.83116973e-01 9.83091132e-01 0.00000000e+00 -3.46279163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63946643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-3.47, Z:0.02 [[ 9.83050692e-01 1.83333950e-01 0.00000000e+00 2.72641203e+01] [-1.83333950e-01 9.83050692e-01 0.00000000e+00 -3.46712344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56863842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:-3.48, Z:0.01 [[ 9.82024900e-01 1.88751414e-01 0.00000000e+00 2.72927628e+01] [-1.88751414e-01 9.82024900e-01 0.00000000e+00 -3.47635801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48306889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:-3.48, Z:0.01 [[ 9.82628932e-01 1.85581198e-01 0.00000000e+00 2.73255765e+01] [-1.85581198e-01 9.82628932e-01 0.00000000e+00 -3.48030421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42264276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:-3.49, Z:0.01 [[ 9.82263650e-01 1.87504990e-01 0.00000000e+00 2.73589211e+01] [-1.87504990e-01 9.82263650e-01 0.00000000e+00 -3.48983054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30697898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:-3.50, Z:0.01 [[ 9.82336724e-01 1.87121780e-01 0.00000000e+00 2.73895000e+01] [-1.87121780e-01 9.82336724e-01 0.00000000e+00 -3.49756907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41200666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:-3.50, Z:0.01 [[ 9.82437848e-01 1.86590125e-01 0.00000000e+00 2.74198781e+01] [-1.86590125e-01 9.82437848e-01 0.00000000e+00 -3.50443281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47068941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:-3.51, Z:0.01 [[ 9.82385433e-01 1.86865892e-01 0.00000000e+00 2.74515293e+01] [-1.86865892e-01 9.82385433e-01 0.00000000e+00 -3.51156384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47068941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:-3.52, Z:0.02 [[ 9.82657231e-01 1.85431297e-01 0.00000000e+00 2.74837016e+01] [-1.85431297e-01 9.82657231e-01 0.00000000e+00 -3.51838895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54313066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.52, Y:-3.53, Z:0.02 [[ 9.82641645e-01 1.85513875e-01 0.00000000e+00 2.75171204e+01] [-1.85513875e-01 9.82641645e-01 0.00000000e+00 -3.52735623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63307649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.53, Z:0.02 [[ 9.83252801e-01 1.82246891e-01 0.00000000e+00 2.75469999e+01] [-1.82246891e-01 9.83252801e-01 0.00000000e+00 -3.53099244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72239174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:-3.54, Z:0.02 [[ 9.83590422e-01 1.80415856e-01 0.00000000e+00 2.75773465e+01] [-1.80415856e-01 9.83590422e-01 0.00000000e+00 -3.53929111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70119088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:-3.55, Z:0.02 [[ 9.83128412e-01 1.82916715e-01 0.00000000e+00 2.76049965e+01] [-1.82916715e-01 9.83128412e-01 0.00000000e+00 -3.54806557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05019241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.64, Y:-3.55, Z:0.02 [[ 9.83577313e-01 1.80487311e-01 0.00000000e+00 2.76393734e+01] [-1.80487311e-01 9.83577313e-01 0.00000000e+00 -3.55483067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12723413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.67, Y:-3.56, Z:0.02 [[ 9.83680891e-01 1.79921939e-01 0.00000000e+00 2.76703314e+01] [-1.79921939e-01 9.83680891e-01 0.00000000e+00 -3.56162649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21463650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:-3.57, Z:0.02 [[ 9.83313128e-01 1.81921118e-01 0.00000000e+00 2.77038290e+01] [-1.81921118e-01 9.83313128e-01 0.00000000e+00 -3.57153303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10711746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:-3.58, Z:0.02 [[ 9.83220294e-01 1.82422187e-01 0.00000000e+00 2.77340208e+01] [-1.82422187e-01 9.83220294e-01 0.00000000e+00 -3.57912292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93486307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.77, Y:-3.59, Z:0.02 [[ 9.83193220e-01 1.82568046e-01 0.00000000e+00 2.77663577e+01] [-1.82568046e-01 9.83193220e-01 0.00000000e+00 -3.58529383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06177971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:-3.59, Z:0.02 [[ 9.83541539e-01 1.80682154e-01 0.00000000e+00 2.77949659e+01] [-1.80682154e-01 9.83541539e-01 0.00000000e+00 -3.58795599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11723976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:-3.60, Z:0.02 [[ 9.82937749e-01 1.83938527e-01 0.00000000e+00 2.78283998e+01] [-1.83938527e-01 9.82937749e-01 0.00000000e+00 -3.59680405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88422662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.86, Y:-3.60, Z:0.02 [[ 9.82750165e-01 1.84938135e-01 0.00000000e+00 2.78610019e+01] [-1.84938135e-01 9.82750165e-01 0.00000000e+00 -3.60334312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03616334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:-3.61, Z:0.02 [[ 9.82578795e-01 1.85846476e-01 0.00000000e+00 2.78917606e+01] [-1.85846476e-01 9.82578795e-01 0.00000000e+00 -3.60871488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82887054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.61, Z:0.02 [[ 9.81874130e-01 1.89534146e-01 0.00000000e+00 2.79185869e+01] [-1.89534146e-01 9.81874130e-01 0.00000000e+00 -3.61431146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17048585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:-3.62, Z:0.02 [[ 9.81065633e-01 1.93675565e-01 0.00000000e+00 2.79518907e+01] [-1.93675565e-01 9.81065633e-01 0.00000000e+00 -3.62366646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08510124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.63, Z:0.02 [[ 9.80764801e-01 1.95193252e-01 0.00000000e+00 2.79832372e+01] [-1.95193252e-01 9.80764801e-01 0.00000000e+00 -3.63071372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05677045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.02, Y:-3.64, Z:0.02 [[ 9.80740957e-01 1.95313016e-01 0.00000000e+00 2.80167237e+01] [-1.95313016e-01 9.80740957e-01 0.00000000e+00 -3.63668446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19476469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.05, Y:-3.64, Z:0.02 [[ 9.79910723e-01 1.99436645e-01 0.00000000e+00 2.80490749e+01] [-1.99436645e-01 9.79910723e-01 0.00000000e+00 -3.64469382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99753494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.08, Y:-3.65, Z:0.02 [[ 9.79749678e-01 2.00226292e-01 0.00000000e+00 2.80795755e+01] [-2.00226292e-01 9.79749678e-01 0.00000000e+00 -3.65132087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32294720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.11, Y:-3.66, Z:0.02 [[ 9.79694812e-01 2.00494577e-01 0.00000000e+00 2.81112956e+01] [-2.00494577e-01 9.79694812e-01 0.00000000e+00 -3.65797305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32625792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:-3.67, Z:0.02 [[ 9.79468489e-01 2.01597320e-01 0.00000000e+00 2.81416693e+01] [-2.01597320e-01 9.79468489e-01 0.00000000e+00 -3.66568403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19619385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:-3.67, Z:0.02 [[ 9.79756762e-01 2.00191627e-01 0.00000000e+00 2.81731751e+01] [-2.00191627e-01 9.79756762e-01 0.00000000e+00 -3.67167758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37921371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.21, Y:-3.68, Z:0.02 [[ 9.79898457e-01 1.99496904e-01 0.00000000e+00 2.82056125e+01] [-1.99496904e-01 9.79898457e-01 0.00000000e+00 -3.67998562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34420375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.24, Y:-3.69, Z:0.02 [[ 9.80069652e-01 1.98654166e-01 0.00000000e+00 2.82373766e+01] [-1.98654166e-01 9.80069652e-01 0.00000000e+00 -3.68746644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40319987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.27, Y:-3.69, Z:0.03 [[ 9.80300974e-01 1.97509492e-01 0.00000000e+00 2.82687790e+01] [-1.97509492e-01 9.80300974e-01 0.00000000e+00 -3.69426890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51717516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.30, Y:-3.70, Z:0.02 [[ 9.80954340e-01 1.94238469e-01 0.00000000e+00 2.82998187e+01] [-1.94238469e-01 9.80954340e-01 0.00000000e+00 -3.70075911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46613823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.33, Y:-3.71, Z:0.02 [[ 9.80816402e-01 1.94933799e-01 0.00000000e+00 2.83299372e+01] [-1.94933799e-01 9.80816402e-01 0.00000000e+00 -3.70927701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20642619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:-3.72, Z:0.02 [[ 9.81122181e-01 1.93388897e-01 0.00000000e+00 2.83622206e+01] [-1.93388897e-01 9.81122181e-01 0.00000000e+00 -3.71649651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42199354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-3.72, Z:0.02 [[ 9.81794818e-01 1.89944558e-01 0.00000000e+00 2.83933454e+01] [-1.89944558e-01 9.81794818e-01 0.00000000e+00 -3.72298318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33188746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.43, Y:-3.73, Z:0.02 [[ 9.81750865e-01 1.90171603e-01 0.00000000e+00 2.84262471e+01] [-1.90171603e-01 9.81750865e-01 0.00000000e+00 -3.73207077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12492893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.46, Y:-3.74, Z:0.02 [[ 9.82723987e-01 1.85077187e-01 0.00000000e+00 2.84556235e+01] [-1.85077187e-01 9.82723987e-01 0.00000000e+00 -3.73586782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24411105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.49, Y:-3.74, Z:0.02 [[ 9.82931314e-01 1.83972909e-01 0.00000000e+00 2.84866448e+01] [-1.83972909e-01 9.82931314e-01 0.00000000e+00 -3.74324477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17448458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.52, Y:-3.75, Z:0.02 [[ 9.82807291e-01 1.84634313e-01 0.00000000e+00 2.85165607e+01] [-1.84634313e-01 9.82807291e-01 0.00000000e+00 -3.75067915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21638632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.55, Y:-3.76, Z:0.02 [[ 9.83159738e-01 1.82748270e-01 0.00000000e+00 2.85506895e+01] [-1.82748270e-01 9.83159738e-01 0.00000000e+00 -3.75677890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25482073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.58, Y:-3.76, Z:0.02 [[ 9.83044618e-01 1.83366518e-01 0.00000000e+00 2.85807373e+01] [-1.83366518e-01 9.83044618e-01 0.00000000e+00 -3.76286569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98300203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:-3.77, Z:0.02 [[ 9.82309246e-01 1.87265975e-01 0.00000000e+00 2.86105428e+01] [-1.87265975e-01 9.82309246e-01 0.00000000e+00 -3.76945977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84718492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:-3.78, Z:0.02 [[ 9.82287058e-01 1.87382324e-01 0.00000000e+00 2.86437375e+01] [-1.87382324e-01 9.82287058e-01 0.00000000e+00 -3.77583980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94564841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-3.78, Z:0.02 [[ 9.81296415e-01 1.92502848e-01 0.00000000e+00 2.86752030e+01] [-1.92502848e-01 9.81296415e-01 0.00000000e+00 -3.78423435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11984646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:28.71, Y:-3.79, Z:0.02 [[ 9.80749090e-01 1.95272176e-01 0.00000000e+00 2.87070837e+01] [-1.95272176e-01 9.80749090e-01 0.00000000e+00 -3.79244891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05025062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:-3.80, Z:0.02 [[ 9.79731900e-01 2.00313264e-01 0.00000000e+00 2.87363298e+01] [-2.00313264e-01 9.79731900e-01 0.00000000e+00 -3.79817864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06494468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:-3.80, Z:0.02 [[ 9.79445900e-01 2.01707039e-01 0.00000000e+00 2.87687228e+01] [-2.01707039e-01 9.79445900e-01 0.00000000e+00 -3.80401196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16314976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:-3.81, Z:0.02 [[ 9.78940399e-01 2.04146258e-01 0.00000000e+00 2.88004430e+01] [-2.04146258e-01 9.78940399e-01 0.00000000e+00 -3.81058478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13291766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:-3.82, Z:0.02 [[ 9.78076689e-01 2.08245024e-01 0.00000000e+00 2.88328942e+01] [-2.08245024e-01 9.78076689e-01 0.00000000e+00 -3.81838977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18478735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.87, Y:-3.83, Z:0.02 [[ 9.77318615e-01 2.11774229e-01 0.00000000e+00 2.88653498e+01] [-2.11774229e-01 9.77318615e-01 0.00000000e+00 -3.82783201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03034793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.90, Y:-3.83, Z:0.02 [[ 9.77397071e-01 2.11411840e-01 0.00000000e+00 2.88969064e+01] [-2.11411840e-01 9.77397071e-01 0.00000000e+00 -3.83347207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32731150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:-3.84, Z:0.02 [[ 9.77202957e-01 2.12307277e-01 0.00000000e+00 2.89262611e+01] [-2.12307277e-01 9.77202957e-01 0.00000000e+00 -3.83960970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39228336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:-3.85, Z:0.02 [[ 9.76748464e-01 2.14388521e-01 0.00000000e+00 2.89591133e+01] [-2.14388521e-01 9.76748464e-01 0.00000000e+00 -3.84872727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48360845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:-3.86, Z:0.03 [[ 9.76729198e-01 2.14476279e-01 0.00000000e+00 2.89901845e+01] [-2.14476279e-01 9.76729198e-01 0.00000000e+00 -3.85510689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60413920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:-3.86, Z:0.03 [[ 9.76451771e-01 2.15735807e-01 0.00000000e+00 2.90223265e+01] [-2.15735807e-01 9.76451771e-01 0.00000000e+00 -3.86271731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59359661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:-3.87, Z:0.03 [[ 9.76386962e-01 2.16028934e-01 0.00000000e+00 2.90523250e+01] [-2.16028934e-01 9.76386962e-01 0.00000000e+00 -3.86995644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62944694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:-3.88, Z:0.02 [[ 9.76145842e-01 2.17115855e-01 0.00000000e+00 2.90813444e+01] [-2.17115855e-01 9.76145842e-01 0.00000000e+00 -3.87716325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49590981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:-3.89, Z:0.03 [[ 9.76336180e-01 2.16258328e-01 0.00000000e+00 2.91145646e+01] [-2.16258328e-01 9.76336180e-01 0.00000000e+00 -3.88535015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55061622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-3.89, Z:0.02 [[ 9.76272531e-01 2.16545481e-01 0.00000000e+00 2.91447985e+01] [-2.16545481e-01 9.76272531e-01 0.00000000e+00 -3.89253939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39857485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:-3.90, Z:0.02 [[ 9.76791613e-01 2.14191843e-01 0.00000000e+00 2.91769973e+01] [-2.14191843e-01 9.76791613e-01 0.00000000e+00 -3.89891738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37227529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:-3.91, Z:0.02 [[ 9.76889412e-01 2.13745353e-01 0.00000000e+00 2.92074867e+01] [-2.13745353e-01 9.76889412e-01 0.00000000e+00 -3.90668923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19498276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.24, Y:-3.91, Z:0.02 [[ 9.77237018e-01 2.12150444e-01 0.00000000e+00 2.92381554e+01] [-2.12150444e-01 9.77237018e-01 0.00000000e+00 -3.91360068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09765419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:-3.92, Z:0.02 [[ 9.77645092e-01 2.10261919e-01 0.00000000e+00 2.92700009e+01] [-2.10261919e-01 9.77645092e-01 0.00000000e+00 -3.92116642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01142319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:-3.93, Z:0.02 [[ 9.78093897e-01 2.08164188e-01 0.00000000e+00 2.92997904e+01] [-2.08164188e-01 9.78093897e-01 0.00000000e+00 -3.93000797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02288826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.33, Y:-3.94, Z:0.02 [[ 9.78426057e-01 2.06597317e-01 0.00000000e+00 2.93317127e+01] [-2.06597317e-01 9.78426057e-01 0.00000000e+00 -3.93786152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02359979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:-3.95, Z:0.02 [[ 9.78756945e-01 2.05024006e-01 0.00000000e+00 2.93632029e+01] [-2.05024006e-01 9.78756945e-01 0.00000000e+00 -3.94523143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99699720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:-3.95, Z:0.02 [[ 9.79392785e-01 2.01964779e-01 0.00000000e+00 2.93957981e+01] [-2.01964779e-01 9.79392785e-01 0.00000000e+00 -3.95298326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16697125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-3.96, Z:0.02 [[ 9.79386575e-01 2.01994895e-01 0.00000000e+00 2.94285064e+01] [-2.01994895e-01 9.79386575e-01 0.00000000e+00 -3.96020938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16697125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:-3.97, Z:0.02 [[ 9.79682068e-01 2.00556840e-01 0.00000000e+00 2.94583269e+01] [-2.00556840e-01 9.79682068e-01 0.00000000e+00 -3.96679399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10733901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:-3.98, Z:0.02 [[ 9.80153230e-01 1.98241381e-01 0.00000000e+00 2.94912274e+01] [-1.98241381e-01 9.80153230e-01 0.00000000e+00 -3.97555469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21630752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:-3.98, Z:0.02 [[ 9.80383607e-01 1.97098916e-01 0.00000000e+00 2.95212814e+01] [-1.97098916e-01 9.80383607e-01 0.00000000e+00 -3.98206818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17085231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:-3.99, Z:0.02 [[ 9.80513382e-01 1.96452306e-01 0.00000000e+00 2.95543343e+01] [-1.96452306e-01 9.80513382e-01 0.00000000e+00 -3.99000556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36156694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:-4.00, Z:0.02 [[ 9.80634930e-01 1.95844667e-01 0.00000000e+00 2.95847578e+01] [-1.95844667e-01 9.80634930e-01 0.00000000e+00 -3.99608765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33534874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:-4.00, Z:0.02 [[ 9.80658294e-01 1.95727643e-01 0.00000000e+00 2.96148010e+01] [-1.95727643e-01 9.80658294e-01 0.00000000e+00 -4.00255111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21622202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.65, Y:-4.01, Z:0.02 [[ 9.80651707e-01 1.95760643e-01 0.00000000e+00 2.96495110e+01] [-1.95760643e-01 9.80651707e-01 0.00000000e+00 -4.01008906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24346388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:-4.02, Z:0.02 [[ 9.80235769e-01 1.97832854e-01 0.00000000e+00 2.96810082e+01] [-1.97832854e-01 9.80235769e-01 0.00000000e+00 -4.01630316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16798563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:-4.02, Z:0.02 [[ 9.79993192e-01 1.99031012e-01 0.00000000e+00 2.97132794e+01] [-1.99031012e-01 9.79993192e-01 0.00000000e+00 -4.02327949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20181565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:-4.03, Z:0.02 [[ 9.79743874e-01 2.00254690e-01 0.00000000e+00 2.97429844e+01] [-2.00254690e-01 9.79743874e-01 0.00000000e+00 -4.02933218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09688385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:-4.04, Z:0.02 [[ 9.78972923e-01 2.03990235e-01 0.00000000e+00 2.97752004e+01] [-2.03990235e-01 9.78972923e-01 0.00000000e+00 -4.03522722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23624296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.81, Y:-4.04, Z:0.02 [[ 9.78555778e-01 2.05982011e-01 0.00000000e+00 2.98080489e+01] [-2.05982011e-01 9.78555778e-01 0.00000000e+00 -4.04210636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17878650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.84, Y:-4.05, Z:0.02 [[ 9.78166603e-01 2.07822274e-01 0.00000000e+00 2.98382515e+01] [-2.07822274e-01 9.78166603e-01 0.00000000e+00 -4.04762354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24794654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:-4.05, Z:0.02 [[ 9.77607708e-01 2.10435666e-01 0.00000000e+00 2.98693174e+01] [-2.10435666e-01 9.77607708e-01 0.00000000e+00 -4.05406856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30225631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:-4.06, Z:0.02 [[ 9.77290715e-01 2.11902946e-01 0.00000000e+00 2.98994862e+01] [-2.11902946e-01 9.77290715e-01 0.00000000e+00 -4.06075043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21082370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:-4.07, Z:0.02 [[ 9.77113945e-01 2.12716570e-01 0.00000000e+00 2.99320697e+01] [-2.12716570e-01 9.77113945e-01 0.00000000e+00 -4.06924921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18365874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:-4.08, Z:0.02 [[ 9.76873549e-01 2.13817841e-01 0.00000000e+00 2.99638932e+01] [-2.13817841e-01 9.76873549e-01 0.00000000e+00 -4.07748076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13901022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:-4.09, Z:0.02 [[ 9.76591433e-01 2.15102704e-01 0.00000000e+00 2.99940258e+01] [-2.15102704e-01 9.76591433e-01 0.00000000e+00 -4.08553707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00374738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.03, Y:-4.09, Z:0.02 [[ 9.76571921e-01 2.15191272e-01 0.00000000e+00 3.00263459e+01] [-2.15191272e-01 9.76571921e-01 0.00000000e+00 -4.09329185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91955361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:-4.10, Z:0.02 [[ 9.76514113e-01 2.15453445e-01 0.00000000e+00 3.00567161e+01] [-2.15453445e-01 9.76514113e-01 0.00000000e+00 -4.10083223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86881354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:-4.11, Z:0.02 [[ 9.76890962e-01 2.13738271e-01 0.00000000e+00 3.00883312e+01] [-2.13738271e-01 9.76890962e-01 0.00000000e+00 -4.11038350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75561700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:-4.12, Z:0.02 [[ 9.77023774e-01 2.13130349e-01 0.00000000e+00 3.01195255e+01] [-2.13130349e-01 9.77023774e-01 0.00000000e+00 -4.11950445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74205415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:-4.13, Z:0.02 [[ 9.77257977e-01 2.12053878e-01 0.00000000e+00 3.01515068e+01] [-2.12053878e-01 9.77257977e-01 0.00000000e+00 -4.12944303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73533614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:-4.14, Z:0.02 [[ 9.78252982e-01 2.07415294e-01 0.00000000e+00 3.01799484e+01] [-2.07415294e-01 9.78252982e-01 0.00000000e+00 -4.13744734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96137348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:-4.15, Z:0.02 [[ 9.78453710e-01 2.06466310e-01 0.00000000e+00 3.02115290e+01] [-2.06466310e-01 9.78453710e-01 0.00000000e+00 -4.14726814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83121018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:-4.16, Z:0.02 [[ 9.79054821e-01 2.03596802e-01 0.00000000e+00 3.02426679e+01] [-2.03596802e-01 9.79054821e-01 0.00000000e+00 -4.15716857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93544691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:-4.17, Z:0.02 [[ 9.79330772e-01 2.02265267e-01 0.00000000e+00 3.02735649e+01] [-2.02265267e-01 9.79330772e-01 0.00000000e+00 -4.16508045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05873373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:-4.17, Z:0.02 [[ 9.79214698e-01 2.02826464e-01 0.00000000e+00 3.03047320e+01] [-2.02826464e-01 9.79214698e-01 0.00000000e+00 -4.17454510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12416660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:-4.18, Z:0.02 [[ 9.79361215e-01 2.02117815e-01 0.00000000e+00 3.03350652e+01] [-2.02117815e-01 9.79361215e-01 0.00000000e+00 -4.18266650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01926287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:-4.19, Z:0.02 [[ 9.79343626e-01 2.02203023e-01 0.00000000e+00 3.03649274e+01] [-2.02203023e-01 9.79343626e-01 0.00000000e+00 -4.19229956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14974952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:-4.20, Z:0.02 [[ 9.79095059e-01 2.03403210e-01 0.00000000e+00 3.03974904e+01] [-2.03403210e-01 9.79095059e-01 0.00000000e+00 -4.20186702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08703377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:-4.21, Z:0.02 [[ 9.78906318e-01 2.04309617e-01 0.00000000e+00 3.04286963e+01] [-2.04309617e-01 9.78906318e-01 0.00000000e+00 -4.20953213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18560611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:-4.22, Z:0.02 [[ 9.78532117e-01 2.06094387e-01 0.00000000e+00 3.04601849e+01] [-2.06094387e-01 9.78532117e-01 0.00000000e+00 -4.21703414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02547625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.49, Y:-4.22, Z:0.02 [[ 9.77697982e-01 2.10015846e-01 0.00000000e+00 3.04910020e+01] [-2.10015846e-01 9.77697982e-01 0.00000000e+00 -4.22492735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93772000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.52, Y:-4.23, Z:0.02 [[ 9.77281862e-01 2.11943769e-01 0.00000000e+00 3.05221664e+01] [-2.11943769e-01 9.77281862e-01 0.00000000e+00 -4.23301853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79832917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.55, Y:-4.24, Z:0.02 [[ 9.77110525e-01 2.12732279e-01 0.00000000e+00 3.05546114e+01] [-2.12732279e-01 9.77110525e-01 0.00000000e+00 -4.23991497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86003595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:-4.25, Z:0.02 [[ 9.76369392e-01 2.16108328e-01 0.00000000e+00 3.05861515e+01] [-2.16108328e-01 9.76369392e-01 0.00000000e+00 -4.24858268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15132788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:-4.26, Z:0.02 [[ 9.75763367e-01 2.18828362e-01 0.00000000e+00 3.06150685e+01] [-2.18828362e-01 9.75763367e-01 0.00000000e+00 -4.25640418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96661438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:-4.26, Z:0.02 [[ 9.75313404e-01 2.20825190e-01 0.00000000e+00 3.06474459e+01] [-2.20825190e-01 9.75313404e-01 0.00000000e+00 -4.26441499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22355647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:-4.27, Z:0.02 [[ 9.75009642e-01 2.22162548e-01 0.00000000e+00 3.06786073e+01] [-2.22162548e-01 9.75009642e-01 0.00000000e+00 -4.27223878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36987715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:-4.28, Z:0.02 [[ 9.74833145e-01 2.22935728e-01 0.00000000e+00 3.07099149e+01] [-2.22935728e-01 9.74833145e-01 0.00000000e+00 -4.27974224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24632901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.74, Y:-4.29, Z:0.02 [[ 9.74498880e-01 2.24392365e-01 0.00000000e+00 3.07410203e+01] [-2.24392365e-01 9.74498880e-01 0.00000000e+00 -4.28802913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31758109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.77, Y:-4.30, Z:0.03 [[ 9.74335913e-01 2.25098932e-01 0.00000000e+00 3.07727549e+01] [-2.25098932e-01 9.74335913e-01 0.00000000e+00 -4.29595272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52527537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:-4.30, Z:0.02 [[ 9.74337180e-01 2.25093445e-01 0.00000000e+00 3.08032332e+01] [-2.25093445e-01 9.74337180e-01 0.00000000e+00 -4.30326215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36857025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-4.31, Z:0.03 [[ 9.74476167e-01 2.24490981e-01 0.00000000e+00 3.08349597e+01] [-2.24490981e-01 9.74476167e-01 0.00000000e+00 -4.31109515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52272223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:-4.32, Z:0.02 [[ 9.74551034e-01 2.24165746e-01 0.00000000e+00 3.08653726e+01] [-2.24165746e-01 9.74551034e-01 0.00000000e+00 -4.31848082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46582462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:-4.33, Z:0.03 [[ 9.74377905e-01 2.24917091e-01 0.00000000e+00 3.08974021e+01] [-2.24917091e-01 9.74377905e-01 0.00000000e+00 -4.32717780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56911096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.274340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:-4.34, Z:0.02 [[ 9.74326352e-01 2.25140312e-01 0.00000000e+00 3.09277874e+01] [-2.25140312e-01 9.74326352e-01 0.00000000e+00 -4.33572199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42596647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:-4.34, Z:0.02 [[ 9.74381913e-01 2.24899729e-01 0.00000000e+00 3.09575931e+01] [-2.24899729e-01 9.74381913e-01 0.00000000e+00 -4.34312662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31543595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:-4.35, Z:0.02 [[ 9.74210181e-01 2.25642469e-01 0.00000000e+00 3.09885074e+01] [-2.25642469e-01 9.74210181e-01 0.00000000e+00 -4.35187923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39159556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:-4.36, Z:0.02 [[ 9.74699861e-01 2.23517740e-01 0.00000000e+00 3.10186168e+01] [-2.23517740e-01 9.74699861e-01 0.00000000e+00 -4.35926025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24658423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:-4.37, Z:0.02 [[ 9.74881359e-01 2.22724799e-01 0.00000000e+00 3.10495250e+01] [-2.22724799e-01 9.74881359e-01 0.00000000e+00 -4.36689037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16075649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:-4.38, Z:0.02 [[ 9.75305525e-01 2.20859986e-01 0.00000000e+00 3.10804347e+01] [-2.20859986e-01 9.75305525e-01 0.00000000e+00 -4.37539598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08104686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:-4.38, Z:0.02 [[ 9.75587551e-01 2.19610862e-01 0.00000000e+00 3.11121231e+01] [-2.19610862e-01 9.75587551e-01 0.00000000e+00 -4.38424748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17324073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.14, Y:-4.39, Z:0.02 [[ 9.75740612e-01 2.18929804e-01 0.00000000e+00 3.11412162e+01] [-2.18929804e-01 9.75740612e-01 0.00000000e+00 -4.39262611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16104902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:-4.40, Z:0.02 [[ 9.75894406e-01 2.18243230e-01 0.00000000e+00 3.11721127e+01] [-2.18243230e-01 9.75894406e-01 0.00000000e+00 -4.40268559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19370542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:-4.41, Z:0.02 [[ 9.76898464e-01 2.13703979e-01 0.00000000e+00 3.12023087e+01] [-2.13703979e-01 9.76898464e-01 0.00000000e+00 -4.41287973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93539033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-4.42, Z:0.02 [[ 9.77488379e-01 2.10989263e-01 0.00000000e+00 3.12333274e+01] [-2.10989263e-01 9.77488379e-01 0.00000000e+00 -4.42063067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91045681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:-4.43, Z:0.02 [[ 9.77871943e-01 2.09204358e-01 0.00000000e+00 3.12632883e+01] [-2.09204358e-01 9.77871943e-01 0.00000000e+00 -4.43012038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87908928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:-4.44, Z:0.02 [[ 9.78167003e-01 2.07820391e-01 0.00000000e+00 3.12960781e+01] [-2.07820391e-01 9.78167003e-01 0.00000000e+00 -4.43884866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69428869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:-4.45, Z:0.02 [[ 9.78043284e-01 2.08401859e-01 0.00000000e+00 3.13269127e+01] [-2.08401859e-01 9.78043284e-01 0.00000000e+00 -4.44693373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57381613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:-4.45, Z:0.02 [[ 9.77543664e-01 2.10732971e-01 0.00000000e+00 3.13569989e+01] [-2.10732971e-01 9.77543664e-01 0.00000000e+00 -4.45433054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80696427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:-4.46, Z:0.02 [[ 9.77163480e-01 2.12488900e-01 0.00000000e+00 3.13888194e+01] [-2.12488900e-01 9.77163480e-01 0.00000000e+00 -4.46291240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54900570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.42, Y:-4.47, Z:0.02 [[ 9.76682077e-01 2.14690757e-01 0.00000000e+00 3.14176315e+01] [-2.14690757e-01 9.76682077e-01 0.00000000e+00 -4.47050078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55715249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:-4.48, Z:0.02 [[ 9.76586189e-01 2.15126510e-01 0.00000000e+00 3.14500291e+01] [-2.15126510e-01 9.76586189e-01 0.00000000e+00 -4.47849627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55715249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:-4.49, Z:0.02 [[ 9.76083903e-01 2.17394146e-01 0.00000000e+00 3.14799021e+01] [-2.17394146e-01 9.76083903e-01 0.00000000e+00 -4.48629851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53615444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:-4.49, Z:0.01 [[ 9.75550399e-01 2.19775837e-01 0.00000000e+00 3.15124810e+01] [-2.19775837e-01 9.75550399e-01 0.00000000e+00 -4.49321286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49698623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:-4.50, Z:0.02 [[ 9.75041605e-01 2.22022227e-01 0.00000000e+00 3.15439394e+01] [-2.22022227e-01 9.75041605e-01 0.00000000e+00 -4.50063093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54488604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.57, Y:-4.51, Z:0.02 [[ 9.74306221e-01 2.25227415e-01 0.00000000e+00 3.15734535e+01] [-2.25227415e-01 9.74306221e-01 0.00000000e+00 -4.50608455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87103595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.60, Y:-4.51, Z:0.02 [[ 9.73997134e-01 2.26560330e-01 0.00000000e+00 3.16049157e+01] [-2.26560330e-01 9.73997134e-01 0.00000000e+00 -4.51296757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75425855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:-4.52, Z:0.02 [[ 9.73662006e-01 2.27996267e-01 0.00000000e+00 3.16348982e+01] [-2.27996267e-01 9.73662006e-01 0.00000000e+00 -4.51990864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02063240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:-4.53, Z:0.02 [[ 9.73274558e-01 2.29644583e-01 0.00000000e+00 3.16661377e+01] [-2.29644583e-01 9.73274558e-01 0.00000000e+00 -4.52765812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10668370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:-4.53, Z:0.02 [[ 9.73116568e-01 2.30313145e-01 0.00000000e+00 3.16975255e+01] [-2.30313145e-01 9.73116568e-01 0.00000000e+00 -4.53491276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13644272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:-4.54, Z:0.02 [[ 9.72514708e-01 2.32841453e-01 0.00000000e+00 3.17285359e+01] [-2.32841453e-01 9.72514708e-01 0.00000000e+00 -4.54206573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13425961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:-4.55, Z:0.02 [[ 9.72190064e-01 2.34193254e-01 0.00000000e+00 3.17591026e+01] [-2.34193254e-01 9.72190064e-01 0.00000000e+00 -4.54985859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17417015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.79, Y:-4.56, Z:0.02 [[ 9.72155910e-01 2.34334989e-01 0.00000000e+00 3.17907760e+01] [-2.34334989e-01 9.72155910e-01 0.00000000e+00 -4.55623867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03564131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.82, Y:-4.56, Z:0.02 [[ 9.71855943e-01 2.35575945e-01 0.00000000e+00 3.18230494e+01] [-2.35575945e-01 9.71855943e-01 0.00000000e+00 -4.56483807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95952135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:-4.57, Z:0.02 [[ 9.71728521e-01 2.36100997e-01 0.00000000e+00 3.18542269e+01] [-2.36100997e-01 9.71728521e-01 0.00000000e+00 -4.57219480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92656407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-4.58, Z:0.02 [[ 9.71867596e-01 2.35527866e-01 0.00000000e+00 3.18866266e+01] [-2.35527866e-01 9.71867596e-01 0.00000000e+00 -4.57977753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81912040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:-4.59, Z:0.02 [[ 9.71841438e-01 2.35635778e-01 0.00000000e+00 3.19185247e+01] [-2.35635778e-01 9.71841438e-01 0.00000000e+00 -4.58843927e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87030013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:-4.60, Z:0.02 [[ 9.71800490e-01 2.35804595e-01 0.00000000e+00 3.19485873e+01] [-2.35804595e-01 9.71800490e-01 0.00000000e+00 -4.59669480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83663983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:-4.61, Z:0.02 [[ 9.71680763e-01 2.36297472e-01 0.00000000e+00 3.19799141e+01] [-2.36297472e-01 9.71680763e-01 0.00000000e+00 -4.60590174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91164704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:-4.61, Z:0.02 [[ 9.71833747e-01 2.35667495e-01 0.00000000e+00 3.20104915e+01] [-2.35667495e-01 9.71833747e-01 0.00000000e+00 -4.61379383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89599588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:-4.62, Z:0.02 [[ 9.71982887e-01 2.35051626e-01 0.00000000e+00 3.20443904e+01] [-2.35051626e-01 9.71982887e-01 0.00000000e+00 -4.62304903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96047426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:-4.63, Z:0.02 [[ 9.72384830e-01 2.33383252e-01 0.00000000e+00 3.20745709e+01] [-2.33383252e-01 9.72384830e-01 0.00000000e+00 -4.63053517e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01487429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-4.64, Z:0.02 [[ 9.72976617e-01 2.30903665e-01 0.00000000e+00 3.21025813e+01] [-2.30903665e-01 9.72976617e-01 0.00000000e+00 -4.63664269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90520162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:-4.65, Z:0.02 [[ 9.72775422e-01 2.31749819e-01 0.00000000e+00 3.21371200e+01] [-2.31749819e-01 9.72775422e-01 0.00000000e+00 -4.64831165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41026252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:-4.66, Z:0.02 [[ 9.73487230e-01 2.28741367e-01 0.00000000e+00 3.21672212e+01] [-2.28741367e-01 9.73487230e-01 0.00000000e+00 -4.65648772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40915793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:-4.66, Z:0.02 [[ 9.73852591e-01 2.27180835e-01 0.00000000e+00 3.21991749e+01] [-2.27180835e-01 9.73852591e-01 0.00000000e+00 -4.66499585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44909067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.534340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:-4.67, Z:0.03 [[ 9.73967000e-01 2.26689840e-01 0.00000000e+00 3.22295286e+01] [-2.26689840e-01 9.73967000e-01 0.00000000e+00 -4.67315857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62069427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:-4.68, Z:0.03 [[ 9.73852092e-01 2.27182973e-01 0.00000000e+00 3.22618905e+01] [-2.27182973e-01 9.73852092e-01 0.00000000e+00 -4.68165249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82229971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.594340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:-4.69, Z:0.03 [[ 9.73964570e-01 2.26700279e-01 0.00000000e+00 3.22919915e+01] [-2.26700279e-01 9.73964570e-01 0.00000000e+00 -4.68760443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70465933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:-4.70, Z:0.03 [[ 9.72768869e-01 2.31777324e-01 0.00000000e+00 3.23287299e+01] [-2.31777324e-01 9.72768869e-01 0.00000000e+00 -4.70299832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53581290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:-4.70, Z:0.03 [[ 9.73482279e-01 2.28762437e-01 0.00000000e+00 3.23548917e+01] [-2.28762437e-01 9.73482279e-01 0.00000000e+00 -4.70245837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65442457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.39, Y:-4.71, Z:0.03 [[ 9.73338815e-01 2.29372082e-01 0.00000000e+00 3.23860532e+01] [-2.29372082e-01 9.73338815e-01 0.00000000e+00 -4.70996680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77862164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.42, Y:-4.72, Z:0.03 [[ 9.73646199e-01 2.28063760e-01 0.00000000e+00 3.24192890e+01] [-2.28063760e-01 9.73646199e-01 0.00000000e+00 -4.71611156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77298100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:-4.72, Z:0.03 [[ 9.73654095e-01 2.28030048e-01 0.00000000e+00 3.24518426e+01] [-2.28030048e-01 9.73654095e-01 0.00000000e+00 -4.72359065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84540842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.774340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:-4.73, Z:0.03 [[ 9.73533423e-01 2.28544686e-01 0.00000000e+00 3.24814199e+01] [-2.28544686e-01 9.73533423e-01 0.00000000e+00 -4.73131048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68592920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-4.74, Z:0.03 [[ 9.73217111e-01 2.29887920e-01 0.00000000e+00 3.25124511e+01] [-2.29887920e-01 9.73217111e-01 0.00000000e+00 -4.74042944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70797638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:-4.75, Z:0.03 [[ 9.73624320e-01 2.28157148e-01 0.00000000e+00 3.25443752e+01] [-2.28157148e-01 9.73624320e-01 0.00000000e+00 -4.74649944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78357824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864340128000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.57, Y:-4.75, Z:0.03 [[ 9.73531071e-01 2.28554706e-01 0.00000000e+00 3.25748203e+01] [-2.28554706e-01 9.73531071e-01 0.00000000e+00 -4.75352246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59599824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.894340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.61, Y:-4.76, Z:0.03 [[ 9.74508267e-01 2.24351594e-01 0.00000000e+00 3.26093107e+01] [-2.24351594e-01 9.74508267e-01 0.00000000e+00 -4.75811676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84949628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:-4.77, Z:0.03 [[ 9.74172472e-01 2.25805213e-01 0.00000000e+00 3.26380414e+01] [-2.25805213e-01 9.74172472e-01 0.00000000e+00 -4.76523028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77129185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.954340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:-4.77, Z:0.03 [[ 9.74175962e-01 2.25790158e-01 0.00000000e+00 3.26696963e+01] [-2.25790158e-01 9.74175962e-01 0.00000000e+00 -4.77295872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97922856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:-4.78, Z:0.03 [[ 9.74650846e-01 2.23731374e-01 0.00000000e+00 3.27041844e+01] [-2.23731374e-01 9.74650846e-01 0.00000000e+00 -4.78047661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05617258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:-4.79, Z:0.03 [[ 9.75001509e-01 2.22198241e-01 0.00000000e+00 3.27362789e+01] [-2.22198241e-01 9.75001509e-01 0.00000000e+00 -4.78560819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23304575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:-4.79, Z:0.03 [[ 9.74915240e-01 2.22576448e-01 0.00000000e+00 3.27648277e+01] [-2.22576448e-01 9.74915240e-01 0.00000000e+00 -4.79157556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14736159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:-4.80, Z:0.03 [[ 9.75419376e-01 2.20356621e-01 0.00000000e+00 3.28002361e+01] [-2.20356621e-01 9.75419376e-01 0.00000000e+00 -4.79706738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13901591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:-4.80, Z:0.03 [[ 9.75396290e-01 2.20458790e-01 0.00000000e+00 3.28295393e+01] [-2.20458790e-01 9.75396290e-01 0.00000000e+00 -4.80266674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05106643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:-4.81, Z:0.03 [[ 9.75544538e-01 2.19801851e-01 0.00000000e+00 3.28611962e+01] [-2.19801851e-01 9.75544538e-01 0.00000000e+00 -4.80903950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00647788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:-4.81, Z:0.03 [[ 9.76126936e-01 2.17200838e-01 0.00000000e+00 3.28927766e+01] [-2.17200838e-01 9.76126936e-01 0.00000000e+00 -4.81265203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95884280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.93, Y:-4.82, Z:0.03 [[ 9.76182399e-01 2.16951430e-01 0.00000000e+00 3.29253133e+01] [-2.16951430e-01 9.76182399e-01 0.00000000e+00 -4.82047594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92286421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.95, Y:-4.83, Z:0.03 [[ 9.76228442e-01 2.16744155e-01 0.00000000e+00 3.29536382e+01] [-2.16744155e-01 9.76228442e-01 0.00000000e+00 -4.82618516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89146126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.254340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.98, Y:-4.83, Z:0.03 [[ 9.77050873e-01 2.13006085e-01 0.00000000e+00 3.29841164e+01] [-2.13006085e-01 9.77050873e-01 0.00000000e+00 -4.83017037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87600863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:-4.84, Z:0.03 [[ 9.77615062e-01 2.10401501e-01 0.00000000e+00 3.30177722e+01] [-2.10401501e-01 9.77615062e-01 0.00000000e+00 -4.83630706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92038015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:-4.84, Z:0.03 [[ 9.77770622e-01 2.09677396e-01 0.00000000e+00 3.30502576e+01] [-2.09677396e-01 9.77770622e-01 0.00000000e+00 -4.84304687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85924142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:-4.85, Z:0.03 [[ 9.77960743e-01 2.08788853e-01 0.00000000e+00 3.30800429e+01] [-2.08788853e-01 9.77960743e-01 0.00000000e+00 -4.84826852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92403435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:-4.85, Z:0.03 [[ 9.78344383e-01 2.06983739e-01 0.00000000e+00 3.31125984e+01] [-2.06983739e-01 9.78344383e-01 0.00000000e+00 -4.85232830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89411274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-4.86, Z:0.03 [[ 9.78590109e-01 2.05818849e-01 0.00000000e+00 3.31450346e+01] [-2.05818849e-01 9.78590109e-01 0.00000000e+00 -4.85791456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84541135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.434340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:-4.86, Z:0.03 [[ 9.78559031e-01 2.05966559e-01 0.00000000e+00 3.31769802e+01] [-2.05966559e-01 9.78559031e-01 0.00000000e+00 -4.86404471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88025409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:-4.87, Z:0.03 [[ 9.78346604e-01 2.06973239e-01 0.00000000e+00 3.32090175e+01] [-2.06973239e-01 9.78346604e-01 0.00000000e+00 -4.86804924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74805784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:-4.87, Z:0.03 [[ 9.78317827e-01 2.07109219e-01 0.00000000e+00 3.32418771e+01] [-2.07109219e-01 9.78317827e-01 0.00000000e+00 -4.87390153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78800134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:-4.88, Z:0.03 [[ 9.78092140e-01 2.08172441e-01 0.00000000e+00 3.32744647e+01] [-2.08172441e-01 9.78092140e-01 0.00000000e+00 -4.87984792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70951546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:-4.88, Z:0.03 [[ 9.77344854e-01 2.11653103e-01 0.00000000e+00 3.33037802e+01] [-2.11653103e-01 9.77344854e-01 0.00000000e+00 -4.88406957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71806178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:-4.89, Z:0.03 [[ 9.77470788e-01 2.11070743e-01 0.00000000e+00 3.33385595e+01] [-2.11070743e-01 9.77470788e-01 0.00000000e+00 -4.89028970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64582468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.614340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:-4.90, Z:0.03 [[ 9.77111540e-01 2.12727615e-01 0.00000000e+00 3.33707783e+01] [-2.12727615e-01 9.77111540e-01 0.00000000e+00 -4.89735771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68482597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:-4.91, Z:0.03 [[ 9.77119549e-01 2.12690826e-01 0.00000000e+00 3.34032563e+01] [-2.12690826e-01 9.77119549e-01 0.00000000e+00 -4.90563212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68482597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.674340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:-4.91, Z:0.03 [[ 9.76649552e-01 2.14838666e-01 0.00000000e+00 3.34340505e+01] [-2.14838666e-01 9.76649552e-01 0.00000000e+00 -4.90975014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64728785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704340128000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:-4.92, Z:0.03 [[ 9.76477875e-01 2.15617622e-01 0.00000000e+00 3.34670319e+01] [-2.15617622e-01 9.76477875e-01 0.00000000e+00 -4.91609795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69080997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:-4.92, Z:0.03 [[ 9.76220211e-01 2.16781224e-01 0.00000000e+00 3.34992591e+01] [-2.16781224e-01 9.76220211e-01 0.00000000e+00 -4.92140303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73721501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:-4.93, Z:0.03 [[ 9.76073994e-01 2.17438632e-01 0.00000000e+00 3.35294835e+01] [-2.17438632e-01 9.76073994e-01 0.00000000e+00 -4.92805081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68542008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-4.93, Z:0.03 [[ 9.76030772e-01 2.17632563e-01 0.00000000e+00 3.35616841e+01] [-2.17632563e-01 9.76030772e-01 0.00000000e+00 -4.93489942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72538032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-4.94, Z:0.03 [[ 9.75636939e-01 2.19391348e-01 0.00000000e+00 3.35911825e+01] [-2.19391348e-01 9.75636939e-01 0.00000000e+00 -4.94011918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68414897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.854340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-4.95, Z:0.03 [[ 9.75612241e-01 2.19501150e-01 0.00000000e+00 3.36242945e+01] [-2.19501150e-01 9.75612241e-01 0.00000000e+00 -4.94661830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82031264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:-4.95, Z:0.03 [[ 9.75365560e-01 2.20594708e-01 0.00000000e+00 3.36549763e+01] [-2.20594708e-01 9.75365560e-01 0.00000000e+00 -4.95344019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78888821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.914340128000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:-4.96, Z:0.03 [[ 9.75301903e-01 2.20875980e-01 0.00000000e+00 3.36851341e+01] [-2.20875980e-01 9.75301903e-01 0.00000000e+00 -4.95946647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71049933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:-4.97, Z:0.03 [[ 9.74946929e-01 2.22437599e-01 0.00000000e+00 3.37160156e+01] [-2.22437599e-01 9.74946929e-01 0.00000000e+00 -4.96518602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72580345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:-4.97, Z:0.03 [[ 9.74860527e-01 2.22815964e-01 0.00000000e+00 3.37478506e+01] [-2.22815964e-01 9.74860527e-01 0.00000000e+00 -4.97212225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78884870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:-4.98, Z:0.03 [[ 9.74520169e-01 2.24299888e-01 0.00000000e+00 3.37791654e+01] [-2.24299888e-01 9.74520169e-01 0.00000000e+00 -4.97850405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84232806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:-4.98, Z:0.03 [[ 9.74400154e-01 2.24820683e-01 0.00000000e+00 3.38083434e+01] [-2.24820683e-01 9.74400154e-01 0.00000000e+00 -4.98467082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85435846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.84, Y:-4.99, Z:0.03 [[ 9.74406498e-01 2.24793187e-01 0.00000000e+00 3.38418982e+01] [-2.24793187e-01 9.74406498e-01 0.00000000e+00 -4.99191326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79900273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:-5.00, Z:0.03 [[ 9.74392950e-01 2.24851903e-01 0.00000000e+00 3.38720471e+01] [-2.24851903e-01 9.74392950e-01 0.00000000e+00 -4.99772246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74208938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:-5.00, Z:0.02 [[ 9.74830745e-01 2.22946223e-01 0.00000000e+00 3.39037166e+01] [-2.22946223e-01 9.74830745e-01 0.00000000e+00 -5.00186317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42502322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:-5.01, Z:0.02 [[ 9.74235120e-01 2.25534768e-01 0.00000000e+00 3.39336187e+01] [-2.25534768e-01 9.74235120e-01 0.00000000e+00 -5.01208102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44766642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.184340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.97, Y:-5.02, Z:0.03 [[ 9.74603213e-01 2.23938778e-01 0.00000000e+00 3.39662875e+01] [-2.23938778e-01 9.74603213e-01 0.00000000e+00 -5.01803216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93982220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:-5.02, Z:0.03 [[ 9.74763462e-01 2.23240214e-01 0.00000000e+00 3.39985316e+01] [-2.23240214e-01 9.74763462e-01 0.00000000e+00 -5.02311298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87603456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:-5.03, Z:0.03 [[ 9.74804495e-01 2.23060972e-01 0.00000000e+00 3.40297834e+01] [-2.23060972e-01 9.74804495e-01 0.00000000e+00 -5.02978125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88065262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:-5.03, Z:0.03 [[ 9.74711264e-01 2.23468009e-01 0.00000000e+00 3.40600430e+01] [-2.23468009e-01 9.74711264e-01 0.00000000e+00 -5.03495101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82692724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:-5.04, Z:0.03 [[ 9.74684892e-01 2.23583008e-01 0.00000000e+00 3.40917291e+01] [-2.23583008e-01 9.74684892e-01 0.00000000e+00 -5.04153898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84522573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:-5.05, Z:0.03 [[ 9.74518620e-01 2.24306617e-01 0.00000000e+00 3.41242877e+01] [-2.24306617e-01 9.74518620e-01 0.00000000e+00 -5.04916183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90460816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:-5.06, Z:0.03 [[ 9.74147266e-01 2.25913929e-01 0.00000000e+00 3.41554229e+01] [-2.25913929e-01 9.74147266e-01 0.00000000e+00 -5.05541931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95101340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:-5.06, Z:0.03 [[ 9.73852986e-01 2.27179138e-01 0.00000000e+00 3.41874771e+01] [-2.27179138e-01 9.73852986e-01 0.00000000e+00 -5.06319971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13334163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:-5.07, Z:0.03 [[ 9.73450858e-01 2.28896106e-01 0.00000000e+00 3.42174629e+01] [-2.28896106e-01 9.73450858e-01 0.00000000e+00 -5.06913963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04343869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:-5.07, Z:0.03 [[ 9.72597026e-01 2.32497366e-01 0.00000000e+00 3.42496454e+01] [-2.32497366e-01 9.72597026e-01 0.00000000e+00 -5.07379592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11598791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:-5.08, Z:0.03 [[ 9.72687054e-01 2.32120433e-01 0.00000000e+00 3.42831952e+01] [-2.32120433e-01 9.72687054e-01 0.00000000e+00 -5.07917508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79278336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-5.09, Z:0.03 [[ 9.71558372e-01 2.36800190e-01 0.00000000e+00 3.43126810e+01] [-2.36800190e-01 9.71558372e-01 0.00000000e+00 -5.08844765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14663052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:-5.10, Z:0.03 [[ 9.71525954e-01 2.36933157e-01 0.00000000e+00 3.43458431e+01] [-2.36933157e-01 9.71525954e-01 0.00000000e+00 -5.09561408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21214403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:-5.10, Z:0.03 [[ 9.71003260e-01 2.39066245e-01 0.00000000e+00 3.43762443e+01] [-2.39066245e-01 9.71003260e-01 0.00000000e+00 -5.10204867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10798843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:-5.11, Z:0.03 [[ 9.70911538e-01 2.39438479e-01 0.00000000e+00 3.44062978e+01] [-2.39438479e-01 9.70911538e-01 0.00000000e+00 -5.10902128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17790528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:-5.12, Z:0.03 [[ 9.70774596e-01 2.39993090e-01 0.00000000e+00 3.44375188e+01] [-2.39993090e-01 9.70774596e-01 0.00000000e+00 -5.11689786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23024513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:-5.13, Z:0.03 [[ 9.70524199e-01 2.41003691e-01 0.00000000e+00 3.44696477e+01] [-2.41003691e-01 9.70524199e-01 0.00000000e+00 -5.12604473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09475844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:-5.13, Z:0.03 [[ 9.70872555e-01 2.39596497e-01 0.00000000e+00 3.45018440e+01] [-2.39596497e-01 9.70872555e-01 0.00000000e+00 -5.13259414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24873621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:-5.14, Z:0.03 [[ 9.70807039e-01 2.39861822e-01 0.00000000e+00 3.45325446e+01] [-2.39861822e-01 9.70807039e-01 0.00000000e+00 -5.13990418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14227024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:-5.15, Z:0.03 [[ 9.70833101e-01 2.39756314e-01 0.00000000e+00 3.45659460e+01] [-2.39756314e-01 9.70833101e-01 0.00000000e+00 -5.14921338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01367838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:-5.16, Z:0.03 [[ 9.70595713e-01 2.40715520e-01 0.00000000e+00 3.45963577e+01] [-2.40715520e-01 9.70595713e-01 0.00000000e+00 -5.15722082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09267678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.814340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.63, Y:-5.16, Z:0.03 [[ 9.70681781e-01 2.40368216e-01 0.00000000e+00 3.46275207e+01] [-2.40368216e-01 9.70681781e-01 0.00000000e+00 -5.16489215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08808788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.66, Y:-5.17, Z:0.03 [[ 9.70763526e-01 2.40037864e-01 0.00000000e+00 3.46592240e+01] [-2.40037864e-01 9.70763526e-01 0.00000000e+00 -5.17347586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02509263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:-5.18, Z:0.03 [[ 9.70827383e-01 2.39779467e-01 0.00000000e+00 3.46918105e+01] [-2.39779467e-01 9.70827383e-01 0.00000000e+00 -5.18265158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89999136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:-5.19, Z:0.03 [[ 9.70799414e-01 2.39892680e-01 0.00000000e+00 3.47220013e+01] [-2.39892680e-01 9.70799414e-01 0.00000000e+00 -5.19102465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78672933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:-5.20, Z:0.03 [[ 9.70977176e-01 2.39172163e-01 0.00000000e+00 3.47542730e+01] [-2.39172163e-01 9.70977176e-01 0.00000000e+00 -5.19904680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88465179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:-5.21, Z:0.03 [[ 9.70842456e-01 2.39718428e-01 0.00000000e+00 3.47862025e+01] [-2.39718428e-01 9.70842456e-01 0.00000000e+00 -5.20790604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88947494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:-5.22, Z:0.03 [[ 9.70786282e-01 2.39945816e-01 0.00000000e+00 3.48165522e+01] [-2.39945816e-01 9.70786282e-01 0.00000000e+00 -5.21537318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94368210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:-5.22, Z:0.03 [[ 9.70650963e-01 2.40492636e-01 0.00000000e+00 3.48498735e+01] [-2.40492636e-01 9.70650963e-01 0.00000000e+00 -5.22389348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00263628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:-5.23, Z:0.03 [[ 9.69840650e-01 2.43739850e-01 0.00000000e+00 3.48827187e+01] [-2.43739850e-01 9.69840650e-01 0.00000000e+00 -5.23237956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85662294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:-5.24, Z:0.03 [[ 9.69568343e-01 2.44820809e-01 0.00000000e+00 3.49121967e+01] [-2.44820809e-01 9.69568343e-01 0.00000000e+00 -5.23987599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98847688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:-5.25, Z:0.03 [[ 9.69355976e-01 2.45660319e-01 0.00000000e+00 3.49437050e+01] [-2.45660319e-01 9.69355976e-01 0.00000000e+00 -5.24770607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93912947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:-5.26, Z:0.03 [[ 9.68743990e-01 2.48062657e-01 0.00000000e+00 3.49734327e+01] [-2.48062657e-01 9.68743990e-01 0.00000000e+00 -5.25600562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90953414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.01, Y:-5.26, Z:0.03 [[ 9.67885771e-01 2.51390403e-01 0.00000000e+00 3.50056811e+01] [-2.51390403e-01 9.67885771e-01 0.00000000e+00 -5.26497063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93983562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:-5.27, Z:0.03 [[ 9.67311610e-01 2.53590713e-01 0.00000000e+00 3.50352301e+01] [-2.53590713e-01 9.67311610e-01 0.00000000e+00 -5.27318069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91289661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:-5.28, Z:0.03 [[ 9.66798256e-01 2.55540863e-01 0.00000000e+00 3.50684537e+01] [-2.55540863e-01 9.66798256e-01 0.00000000e+00 -5.28172790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83421184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.09, Y:-5.29, Z:0.03 [[ 9.65895378e-01 2.58932653e-01 0.00000000e+00 3.50945876e+01] [-2.58932653e-01 9.65895378e-01 0.00000000e+00 -5.29010389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10546962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:-5.30, Z:0.03 [[ 9.65983602e-01 2.58603327e-01 0.00000000e+00 3.51298652e+01] [-2.58603327e-01 9.65983602e-01 0.00000000e+00 -5.30062641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93953528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:-5.31, Z:0.03 [[ 9.66015496e-01 2.58484160e-01 0.00000000e+00 3.51604199e+01] [-2.58484160e-01 9.66015496e-01 0.00000000e+00 -5.30797714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85694592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:-5.32, Z:0.03 [[ 9.65568156e-01 2.60150217e-01 0.00000000e+00 3.51925221e+01] [-2.60150217e-01 9.65568156e-01 0.00000000e+00 -5.32077200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91939223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:-5.33, Z:0.03 [[ 9.66018430e-01 2.58473195e-01 0.00000000e+00 3.52225154e+01] [-2.58473195e-01 9.66018430e-01 0.00000000e+00 -5.32875951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81803922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:-5.34, Z:0.03 [[ 9.66022046e-01 2.58459682e-01 0.00000000e+00 3.52507920e+01] [-2.58459682e-01 9.66022046e-01 0.00000000e+00 -5.33843461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76513431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.28, Y:-5.35, Z:0.03 [[ 9.66685652e-01 2.55966501e-01 0.00000000e+00 3.52820261e+01] [-2.55966501e-01 9.66685652e-01 0.00000000e+00 -5.35084332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64105251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.31, Y:-5.36, Z:0.03 [[ 9.66384850e-01 2.57099826e-01 0.00000000e+00 3.53096825e+01] [-2.57099826e-01 9.66384850e-01 0.00000000e+00 -5.36296639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71207181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.34, Y:-5.37, Z:0.03 [[ 9.66897737e-01 2.55164195e-01 0.00000000e+00 3.53404244e+01] [-2.55164195e-01 9.66897737e-01 0.00000000e+00 -5.37194917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54156723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:-5.38, Z:0.02 [[ 9.67652864e-01 2.52285424e-01 0.00000000e+00 3.53725994e+01] [-2.52285424e-01 9.67652864e-01 0.00000000e+00 -5.38460243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43766707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.564340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.41, Y:-5.39, Z:0.02 [[ 9.67678605e-01 2.52186673e-01 0.00000000e+00 3.54050260e+01] [-2.52186673e-01 9.67678605e-01 0.00000000e+00 -5.39312741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43766707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:-5.40, Z:0.03 [[ 9.67453515e-01 2.53048801e-01 0.00000000e+00 3.54306672e+01] [-2.53048801e-01 9.67453515e-01 0.00000000e+00 -5.40401135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50303186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-5.42, Z:0.02 [[ 9.67830023e-01 2.51604941e-01 0.00000000e+00 3.54628142e+01] [-2.51604941e-01 9.67830023e-01 0.00000000e+00 -5.41572562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49090761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:-5.43, Z:0.03 [[ 9.68447379e-01 2.49218125e-01 0.00000000e+00 3.54937154e+01] [-2.49218125e-01 9.68447379e-01 0.00000000e+00 -5.43029732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55973295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:-5.44, Z:0.03 [[ 9.68540935e-01 2.48854288e-01 0.00000000e+00 3.55234134e+01] [-2.48854288e-01 9.68540935e-01 0.00000000e+00 -5.44141550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59078246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:-5.45, Z:0.03 [[ 9.68649815e-01 2.48430145e-01 0.00000000e+00 3.55543414e+01] [-2.48430145e-01 9.68649815e-01 0.00000000e+00 -5.45221981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59890983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.58, Y:-5.47, Z:0.03 [[ 9.68709474e-01 2.48197410e-01 0.00000000e+00 3.55843884e+01] [-2.48197410e-01 9.68709474e-01 0.00000000e+00 -5.46534223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53472516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:-5.48, Z:0.02 [[ 9.68892612e-01 2.47481526e-01 0.00000000e+00 3.56144847e+01] [-2.47481526e-01 9.68892612e-01 0.00000000e+00 -5.47550283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46078915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.804340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:35.64, Y:-5.49, Z:0.03 [[ 9.68715186e-01 2.48175115e-01 0.00000000e+00 3.56445634e+01] [-2.48175115e-01 9.68715186e-01 0.00000000e+00 -5.48630632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63175844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:-5.50, Z:0.03 [[ 9.68421623e-01 2.49318191e-01 0.00000000e+00 3.56740389e+01] [-2.49318191e-01 9.68421623e-01 0.00000000e+00 -5.49674085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64650041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:-5.51, Z:0.03 [[ 9.68336977e-01 2.49646750e-01 0.00000000e+00 3.57055179e+01] [-2.49646750e-01 9.68336977e-01 0.00000000e+00 -5.50874441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70751217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:-5.52, Z:0.03 [[ 9.67890971e-01 2.51370381e-01 0.00000000e+00 3.57336993e+01] [-2.51370381e-01 9.67890971e-01 0.00000000e+00 -5.51919308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67523122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:-5.53, Z:0.03 [[ 9.67640410e-01 2.52333186e-01 0.00000000e+00 3.57643045e+01] [-2.52333186e-01 9.67640410e-01 0.00000000e+00 -5.52966097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70599226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:-5.54, Z:0.03 [[ 9.66868952e-01 2.55273246e-01 0.00000000e+00 3.57926322e+01] [-2.55273246e-01 9.66868952e-01 0.00000000e+00 -5.54160801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73113974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.83, Y:-5.55, Z:0.03 [[ 9.67244886e-01 2.53845092e-01 0.00000000e+00 3.58265620e+01] [-2.53845092e-01 9.67244886e-01 0.00000000e+00 -5.55181968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73021233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.86, Y:-5.56, Z:0.03 [[ 9.67150995e-01 2.54202581e-01 0.00000000e+00 3.58561544e+01] [-2.54202581e-01 9.67150995e-01 0.00000000e+00 -5.56134642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73369619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:-5.57, Z:0.03 [[ 9.66621410e-01 2.56208996e-01 0.00000000e+00 3.58849970e+01] [-2.56208996e-01 9.66621410e-01 0.00000000e+00 -5.57271291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76291201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:-5.58, Z:0.03 [[ 9.66526449e-01 2.56566996e-01 0.00000000e+00 3.59144102e+01] [-2.56566996e-01 9.66526449e-01 0.00000000e+00 -5.58478373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80797368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:-5.59, Z:0.03 [[ 9.66616333e-01 2.56228148e-01 0.00000000e+00 3.59456777e+01] [-2.56228148e-01 9.66616333e-01 0.00000000e+00 -5.59488704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78713950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:-5.61, Z:0.03 [[ 9.66431703e-01 2.56923653e-01 0.00000000e+00 3.59761459e+01] [-2.56923653e-01 9.66431703e-01 0.00000000e+00 -5.60504401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84462597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:-5.62, Z:0.03 [[ 9.66423037e-01 2.56956247e-01 0.00000000e+00 3.60054653e+01] [-2.56956247e-01 9.66423037e-01 0.00000000e+00 -5.61640480e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91266658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:-5.63, Z:0.03 [[ 9.66232399e-01 2.57672179e-01 0.00000000e+00 3.60339693e+01] [-2.57672179e-01 9.66232399e-01 0.00000000e+00 -5.62610492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91940265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.06, Y:-5.64, Z:0.03 [[ 9.66248802e-01 2.57610661e-01 0.00000000e+00 3.60627115e+01] [-2.57610661e-01 9.66248802e-01 0.00000000e+00 -5.63601811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79688327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:-5.65, Z:0.03 [[ 9.66093598e-01 2.58192101e-01 0.00000000e+00 3.60936788e+01] [-2.58192101e-01 9.66093598e-01 0.00000000e+00 -5.64789740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98450784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:-5.66, Z:0.03 [[ 9.65875668e-01 2.59006167e-01 0.00000000e+00 3.61251554e+01] [-2.59006167e-01 9.65875668e-01 0.00000000e+00 -5.65936665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12242952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.314340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:-5.67, Z:0.03 [[ 9.65842666e-01 2.59129205e-01 0.00000000e+00 3.61543947e+01] [-2.59129205e-01 9.65842666e-01 0.00000000e+00 -5.66842234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94842587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:-5.68, Z:0.03 [[ 9.66335504e-01 2.57285238e-01 0.00000000e+00 3.61855332e+01] [-2.57285238e-01 9.66335504e-01 0.00000000e+00 -5.67842087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78091342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:-5.69, Z:0.03 [[ 9.65767646e-01 2.59408661e-01 0.00000000e+00 3.62140448e+01] [-2.59408661e-01 9.65767646e-01 0.00000000e+00 -5.68914867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78990644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:-5.70, Z:0.03 [[ 9.66593107e-01 2.56315753e-01 0.00000000e+00 3.62487836e+01] [-2.56315753e-01 9.66593107e-01 0.00000000e+00 -5.69957356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86581952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:-5.71, Z:0.03 [[ 9.66131291e-01 2.58051020e-01 0.00000000e+00 3.62749847e+01] [-2.58051020e-01 9.66131291e-01 0.00000000e+00 -5.71168374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67650890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:-5.72, Z:0.03 [[ 9.66248047e-01 2.57613491e-01 0.00000000e+00 3.63046179e+01] [-2.57613491e-01 9.66248047e-01 0.00000000e+00 -5.72226580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67533925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:-5.73, Z:0.03 [[ 9.66065651e-01 2.58296645e-01 0.00000000e+00 3.63347127e+01] [-2.58296645e-01 9.66065651e-01 0.00000000e+00 -5.73454230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75924582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:-5.75, Z:0.03 [[ 9.66324453e-01 2.57326740e-01 0.00000000e+00 3.63651811e+01] [-2.57326740e-01 9.66324453e-01 0.00000000e+00 -5.74558757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82729392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:-5.76, Z:0.03 [[ 9.67146720e-01 2.54218846e-01 0.00000000e+00 3.63950624e+01] [-2.54218846e-01 9.67146720e-01 0.00000000e+00 -5.75619456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78891548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:-5.77, Z:0.03 [[ 9.66750472e-01 2.55721576e-01 0.00000000e+00 3.64222498e+01] [-2.55721576e-01 9.66750472e-01 0.00000000e+00 -5.76693333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03323006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:-5.78, Z:0.03 [[ 9.66638296e-01 2.56145279e-01 0.00000000e+00 3.64524749e+01] [-2.56145279e-01 9.66638296e-01 0.00000000e+00 -5.78148901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95848016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:-5.79, Z:0.03 [[ 9.66905954e-01 2.55133056e-01 0.00000000e+00 3.64840566e+01] [-2.55133056e-01 9.66905954e-01 0.00000000e+00 -5.79154794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93322557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:-5.80, Z:0.03 [[ 9.66861557e-01 2.55301252e-01 0.00000000e+00 3.65129170e+01] [-2.55301252e-01 9.66861557e-01 0.00000000e+00 -5.80069638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17613305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.54, Y:-5.81, Z:0.03 [[ 9.66653285e-01 2.56088710e-01 0.00000000e+00 3.65440774e+01] [-2.56088710e-01 9.66653285e-01 0.00000000e+00 -5.81171427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08903855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:-5.82, Z:0.03 [[ 9.66011785e-01 2.58498030e-01 0.00000000e+00 3.65728575e+01] [-2.58498030e-01 9.66011785e-01 0.00000000e+00 -5.82185653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16343808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:-5.83, Z:0.03 [[ 9.66604207e-01 2.56273890e-01 0.00000000e+00 3.66098778e+01] [-2.56273890e-01 9.66604207e-01 0.00000000e+00 -5.83208616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11435432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-5.84, Z:0.03 [[ 9.65467312e-01 2.60524221e-01 0.00000000e+00 3.66365884e+01] [-2.60524221e-01 9.65467312e-01 0.00000000e+00 -5.84003770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14501747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:-5.85, Z:0.03 [[ 9.65036824e-01 2.62114342e-01 0.00000000e+00 3.66669353e+01] [-2.62114342e-01 9.65036824e-01 0.00000000e+00 -5.84928258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07082024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:-5.86, Z:0.03 [[ 9.64068982e-01 2.65652023e-01 0.00000000e+00 3.66970955e+01] [-2.65652023e-01 9.64068982e-01 0.00000000e+00 -5.85918162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00475054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.884340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:-5.87, Z:0.03 [[ 9.63109502e-01 2.69109807e-01 0.00000000e+00 3.67297695e+01] [-2.69109807e-01 9.63109502e-01 0.00000000e+00 -5.87146643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95232704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:-5.88, Z:0.03 [[ 9.63246610e-01 2.68618630e-01 0.00000000e+00 3.67570559e+01] [-2.68618630e-01 9.63246610e-01 0.00000000e+00 -5.87835226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86875821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:-5.89, Z:0.03 [[ 9.63501224e-01 2.67703925e-01 0.00000000e+00 3.67895903e+01] [-2.67703925e-01 9.63501224e-01 0.00000000e+00 -5.88684024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67913218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:-5.90, Z:0.03 [[ 9.64382180e-01 2.64512779e-01 0.00000000e+00 3.68245425e+01] [-2.64512779e-01 9.64382180e-01 0.00000000e+00 -5.89616610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93521294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:-5.91, Z:0.03 [[ 9.63284082e-01 2.68484221e-01 0.00000000e+00 3.68485234e+01] [-2.68484221e-01 9.63284082e-01 0.00000000e+00 -5.90615767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76072452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.88, Y:-5.92, Z:0.03 [[ 9.63292697e-01 2.68453309e-01 0.00000000e+00 3.68816113e+01] [-2.68453309e-01 9.63292697e-01 0.00000000e+00 -5.91916884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91304144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:-5.92, Z:0.03 [[ 9.64408702e-01 2.64416067e-01 0.00000000e+00 3.69087528e+01] [-2.64416067e-01 9.64408702e-01 0.00000000e+00 -5.92441344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12382573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:-5.94, Z:0.03 [[ 9.64432744e-01 2.64328361e-01 0.00000000e+00 3.69398422e+01] [-2.64328361e-01 9.64432744e-01 0.00000000e+00 -5.93577506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63834139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:-5.95, Z:0.03 [[ 9.64510058e-01 2.64046108e-01 0.00000000e+00 3.69714612e+01] [-2.64046108e-01 9.64510058e-01 0.00000000e+00 -5.94512439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08767368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:-5.95, Z:0.03 [[ 9.64911652e-01 2.62574758e-01 0.00000000e+00 3.70027036e+01] [-2.62574758e-01 9.64911652e-01 0.00000000e+00 -5.95313240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07377315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:-5.96, Z:0.03 [[ 9.64656353e-01 2.63511139e-01 0.00000000e+00 3.70330895e+01] [-2.63511139e-01 9.64656353e-01 0.00000000e+00 -5.96249144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06359953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:-5.97, Z:0.03 [[ 9.65889626e-01 2.58954109e-01 0.00000000e+00 3.70688600e+01] [-2.58954109e-01 9.65889626e-01 0.00000000e+00 -5.97101754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95369108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.09, Y:-5.98, Z:0.03 [[ 9.64529336e-01 2.63975681e-01 0.00000000e+00 3.70924646e+01] [-2.63975681e-01 9.64529336e-01 0.00000000e+00 -5.97984485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93687615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:-5.99, Z:0.03 [[ 9.65764899e-01 2.59418889e-01 0.00000000e+00 3.71294507e+01] [-2.59418889e-01 9.65764899e-01 0.00000000e+00 -5.98840413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93172294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:-6.00, Z:0.03 [[ 9.66203377e-01 2.57780982e-01 0.00000000e+00 3.71595013e+01] [-2.57780982e-01 9.66203377e-01 0.00000000e+00 -5.99613186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77607884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:-6.01, Z:0.03 [[ 9.66186791e-01 2.57843141e-01 0.00000000e+00 3.71908619e+01] [-2.57843141e-01 9.66186791e-01 0.00000000e+00 -6.00575152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89368246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:-6.01, Z:0.03 [[ 9.66542341e-01 2.56507122e-01 0.00000000e+00 3.72219593e+01] [-2.56507122e-01 9.66542341e-01 0.00000000e+00 -6.01359525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86439188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:-6.02, Z:0.03 [[ 9.66961037e-01 2.54924208e-01 0.00000000e+00 3.72539888e+01] [-2.54924208e-01 9.66961037e-01 0.00000000e+00 -6.02224636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87993007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:-6.03, Z:0.03 [[ 9.67475933e-01 2.52963080e-01 0.00000000e+00 3.72836260e+01] [-2.52963080e-01 9.67475933e-01 0.00000000e+00 -6.03022660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93036282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:-6.04, Z:0.03 [[ 9.67414399e-01 2.53198304e-01 0.00000000e+00 3.73156844e+01] [-2.53198304e-01 9.67414399e-01 0.00000000e+00 -6.03971705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93036282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:-6.05, Z:0.03 [[ 9.67440065e-01 2.53100217e-01 0.00000000e+00 3.73466241e+01] [-2.53100217e-01 9.67440065e-01 0.00000000e+00 -6.04943810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96405637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-6.06, Z:0.03 [[ 9.67745026e-01 2.51931667e-01 0.00000000e+00 3.73774717e+01] [-2.51931667e-01 9.67745026e-01 0.00000000e+00 -6.05783224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83820281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:-6.07, Z:0.03 [[ 9.67813214e-01 2.51669591e-01 0.00000000e+00 3.74103643e+01] [-2.51669591e-01 9.67813214e-01 0.00000000e+00 -6.06823439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01002097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-6.07, Z:0.03 [[ 9.68192159e-01 2.50207800e-01 0.00000000e+00 3.74404025e+01] [-2.50207800e-01 9.68192159e-01 0.00000000e+00 -6.07494289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96785721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:-6.09, Z:0.03 [[ 9.67620012e-01 2.52411395e-01 0.00000000e+00 3.74747852e+01] [-2.52411395e-01 9.67620012e-01 0.00000000e+00 -6.08807979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76251337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.634340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:-6.09, Z:0.03 [[ 9.68597717e-01 2.48633187e-01 0.00000000e+00 3.75019720e+01] [-2.48633187e-01 9.68597717e-01 0.00000000e+00 -6.09080726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88750029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:-6.10, Z:0.03 [[ 9.68635442e-01 2.48486177e-01 0.00000000e+00 3.75322715e+01] [-2.48486177e-01 9.68635442e-01 0.00000000e+00 -6.09983470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98508721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:-6.11, Z:0.03 [[ 9.68563946e-01 2.48764713e-01 0.00000000e+00 3.75637513e+01] [-2.48764713e-01 9.68563946e-01 0.00000000e+00 -6.10916849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86490035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:-6.12, Z:0.03 [[ 9.68646651e-01 2.48442481e-01 0.00000000e+00 3.75947944e+01] [-2.48442481e-01 9.68646651e-01 0.00000000e+00 -6.11769854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05051080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:-6.13, Z:0.03 [[ 9.68537209e-01 2.48868789e-01 0.00000000e+00 3.76256748e+01] [-2.48868789e-01 9.68537209e-01 0.00000000e+00 -6.12612843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10031944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:-6.13, Z:0.03 [[ 9.68362584e-01 2.49547401e-01 0.00000000e+00 3.76573156e+01] [-2.49547401e-01 9.68362584e-01 0.00000000e+00 -6.13499774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04603412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:-6.15, Z:0.03 [[ 9.67610552e-01 2.52447659e-01 0.00000000e+00 3.76901239e+01] [-2.52447659e-01 9.67610552e-01 0.00000000e+00 -6.14591324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01213295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:-6.15, Z:0.03 [[ 9.67778782e-01 2.51801962e-01 0.00000000e+00 3.77180522e+01] [-2.51801962e-01 9.67778782e-01 0.00000000e+00 -6.15127510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03219773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:-6.16, Z:0.03 [[ 9.67163491e-01 2.54155036e-01 0.00000000e+00 3.77511736e+01] [-2.54155036e-01 9.67163491e-01 0.00000000e+00 -6.16304774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84665557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:-6.17, Z:0.03 [[ 9.67195653e-01 2.54032615e-01 0.00000000e+00 3.77834306e+01] [-2.54032615e-01 9.67195653e-01 0.00000000e+00 -6.17119905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15260432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:-6.18, Z:0.03 [[ 9.67307309e-01 2.53607117e-01 0.00000000e+00 3.78120060e+01] [-2.53607117e-01 9.67307309e-01 0.00000000e+00 -6.17596668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13360602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:-6.19, Z:0.03 [[ 9.66716881e-01 2.55848533e-01 0.00000000e+00 3.78453919e+01] [-2.55848533e-01 9.66716881e-01 0.00000000e+00 -6.18795606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12909105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:-6.19, Z:0.03 [[ 9.66956418e-01 2.54941729e-01 0.00000000e+00 3.78759995e+01] [-2.54941729e-01 9.66956418e-01 0.00000000e+00 -6.19415781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06285608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:-6.20, Z:0.03 [[ 9.66926496e-01 2.55055194e-01 0.00000000e+00 3.79048124e+01] [-2.55055194e-01 9.66926496e-01 0.00000000e+00 -6.20010205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25670056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:-6.21, Z:0.03 [[ 9.66360290e-01 2.57192126e-01 0.00000000e+00 3.79381062e+01] [-2.57192126e-01 9.66360290e-01 0.00000000e+00 -6.21179787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12660381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:-6.22, Z:0.03 [[ 9.66504369e-01 2.56650159e-01 0.00000000e+00 3.79685752e+01] [-2.56650159e-01 9.66504369e-01 0.00000000e+00 -6.21865147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12195374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:-6.23, Z:0.03 [[ 9.66413116e-01 2.56993559e-01 0.00000000e+00 3.79993678e+01] [-2.56993559e-01 9.66413116e-01 0.00000000e+00 -6.22582980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33066037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:-6.24, Z:0.03 [[ 9.66337011e-01 2.57279578e-01 0.00000000e+00 3.80313992e+01] [-2.57279578e-01 9.66337011e-01 0.00000000e+00 -6.23513929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20982917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:-6.24, Z:0.03 [[ 9.66187828e-01 2.57839254e-01 0.00000000e+00 3.80617926e+01] [-2.57839254e-01 9.66187828e-01 0.00000000e+00 -6.24357668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19599777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:-6.25, Z:0.03 [[ 9.66202901e-01 2.57782764e-01 0.00000000e+00 3.80916710e+01] [-2.57782764e-01 9.66202901e-01 0.00000000e+00 -6.25190613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24639429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:-6.26, Z:0.03 [[ 9.66528186e-01 2.56560454e-01 0.00000000e+00 3.81248692e+01] [-2.56560454e-01 9.66528186e-01 0.00000000e+00 -6.26150749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13388689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:-6.27, Z:0.03 [[ 9.66592667e-01 2.56317415e-01 0.00000000e+00 3.81525851e+01] [-2.56317415e-01 9.66592667e-01 0.00000000e+00 -6.26966054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13989693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.294340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.18, Y:-6.28, Z:0.03 [[ 9.66742770e-01 2.55750693e-01 0.00000000e+00 3.81846505e+01] [-2.55750693e-01 9.66742770e-01 0.00000000e+00 -6.27892638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18848110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:-6.29, Z:0.03 [[ 9.67006008e-01 2.54753567e-01 0.00000000e+00 3.82147831e+01] [-2.54753567e-01 9.67006008e-01 0.00000000e+00 -6.28666094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25736262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.354340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.25, Y:-6.30, Z:0.03 [[ 9.66923645e-01 2.55066002e-01 0.00000000e+00 3.82465116e+01] [-2.55066002e-01 9.66923645e-01 0.00000000e+00 -6.29644171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07971201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:-6.30, Z:0.03 [[ 9.67038800e-01 2.54629061e-01 0.00000000e+00 3.82752548e+01] [-2.54629061e-01 9.67038800e-01 0.00000000e+00 -6.30402397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20479814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:-6.31, Z:0.03 [[ 9.67084092e-01 2.54456988e-01 0.00000000e+00 3.83070481e+01] [-2.54456988e-01 9.67084092e-01 0.00000000e+00 -6.31330354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13554848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:-6.32, Z:0.03 [[ 9.67292777e-01 2.53662537e-01 0.00000000e+00 3.83393600e+01] [-2.53662537e-01 9.67292777e-01 0.00000000e+00 -6.32218882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11454917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:-6.33, Z:0.03 [[ 9.66996708e-01 2.54788868e-01 0.00000000e+00 3.83691928e+01] [-2.54788868e-01 9.66996708e-01 0.00000000e+00 -6.33111505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19352871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.40, Y:-6.34, Z:0.03 [[ 9.67014093e-01 2.54722878e-01 0.00000000e+00 3.84017160e+01] [-2.54722878e-01 9.67014093e-01 0.00000000e+00 -6.33896082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11285709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.43, Y:-6.35, Z:0.03 [[ 9.66640457e-01 2.56137126e-01 0.00000000e+00 3.84312216e+01] [-2.56137126e-01 9.66640457e-01 0.00000000e+00 -6.34694368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38316499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:-6.36, Z:0.03 [[ 9.66604721e-01 2.56271953e-01 0.00000000e+00 3.84634301e+01] [-2.56271953e-01 9.66604721e-01 0.00000000e+00 -6.35610096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08320452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:-6.36, Z:0.03 [[ 9.66262931e-01 2.57557659e-01 0.00000000e+00 3.84963536e+01] [-2.57557659e-01 9.66262931e-01 0.00000000e+00 -6.36387458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24202780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:-6.37, Z:0.03 [[ 9.66034004e-01 2.58414981e-01 0.00000000e+00 3.85250136e+01] [-2.58414981e-01 9.66034004e-01 0.00000000e+00 -6.37122627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39153829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:-6.38, Z:0.03 [[ 9.65786184e-01 2.59339637e-01 0.00000000e+00 3.85581525e+01] [-2.59339637e-01 9.65786184e-01 0.00000000e+00 -6.38032454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27100005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.59, Y:-6.39, Z:0.03 [[ 9.64786675e-01 2.63033594e-01 0.00000000e+00 3.85880640e+01] [-2.63033594e-01 9.64786675e-01 0.00000000e+00 -6.38761888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37050283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:-6.40, Z:0.03 [[ 9.64882546e-01 2.62681694e-01 0.00000000e+00 3.86226746e+01] [-2.62681694e-01 9.64882546e-01 0.00000000e+00 -6.39683998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20517868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:-6.41, Z:0.03 [[ 9.64274464e-01 2.64905188e-01 0.00000000e+00 3.86526993e+01] [-2.64905188e-01 9.64274464e-01 0.00000000e+00 -6.40568409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03747233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:-6.41, Z:0.03 [[ 9.64073965e-01 2.65633940e-01 0.00000000e+00 3.86793999e+01] [-2.65633940e-01 9.64073965e-01 0.00000000e+00 -6.41206133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00621779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:-6.42, Z:0.03 [[ 9.63244476e-01 2.68626283e-01 0.00000000e+00 3.87145114e+01] [-2.68626283e-01 9.63244476e-01 0.00000000e+00 -6.42200372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95920515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:-6.43, Z:0.03 [[ 9.62963683e-01 2.69631128e-01 0.00000000e+00 3.87447399e+01] [-2.69631128e-01 9.62963683e-01 0.00000000e+00 -6.43023069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04288965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:-6.44, Z:0.03 [[ 9.62772126e-01 2.70314323e-01 0.00000000e+00 3.87756184e+01] [-2.70314323e-01 9.62772126e-01 0.00000000e+00 -6.43895062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98328010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:-6.45, Z:0.03 [[ 9.62005626e-01 2.73029624e-01 0.00000000e+00 3.88075770e+01] [-2.73029624e-01 9.62005626e-01 0.00000000e+00 -6.44838545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90762471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:-6.46, Z:0.03 [[ 9.61598356e-01 2.74460564e-01 0.00000000e+00 3.88379440e+01] [-2.74460564e-01 9.61598356e-01 0.00000000e+00 -6.45721505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92190029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:-6.47, Z:0.03 [[ 9.61145883e-01 2.76040925e-01 0.00000000e+00 3.88694872e+01] [-2.76040925e-01 9.61145883e-01 0.00000000e+00 -6.46557169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00496833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:-6.47, Z:0.03 [[ 9.60374813e-01 2.78711713e-01 0.00000000e+00 3.88953649e+01] [-2.78711713e-01 9.60374813e-01 0.00000000e+00 -6.47363177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20511708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:-6.48, Z:0.03 [[ 9.60945615e-01 2.76737287e-01 0.00000000e+00 3.89306615e+01] [-2.76737287e-01 9.60945615e-01 0.00000000e+00 -6.48303292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09962372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.96, Y:-6.49, Z:0.03 [[ 9.60079799e-01 2.79726257e-01 0.00000000e+00 3.89611925e+01] [-2.79726257e-01 9.60079799e-01 0.00000000e+00 -6.49443118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89625311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:-6.51, Z:0.03 [[ 9.59302500e-01 2.82380440e-01 0.00000000e+00 3.89934285e+01] [-2.82380440e-01 9.59302500e-01 0.00000000e+00 -6.50704354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86748937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:-6.51, Z:0.03 [[ 9.59974009e-01 2.80089096e-01 0.00000000e+00 3.90234872e+01] [-2.80089096e-01 9.59974009e-01 0.00000000e+00 -6.51268048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68022122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:-6.52, Z:0.03 [[ 9.59526314e-01 2.81618984e-01 0.00000000e+00 3.90556263e+01] [-2.81618984e-01 9.59526314e-01 0.00000000e+00 -6.52300210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60325996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:-6.53, Z:0.03 [[ 9.59002820e-01 2.83396526e-01 0.00000000e+00 3.90816480e+01] [-2.83396526e-01 9.59002820e-01 0.00000000e+00 -6.53224185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66233198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:-6.54, Z:0.03 [[ 9.58796030e-01 2.84095360e-01 0.00000000e+00 3.91155897e+01] [-2.84095360e-01 9.58796030e-01 0.00000000e+00 -6.54289890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55682266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:-6.55, Z:0.03 [[ 9.59081847e-01 2.83128965e-01 0.00000000e+00 3.91463366e+01] [-2.83128965e-01 9.59081847e-01 0.00000000e+00 -6.55094228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64363389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:-6.56, Z:0.03 [[ 9.58834382e-01 2.83965891e-01 0.00000000e+00 3.91729764e+01] [-2.83965891e-01 9.58834382e-01 0.00000000e+00 -6.55939389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59384401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:-6.57, Z:0.03 [[ 9.59228354e-01 2.82632209e-01 0.00000000e+00 3.92064537e+01] [-2.82632209e-01 9.59228354e-01 0.00000000e+00 -6.56925903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71075626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:-6.58, Z:0.03 [[ 9.59306976e-01 2.82365234e-01 0.00000000e+00 3.92362140e+01] [-2.82365234e-01 9.59306976e-01 0.00000000e+00 -6.57886232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73284920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:-6.59, Z:0.03 [[ 9.59539024e-01 2.81575677e-01 0.00000000e+00 3.92670774e+01] [-2.81575677e-01 9.59539024e-01 0.00000000e+00 -6.58856179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78871746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-6.60, Z:0.03 [[ 9.59545697e-01 2.81552935e-01 0.00000000e+00 3.92992204e+01] [-2.81552935e-01 9.59545697e-01 0.00000000e+00 -6.59804591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78871746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:-6.61, Z:0.03 [[ 9.59472602e-01 2.81801926e-01 0.00000000e+00 3.93280522e+01] [-2.81801926e-01 9.59472602e-01 0.00000000e+00 -6.60743521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83743698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:-6.62, Z:0.03 [[ 9.59713334e-01 2.80980991e-01 0.00000000e+00 3.93621468e+01] [-2.80980991e-01 9.59713334e-01 0.00000000e+00 -6.61789949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93929196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:-6.63, Z:0.03 [[ 9.59445188e-01 2.81895248e-01 0.00000000e+00 3.93919588e+01] [-2.81895248e-01 9.59445188e-01 0.00000000e+00 -6.62810133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94439387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.42, Y:-6.64, Z:0.03 [[ 9.59269670e-01 2.82491948e-01 0.00000000e+00 3.94228175e+01] [-2.82491948e-01 9.59269670e-01 0.00000000e+00 -6.63738096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94552801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.45, Y:-6.65, Z:0.03 [[ 9.59420094e-01 2.81980643e-01 0.00000000e+00 3.94529760e+01] [-2.81980643e-01 9.59420094e-01 0.00000000e+00 -6.64555328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94157718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.554340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.49, Y:-6.66, Z:0.03 [[ 9.59178948e-01 2.82799832e-01 0.00000000e+00 3.94851188e+01] [-2.82799832e-01 9.59178948e-01 0.00000000e+00 -6.65705379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91464542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:-6.67, Z:0.03 [[ 9.59221386e-01 2.82655856e-01 0.00000000e+00 3.95152825e+01] [-2.82655856e-01 9.59221386e-01 0.00000000e+00 -6.66613403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96483242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.614340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.55, Y:-6.67, Z:0.03 [[ 9.59520539e-01 2.81638662e-01 0.00000000e+00 3.95465438e+01] [-2.81638662e-01 9.59520539e-01 0.00000000e+00 -6.67473943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08654852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.58, Y:-6.68, Z:0.03 [[ 9.59206312e-01 2.82707005e-01 0.00000000e+00 3.95751857e+01] [-2.82707005e-01 9.59206312e-01 0.00000000e+00 -6.68360239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90262131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.674340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.61, Y:-6.69, Z:0.03 [[ 9.59070941e-01 2.83165905e-01 0.00000000e+00 3.96081110e+01] [-2.83165905e-01 9.59070941e-01 0.00000000e+00 -6.69412178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97851271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:-6.70, Z:0.03 [[ 9.59475212e-01 2.81793041e-01 0.00000000e+00 3.96348352e+01] [-2.81793041e-01 9.59475212e-01 0.00000000e+00 -6.70111701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69815731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.734340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.67, Y:-6.71, Z:0.03 [[ 9.59151256e-01 2.82893741e-01 0.00000000e+00 3.96683729e+01] [-2.82893741e-01 9.59151256e-01 0.00000000e+00 -6.71258147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85545673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.70, Y:-6.72, Z:0.03 [[ 9.59690130e-01 2.81060232e-01 0.00000000e+00 3.96988284e+01] [-2.81060232e-01 9.59690130e-01 0.00000000e+00 -6.72331224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66975429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:-6.73, Z:0.03 [[ 9.59886404e-01 2.80389178e-01 0.00000000e+00 3.97290260e+01] [-2.80389178e-01 9.59886404e-01 0.00000000e+00 -6.73287708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76275212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:-6.74, Z:0.03 [[ 9.60002343e-01 2.79991966e-01 0.00000000e+00 3.97600641e+01] [-2.79991966e-01 9.60002343e-01 0.00000000e+00 -6.74351346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85731856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:-6.75, Z:0.03 [[ 9.60337078e-01 2.78841705e-01 0.00000000e+00 3.97905203e+01] [-2.78841705e-01 9.60337078e-01 0.00000000e+00 -6.75251396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82577384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.884340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.82, Y:-6.76, Z:0.03 [[ 9.60598924e-01 2.77938316e-01 0.00000000e+00 3.98216259e+01] [-2.77938316e-01 9.60598924e-01 0.00000000e+00 -6.76257928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86270349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:-6.77, Z:0.03 [[ 9.60657872e-01 2.77734500e-01 0.00000000e+00 3.98514594e+01] [-2.77734500e-01 9.60657872e-01 0.00000000e+00 -6.77229423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75544596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.88, Y:-6.78, Z:0.03 [[ 9.60627277e-01 2.77840305e-01 0.00000000e+00 3.98788275e+01] [-2.77840305e-01 9.60627277e-01 0.00000000e+00 -6.78164151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92743519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:-6.79, Z:0.03 [[ 9.60552834e-01 2.78097559e-01 0.00000000e+00 3.99121888e+01] [-2.78097559e-01 9.60552834e-01 0.00000000e+00 -6.79347497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85475276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:-6.80, Z:0.03 [[ 9.60476099e-01 2.78362468e-01 0.00000000e+00 3.99426443e+01] [-2.78362468e-01 9.60476099e-01 0.00000000e+00 -6.80367470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85505026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:-6.81, Z:0.03 [[ 9.60184069e-01 2.79368131e-01 0.00000000e+00 3.99708666e+01] [-2.79368131e-01 9.60184069e-01 0.00000000e+00 -6.81251909e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96266246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:-6.82, Z:0.03 [[ 9.60089151e-01 2.79694159e-01 0.00000000e+00 4.00029631e+01] [-2.79694159e-01 9.60089151e-01 0.00000000e+00 -6.82295385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84062180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-6.83, Z:0.03 [[ 9.59886278e-01 2.80389609e-01 0.00000000e+00 4.00336925e+01] [-2.80389609e-01 9.59886278e-01 0.00000000e+00 -6.83265334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80018981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.06, Y:-6.84, Z:0.03 [[ 9.59986487e-01 2.80046326e-01 0.00000000e+00 4.00630069e+01] [-2.80046326e-01 9.59986487e-01 0.00000000e+00 -6.84206211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75383430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-6.85, Z:0.03 [[ 9.60025980e-01 2.79910910e-01 0.00000000e+00 4.00932082e+01] [-2.79910910e-01 9.60025980e-01 0.00000000e+00 -6.85274356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85316316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:-6.86, Z:0.03 [[ 9.60025379e-01 2.79912972e-01 0.00000000e+00 4.01223471e+01] [-2.79912972e-01 9.60025379e-01 0.00000000e+00 -6.86308307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97243335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.214340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.15, Y:-6.87, Z:0.03 [[ 9.60960640e-01 2.76685105e-01 0.00000000e+00 4.01538305e+01] [-2.76685105e-01 9.60960640e-01 0.00000000e+00 -6.87397647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97845259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:-6.88, Z:0.03 [[ 9.61234804e-01 2.75731123e-01 0.00000000e+00 4.01828093e+01] [-2.75731123e-01 9.61234804e-01 0.00000000e+00 -6.88377603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83395561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-6.89, Z:0.03 [[ 9.61591441e-01 2.74484791e-01 0.00000000e+00 4.02142139e+01] [-2.74484791e-01 9.61591441e-01 0.00000000e+00 -6.89457176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71662156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-6.91, Z:0.03 [[ 9.62558875e-01 2.71072708e-01 0.00000000e+00 4.02435364e+01] [-2.71072708e-01 9.62558875e-01 0.00000000e+00 -6.90566913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79680630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:-6.92, Z:0.03 [[ 9.62853038e-01 2.70025973e-01 0.00000000e+00 4.02741815e+01] [-2.70025973e-01 9.62853038e-01 0.00000000e+00 -6.91635737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74744798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:-6.93, Z:0.03 [[ 9.63505676e-01 2.67687902e-01 0.00000000e+00 4.03049029e+01] [-2.67687902e-01 9.63505676e-01 0.00000000e+00 -6.93011306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72595039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:-6.94, Z:0.03 [[ 9.64123845e-01 2.65452842e-01 0.00000000e+00 4.03350968e+01] [-2.65452842e-01 9.64123845e-01 0.00000000e+00 -6.93936722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62709225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:-6.95, Z:0.03 [[ 9.64260025e-01 2.64957739e-01 0.00000000e+00 4.03654483e+01] [-2.64957739e-01 9.64260025e-01 0.00000000e+00 -6.95008863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83767288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.454340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.40, Y:-6.96, Z:0.03 [[ 9.64480231e-01 2.64155036e-01 0.00000000e+00 4.03955032e+01] [-2.64155036e-01 9.64480231e-01 0.00000000e+00 -6.96030554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52658387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:-6.97, Z:0.03 [[ 9.64164178e-01 2.65306309e-01 0.00000000e+00 4.04261049e+01] [-2.65306309e-01 9.64164178e-01 0.00000000e+00 -6.97280175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73127304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.46, Y:-6.98, Z:0.03 [[ 9.64306168e-01 2.64789755e-01 0.00000000e+00 4.04570684e+01] [-2.64789755e-01 9.64306168e-01 0.00000000e+00 -6.98199149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71988219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:-6.99, Z:0.03 [[ 9.63408871e-01 2.68036092e-01 0.00000000e+00 4.04836000e+01] [-2.68036092e-01 9.63408871e-01 0.00000000e+00 -6.99241248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68863367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:-7.00, Z:0.03 [[ 9.63256297e-01 2.68583892e-01 0.00000000e+00 4.05179993e+01] [-2.68583892e-01 9.63256297e-01 0.00000000e+00 -7.00389894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04722194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:-7.01, Z:0.03 [[ 9.62818756e-01 2.70148188e-01 0.00000000e+00 4.05471421e+01] [-2.70148188e-01 9.62818756e-01 0.00000000e+00 -7.01291508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11014498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.634340128000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.58, Y:-7.02, Z:0.03 [[ 9.62218919e-01 2.72276975e-01 0.00000000e+00 4.05786031e+01] [-2.72276975e-01 9.62218919e-01 0.00000000e+00 -7.02478510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24228365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:-7.03, Z:0.03 [[ 9.61264148e-01 2.75628804e-01 0.00000000e+00 4.06071855e+01] [-2.75628804e-01 9.61264148e-01 0.00000000e+00 -7.03286051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22258057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:-7.04, Z:0.03 [[ 9.60448115e-01 2.78459006e-01 0.00000000e+00 4.06371564e+01] [-2.78459006e-01 9.60448115e-01 0.00000000e+00 -7.04334214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40193928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:-7.05, Z:0.04 [[ 9.60035939e-01 2.79876750e-01 0.00000000e+00 4.06671353e+01] [-2.79876750e-01 9.60035939e-01 0.00000000e+00 -7.05244749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55033257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:-7.07, Z:0.04 [[ 9.59048200e-01 2.83242917e-01 0.00000000e+00 4.06992746e+01] [-2.83242917e-01 9.59048200e-01 0.00000000e+00 -7.06504588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67942579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:-7.07, Z:0.04 [[ 9.58289002e-01 2.85800959e-01 0.00000000e+00 4.07271516e+01] [-2.85800959e-01 9.58289002e-01 0.00000000e+00 -7.07262185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57153827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.814340128000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.76, Y:-7.08, Z:0.04 [[ 9.57116063e-01 2.89704748e-01 0.00000000e+00 4.07565999e+01] [-2.89704748e-01 9.57116063e-01 0.00000000e+00 -7.08235120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72886042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:-7.09, Z:0.04 [[ 9.56572767e-01 2.91493638e-01 0.00000000e+00 4.07888168e+01] [-2.91493638e-01 9.56572767e-01 0.00000000e+00 -7.09273760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95964154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:-7.10, Z:0.04 [[ 9.56240805e-01 2.92580797e-01 0.00000000e+00 4.08201585e+01] [-2.92580797e-01 9.56240805e-01 0.00000000e+00 -7.10187475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82155187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:-7.11, Z:0.04 [[ 9.55508254e-01 2.94964364e-01 0.00000000e+00 4.08499448e+01] [-2.94964364e-01 9.55508254e-01 0.00000000e+00 -7.11103032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93153925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:-7.12, Z:0.04 [[ 9.55268205e-01 2.95740862e-01 0.00000000e+00 4.08836129e+01] [-2.95740862e-01 9.55268205e-01 0.00000000e+00 -7.12152672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98800096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:-7.13, Z:0.04 [[ 0.95440425 0.29851721 0. 40.91291267] [-0.29851721 0.95440425 0. -7.13089496] [ 0. 0. 1. 0.04133448] [ 0. 0. 0. 1. ]] SLAMing on 38.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:-7.14, Z:0.04 [[ 9.54900976e-01 2.96924445e-01 0.00000000e+00 4.09448411e+01] [-2.96924445e-01 9.54900976e-01 0.00000000e+00 -7.14065013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05885371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:-7.15, Z:0.04 [[ 9.54615738e-01 2.97840213e-01 0.00000000e+00 4.09719228e+01] [-2.97840213e-01 9.54615738e-01 0.00000000e+00 -7.14922976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06295467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:-7.16, Z:0.04 [[ 0.95438973 0.29856362 0. 41.00109634] [-0.29856362 0.95438973 0. -7.15919825] [ 0. 0. 1. 0.04131888] [ 0. 0. 0. 1. ]] SLAMing on 39.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:-7.17, Z:0.04 [[ 9.54979686e-01 2.96671196e-01 0.00000000e+00 4.10345908e+01] [-2.96671196e-01 9.54979686e-01 0.00000000e+00 -7.17005097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98578449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:-7.18, Z:0.04 [[ 0.95472458 0.29749113 0. 41.06560724] [-0.29749113 0.95472458 0. -7.18063058] [ 0. 0. 1. 0.04222843] [ 0. 0. 0. 1. ]] SLAMing on 39.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:-7.19, Z:0.04 [[ 0.95501524 0.29655673 0. 41.09788247] [-0.29655673 0.95501524 0. -7.18938697] [ 0. 0. 1. 0.0416641 ] [ 0. 0. 0. 1. ]] SLAMing on 39.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:-7.19, Z:0.04 [[ 0.95580742 0.29399348 0. 41.12556414] [-0.29399348 0.95580742 0. -7.1947166 ] [ 0. 0. 1. 0.04363222] [ 0. 0. 0. 1. ]] SLAMing on 39.204340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:-7.20, Z:0.04 [[ 0.95647397 0.29181766 0. 41.1572609 ] [-0.29181766 0.95647397 0. -7.20398366] [ 0. 0. 1. 0.04293851] [ 0. 0. 0. 1. ]] SLAMing on 39.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:-7.21, Z:0.04 [[ 0.95664994 0.29124028 0. 41.18708341] [-0.29124028 0.95664994 0. -7.2129159 ] [ 0. 0. 1. 0.0422111 ] [ 0. 0. 0. 1. ]] SLAMing on 39.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:-7.22, Z:0.04 [[ 0.95688314 0.29047318 0. 41.21795433] [-0.29047318 0.95688314 0. -7.221217 ] [ 0. 0. 1. 0.04283917] [ 0. 0. 0. 1. ]] SLAMing on 39.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:-7.23, Z:0.04 [[ 0.95677157 0.29084044 0. 41.24972707] [-0.29084044 0.95677157 0. -7.23146217] [ 0. 0. 1. 0.04283917] [ 0. 0. 0. 1. ]] SLAMing on 39.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:-7.24, Z:0.04 [[ 0.95695743 0.29022831 0. 41.28146921] [-0.29022831 0.95695743 0. -7.23848308] [ 0. 0. 1. 0.04141385] [ 0. 0. 0. 1. ]] SLAMing on 39.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:-7.25, Z:0.04 [[ 9.56699432e-01 2.91077647e-01 0.00000000e+00 4.13119729e+01] [-2.91077647e-01 9.56699432e-01 0.00000000e+00 -7.24788973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06723867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:-7.25, Z:0.04 [[ 0.95695799 0.29022648 0. 41.34181741] [-0.29022648 0.95695799 0. -7.25410089] [ 0. 0. 1. 0.04182829] [ 0. 0. 0. 1. ]] SLAMing on 39.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:-7.26, Z:0.04 [[ 0.95661993 0.29133882 0. 41.37503112] [-0.29133882 0.95661993 0. -7.26290514] [ 0. 0. 1. 0.04321908] [ 0. 0. 0. 1. ]] SLAMing on 39.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:-7.27, Z:0.04 [[ 0.95676352 0.29086693 0. 41.40346643] [-0.29086693 0.95676352 0. -7.26953944] [ 0. 0. 1. 0.04391571] [ 0. 0. 0. 1. ]] SLAMing on 39.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.44, Y:-7.28, Z:0.04 [[ 0.95647818 0.29180385 0. 41.43694428] [-0.29180385 0.95647818 0. -7.27772264] [ 0. 0. 1. 0.0438282 ] [ 0. 0. 0. 1. ]] SLAMing on 39.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.47, Y:-7.28, Z:0.04 [[ 0.95666874 0.2911785 0. 41.46832034] [-0.2911785 0.95666874 0. -7.28444969] [ 0. 0. 1. 0.04331231] [ 0. 0. 0. 1. ]] SLAMing on 39.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:-7.29, Z:0.04 [[ 0.95624152 0.29257844 0. 41.49856665] [-0.29257844 0.95624152 0. -7.29254717] [ 0. 0. 1. 0.04347499] [ 0. 0. 0. 1. ]] SLAMing on 39.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:-7.30, Z:0.04 [[ 0.9562611 0.29251447 0. 41.53160413] [-0.29251447 0.9562611 0. -7.29781884] [ 0. 0. 1. 0.04201113] [ 0. 0. 0. 1. ]] SLAMing on 39.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:-7.31, Z:0.04 [[ 0.95572888 0.29424871 0. 41.56211612] [-0.29424871 0.95572888 0. -7.30648511] [ 0. 0. 1. 0.04215465] [ 0. 0. 0. 1. ]] SLAMing on 39.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:-7.31, Z:0.04 [[ 0.95559884 0.29467077 0. 41.5938042 ] [-0.29467077 0.95559884 0. -7.31399238] [ 0. 0. 1. 0.04164389] [ 0. 0. 0. 1. ]] SLAMing on 39.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:-7.32, Z:0.04 [[ 9.55227590e-01 2.95872019e-01 0.00000000e+00 4.16253252e+01] [-2.95872019e-01 9.55227590e-01 0.00000000e+00 -7.32158331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04341870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:-7.33, Z:0.04 [[ 9.55195407e-01 2.95975901e-01 0.00000000e+00 4.16567016e+01] [-2.95975901e-01 9.55195407e-01 0.00000000e+00 -7.32979393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89235874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:-7.33, Z:0.04 [[ 9.55254565e-01 2.95784916e-01 0.00000000e+00 4.16870811e+01] [-2.95784916e-01 9.55254565e-01 0.00000000e+00 -7.33431924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82490498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.744340128000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.72, Y:-7.34, Z:0.04 [[ 9.55241149e-01 2.95828238e-01 0.00000000e+00 4.17200918e+01] [-2.95828238e-01 9.55241149e-01 0.00000000e+00 -7.34329536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82278648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:-7.35, Z:0.04 [[ 9.55090287e-01 2.96314939e-01 0.00000000e+00 4.17520634e+01] [-2.96314939e-01 9.55090287e-01 0.00000000e+00 -7.35284260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73080647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.804340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.78, Y:-7.36, Z:0.04 [[ 9.55125510e-01 2.96201385e-01 0.00000000e+00 4.17834725e+01] [-2.96201385e-01 9.55125510e-01 0.00000000e+00 -7.36112361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69240613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:-7.37, Z:0.04 [[ 9.55476537e-01 2.95067091e-01 0.00000000e+00 4.18157986e+01] [-2.95067091e-01 9.55476537e-01 0.00000000e+00 -7.36875921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61725008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:-7.38, Z:0.04 [[ 9.55553276e-01 2.94818480e-01 0.00000000e+00 4.18468924e+01] [-2.94818480e-01 9.55553276e-01 0.00000000e+00 -7.37784635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56645657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:-7.39, Z:0.04 [[ 9.55861211e-01 2.93818559e-01 0.00000000e+00 4.18795197e+01] [-2.93818559e-01 9.55861211e-01 0.00000000e+00 -7.38718698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50801400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:-7.40, Z:0.03 [[ 9.56373183e-01 2.92147797e-01 0.00000000e+00 4.19114068e+01] [-2.92147797e-01 9.56373183e-01 0.00000000e+00 -7.39586792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35263154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.954340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:-7.40, Z:0.03 [[ 9.56786963e-01 2.90789800e-01 0.00000000e+00 4.19416992e+01] [-2.90789800e-01 9.56786963e-01 0.00000000e+00 -7.40395761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34759298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:-7.41, Z:0.03 [[ 9.57006454e-01 2.90066625e-01 0.00000000e+00 4.19722783e+01] [-2.90066625e-01 9.57006454e-01 0.00000000e+00 -7.41259716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26831579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:-7.42, Z:0.03 [[ 9.57550705e-01 2.88264890e-01 0.00000000e+00 4.20041778e+01] [-2.88264890e-01 9.57550705e-01 0.00000000e+00 -7.42091069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27372162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:-7.43, Z:0.03 [[ 9.57391218e-01 2.88794139e-01 0.00000000e+00 4.20324547e+01] [-2.88794139e-01 9.57391218e-01 0.00000000e+00 -7.42970633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18429079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:-7.44, Z:0.03 [[ 9.57487763e-01 2.88473887e-01 0.00000000e+00 4.20634503e+01] [-2.88473887e-01 9.57487763e-01 0.00000000e+00 -7.43878810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09695821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:-7.45, Z:0.03 [[ 9.58331150e-01 2.85659598e-01 0.00000000e+00 4.20956374e+01] [-2.85659598e-01 9.58331150e-01 0.00000000e+00 -7.44718154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28093199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:-7.46, Z:0.03 [[ 9.58484968e-01 2.85143062e-01 0.00000000e+00 4.21263587e+01] [-2.85143062e-01 9.58484968e-01 0.00000000e+00 -7.45692530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19215729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:-7.47, Z:0.03 [[ 9.58930523e-01 2.83641061e-01 0.00000000e+00 4.21579714e+01] [-2.83641061e-01 9.58930523e-01 0.00000000e+00 -7.46748577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84982416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:-7.48, Z:0.03 [[ 9.59021950e-01 2.83331782e-01 0.00000000e+00 4.21904087e+01] [-2.83331782e-01 9.59021950e-01 0.00000000e+00 -7.47946629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99296271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:-7.49, Z:0.03 [[ 9.58781156e-01 2.84145551e-01 0.00000000e+00 4.22184200e+01] [-2.84145551e-01 9.58781156e-01 0.00000000e+00 -7.49035705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10819416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:-7.50, Z:0.03 [[ 9.59161796e-01 2.82858002e-01 0.00000000e+00 4.22486016e+01] [-2.82858002e-01 9.59161796e-01 0.00000000e+00 -7.49951126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89996881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:-7.51, Z:0.03 [[ 9.59462123e-01 2.81837602e-01 0.00000000e+00 4.22814754e+01] [-2.81837602e-01 9.59462123e-01 0.00000000e+00 -7.51155023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97779537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:-7.52, Z:0.03 [[ 9.59982340e-01 2.80060543e-01 0.00000000e+00 4.23111623e+01] [-2.80060543e-01 9.59982340e-01 0.00000000e+00 -7.51903785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83174253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:-7.53, Z:0.03 [[ 9.59056423e-01 2.83215073e-01 0.00000000e+00 4.23430980e+01] [-2.83215073e-01 9.59056423e-01 0.00000000e+00 -7.53375531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99780783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:-7.54, Z:0.03 [[ 9.58976650e-01 2.83485071e-01 0.00000000e+00 4.23734078e+01] [-2.83485071e-01 9.58976650e-01 0.00000000e+00 -7.54451332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01318018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:-7.55, Z:0.03 [[ 9.58866694e-01 2.83856764e-01 0.00000000e+00 4.24013327e+01] [-2.83856764e-01 9.58866694e-01 0.00000000e+00 -7.55261801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82217789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.43, Y:-7.56, Z:0.03 [[ 9.58124942e-01 2.86350478e-01 0.00000000e+00 4.24330660e+01] [-2.86350478e-01 9.58124942e-01 0.00000000e+00 -7.56423759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85734987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:-7.58, Z:0.03 [[ 9.56782142e-01 2.90805663e-01 0.00000000e+00 4.24671727e+01] [-2.90805663e-01 9.56782142e-01 0.00000000e+00 -7.58033242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93095876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:-7.58, Z:0.03 [[ 9.58170421e-01 2.86198260e-01 0.00000000e+00 4.24926384e+01] [-2.86198260e-01 9.58170421e-01 0.00000000e+00 -7.58105609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84389098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:-7.59, Z:0.03 [[ 9.57234462e-01 2.89313300e-01 0.00000000e+00 4.25230378e+01] [-2.89313300e-01 9.57234462e-01 0.00000000e+00 -7.59357887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89283219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:-7.61, Z:0.03 [[ 9.56074948e-01 2.93122320e-01 0.00000000e+00 4.25532082e+01] [-2.93122320e-01 9.56074948e-01 0.00000000e+00 -7.60571463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00918658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:-7.61, Z:0.03 [[ 9.56175981e-01 2.92792578e-01 0.00000000e+00 4.25796336e+01] [-2.92792578e-01 9.56175981e-01 0.00000000e+00 -7.61395336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90166874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:-7.63, Z:0.03 [[ 9.54943306e-01 2.96788277e-01 0.00000000e+00 4.26124804e+01] [-2.96788277e-01 9.54943306e-01 0.00000000e+00 -7.62891793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27836793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:-7.64, Z:0.03 [[ 9.54736349e-01 2.97453366e-01 0.00000000e+00 4.26438446e+01] [-2.97453366e-01 9.54736349e-01 0.00000000e+00 -7.63994365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21181149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:-7.65, Z:0.03 [[ 9.54327960e-01 2.98761017e-01 0.00000000e+00 4.26751378e+01] [-2.98761017e-01 9.54327960e-01 0.00000000e+00 -7.65137359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32068703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.704340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:-7.66, Z:0.03 [[ 9.53605606e-01 3.01058712e-01 0.00000000e+00 4.27043365e+01] [-3.01058712e-01 9.53605606e-01 0.00000000e+00 -7.66368904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25953675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:-7.67, Z:0.03 [[ 9.53521200e-01 3.01325938e-01 0.00000000e+00 4.27353733e+01] [-3.01325938e-01 9.53521200e-01 0.00000000e+00 -7.67379085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31131500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:-7.68, Z:0.03 [[ 9.53674202e-01 3.00841346e-01 0.00000000e+00 4.27630424e+01] [-3.00841346e-01 9.53674202e-01 0.00000000e+00 -7.68147100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47665661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:-7.70, Z:0.03 [[ 9.52847176e-01 3.03450589e-01 0.00000000e+00 4.27953921e+01] [-3.03450589e-01 9.52847176e-01 0.00000000e+00 -7.69552458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43141322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:-7.70, Z:0.04 [[ 9.52866446e-01 3.03390072e-01 0.00000000e+00 4.28229090e+01] [-3.03390072e-01 9.52866446e-01 0.00000000e+00 -7.70378296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50672103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:-7.72, Z:0.03 [[ 9.52312551e-01 3.05124244e-01 0.00000000e+00 4.28548473e+01] [-3.05124244e-01 9.52312551e-01 0.00000000e+00 -7.71680624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40200326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:-7.73, Z:0.03 [[ 9.51998581e-01 3.06102436e-01 0.00000000e+00 4.28837856e+01] [-3.06102436e-01 9.51998581e-01 0.00000000e+00 -7.72759764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35032746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.91, Y:-7.74, Z:0.03 [[ 9.51472558e-01 3.07733605e-01 0.00000000e+00 4.29122584e+01] [-3.07733605e-01 9.51472558e-01 0.00000000e+00 -7.73751365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36593817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:-7.75, Z:0.03 [[ 9.51828530e-01 3.06630802e-01 0.00000000e+00 4.29432079e+01] [-3.06630802e-01 9.51828530e-01 0.00000000e+00 -7.74950025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38142307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:-7.76, Z:0.03 [[ 9.51795703e-01 3.06732684e-01 0.00000000e+00 4.29736495e+01] [-3.06732684e-01 9.51795703e-01 0.00000000e+00 -7.76095793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29834200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:-7.77, Z:0.03 [[ 9.51828231e-01 3.06631731e-01 0.00000000e+00 4.30041223e+01] [-3.06631731e-01 9.51828231e-01 0.00000000e+00 -7.77289260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37824768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:-7.79, Z:0.03 [[ 9.52633699e-01 3.04120102e-01 0.00000000e+00 4.30330555e+01] [-3.04120102e-01 9.52633699e-01 0.00000000e+00 -7.78519832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47776990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:-7.80, Z:0.03 [[ 9.52953097e-01 3.03117792e-01 0.00000000e+00 4.30637474e+01] [-3.03117792e-01 9.52953097e-01 0.00000000e+00 -7.79685116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49281133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:-7.81, Z:0.03 [[ 9.53196158e-01 3.02352582e-01 0.00000000e+00 4.30916202e+01] [-3.02352582e-01 9.53196158e-01 0.00000000e+00 -7.80723703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42538966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:-7.82, Z:0.04 [[ 9.53515319e-01 3.01344547e-01 0.00000000e+00 4.31235834e+01] [-3.01344547e-01 9.53515319e-01 0.00000000e+00 -7.81992214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52011052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.154340128 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:43.15, Y:-7.83, Z:0.04 [[ 9.53544527e-01 3.01252113e-01 0.00000000e+00 4.31514340e+01] [-3.01252113e-01 9.53544527e-01 0.00000000e+00 -7.82902268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62246422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.18, Y:-7.84, Z:0.04 [[ 9.53019835e-01 3.02907897e-01 0.00000000e+00 4.31842762e+01] [-3.02907897e-01 9.53019835e-01 0.00000000e+00 -7.84258551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63648186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:-7.85, Z:0.04 [[ 9.53049522e-01 3.02814479e-01 0.00000000e+00 4.32162689e+01] [-3.02814479e-01 9.53049522e-01 0.00000000e+00 -7.85264865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63648186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:-7.86, Z:0.04 [[ 9.52774799e-01 3.03677760e-01 0.00000000e+00 4.32505720e+01] [-3.03677760e-01 9.52774799e-01 0.00000000e+00 -7.86420507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67732147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.274340128 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:43.27, Y:-7.87, Z:0.04 [[ 9.52953865e-01 3.03115378e-01 0.00000000e+00 4.32748869e+01] [-3.03115378e-01 9.52953865e-01 0.00000000e+00 -7.87072160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51698115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:-7.89, Z:0.03 [[ 9.51878851e-01 3.06474556e-01 0.00000000e+00 4.33110167e+01] [-3.06474556e-01 9.51878851e-01 0.00000000e+00 -7.88521006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44003319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:-7.89, Z:0.04 [[ 9.52209843e-01 3.05444619e-01 0.00000000e+00 4.33396061e+01] [-3.05444619e-01 9.52209843e-01 0.00000000e+00 -7.89263352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56142705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:-7.90, Z:0.03 [[ 9.52294964e-01 3.05179132e-01 0.00000000e+00 4.33684459e+01] [-3.05179132e-01 9.52294964e-01 0.00000000e+00 -7.90080708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42580453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:-7.91, Z:0.03 [[ 9.51847997e-01 3.06570368e-01 0.00000000e+00 4.34013844e+01] [-3.06570368e-01 9.51847997e-01 0.00000000e+00 -7.91272076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45842989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:-7.92, Z:0.03 [[ 9.51724823e-01 3.06952539e-01 0.00000000e+00 4.34263265e+01] [-3.06952539e-01 9.51724823e-01 0.00000000e+00 -7.92043736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32901564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.454340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-7.93, Z:0.03 [[ 9.51896425e-01 3.06419968e-01 0.00000000e+00 4.34591439e+01] [-3.06419968e-01 9.51896425e-01 0.00000000e+00 -7.93091214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30436903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:-7.95, Z:0.03 [[ 9.50416690e-01 3.10979286e-01 0.00000000e+00 4.34903291e+01] [-3.10979286e-01 9.50416690e-01 0.00000000e+00 -7.94722920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40144374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:-7.95, Z:0.03 [[ 9.51887120e-01 3.06448871e-01 0.00000000e+00 4.35164175e+01] [-3.06448871e-01 9.51887120e-01 0.00000000e+00 -7.94928893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28263103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:-7.96, Z:0.03 [[ 9.51330852e-01 3.08171398e-01 0.00000000e+00 4.35477262e+01] [-3.08171398e-01 9.51330852e-01 0.00000000e+00 -7.96288061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30415629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.574340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.58, Y:-7.97, Z:0.03 [[ 9.52271022e-01 3.05253831e-01 0.00000000e+00 4.35801948e+01] [-3.05253831e-01 9.52271022e-01 0.00000000e+00 -7.97119901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34707470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:-7.98, Z:0.03 [[ 9.52566869e-01 3.04329362e-01 0.00000000e+00 4.36065084e+01] [-3.04329362e-01 9.52566869e-01 0.00000000e+00 -7.98219967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44387211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.64, Y:-7.99, Z:0.04 [[ 9.52873669e-01 3.03367386e-01 0.00000000e+00 4.36363965e+01] [-3.03367386e-01 9.52873669e-01 0.00000000e+00 -7.99179628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54599494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:-8.00, Z:0.03 [[ 9.53326872e-01 3.01940183e-01 0.00000000e+00 4.36674162e+01] [-3.01940183e-01 9.53326872e-01 0.00000000e+00 -8.00337965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37191886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:-8.01, Z:0.03 [[ 9.53428510e-01 3.01619091e-01 0.00000000e+00 4.36968049e+01] [-3.01619091e-01 9.53428510e-01 0.00000000e+00 -8.01419671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34658256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:-8.03, Z:0.03 [[ 9.53076980e-01 3.02728047e-01 0.00000000e+00 4.37286634e+01] [-3.02728047e-01 9.53076980e-01 0.00000000e+00 -8.02805867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31252356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:-8.04, Z:0.03 [[ 9.53422816e-01 3.01637090e-01 0.00000000e+00 4.37607941e+01] [-3.01637090e-01 9.53422816e-01 0.00000000e+00 -8.04176302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32168571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:-8.05, Z:0.03 [[ 9.53965677e-01 2.99915801e-01 0.00000000e+00 4.37909239e+01] [-2.99915801e-01 9.53965677e-01 0.00000000e+00 -8.05127354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32932279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:-8.06, Z:0.03 [[ 9.53716428e-01 3.00707458e-01 0.00000000e+00 4.38203232e+01] [-3.00707458e-01 9.53716428e-01 0.00000000e+00 -8.06388026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33876087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844340128 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:43.85, Y:-8.07, Z:0.04 [[ 9.54270700e-01 2.98943859e-01 0.00000000e+00 4.38530052e+01] [-2.98943859e-01 9.54270700e-01 0.00000000e+00 -8.07424799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56174711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:-8.08, Z:0.03 [[ 9.55230659e-01 2.95862110e-01 0.00000000e+00 4.38823034e+01] [-2.95862110e-01 9.55230659e-01 0.00000000e+00 -8.08011871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23157552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:-8.09, Z:0.03 [[ 9.54274894e-01 2.98930471e-01 0.00000000e+00 4.39121400e+01] [-2.98930471e-01 9.54274894e-01 0.00000000e+00 -8.09397508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36870664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.94, Y:-8.10, Z:0.03 [[ 9.55088290e-01 2.96321376e-01 0.00000000e+00 4.39413159e+01] [-2.96321376e-01 9.55088290e-01 0.00000000e+00 -8.09920316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19788909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:-8.11, Z:0.03 [[ 9.54816100e-01 2.97197266e-01 0.00000000e+00 4.39732366e+01] [-2.97197266e-01 9.54816100e-01 0.00000000e+00 -8.11084456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22482905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.00, Y:-8.12, Z:0.03 [[ 9.54873292e-01 2.97013463e-01 0.00000000e+00 4.40020057e+01] [-2.97013463e-01 9.54873292e-01 0.00000000e+00 -8.11867808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16838976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.03, Y:-8.13, Z:0.03 [[ 9.52802079e-01 3.03592156e-01 0.00000000e+00 4.40347877e+01] [-3.03592156e-01 9.52802079e-01 0.00000000e+00 -8.13422758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34628870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:-8.14, Z:0.03 [[ 9.53284692e-01 3.02073329e-01 0.00000000e+00 4.40647404e+01] [-3.02073329e-01 9.53284692e-01 0.00000000e+00 -8.13933326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15415218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:-8.15, Z:0.03 [[ 9.52956544e-01 3.03106955e-01 0.00000000e+00 4.40945093e+01] [-3.03106955e-01 9.52956544e-01 0.00000000e+00 -8.14642456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30939482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.114340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.13, Y:-8.16, Z:0.03 [[ 9.51274967e-01 3.08343862e-01 0.00000000e+00 4.41264453e+01] [-3.08343862e-01 9.51274967e-01 0.00000000e+00 -8.16203266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36750176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:-8.17, Z:0.03 [[ 9.52202000e-01 3.05469066e-01 0.00000000e+00 4.41542544e+01] [-3.05469066e-01 9.52202000e-01 0.00000000e+00 -8.16547312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31585861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.19, Y:-8.18, Z:0.03 [[ 9.51996441e-01 3.06109091e-01 0.00000000e+00 4.41853001e+01] [-3.06109091e-01 9.51996441e-01 0.00000000e+00 -8.17576585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36033699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:-8.19, Z:0.03 [[ 9.51147171e-01 3.08737849e-01 0.00000000e+00 4.42177722e+01] [-3.08737849e-01 9.51147171e-01 0.00000000e+00 -8.18913210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24811864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.234340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.25, Y:-8.19, Z:0.03 [[ 9.51703047e-01 3.07020050e-01 0.00000000e+00 4.42452870e+01] [-3.07020050e-01 9.51703047e-01 0.00000000e+00 -8.19458012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16063464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:-8.20, Z:0.03 [[ 9.51611118e-01 3.07304864e-01 0.00000000e+00 4.42757766e+01] [-3.07304864e-01 9.51611118e-01 0.00000000e+00 -8.20467134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24478395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:-8.21, Z:0.04 [[ 9.52331499e-01 3.05065103e-01 0.00000000e+00 4.43099300e+01] [-3.05065103e-01 9.52331499e-01 0.00000000e+00 -8.21481270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50112520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:-8.22, Z:0.03 [[ 9.52312930e-01 3.05123064e-01 0.00000000e+00 4.43413032e+01] [-3.05123064e-01 9.52312930e-01 0.00000000e+00 -8.22457961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44967711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:-8.23, Z:0.03 [[ 9.52476105e-01 3.04613313e-01 0.00000000e+00 4.43729875e+01] [-3.04613313e-01 9.52476105e-01 0.00000000e+00 -8.23370333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33934595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:-8.24, Z:0.03 [[ 9.52428803e-01 3.04761177e-01 0.00000000e+00 4.44036634e+01] [-3.04761177e-01 9.52428803e-01 0.00000000e+00 -8.24366735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33054488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:-8.25, Z:0.03 [[ 9.52609569e-01 3.04195674e-01 0.00000000e+00 4.44346114e+01] [-3.04195674e-01 9.52609569e-01 0.00000000e+00 -8.25361229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18455356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:-8.26, Z:0.03 [[ 9.51716298e-01 3.06978971e-01 0.00000000e+00 4.44614041e+01] [-3.06978971e-01 9.51716298e-01 0.00000000e+00 -8.26328701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82744097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:-8.27, Z:0.03 [[ 9.52782824e-01 3.03652581e-01 0.00000000e+00 4.44956761e+01] [-3.03652581e-01 9.52782824e-01 0.00000000e+00 -8.27322414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10457316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:-8.28, Z:0.03 [[ 9.52854081e-01 3.03428906e-01 0.00000000e+00 4.45269879e+01] [-3.03428906e-01 9.52854081e-01 0.00000000e+00 -8.28351710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10576940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:-8.29, Z:0.03 [[ 9.53204941e-01 3.02324892e-01 0.00000000e+00 4.45573137e+01] [-3.02324892e-01 9.53204941e-01 0.00000000e+00 -8.29267329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02965783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:-8.30, Z:0.03 [[ 9.53352454e-01 3.01859403e-01 0.00000000e+00 4.45886033e+01] [-3.01859403e-01 9.53352454e-01 0.00000000e+00 -8.30268997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00942001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.62, Y:-8.31, Z:0.03 [[ 9.53584057e-01 3.01126960e-01 0.00000000e+00 4.46203767e+01] [-3.01126960e-01 9.53584057e-01 0.00000000e+00 -8.31273734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02457109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:-8.32, Z:0.03 [[ 9.54033954e-01 2.99698538e-01 0.00000000e+00 4.46519310e+01] [-2.99698538e-01 9.54033954e-01 0.00000000e+00 -8.32293295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07762307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:-8.33, Z:0.03 [[ 9.54171374e-01 2.99260736e-01 0.00000000e+00 4.46825542e+01] [-2.99260736e-01 9.54171374e-01 0.00000000e+00 -8.33320685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03824257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:-8.34, Z:0.03 [[ 9.54288197e-01 2.98888002e-01 0.00000000e+00 4.47140986e+01] [-2.98888002e-01 9.54288197e-01 0.00000000e+00 -8.34333786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06524235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:-8.35, Z:0.03 [[ 9.54333191e-01 2.98744305e-01 0.00000000e+00 4.47443425e+01] [-2.98744305e-01 9.54333191e-01 0.00000000e+00 -8.35297681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01941864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:-8.36, Z:0.03 [[ 9.54311897e-01 2.98812320e-01 0.00000000e+00 4.47754120e+01] [-2.98812320e-01 9.54311897e-01 0.00000000e+00 -8.36332281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02200394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.774340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.81, Y:-8.38, Z:0.03 [[ 9.53751120e-01 3.00597406e-01 0.00000000e+00 4.48065435e+01] [-3.00597406e-01 9.53751120e-01 0.00000000e+00 -8.37668834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98183168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.84, Y:-8.38, Z:0.03 [[ 9.54316740e-01 2.98796852e-01 0.00000000e+00 4.48353381e+01] [-2.98796852e-01 9.54316740e-01 0.00000000e+00 -8.38370525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04783011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:-8.39, Z:0.03 [[ 9.54300284e-01 2.98849408e-01 0.00000000e+00 4.48665658e+01] [-2.98849408e-01 9.54300284e-01 0.00000000e+00 -8.39451765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09753885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:-8.40, Z:0.03 [[ 9.54095779e-01 2.99501659e-01 0.00000000e+00 4.48966770e+01] [-2.99501659e-01 9.54095779e-01 0.00000000e+00 -8.40482744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07760816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:-8.42, Z:0.03 [[ 9.53302565e-01 3.02016921e-01 0.00000000e+00 4.49288987e+01] [-3.02016921e-01 9.53302565e-01 0.00000000e+00 -8.41833827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10828945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:-8.43, Z:0.03 [[ 9.53007131e-01 3.02947863e-01 0.00000000e+00 4.49603247e+01] [-3.02947863e-01 9.53007131e-01 0.00000000e+00 -8.42903394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13817260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:-8.44, Z:0.03 [[ 9.53370662e-01 3.01801889e-01 0.00000000e+00 4.49889512e+01] [-3.01801889e-01 9.53370662e-01 0.00000000e+00 -8.43700461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20704886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:-8.45, Z:0.03 [[ 9.53320025e-01 3.01961801e-01 0.00000000e+00 4.50198287e+01] [-3.01961801e-01 9.53320025e-01 0.00000000e+00 -8.44748556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24033177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.014340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.05, Y:-8.46, Z:0.03 [[ 9.53246451e-01 3.02193984e-01 0.00000000e+00 4.50492048e+01] [-3.02193984e-01 9.53246451e-01 0.00000000e+00 -8.45768042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30930679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:-8.47, Z:0.03 [[ 9.53297604e-01 3.02032579e-01 0.00000000e+00 4.50805137e+01] [-3.02032579e-01 9.53297604e-01 0.00000000e+00 -8.46865706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47929046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:-8.48, Z:0.04 [[ 9.53345168e-01 3.01882411e-01 0.00000000e+00 4.51110577e+01] [-3.01882411e-01 9.53345168e-01 0.00000000e+00 -8.47808303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59399404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:-8.49, Z:0.04 [[ 9.53342064e-01 3.01892214e-01 0.00000000e+00 4.51428346e+01] [-3.01892214e-01 9.53342064e-01 0.00000000e+00 -8.48869946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59399404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:-8.50, Z:0.04 [[ 9.53281982e-01 3.02081882e-01 0.00000000e+00 4.51736130e+01] [-3.02081882e-01 9.53281982e-01 0.00000000e+00 -8.49794479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53560221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:-8.51, Z:0.04 [[ 9.53193993e-01 3.02359408e-01 0.00000000e+00 4.52045743e+01] [-3.02359408e-01 9.53193993e-01 0.00000000e+00 -8.50723206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53533088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:-8.52, Z:0.03 [[ 9.52865541e-01 3.03392915e-01 0.00000000e+00 4.52354220e+01] [-3.03392915e-01 9.52865541e-01 0.00000000e+00 -8.51518584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45080527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:-8.52, Z:0.03 [[ 9.52397512e-01 3.04858950e-01 0.00000000e+00 4.52657622e+01] [-3.04858950e-01 9.52397512e-01 0.00000000e+00 -8.52444715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46830928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:-8.53, Z:0.03 [[ 9.51840601e-01 3.06593329e-01 0.00000000e+00 4.52959495e+01] [-3.06593329e-01 9.51840601e-01 0.00000000e+00 -8.53234332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39515359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:-8.54, Z:0.03 [[ 9.51405645e-01 3.07940414e-01 0.00000000e+00 4.53277737e+01] [-3.07940414e-01 9.51405645e-01 0.00000000e+00 -8.54298730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47883095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:-8.55, Z:0.04 [[ 9.50434881e-01 3.10923683e-01 0.00000000e+00 4.53610705e+01] [-3.10923683e-01 9.50434881e-01 0.00000000e+00 -8.55423785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51104736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:-8.56, Z:0.03 [[ 9.50976156e-01 3.09264207e-01 0.00000000e+00 4.53887797e+01] [-3.09264207e-01 9.50976156e-01 0.00000000e+00 -8.55846492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47576870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:-8.57, Z:0.03 [[ 9.48980322e-01 3.15335296e-01 0.00000000e+00 4.54182374e+01] [-3.15335296e-01 9.48980322e-01 0.00000000e+00 -8.57338628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79900451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:-8.58, Z:0.04 [[ 9.50740096e-01 3.09989146e-01 0.00000000e+00 4.54500966e+01] [-3.09989146e-01 9.50740096e-01 0.00000000e+00 -8.57677135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50988364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:-8.59, Z:0.04 [[ 9.50586856e-01 3.10458739e-01 0.00000000e+00 4.54821441e+01] [-3.10458739e-01 9.50586856e-01 0.00000000e+00 -8.58695964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56639772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:-8.60, Z:0.04 [[ 9.50349477e-01 3.11184625e-01 0.00000000e+00 4.55121703e+01] [-3.11184625e-01 9.50349477e-01 0.00000000e+00 -8.59638838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58719418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:-8.61, Z:0.03 [[ 9.50060687e-01 3.12065204e-01 0.00000000e+00 4.55430524e+01] [-3.12065204e-01 9.50060687e-01 0.00000000e+00 -8.60611141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47196327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:-8.61, Z:0.03 [[ 9.50511011e-01 3.10690873e-01 0.00000000e+00 4.55734274e+01] [-3.10690873e-01 9.50511011e-01 0.00000000e+00 -8.61282730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41486172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:-8.63, Z:0.03 [[ 9.49221100e-01 3.14609764e-01 0.00000000e+00 4.56056298e+01] [-3.14609764e-01 9.49221100e-01 0.00000000e+00 -8.62792007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47900622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:-8.63, Z:0.03 [[ 9.50515195e-01 3.10678072e-01 0.00000000e+00 4.56341840e+01] [-3.10678072e-01 9.50515195e-01 0.00000000e+00 -8.63163140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37464720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:-8.64, Z:0.03 [[ 9.50429728e-01 3.10939434e-01 0.00000000e+00 4.56669691e+01] [-3.10939434e-01 9.50429728e-01 0.00000000e+00 -8.64413435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48409347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:-8.65, Z:0.03 [[ 9.50724121e-01 3.10038137e-01 0.00000000e+00 4.56953724e+01] [-3.10038137e-01 9.50724121e-01 0.00000000e+00 -8.65296090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32093638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:-8.66, Z:0.03 [[ 9.52045222e-01 3.05957343e-01 0.00000000e+00 4.57263074e+01] [-3.05957343e-01 9.52045222e-01 0.00000000e+00 -8.66179433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44921692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:-8.68, Z:0.03 [[ 9.51502839e-01 3.07639964e-01 0.00000000e+00 4.57607820e+01] [-3.07639964e-01 9.51502839e-01 0.00000000e+00 -8.67802082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35472762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:-8.69, Z:0.03 [[ 9.51453078e-01 3.07793828e-01 0.00000000e+00 4.57862312e+01] [-3.07793828e-01 9.51453078e-01 0.00000000e+00 -8.68812468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33520350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.82, Y:-8.70, Z:0.03 [[ 9.52313483e-01 3.05121336e-01 0.00000000e+00 4.58242212e+01] [-3.05121336e-01 9.52313483e-01 0.00000000e+00 -8.70032805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15718404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.85, Y:-8.71, Z:0.03 [[ 9.52979260e-01 3.03035525e-01 0.00000000e+00 4.58462044e+01] [-3.03035525e-01 9.52979260e-01 0.00000000e+00 -8.70668419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24964060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:-8.72, Z:0.03 [[ 9.54452895e-01 2.98361646e-01 0.00000000e+00 4.58817270e+01] [-2.98361646e-01 9.54452895e-01 0.00000000e+00 -8.71516396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17642325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:-8.72, Z:0.03 [[ 9.54885397e-01 2.96974543e-01 0.00000000e+00 4.59096060e+01] [-2.96974543e-01 9.54885397e-01 0.00000000e+00 -8.72382030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07595138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:-8.73, Z:0.03 [[ 9.56095763e-01 2.93054418e-01 0.00000000e+00 4.59411034e+01] [-2.93054418e-01 9.56095763e-01 0.00000000e+00 -8.73246301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07702168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:-8.74, Z:0.03 [[ 9.57131794e-01 2.89652773e-01 0.00000000e+00 4.59716171e+01] [-2.89652773e-01 9.57131794e-01 0.00000000e+00 -8.74053059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08079864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:-8.75, Z:0.03 [[ 9.57613936e-01 2.88054767e-01 0.00000000e+00 4.59994606e+01] [-2.88054767e-01 9.57613936e-01 0.00000000e+00 -8.74845259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24267574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:-8.76, Z:0.03 [[ 9.57947586e-01 2.86943239e-01 0.00000000e+00 4.60291887e+01] [-2.86943239e-01 9.57947586e-01 0.00000000e+00 -8.75760625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89742674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:-8.77, Z:0.03 [[ 9.57987158e-01 2.86811098e-01 0.00000000e+00 4.60594948e+01] [-2.86811098e-01 9.57987158e-01 0.00000000e+00 -8.76633752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02475224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:-8.78, Z:0.03 [[ 9.57667528e-01 2.87876545e-01 0.00000000e+00 4.60901718e+01] [-2.87876545e-01 9.57667528e-01 0.00000000e+00 -8.77552452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05978134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:-8.79, Z:0.03 [[ 9.55939270e-01 2.93564492e-01 0.00000000e+00 4.61197429e+01] [-2.93564492e-01 9.55939270e-01 0.00000000e+00 -8.79153913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39222140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:-8.80, Z:0.03 [[ 9.55115763e-01 2.96232814e-01 0.00000000e+00 4.61499628e+01] [-2.96232814e-01 9.55115763e-01 0.00000000e+00 -8.79929505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47235623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:-8.80, Z:0.03 [[ 9.55390209e-01 2.95346489e-01 0.00000000e+00 4.61830486e+01] [-2.95346489e-01 9.55390209e-01 0.00000000e+00 -8.80487612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11286257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:-8.82, Z:0.03 [[ 9.53744655e-01 3.00617920e-01 0.00000000e+00 4.62120631e+01] [-3.00617920e-01 9.53744655e-01 0.00000000e+00 -8.81787529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40424075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:-8.83, Z:0.03 [[ 9.53291901e-01 3.02050577e-01 0.00000000e+00 4.62464968e+01] [-3.02050577e-01 9.53291901e-01 0.00000000e+00 -8.82600101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30468644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:-8.84, Z:0.03 [[ 9.52423819e-01 3.04776751e-01 0.00000000e+00 4.62743897e+01] [-3.04776751e-01 9.52423819e-01 0.00000000e+00 -8.83604287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41790307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:-8.84, Z:0.03 [[ 9.52289799e-01 3.05195248e-01 0.00000000e+00 4.63047603e+01] [-3.05195248e-01 9.52289799e-01 0.00000000e+00 -8.84300439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37054240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:-8.85, Z:0.03 [[ 9.52858226e-01 3.03415889e-01 0.00000000e+00 4.63346591e+01] [-3.03415889e-01 9.52858226e-01 0.00000000e+00 -8.84680564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01299862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:-8.86, Z:0.03 [[ 9.51179124e-01 3.08639391e-01 0.00000000e+00 4.63660709e+01] [-3.08639391e-01 9.51179124e-01 0.00000000e+00 -8.85915941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82929408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.334340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.40, Y:-8.87, Z:0.03 [[ 9.52107432e-01 3.05763695e-01 0.00000000e+00 4.63951611e+01] [-3.05763695e-01 9.52107432e-01 0.00000000e+00 -8.86610380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26754651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:-8.88, Z:0.03 [[ 9.50414208e-01 3.10986869e-01 0.00000000e+00 4.64260388e+01] [-3.10986869e-01 9.50414208e-01 0.00000000e+00 -8.87968524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14108496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:-8.89, Z:0.03 [[ 9.51506241e-01 3.07629442e-01 0.00000000e+00 4.64553330e+01] [-3.07629442e-01 9.51506241e-01 0.00000000e+00 -8.88575226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44955239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:-8.90, Z:0.03 [[ 9.51801640e-01 3.06714262e-01 0.00000000e+00 4.64902900e+01] [-3.06714262e-01 9.51801640e-01 0.00000000e+00 -8.89547789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33003763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.52, Y:-8.91, Z:0.04 [[ 9.51065159e-01 3.08990393e-01 0.00000000e+00 4.65193214e+01] [-3.08990393e-01 9.51065159e-01 0.00000000e+00 -8.90893652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57987920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:46.55, Y:-8.91, Z:0.03 [[ 9.51786480e-01 3.06761303e-01 0.00000000e+00 4.65453373e+01] [-3.06761303e-01 9.51786480e-01 0.00000000e+00 -8.91389367e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42330337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:-8.92, Z:0.04 [[ 9.51588880e-01 3.07373720e-01 0.00000000e+00 4.65752504e+01] [-3.07373720e-01 9.51588880e-01 0.00000000e+00 -8.92436648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61379404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:-8.93, Z:0.03 [[ 9.51889031e-01 3.06442936e-01 0.00000000e+00 4.66061992e+01] [-3.06442936e-01 9.51889031e-01 0.00000000e+00 -8.93326195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17163201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:-8.95, Z:0.03 [[ 9.50635178e-01 3.10310744e-01 0.00000000e+00 4.66363607e+01] [-3.10310744e-01 9.50635178e-01 0.00000000e+00 -8.94804837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16602153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:-8.95, Z:0.04 [[ 9.52544005e-01 3.04400916e-01 0.00000000e+00 4.66634093e+01] [-3.04400916e-01 9.52544005e-01 0.00000000e+00 -8.95024898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54655637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:-8.97, Z:0.04 [[ 9.51105703e-01 3.08865573e-01 0.00000000e+00 4.67002565e+01] [-3.08865573e-01 9.51105703e-01 0.00000000e+00 -8.97030032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68425679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:-8.97, Z:0.04 [[ 9.51195582e-01 3.08588667e-01 0.00000000e+00 4.67173676e+01] [-3.08588667e-01 9.51195582e-01 0.00000000e+00 -8.97275419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84828821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:-8.99, Z:0.04 [[ 9.49717247e-01 3.13108849e-01 0.00000000e+00 4.67480636e+01] [-3.13108849e-01 9.49717247e-01 0.00000000e+00 -8.98844894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50361764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:-9.00, Z:0.04 [[ 9.51119315e-01 3.08823652e-01 0.00000000e+00 4.67891441e+01] [-3.08823652e-01 9.51119315e-01 0.00000000e+00 -9.00163831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59968845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:-9.00, Z:0.03 [[ 9.52391874e-01 3.04876564e-01 0.00000000e+00 4.68146501e+01] [-3.04876564e-01 9.52391874e-01 0.00000000e+00 -9.00354695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39293530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:-9.02, Z:0.04 [[ 9.51337039e-01 3.08152299e-01 0.00000000e+00 4.68481642e+01] [-3.08152299e-01 9.51337039e-01 0.00000000e+00 -9.02058391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60452818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:-9.03, Z:0.04 [[ 9.50945427e-01 3.09358683e-01 0.00000000e+00 4.68758346e+01] [-3.09358683e-01 9.50945427e-01 0.00000000e+00 -9.03073029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84274482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.91, Y:-9.04, Z:0.04 [[ 9.52280871e-01 3.05223104e-01 0.00000000e+00 4.69067516e+01] [-3.05223104e-01 9.52280871e-01 0.00000000e+00 -9.03728308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61466178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:-9.05, Z:0.04 [[ 9.51488524e-01 3.07684237e-01 0.00000000e+00 4.69399208e+01] [-3.07684237e-01 9.51488524e-01 0.00000000e+00 -9.05326364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81824227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:-9.06, Z:0.04 [[ 9.52503028e-01 3.04529115e-01 0.00000000e+00 4.69681545e+01] [-3.04529115e-01 9.52503028e-01 0.00000000e+00 -9.05945407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64116230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:-9.07, Z:0.04 [[ 9.52643342e-01 3.04089894e-01 0.00000000e+00 4.69968198e+01] [-3.04089894e-01 9.52643342e-01 0.00000000e+00 -9.06888206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66942407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:-9.08, Z:0.04 [[ 9.52247904e-01 3.05325940e-01 0.00000000e+00 4.70281419e+01] [-3.05325940e-01 9.52247904e-01 0.00000000e+00 -9.08120557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77254620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:-9.09, Z:0.04 [[ 9.52360824e-01 3.04973540e-01 0.00000000e+00 4.70595329e+01] [-3.04973540e-01 9.52360824e-01 0.00000000e+00 -9.09162580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81636072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:-9.10, Z:0.04 [[ 9.52314468e-01 3.05118262e-01 0.00000000e+00 4.70901826e+01] [-3.05118262e-01 9.52314468e-01 0.00000000e+00 -9.10236720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81636072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.054340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.12, Y:-9.11, Z:0.03 [[ 9.52564609e-01 3.04336436e-01 0.00000000e+00 4.71162819e+01] [-3.04336436e-01 9.52564609e-01 0.00000000e+00 -9.10861138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41164142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.15, Y:-9.12, Z:0.03 [[ 9.53630937e-01 3.00978464e-01 0.00000000e+00 4.71499826e+01] [-3.00978464e-01 9.53630937e-01 0.00000000e+00 -9.11698667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13415731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.114340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.18, Y:-9.13, Z:0.03 [[ 9.53679767e-01 3.00823706e-01 0.00000000e+00 4.71817643e+01] [-3.00823706e-01 9.53679767e-01 0.00000000e+00 -9.12862045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10593886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:-9.14, Z:0.04 [[ 9.52541953e-01 3.04407340e-01 0.00000000e+00 4.72085582e+01] [-3.04407340e-01 9.52541953e-01 0.00000000e+00 -9.14087492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59680638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.24, Y:-9.15, Z:0.03 [[ 9.52426498e-01 3.04768379e-01 0.00000000e+00 4.72400742e+01] [-3.04768379e-01 9.52426498e-01 0.00000000e+00 -9.15142975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36823028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.204340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.27, Y:-9.16, Z:0.03 [[ 9.52303926e-01 3.05151165e-01 0.00000000e+00 4.72681551e+01] [-3.05151165e-01 9.52303926e-01 0.00000000e+00 -9.16073141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35137093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:-9.17, Z:0.03 [[ 9.52458403e-01 3.04668658e-01 0.00000000e+00 4.72988530e+01] [-3.04668658e-01 9.52458403e-01 0.00000000e+00 -9.17010448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38605859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:-9.18, Z:0.03 [[ 9.51904430e-01 3.06395099e-01 0.00000000e+00 4.73288483e+01] [-3.06395099e-01 9.51904430e-01 0.00000000e+00 -9.18239678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35404692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:-9.19, Z:0.03 [[ 9.51913230e-01 3.06367758e-01 0.00000000e+00 4.73607147e+01] [-3.06367758e-01 9.51913230e-01 0.00000000e+00 -9.19404954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15439933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:-9.20, Z:0.03 [[ 9.52953362e-01 3.03116957e-01 0.00000000e+00 4.73869157e+01] [-3.03116957e-01 9.52953362e-01 0.00000000e+00 -9.19764953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05235171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:-9.21, Z:0.03 [[ 9.51849088e-01 3.06566981e-01 0.00000000e+00 4.74193806e+01] [-3.06566981e-01 9.51849088e-01 0.00000000e+00 -9.21462388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75789714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:-9.22, Z:0.03 [[ 9.52310301e-01 3.05131268e-01 0.00000000e+00 4.74499012e+01] [-3.05131268e-01 9.52310301e-01 0.00000000e+00 -9.22440288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06929517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:-9.23, Z:0.03 [[ 9.53260372e-01 3.02150067e-01 0.00000000e+00 4.74758192e+01] [-3.02150067e-01 9.53260372e-01 0.00000000e+00 -9.22895414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81203203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:-9.24, Z:0.03 [[ 9.52981933e-01 3.03027120e-01 0.00000000e+00 4.75067840e+01] [-3.03027120e-01 9.52981933e-01 0.00000000e+00 -9.24294958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80557774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:-9.25, Z:0.03 [[ 9.53250762e-01 3.02180384e-01 0.00000000e+00 4.75372364e+01] [-3.02180384e-01 9.53250762e-01 0.00000000e+00 -9.25406608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59981060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:-9.27, Z:0.03 [[ 9.53723790e-01 3.00684106e-01 0.00000000e+00 4.75679974e+01] [-3.00684106e-01 9.53723790e-01 0.00000000e+00 -9.26509690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66719992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.534340128000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.59, Y:-9.27, Z:0.03 [[ 9.54333136e-01 2.98744481e-01 0.00000000e+00 4.75940797e+01] [-2.98744481e-01 9.54333136e-01 0.00000000e+00 -9.27459394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70855304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564340128000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.62, Y:-9.29, Z:0.03 [[ 9.54339990e-01 2.98722586e-01 0.00000000e+00 4.76245331e+01] [-2.98722586e-01 9.54339990e-01 0.00000000e+00 -9.28750277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70929932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.594340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.65, Y:-9.30, Z:0.02 [[ 9.54876640e-01 2.97002699e-01 0.00000000e+00 4.76517177e+01] [-2.97002699e-01 9.54876640e-01 0.00000000e+00 -9.29783198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40155078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:-9.32, Z:0.03 [[ 9.54232850e-01 2.99064657e-01 0.00000000e+00 4.76868323e+01] [-2.99064657e-01 9.54232850e-01 0.00000000e+00 -9.31680155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52684559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:-9.32, Z:0.02 [[ 9.55376309e-01 2.95391449e-01 0.00000000e+00 4.77115534e+01] [-2.95391449e-01 9.55376309e-01 0.00000000e+00 -9.32125587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46518732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:-9.34, Z:0.03 [[ 9.55272242e-01 2.95727820e-01 0.00000000e+00 4.77423852e+01] [-2.95727820e-01 9.55272242e-01 0.00000000e+00 -9.33514173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56143526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.714340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.77, Y:-9.35, Z:0.02 [[ 9.54759421e-01 2.97379301e-01 0.00000000e+00 4.77732784e+01] [-2.97379301e-01 9.54759421e-01 0.00000000e+00 -9.34803795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40147471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.744340128000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.80, Y:-9.36, Z:0.02 [[ 9.54354898e-01 2.98674956e-01 0.00000000e+00 4.78008119e+01] [-2.98674956e-01 9.54354898e-01 0.00000000e+00 -9.35766379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37437340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:-9.37, Z:0.02 [[ 9.53811974e-01 3.00404258e-01 0.00000000e+00 4.78314340e+01] [-3.00404258e-01 9.53811974e-01 0.00000000e+00 -9.36923793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32243385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:-9.38, Z:0.02 [[ 9.53613172e-01 3.01034746e-01 0.00000000e+00 4.78600874e+01] [-3.01034746e-01 9.53613172e-01 0.00000000e+00 -9.37920319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32285335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:-9.39, Z:0.02 [[ 9.52565091e-01 3.04334925e-01 0.00000000e+00 4.78892965e+01] [-3.04334925e-01 9.52565091e-01 0.00000000e+00 -9.39209983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35568168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:-9.40, Z:0.02 [[ 9.51768157e-01 3.06818148e-01 0.00000000e+00 4.79190236e+01] [-3.06818148e-01 9.51768157e-01 0.00000000e+00 -9.40455747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37621864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:-9.42, Z:0.02 [[ 9.51335295e-01 3.08157682e-01 0.00000000e+00 4.79496408e+01] [-3.08157682e-01 9.51335295e-01 0.00000000e+00 -9.41663106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33667715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.924340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:-9.43, Z:0.02 [[ 9.50246578e-01 3.11498701e-01 0.00000000e+00 4.79847233e+01] [-3.11498701e-01 9.50246578e-01 0.00000000e+00 -9.43367741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11485866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:-9.44, Z:0.02 [[ 9.50227471e-01 3.11556984e-01 0.00000000e+00 4.80083766e+01] [-3.11556984e-01 9.50227471e-01 0.00000000e+00 -9.43902498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15922924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:-9.45, Z:0.02 [[ 9.49416973e-01 3.14018170e-01 0.00000000e+00 4.80433034e+01] [-3.14018170e-01 9.49416973e-01 0.00000000e+00 -9.45491291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17429786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:-9.46, Z:0.02 [[ 9.49800808e-01 3.12855279e-01 0.00000000e+00 4.80703288e+01] [-3.12855279e-01 9.49800808e-01 0.00000000e+00 -9.46105364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25994293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:-9.47, Z:0.02 [[ 9.48942218e-01 3.15449943e-01 0.00000000e+00 4.80989955e+01] [-3.15449943e-01 9.48942218e-01 0.00000000e+00 -9.47237425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38451921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:-9.49, Z:0.02 [[ 9.47802733e-01 3.18857303e-01 0.00000000e+00 4.81322707e+01] [-3.18857303e-01 9.47802733e-01 0.00000000e+00 -9.48814394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13085798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:-9.49, Z:0.02 [[ 9.48250281e-01 3.17523864e-01 0.00000000e+00 4.81601593e+01] [-3.17523864e-01 9.48250281e-01 0.00000000e+00 -9.49460285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31853251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:-9.51, Z:0.02 [[ 9.47255005e-01 3.20480818e-01 0.00000000e+00 4.81897169e+01] [-3.20480818e-01 9.47255005e-01 0.00000000e+00 -9.50546545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23559282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:-9.52, Z:0.02 [[ 9.45897919e-01 3.24464370e-01 0.00000000e+00 4.82226990e+01] [-3.24464370e-01 9.45897919e-01 0.00000000e+00 -9.52076614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01825631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:-9.53, Z:0.02 [[ 9.45445834e-01 3.25779334e-01 0.00000000e+00 4.82500904e+01] [-3.25779334e-01 9.45445834e-01 0.00000000e+00 -9.52663451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12065053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:-9.54, Z:0.02 [[ 9.43807943e-01 3.30494428e-01 0.00000000e+00 4.82851501e+01] [-3.30494428e-01 9.43807943e-01 0.00000000e+00 -9.54402617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96466685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:-9.55, Z:0.02 [[ 9.44135448e-01 3.29557666e-01 0.00000000e+00 4.83094085e+01] [-3.29557666e-01 9.44135448e-01 0.00000000e+00 -9.54875467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10616421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:-9.56, Z:0.02 [[ 9.43642469e-01 3.30966599e-01 0.00000000e+00 4.83387522e+01] [-3.30966599e-01 9.43642469e-01 0.00000000e+00 -9.55938287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03059398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:-9.57, Z:0.02 [[ 9.42979664e-01 3.32850348e-01 0.00000000e+00 4.83695822e+01] [-3.32850348e-01 9.42979664e-01 0.00000000e+00 -9.57064626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86989934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.344340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:-9.58, Z:0.02 [[ 9.42550024e-01 3.34065043e-01 0.00000000e+00 4.83998935e+01] [-3.34065043e-01 9.42550024e-01 0.00000000e+00 -9.58199022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85610853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:-9.59, Z:0.02 [[ 9.41708156e-01 3.36430897e-01 0.00000000e+00 4.84310143e+01] [-3.36430897e-01 9.41708156e-01 0.00000000e+00 -9.59476820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54003821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:-9.61, Z:0.02 [[ 9.41646662e-01 3.36602976e-01 0.00000000e+00 4.84595294e+01] [-3.36602976e-01 9.41646662e-01 0.00000000e+00 -9.60573218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58450722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.434340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.49, Y:-9.62, Z:0.02 [[ 9.42114871e-01 3.35290277e-01 0.00000000e+00 4.84891598e+01] [-3.35290277e-01 9.42114871e-01 0.00000000e+00 -9.61519655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58477022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-9.63, Z:0.02 [[ 9.42965760e-01 3.32889736e-01 0.00000000e+00 4.85194855e+01] [-3.32889736e-01 9.42965760e-01 0.00000000e+00 -9.62540370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61524978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:-9.64, Z:0.02 [[ 9.42593175e-01 3.33943267e-01 0.00000000e+00 4.85494138e+01] [-3.33943267e-01 9.42593175e-01 0.00000000e+00 -9.63816980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74364657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.524340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:-9.65, Z:0.02 [[ 9.43553299e-01 3.31220730e-01 0.00000000e+00 4.85778373e+01] [-3.31220730e-01 9.43553299e-01 0.00000000e+00 -9.64504726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66874476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:-9.66, Z:0.02 [[ 9.43487785e-01 3.31407301e-01 0.00000000e+00 4.86084590e+01] [-3.31407301e-01 9.43487785e-01 0.00000000e+00 -9.65887829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61647049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:-9.67, Z:0.02 [[ 9.43921638e-01 3.30169564e-01 0.00000000e+00 4.86405346e+01] [-3.30169564e-01 9.43921638e-01 0.00000000e+00 -9.67010441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63695242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:-9.68, Z:0.02 [[ 9.44901461e-01 3.27354899e-01 0.00000000e+00 4.86679635e+01] [-3.27354899e-01 9.44901461e-01 0.00000000e+00 -9.67751185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69293996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:-9.69, Z:0.02 [[ 9.45123104e-01 3.26714430e-01 0.00000000e+00 4.86975209e+01] [-3.26714430e-01 9.45123104e-01 0.00000000e+00 -9.68970375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59816964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:-9.70, Z:0.02 [[ 9.45252817e-01 3.26338952e-01 0.00000000e+00 4.87277167e+01] [-3.26338952e-01 9.45252817e-01 0.00000000e+00 -9.70100329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59110914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:-9.71, Z:0.02 [[ 9.45430584e-01 3.25823587e-01 0.00000000e+00 4.87584670e+01] [-3.25823587e-01 9.45430584e-01 0.00000000e+00 -9.71238674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59660899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:-9.73, Z:0.01 [[ 9.44265847e-01 3.29183855e-01 0.00000000e+00 4.87893920e+01] [-3.29183855e-01 9.44265847e-01 0.00000000e+00 -9.72777570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30563971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:-9.73, Z:0.02 [[ 9.45876740e-01 3.24526104e-01 0.00000000e+00 4.88173792e+01] [-3.24526104e-01 9.45876740e-01 0.00000000e+00 -9.73175930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73589421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:-9.75, Z:0.01 [[ 9.45443319e-01 3.25786634e-01 0.00000000e+00 4.88498246e+01] [-3.25786634e-01 9.45443319e-01 0.00000000e+00 -9.74548149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40818742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:-9.75, Z:0.02 [[ 9.45595724e-01 3.25344013e-01 0.00000000e+00 4.88756384e+01] [-3.25344013e-01 9.45595724e-01 0.00000000e+00 -9.75385288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75212641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:-9.77, Z:0.02 [[ 9.44649786e-01 3.28080450e-01 0.00000000e+00 4.89108311e+01] [-3.28080450e-01 9.44649786e-01 0.00000000e+00 -9.77184791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64066743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:-9.78, Z:0.02 [[ 9.45451216e-01 3.25763714e-01 0.00000000e+00 4.89370725e+01] [-3.25763714e-01 9.45451216e-01 0.00000000e+00 -9.77834098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57104266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.914340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:-9.79, Z:0.02 [[ 9.45343014e-01 3.26077576e-01 0.00000000e+00 4.89684817e+01] [-3.26077576e-01 9.45343014e-01 0.00000000e+00 -9.78976757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57104266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:-9.80, Z:0.02 [[ 9.45074653e-01 3.26854556e-01 0.00000000e+00 4.89959701e+01] [-3.26854556e-01 9.45074653e-01 0.00000000e+00 -9.80208153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76446231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.03, Y:-9.81, Z:0.01 [[ 9.45403573e-01 3.25901955e-01 0.00000000e+00 4.90268846e+01] [-3.25901955e-01 9.45403573e-01 0.00000000e+00 -9.81289162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46048931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:-9.82, Z:0.02 [[ 9.45355684e-01 3.26040843e-01 0.00000000e+00 4.90568657e+01] [-3.26040843e-01 9.45355684e-01 0.00000000e+00 -9.82459279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53574328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:-9.84, Z:0.02 [[ 9.45149992e-01 3.26636637e-01 0.00000000e+00 4.90878077e+01] [-3.26636637e-01 9.45149992e-01 0.00000000e+00 -9.83646103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54695190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:-9.84, Z:0.01 [[ 9.44866427e-01 3.27456004e-01 0.00000000e+00 4.91143032e+01] [-3.27456004e-01 9.44866427e-01 0.00000000e+00 -9.84497528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28926168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.094340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:-9.86, Z:0.01 [[ 9.44954361e-01 3.27202164e-01 0.00000000e+00 4.91463441e+01] [-3.27202164e-01 9.44954361e-01 0.00000000e+00 -9.85673219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06867318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:-9.87, Z:0.02 [[ 9.44650109e-01 3.28079520e-01 0.00000000e+00 4.91762713e+01] [-3.28079520e-01 9.44650109e-01 0.00000000e+00 -9.86967471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52204500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:-9.88, Z:0.02 [[ 9.43401520e-01 3.31652788e-01 0.00000000e+00 4.92026307e+01] [-3.31652788e-01 9.43401520e-01 0.00000000e+00 -9.88093901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59863252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:-9.90, Z:0.01 [[ 9.42861847e-01 3.33183940e-01 0.00000000e+00 4.92355705e+01] [-3.33183940e-01 9.42861847e-01 0.00000000e+00 -9.89513392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33022303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:-9.90, Z:0.02 [[ 9.43624346e-01 3.31018267e-01 0.00000000e+00 4.92665532e+01] [-3.31018267e-01 9.43624346e-01 0.00000000e+00 -9.90375932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50641030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:-9.92, Z:0.01 [[ 9.42558665e-01 3.34040662e-01 0.00000000e+00 4.92992239e+01] [-3.34040662e-01 9.42558665e-01 0.00000000e+00 -9.91854067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37017655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.274340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:-9.93, Z:0.01 [[ 9.42507845e-01 3.34184024e-01 0.00000000e+00 4.93248931e+01] [-3.34184024e-01 9.42507845e-01 0.00000000e+00 -9.92537113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34493403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:-9.94, Z:0.01 [[ 9.41881658e-01 3.35944849e-01 0.00000000e+00 4.93560145e+01] [-3.35944849e-01 9.41881658e-01 0.00000000e+00 -9.93873674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35407499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:-9.95, Z:0.01 [[ 9.42314771e-01 3.34728057e-01 0.00000000e+00 4.93861424e+01] [-3.34728057e-01 9.42314771e-01 0.00000000e+00 -9.94731054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42394962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.41, Y:-9.96, Z:0.01 [[ 9.41333214e-01 3.37478562e-01 0.00000000e+00 4.94123172e+01] [-3.37478562e-01 9.41333214e-01 0.00000000e+00 -9.95970251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27217814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.394340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.45, Y:-9.97, Z:0.02 [[ 9.41844384e-01 3.36049336e-01 0.00000000e+00 4.94450234e+01] [-3.36049336e-01 9.41844384e-01 0.00000000e+00 -9.97135217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51059663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:-9.98, Z:0.01 [[ 9.41176784e-01 3.37914578e-01 0.00000000e+00 4.94711836e+01] [-3.37914578e-01 9.41176784e-01 0.00000000e+00 -9.98215779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17781454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.454340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.50, Y:-10.00, Z:0.01 [[ 9.40856612e-01 3.38805012e-01 0.00000000e+00 4.95027285e+01] [-3.38805012e-01 9.40856612e-01 0.00000000e+00 -9.99521887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29834416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.484340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.53, Y:-10.01, Z:0.01 [[ 9.41962695e-01 3.35717562e-01 0.00000000e+00 4.95348829e+01] [-3.35717562e-01 9.41962695e-01 0.00000000e+00 -1.00051459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20829913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.57, Y:-10.02, Z:0.01 [[ 9.41868849e-01 3.35980760e-01 0.00000000e+00 4.95671843e+01] [-3.35980760e-01 9.41868849e-01 0.00000000e+00 -1.00200552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43648595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:-10.03, Z:0.01 [[ 9.41757317e-01 3.36293259e-01 0.00000000e+00 4.95932102e+01] [-3.36293259e-01 9.41757317e-01 0.00000000e+00 -1.00288605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26920422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:-10.04, Z:0.02 [[ 9.42369567e-01 3.34573757e-01 0.00000000e+00 4.96244888e+01] [-3.34573757e-01 9.42369567e-01 0.00000000e+00 -1.00396126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60635824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:-10.05, Z:0.02 [[ 9.42968393e-01 3.32882277e-01 0.00000000e+00 4.96551972e+01] [-3.32882277e-01 9.42968393e-01 0.00000000e+00 -1.00516014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57285964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:-10.06, Z:0.02 [[ 9.42662525e-01 3.33747456e-01 0.00000000e+00 4.96823014e+01] [-3.33747456e-01 9.42662525e-01 0.00000000e+00 -1.00626995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62703314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:-10.07, Z:0.02 [[ 9.43296516e-01 3.31951327e-01 0.00000000e+00 4.97149883e+01] [-3.31951327e-01 9.43296516e-01 0.00000000e+00 -1.00741276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80111623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:-10.09, Z:0.02 [[ 9.43632783e-01 3.30994215e-01 0.00000000e+00 4.97444103e+01] [-3.30994215e-01 9.43632783e-01 0.00000000e+00 -1.00858741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87117646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.724340128 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.78, Y:-10.10, Z:0.02 [[ 9.42720033e-01 3.33584981e-01 0.00000000e+00 4.97784690e+01] [-3.33584981e-01 9.42720033e-01 0.00000000e+00 -1.01033897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92510075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.754340128 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.81, Y:-10.11, Z:0.02 [[ 9.43229930e-01 3.32140481e-01 0.00000000e+00 4.98077958e+01] [-3.32140481e-01 9.43229930e-01 0.00000000e+00 -1.01122501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09000344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.84, Y:-10.12, Z:0.02 [[ 9.43132112e-01 3.32418140e-01 0.00000000e+00 4.98381172e+01] [-3.32418140e-01 9.43132112e-01 0.00000000e+00 -1.01245153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08576774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:-10.13, Z:0.02 [[ 9.43659767e-01 3.30917278e-01 0.00000000e+00 4.98665895e+01] [-3.30917278e-01 9.43659767e-01 0.00000000e+00 -1.01338486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01726151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.844340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:-10.15, Z:0.02 [[ 9.43691220e-01 3.30827571e-01 0.00000000e+00 4.98972184e+01] [-3.30827571e-01 9.43691220e-01 0.00000000e+00 -1.01452433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11847601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:-10.15, Z:0.02 [[ 9.44312021e-01 3.29051375e-01 0.00000000e+00 4.99272666e+01] [-3.29051375e-01 9.44312021e-01 0.00000000e+00 -1.01544159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09627994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.904340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:-10.16, Z:0.02 [[ 9.44047122e-01 3.29810600e-01 0.00000000e+00 4.99540552e+01] [-3.29810600e-01 9.44047122e-01 0.00000000e+00 -1.01647334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88156566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.934340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:-10.18, Z:0.02 [[ 9.45361902e-01 3.26022814e-01 0.00000000e+00 4.99853744e+01] [-3.26022814e-01 9.45361902e-01 0.00000000e+00 -1.01756136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99102501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:-10.19, Z:0.02 [[ 9.44884309e-01 3.27404402e-01 0.00000000e+00 5.00143404e+01] [-3.27404402e-01 9.44884309e-01 0.00000000e+00 -1.01874028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72766621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:-10.20, Z:0.02 [[ 9.45623644e-01 3.25262852e-01 0.00000000e+00 5.00450624e+01] [-3.25262852e-01 9.45623644e-01 0.00000000e+00 -1.01980464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16092087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:-10.21, Z:0.02 [[ 9.46128986e-01 3.23789967e-01 0.00000000e+00 5.00768020e+01] [-3.23789967e-01 9.46128986e-01 0.00000000e+00 -1.02104105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30486816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.054340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:-10.22, Z:0.02 [[ 9.45271751e-01 3.26284105e-01 0.00000000e+00 5.01037045e+01] [-3.26284105e-01 9.45271751e-01 0.00000000e+00 -1.02202599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39609989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.084340128 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.13, Y:-10.23, Z:0.02 [[ 9.46951573e-01 3.21376287e-01 0.00000000e+00 5.01335530e+01] [-3.21376287e-01 9.46951573e-01 0.00000000e+00 -1.02269142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35771535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:-10.24, Z:0.02 [[ 9.45974124e-01 3.24242127e-01 0.00000000e+00 5.01648435e+01] [-3.24242127e-01 9.45974124e-01 0.00000000e+00 -1.02393152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13238250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:-10.25, Z:0.02 [[ 9.45007181e-01 3.27049581e-01 0.00000000e+00 5.01956233e+01] [-3.27049581e-01 9.45007181e-01 0.00000000e+00 -1.02487099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80126488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:-10.26, Z:0.02 [[ 9.44645228e-01 3.28093573e-01 0.00000000e+00 5.02267462e+01] [-3.28093573e-01 9.44645228e-01 0.00000000e+00 -1.02582608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02381283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:-10.27, Z:0.02 [[ 9.43452470e-01 3.31507823e-01 0.00000000e+00 5.02569641e+01] [-3.31507823e-01 9.43452470e-01 0.00000000e+00 -1.02672132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84113042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.29, Y:-10.28, Z:0.02 [[ 9.42288816e-01 3.34801116e-01 0.00000000e+00 5.02864385e+01] [-3.34801116e-01 9.42288816e-01 0.00000000e+00 -1.02788212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84239340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:-10.30, Z:0.02 [[ 9.40859247e-01 3.38797693e-01 0.00000000e+00 5.03212147e+01] [-3.38797693e-01 9.40859247e-01 0.00000000e+00 -1.02951246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01700450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:-10.30, Z:0.02 [[ 9.40452364e-01 3.39925509e-01 0.00000000e+00 5.03447028e+01] [-3.39925509e-01 9.40452364e-01 0.00000000e+00 -1.03005466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09154025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:-10.31, Z:0.02 [[ 9.40107380e-01 3.40878445e-01 0.00000000e+00 5.03747541e+01] [-3.40878445e-01 9.40107380e-01 0.00000000e+00 -1.03115268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16996957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.41, Y:-10.33, Z:0.02 [[ 9.38743920e-01 3.44615515e-01 0.00000000e+00 5.04081499e+01] [-3.44615515e-01 9.38743920e-01 0.00000000e+00 -1.03277475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27754139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.44, Y:-10.34, Z:0.03 [[ 9.38991451e-01 3.43940481e-01 0.00000000e+00 5.04396965e+01] [-3.43940481e-01 9.38991451e-01 0.00000000e+00 -1.03356785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56743846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.414340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:-10.34, Z:0.03 [[ 9.38924438e-01 3.44123377e-01 0.00000000e+00 5.04665124e+01] [-3.44123377e-01 9.38924438e-01 0.00000000e+00 -1.03432472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69685033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:-10.35, Z:0.03 [[ 9.38427452e-01 3.45476363e-01 0.00000000e+00 5.04966697e+01] [-3.45476363e-01 9.38427452e-01 0.00000000e+00 -1.03537579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82799441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:-10.36, Z:0.03 [[ 9.38205149e-01 3.46079612e-01 0.00000000e+00 5.05278139e+01] [-3.46079612e-01 9.38205149e-01 0.00000000e+00 -1.03619943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83354340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:-10.37, Z:0.03 [[ 9.37949170e-01 3.46772770e-01 0.00000000e+00 5.05610934e+01] [-3.46772770e-01 9.37949170e-01 0.00000000e+00 -1.03731520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80873575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:-10.38, Z:0.03 [[ 9.36775956e-01 3.49929720e-01 0.00000000e+00 5.05874960e+01] [-3.49929720e-01 9.36775956e-01 0.00000000e+00 -1.03840775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87076943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:-10.39, Z:0.03 [[ 9.36053376e-01 3.51858035e-01 0.00000000e+00 5.06165757e+01] [-3.51858035e-01 9.36053376e-01 0.00000000e+00 -1.03929445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68645346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.594340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:-10.40, Z:0.03 [[ 9.35707544e-01 3.52776688e-01 0.00000000e+00 5.06471914e+01] [-3.52776688e-01 9.35707544e-01 0.00000000e+00 -1.04039268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70421900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:-10.42, Z:0.03 [[ 9.35398138e-01 3.53596271e-01 0.00000000e+00 5.06788005e+01] [-3.53596271e-01 9.35398138e-01 0.00000000e+00 -1.04157535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80071890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.71, Y:-10.43, Z:0.03 [[ 9.34277190e-01 3.56547517e-01 0.00000000e+00 5.07071643e+01] [-3.56547517e-01 9.34277190e-01 0.00000000e+00 -1.04260537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87619471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:-10.44, Z:0.03 [[ 9.33985057e-01 3.57312067e-01 0.00000000e+00 5.07386155e+01] [-3.57312067e-01 9.33985057e-01 0.00000000e+00 -1.04375787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90407362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:-10.45, Z:0.03 [[ 9.33341723e-01 3.58989177e-01 0.00000000e+00 5.07683225e+01] [-3.58989177e-01 9.33341723e-01 0.00000000e+00 -1.04484154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84910232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:-10.46, Z:0.03 [[ 9.32575659e-01 3.60974569e-01 0.00000000e+00 5.07957861e+01] [-3.60974569e-01 9.32575659e-01 0.00000000e+00 -1.04599158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88317955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:-10.47, Z:0.02 [[ 9.33096246e-01 3.59626746e-01 0.00000000e+00 5.08281641e+01] [-3.59626746e-01 9.33096246e-01 0.00000000e+00 -1.04712218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35621478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:-10.48, Z:0.02 [[ 9.32982742e-01 3.59921106e-01 0.00000000e+00 5.08594437e+01] [-3.59921106e-01 9.32982742e-01 0.00000000e+00 -1.04830145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35621478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:-10.50, Z:0.03 [[ 9.31668190e-01 3.63310314e-01 0.00000000e+00 5.08880936e+01] [-3.63310314e-01 9.31668190e-01 0.00000000e+00 -1.04983670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98590410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.92, Y:-10.51, Z:0.03 [[ 9.31481189e-01 3.63789493e-01 0.00000000e+00 5.09182021e+01] [-3.63789493e-01 9.31481189e-01 0.00000000e+00 -1.05117430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99942157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:-10.52, Z:0.03 [[ 9.31963088e-01 3.62553173e-01 0.00000000e+00 5.09484323e+01] [-3.62553173e-01 9.31963088e-01 0.00000000e+00 -1.05236544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17947276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.924340128000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:50.98, Y:-10.54, Z:0.03 [[ 9.32904284e-01 3.60124419e-01 0.00000000e+00 5.09782582e+01] [-3.60124419e-01 9.32904284e-01 0.00000000e+00 -1.05381764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99785994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:-10.55, Z:0.03 [[ 9.33600064e-01 3.58316788e-01 0.00000000e+00 5.10084799e+01] [-3.58316788e-01 9.33600064e-01 0.00000000e+00 -1.05503988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24545515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:-10.56, Z:0.03 [[ 9.34525546e-01 3.55896057e-01 0.00000000e+00 5.10372924e+01] [-3.55896057e-01 9.34525546e-01 0.00000000e+00 -1.05610661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03804624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:-10.57, Z:0.03 [[ 9.36172578e-01 3.51540757e-01 0.00000000e+00 5.10673358e+01] [-3.51540757e-01 9.36172578e-01 0.00000000e+00 -1.05698400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75109071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:-10.58, Z:0.03 [[ 9.36261392e-01 3.51304149e-01 0.00000000e+00 5.10988584e+01] [-3.51304149e-01 9.36261392e-01 0.00000000e+00 -1.05826418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87075475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.074340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.13, Y:-10.59, Z:0.03 [[ 9.36256461e-01 3.51317291e-01 0.00000000e+00 5.11305571e+01] [-3.51317291e-01 9.36256461e-01 0.00000000e+00 -1.05942357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71942711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:-10.60, Z:0.03 [[ 9.37526850e-01 3.47912928e-01 0.00000000e+00 5.11566688e+01] [-3.47912928e-01 9.37526850e-01 0.00000000e+00 -1.05970866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56544571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:-10.61, Z:0.03 [[ 9.36997919e-01 3.49334941e-01 0.00000000e+00 5.11902442e+01] [-3.49334941e-01 9.36997919e-01 0.00000000e+00 -1.06120914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99781462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:-10.62, Z:0.03 [[ 9.37573981e-01 3.47785897e-01 0.00000000e+00 5.12146354e+01] [-3.47785897e-01 9.37573981e-01 0.00000000e+00 -1.06170526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82406150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:-10.63, Z:0.03 [[ 9.38326758e-01 3.45749759e-01 0.00000000e+00 5.12493645e+01] [-3.45749759e-01 9.38326758e-01 0.00000000e+00 -1.06287568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32068745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:-10.64, Z:0.04 [[ 9.39892567e-01 3.41470295e-01 0.00000000e+00 5.12819311e+01] [-3.41470295e-01 9.39892567e-01 0.00000000e+00 -1.06354067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70372484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:-10.64, Z:0.04 [[ 9.40300491e-01 3.40345393e-01 0.00000000e+00 5.13122099e+01] [-3.40345393e-01 9.40300491e-01 0.00000000e+00 -1.06429680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67522864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.284340128000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:51.34, Y:-10.65, Z:0.04 [[ 9.40437066e-01 3.39967830e-01 0.00000000e+00 5.13444203e+01] [-3.39967830e-01 9.40437066e-01 0.00000000e+00 -1.06524817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80876298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.314340128000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.38, Y:-10.66, Z:0.04 [[ 9.41328316e-01 3.37492225e-01 0.00000000e+00 5.13762090e+01] [-3.37492225e-01 9.41328316e-01 0.00000000e+00 -1.06556096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33245178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.344340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:-10.66, Z:0.04 [[ 9.41173725e-01 3.37923097e-01 0.00000000e+00 5.14066394e+01] [-3.37923097e-01 9.41173725e-01 0.00000000e+00 -1.06630870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47445626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:-10.67, Z:0.05 [[ 9.40903472e-01 3.38674853e-01 0.00000000e+00 5.14385969e+01] [-3.38674853e-01 9.40903472e-01 0.00000000e+00 -1.06664162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66305038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:-10.67, Z:0.05 [[ 9.40592200e-01 3.39538383e-01 0.00000000e+00 5.14704654e+01] [-3.39538383e-01 9.40592200e-01 0.00000000e+00 -1.06738523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68644632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.434340128 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:51.50, Y:-10.68, Z:0.05 [[ 9.40001938e-01 3.41169103e-01 0.00000000e+00 5.15020839e+01] [-3.41169103e-01 9.40001938e-01 0.00000000e+00 -1.06810981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93424644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.464340128 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:51.53, Y:-10.68, Z:0.05 [[ 0.93858147 0.34505771 0. 51.5341226 ] [ -0.34505771 0.93858147 0. -10.68174052] [ 0. 0. 1. 0.05269126] [ 0. 0. 0. 1. ]] SLAMing on 49.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.57, Y:-10.69, Z:0.05 [[ 9.37895708e-01 3.46917339e-01 0.00000000e+00 5.15661201e+01] [-3.46917339e-01 9.37895708e-01 0.00000000e+00 -1.06884442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91759603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.524340128000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.60, Y:-10.69, Z:0.05 [[ 9.36063682e-01 3.51830617e-01 0.00000000e+00 5.15984979e+01] [-3.51830617e-01 9.36063682e-01 0.00000000e+00 -1.06911101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04314876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.554340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.63, Y:-10.70, Z:0.05 [[ 0.93501026 0.35462066 0. 51.62906133] [ -0.35462066 0.93501026 0. -10.69799322] [ 0. 0. 1. 0.05388234] [ 0. 0. 0. 1. ]] SLAMing on 49.584340128 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:51.66, Y:-10.71, Z:0.06 [[ 0.93357107 0.35839232 0. 51.65913525] [ -0.35839232 0.93357107 0. -10.70558937] [ 0. 0. 1. 0.0552506 ] [ 0. 0. 0. 1. ]] SLAMing on 49.614340128 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:51.69, Y:-10.71, Z:0.06 [[ 0.93238695 0.36146171 0. 51.68934259] [ -0.36146171 0.93238695 0. -10.71233899] [ 0. 0. 1. 0.05536716] [ 0. 0. 0. 1. ]] SLAMing on 49.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:-10.72, Z:0.05 [[ 0.93037608 0.36660653 0. 51.72173395] [ -0.36660653 0.93037608 0. -10.71526498] [ 0. 0. 1. 0.05437185] [ 0. 0. 0. 1. ]] SLAMing on 49.674340128000004 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:51.75, Y:-10.72, Z:0.06 [[ 0.92934604 0.36920988 0. 51.75102704] [ -0.36920988 0.92934604 0. -10.72199409] [ 0. 0. 1. 0.05713674] [ 0. 0. 0. 1. ]] SLAMing on 49.704340128000005 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:51.78, Y:-10.73, Z:0.05 [[ 0.92884371 0.37047182 0. 51.78213424] [ -0.37047182 0.92884371 0. -10.72998804] [ 0. 0. 1. 0.05373572] [ 0. 0. 0. 1. ]] SLAMing on 49.734340128 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:51.81, Y:-10.73, Z:0.05 [[ 0.92721301 0.37453442 0. 51.81064621] [ -0.37453442 0.92721301 0. -10.73426355] [ 0. 0. 1. 0.05240893] [ 0. 0. 0. 1. ]] SLAMing on 49.764340128 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:51.84, Y:-10.74, Z:0.05 [[ 0.92708833 0.37484294 0. 51.83794114] [ -0.37484294 0.92708833 0. -10.73950981] [ 0. 0. 1. 0.05345177] [ 0. 0. 0. 1. ]] SLAMing on 49.794340128 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:51.87, Y:-10.75, Z:0.05 [[ 9.25518201e-01 3.78703128e-01 0.00000000e+00 5.18683090e+01] [-3.78703128e-01 9.25518201e-01 0.00000000e+00 -1.07496087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71874043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.824340128 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:51.90, Y:-10.76, Z:0.05 [[ 9.25078466e-01 3.79776028e-01 0.00000000e+00 5.18954815e+01] [-3.79776028e-01 9.25078466e-01 0.00000000e+00 -1.07582483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65861688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:-10.77, Z:0.05 [[ 9.24908428e-01 3.80189953e-01 0.00000000e+00 5.19228737e+01] [-3.80189953e-01 9.24908428e-01 0.00000000e+00 -1.07663603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51212937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.884340128000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:51.95, Y:-10.77, Z:0.05 [[ 9.24426653e-01 3.81359886e-01 0.00000000e+00 5.19483333e+01] [-3.81359886e-01 9.24426653e-01 0.00000000e+00 -1.07743259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58708991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.914340128 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:51.98, Y:-10.78, Z:0.05 [[ 9.24201478e-01 3.81905261e-01 0.00000000e+00 5.19756938e+01] [-3.81905261e-01 9.24201478e-01 0.00000000e+00 -1.07841176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59687793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.944340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.00, Y:-10.80, Z:0.04 [[ 9.23232302e-01 3.84242263e-01 0.00000000e+00 5.20024414e+01] [-3.84242263e-01 9.23232302e-01 0.00000000e+00 -1.07964027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24981742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.974340128 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:52.03, Y:-10.81, Z:0.04 [[ 9.22420771e-01 3.86186382e-01 0.00000000e+00 5.20312665e+01] [-3.86186382e-01 9.22420771e-01 0.00000000e+00 -1.08085296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84643005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.004340128 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:52.06, Y:-10.82, Z:0.04 [[ 9.21293485e-01 3.88867991e-01 0.00000000e+00 5.20583956e+01] [-3.88867991e-01 9.21293485e-01 0.00000000e+00 -1.08223486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93336203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.034340128000004 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:52.09, Y:-10.84, Z:0.04 [[ 9.20690534e-01 3.90293403e-01 0.00000000e+00 5.20865621e+01] [-3.90293403e-01 9.20690534e-01 0.00000000e+00 -1.08354432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64924906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.064340128000005 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:52.11, Y:-10.85, Z:0.03 [[ 9.19283597e-01 3.93595817e-01 0.00000000e+00 5.21134659e+01] [-3.93595817e-01 9.19283597e-01 0.00000000e+00 -1.08523774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49504716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.094340128000006 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:52.14, Y:-10.87, Z:0.03 [[ 9.18562170e-01 3.95276537e-01 0.00000000e+00 5.21415243e+01] [-3.95276537e-01 9.18562170e-01 0.00000000e+00 -1.08671424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40520499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.124340128 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:52.17, Y:-10.88, Z:0.04 [[ 9.17929231e-01 3.96744157e-01 0.00000000e+00 5.21686915e+01] [-3.96744157e-01 9.17929231e-01 0.00000000e+00 -1.08820973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60350341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.154340128 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:52.20, Y:-10.90, Z:0.03 [[ 9.16917938e-01 3.99075801e-01 0.00000000e+00 5.21957892e+01] [-3.99075801e-01 9.16917938e-01 0.00000000e+00 -1.09027188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28315987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.22, Y:-10.92, Z:0.03 [[ 9.16294815e-01 4.00504447e-01 0.00000000e+00 5.22243804e+01] [-4.00504447e-01 9.16294815e-01 0.00000000e+00 -1.09193234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14889093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.214340128 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:52.25, Y:-10.94, Z:0.03 [[ 9.15861393e-01 4.01494593e-01 0.00000000e+00 5.22525003e+01] [-4.01494593e-01 9.15861393e-01 0.00000000e+00 -1.09368187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04666322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.244340128000005 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:52.28, Y:-10.96, Z:0.03 [[ 9.15144951e-01 4.03124941e-01 0.00000000e+00 5.22772247e+01] [-4.03124941e-01 9.15144951e-01 0.00000000e+00 -1.09598537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11495597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.274340128000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.31, Y:-10.98, Z:0.03 [[ 9.14638430e-01 4.04272856e-01 0.00000000e+00 5.23050806e+01] [-4.04272856e-01 9.14638430e-01 0.00000000e+00 -1.09770012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11984159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:-10.99, Z:0.03 [[ 9.14259710e-01 4.05128600e-01 0.00000000e+00 5.23332192e+01] [-4.05128600e-01 9.14259710e-01 0.00000000e+00 -1.09944258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18715437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.334340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.36, Y:-11.02, Z:0.04 [[ 9.13751680e-01 4.06273143e-01 0.00000000e+00 5.23586515e+01] [-4.06273143e-01 9.13751680e-01 0.00000000e+00 -1.10170360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52450456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.364340128 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:52.39, Y:-11.03, Z:0.04 [[ 9.13472147e-01 4.06901263e-01 0.00000000e+00 5.23857412e+01] [-4.06901263e-01 9.13472147e-01 0.00000000e+00 -1.10333641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84551754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:-11.06, Z:0.04 [[ 9.12636731e-01 4.08771570e-01 0.00000000e+00 5.24122971e+01] [-4.08771570e-01 9.12636731e-01 0.00000000e+00 -1.10561946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29878220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.424340128000004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:52.44, Y:-11.07, Z:0.05 [[ 9.12709144e-01 4.08609862e-01 0.00000000e+00 5.24374102e+01] [-4.08609862e-01 9.12709144e-01 0.00000000e+00 -1.10721919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82258239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.454340128000005 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:52.46, Y:-11.09, Z:0.05 [[ 9.12872725e-01 4.08244275e-01 0.00000000e+00 5.24641059e+01] [-4.08244275e-01 9.12872725e-01 0.00000000e+00 -1.10900260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12194059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.484340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:52.49, Y:-11.11, Z:0.06 [[ 0.91382216 0.40611459 0. 52.48734876] [ -0.40611459 0.91382216 0. -11.11427328] [ 0. 0. 1. 0.05622507] [ 0. 0. 0. 1. ]] SLAMing on 50.514340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:52.51, Y:-11.13, Z:0.06 [[ 0.91522168 0.40295072 0. 52.51438794] [ -0.40295072 0.91522168 0. -11.13179258] [ 0. 0. 1. 0.05900581] [ 0. 0. 0. 1. ]] SLAMing on 50.544340128 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.54, Y:-11.15, Z:0.05 [[ 9.18538417e-01 3.95331729e-01 0.00000000e+00 5.25429645e+01] [-3.95331729e-01 9.18538417e-01 0.00000000e+00 -1.11473347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95174613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:-11.16, Z:0.06 [[ 0.92140413 0.38860574 0. 52.56786548] [ -0.38860574 0.92140413 0. -11.16330481] [ 0. 0. 1. 0.0576755 ] [ 0. 0. 0. 1. ]] SLAMing on 50.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:-11.19, Z:0.06 [[ 0.92932195 0.36927051 0. 52.59108833] [ -0.36927051 0.92932195 0. -11.18846143] [ 0. 0. 1. 0.06233519] [ 0. 0. 0. 1. ]] SLAMing on 50.634340128000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:52.62, Y:-11.21, Z:0.07 [[ 0.93326056 0.35920011 0. 52.6173916 ] [ -0.35920011 0.93326056 0. -11.20739625] [ 0. 0. 1. 0.06673017] [ 0. 0. 0. 1. ]] SLAMing on 50.664340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.64, Y:-11.23, Z:0.07 [[ 0.93988419 0.34149336 0. 52.64011973] [ -0.34149336 0.93988419 0. -11.23176638] [ 0. 0. 1. 0.07260736] [ 0. 0. 0. 1. ]] SLAMing on 50.694340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.67, Y:-11.24, Z:0.07 [[ 0.93979062 0.34175078 0. 52.67123563] [ -0.34175078 0.93979062 0. -11.24382847] [ 0. 0. 1. 0.07260736] [ 0. 0. 0. 1. ]] SLAMing on 50.724340128 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:52.70, Y:-11.26, Z:0.06 [[ 0.94223157 0.33496218 0. 52.69774906] [ -0.33496218 0.94223157 0. -11.26124314] [ 0. 0. 1. 0.05892297] [ 0. 0. 0. 1. ]] SLAMing on 50.754340128 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:52.72, Y:-11.28, Z:0.06 [[ 0.94460381 0.3282128 0. 52.72494067] [ -0.3282128 0.94460381 0. -11.27718187] [ 0. 0. 1. 0.06003889] [ 0. 0. 0. 1. ]] SLAMing on 50.784340128000004 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:52.75, Y:-11.29, Z:0.06 [[ 0.94662401 0.32233987 0. 52.75255098] [ -0.32233987 0.94662401 0. -11.29247376] [ 0. 0. 1. 0.06101988] [ 0. 0. 0. 1. ]] SLAMing on 50.814340128000005 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:52.78, Y:-11.30, Z:0.06 [[ 0.94849412 0.31679472 0. 52.78222468] [ -0.31679472 0.94849412 0. -11.30262538] [ 0. 0. 1. 0.06321765] [ 0. 0. 0. 1. ]] SLAMing on 50.844340128000006 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:52.81, Y:-11.31, Z:0.06 [[ 0.9489084 0.31555166 0. 52.81223252] [ -0.31555166 0.9489084 0. -11.31339961] [ 0. 0. 1. 0.05839636] [ 0. 0. 0. 1. ]] SLAMing on 50.874340128 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:52.84, Y:-11.32, Z:0.06 [[ 0.94970055 0.31315949 0. 52.84255558] [ -0.31315949 0.94970055 0. -11.32326048] [ 0. 0. 1. 0.0619391 ] [ 0. 0. 0. 1. ]] SLAMing on 50.904340128 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:52.87, Y:-11.33, Z:0.07 [[ 0.94995887 0.31237501 0. 52.87159524] [ -0.31237501 0.94995887 0. -11.33351688] [ 0. 0. 1. 0.06779544] [ 0. 0. 0. 1. ]] SLAMing on 50.934340128 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:52.90, Y:-11.34, Z:0.05 [[ 9.49762392e-01 3.12971881e-01 0.00000000e+00 5.28989556e+01] [-3.12971881e-01 9.49762392e-01 0.00000000e+00 -1.13418525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13310998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.964340128 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:52.93, Y:-11.35, Z:0.05 [[ 9.49881203e-01 3.12611101e-01 0.00000000e+00 5.29274646e+01] [-3.12611101e-01 9.49881203e-01 0.00000000e+00 -1.13506734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23695918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.994340128000005 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:52.96, Y:-11.36, Z:0.05 [[ 9.49385196e-01 3.14114229e-01 0.00000000e+00 5.29599176e+01] [-3.14114229e-01 9.49385196e-01 0.00000000e+00 -1.13627111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25823586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.024340128000006 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:52.99, Y:-11.37, Z:0.05 [[ 9.48766850e-01 3.15976998e-01 0.00000000e+00 5.29908565e+01] [-3.15976998e-01 9.48766850e-01 0.00000000e+00 -1.13716361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07935240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.054340128 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:53.02, Y:-11.37, Z:0.05 [[ 9.46550288e-01 3.22556278e-01 0.00000000e+00 5.30191860e+01] [-3.22556278e-01 9.46550288e-01 0.00000000e+00 -1.13745747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86349715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.084340128 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:53.05, Y:-11.38, Z:0.05 [[ 9.45637201e-01 3.25223438e-01 0.00000000e+00 5.30493901e+01] [-3.25223438e-01 9.45637201e-01 0.00000000e+00 -1.13829163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65610889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.114340128 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.08, Y:-11.39, Z:0.04 [[ 9.45607396e-01 3.25310087e-01 0.00000000e+00 5.30833843e+01] [-3.25310087e-01 9.45607396e-01 0.00000000e+00 -1.13932236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15986787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.144340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:-11.40, Z:0.04 [[ 9.43083116e-01 3.32557117e-01 0.00000000e+00 5.31104901e+01] [-3.32557117e-01 9.43083116e-01 0.00000000e+00 -1.13964848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54715111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.15, Y:-11.41, Z:0.03 [[ 9.43439740e-01 3.31544050e-01 0.00000000e+00 5.31452903e+01] [-3.31544050e-01 9.43439740e-01 0.00000000e+00 -1.14055163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85528005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:-11.41, Z:0.02 [[ 9.42903969e-01 3.33064717e-01 0.00000000e+00 5.31766039e+01] [-3.33064717e-01 9.42903969e-01 0.00000000e+00 -1.14128723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41958805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:-11.41, Z:0.01 [[ 9.42113026e-01 3.35295462e-01 0.00000000e+00 5.32084801e+01] [-3.35295462e-01 9.42113026e-01 0.00000000e+00 -1.14131199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47683735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.264340128 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:53.24, Y:-11.42, Z:0.01 [[ 9.41698352e-01 3.36458339e-01 0.00000000e+00 5.32400464e+01] [-3.36458339e-01 9.41698352e-01 0.00000000e+00 -1.14193718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01334769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:-11.43, Z:-0.00 [[ 9.40710321e-01 3.39210985e-01 0.00000000e+00 5.32748973e+01] [-3.39210985e-01 9.40710321e-01 0.00000000e+00 -1.14298339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00830954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.324340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:-11.44, Z:-0.01 [[ 9.39422030e-01 3.42762671e-01 0.00000000e+00 5.33021755e+01] [-3.42762671e-01 9.39422030e-01 0.00000000e+00 -1.14351435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30020425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:-11.43, Z:-0.01 [[ 9.41074306e-01 3.38199867e-01 0.00000000e+00 5.33363648e+01] [-3.38199867e-01 9.41074306e-01 0.00000000e+00 -1.14321377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73382088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.384340128000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.37, Y:-11.44, Z:-0.02 [[ 9.40653355e-01 3.39368923e-01 0.00000000e+00 5.33715355e+01] [-3.39368923e-01 9.40653355e-01 0.00000000e+00 -1.14426700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58612660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.414340128 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:53.40, Y:-11.44, Z:-0.03 [[ 9.40969490e-01 3.38491387e-01 0.00000000e+00 5.33985600e+01] [-3.38491387e-01 9.40969490e-01 0.00000000e+00 -1.14365716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59015454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:-11.44, Z:-0.03 [[ 9.42252474e-01 3.34903382e-01 0.00000000e+00 5.34341340e+01] [-3.34903382e-01 9.42252474e-01 0.00000000e+00 -1.14422074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13857859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:-11.45, Z:-0.04 [[ 9.42441075e-01 3.34372276e-01 0.00000000e+00 5.34698827e+01] [-3.34372276e-01 9.42441075e-01 0.00000000e+00 -1.14512899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77121585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.504340128 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:53.50, Y:-11.45, Z:-0.04 [[ 9.45362398e-01 3.26021374e-01 0.00000000e+00 5.35018540e+01] [-3.26021374e-01 9.45362398e-01 0.00000000e+00 -1.14472237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32241097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.534340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.53, Y:-11.45, Z:-0.05 [[ 9.46894045e-01 3.21545747e-01 0.00000000e+00 5.35328732e+01] [-3.21545747e-01 9.46894045e-01 0.00000000e+00 -1.14535055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59976866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:-11.46, Z:-0.05 [[ 9.48487398e-01 3.16814861e-01 0.00000000e+00 5.35655818e+01] [-3.16814861e-01 9.48487398e-01 0.00000000e+00 -1.14613088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66491110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.594340128000006 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:53.60, Y:-11.47, Z:-0.05 [[ 9.50077795e-01 3.12013114e-01 0.00000000e+00 5.35974138e+01] [-3.12013114e-01 9.50077795e-01 0.00000000e+00 -1.14690631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70498781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:-11.47, Z:-0.05 [[ 9.51437563e-01 3.07841784e-01 0.00000000e+00 5.36263492e+01] [-3.07841784e-01 9.51437563e-01 0.00000000e+00 -1.14708577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71893535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.654340128 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:53.66, Y:-11.48, Z:-0.05 [[ 9.53205386e-01 3.02323489e-01 0.00000000e+00 5.36612836e+01] [-3.02323489e-01 9.53205386e-01 0.00000000e+00 -1.14771638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62477914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.684340128 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:53.70, Y:-11.48, Z:-0.04 [[ 9.53735854e-01 3.00645839e-01 0.00000000e+00 5.36954147e+01] [-3.00645839e-01 9.53735854e-01 0.00000000e+00 -1.14777996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05580645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.714340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:-11.49, Z:-0.04 [[ 9.53685394e-01 3.00805867e-01 0.00000000e+00 5.37288591e+01] [-3.00805867e-01 9.53685394e-01 0.00000000e+00 -1.14853880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72482398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.76, Y:-11.49, Z:-0.04 [[ 9.53534707e-01 3.01283194e-01 0.00000000e+00 5.37596015e+01] [-3.01283194e-01 9.53534707e-01 0.00000000e+00 -1.14921856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54437738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.774340128000006 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:53.79, Y:-11.50, Z:-0.03 [[ 9.52488313e-01 3.04575137e-01 0.00000000e+00 5.37888608e+01] [-3.04575137e-01 9.52488313e-01 0.00000000e+00 -1.14964027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12223626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.804340128 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:53.82, Y:-11.50, Z:-0.03 [[ 9.52333546e-01 3.05058711e-01 0.00000000e+00 5.38189127e+01] [-3.05058711e-01 9.52333546e-01 0.00000000e+00 -1.15040268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69369810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.834340128 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:53.85, Y:-11.51, Z:-0.02 [[ 9.52199263e-01 3.05477600e-01 0.00000000e+00 5.38512800e+01] [-3.05477600e-01 9.52199263e-01 0.00000000e+00 -1.15106250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26338264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864340128 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:53.88, Y:-11.52, Z:-0.02 [[ 9.51755169e-01 3.06858432e-01 0.00000000e+00 5.38818098e+01] [-3.06858432e-01 9.51755169e-01 0.00000000e+00 -1.15205832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44204931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.894340128 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:53.91, Y:-11.53, Z:-0.02 [[ 9.52210008e-01 3.05444103e-01 0.00000000e+00 5.39145280e+01] [-3.05444103e-01 9.52210008e-01 0.00000000e+00 -1.15300566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36788445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924340128000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.94, Y:-11.54, Z:-0.02 [[ 9.51303613e-01 3.08255473e-01 0.00000000e+00 5.39434668e+01] [-3.08255473e-01 9.51303613e-01 0.00000000e+00 -1.15395097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21861492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.954340128000005 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:53.97, Y:-11.55, Z:-0.03 [[ 9.49633417e-01 3.13363007e-01 0.00000000e+00 5.39691135e+01] [-3.13363007e-01 9.49633417e-01 0.00000000e+00 -1.15500653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50623063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:-11.56, Z:-0.02 [[ 9.46814763e-01 3.21779125e-01 0.00000000e+00 5.39983501e+01] [-3.21779125e-01 9.46814763e-01 0.00000000e+00 -1.15590629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39842907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.014340128 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:54.03, Y:-11.57, Z:-0.02 [[ 9.45645733e-01 3.25198629e-01 0.00000000e+00 5.40300273e+01] [-3.25198629e-01 9.45645733e-01 0.00000000e+00 -1.15690934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23524231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:-11.58, Z:-0.02 [[ 9.43853559e-01 3.30364132e-01 0.00000000e+00 5.40602133e+01] [-3.30364132e-01 9.43853559e-01 0.00000000e+00 -1.15795759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36442638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.074340128 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:54.09, Y:-11.59, Z:-0.02 [[ 9.40561801e-01 3.39622582e-01 0.00000000e+00 5.40912061e+01] [-3.39622582e-01 9.40561801e-01 0.00000000e+00 -1.15888516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14523137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:-11.60, Z:-0.02 [[ 9.38020810e-01 3.46578938e-01 0.00000000e+00 5.41173595e+01] [-3.46578938e-01 9.38020810e-01 0.00000000e+00 -1.15988590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47211582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:-11.61, Z:-0.02 [[ 9.34619070e-01 3.55650382e-01 0.00000000e+00 5.41440622e+01] [-3.55650382e-01 9.34619070e-01 0.00000000e+00 -1.16104994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41758825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.164340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:-11.62, Z:-0.02 [[ 9.33764096e-01 3.57889107e-01 0.00000000e+00 5.41745866e+01] [-3.57889107e-01 9.33764096e-01 0.00000000e+00 -1.16228716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98292454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:-11.63, Z:-0.02 [[ 9.32031526e-01 3.62377200e-01 0.00000000e+00 5.41980353e+01] [-3.62377200e-01 9.32031526e-01 0.00000000e+00 -1.16336729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37005021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:-11.65, Z:-0.02 [[ 9.32169321e-01 3.62022593e-01 0.00000000e+00 5.42291789e+01] [-3.62022593e-01 9.32169321e-01 0.00000000e+00 -1.16488636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08915754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.254340128 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:54.26, Y:-11.66, Z:-0.02 [[ 9.33144407e-01 3.59501759e-01 0.00000000e+00 5.42583156e+01] [-3.59501759e-01 9.33144407e-01 0.00000000e+00 -1.16619079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87100595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:-11.67, Z:-0.02 [[ 9.33743278e-01 3.57943417e-01 0.00000000e+00 5.42853358e+01] [-3.57943417e-01 9.33743278e-01 0.00000000e+00 -1.16746293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83051535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.314340128000005 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:54.31, Y:-11.69, Z:-0.01 [[ 9.34161739e-01 3.56849891e-01 0.00000000e+00 5.43134381e+01] [-3.56849891e-01 9.34161739e-01 0.00000000e+00 -1.16933673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47500799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.344340128000006 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:54.34, Y:-11.71, Z:-0.02 [[ 9.34041037e-01 3.57165704e-01 0.00000000e+00 5.43385324e+01] [-3.57165704e-01 9.34041037e-01 0.00000000e+00 -1.17077930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16633954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:-11.72, Z:-0.02 [[ 9.34053978e-01 3.57131861e-01 0.00000000e+00 5.43644546e+01] [-3.57131861e-01 9.34053978e-01 0.00000000e+00 -1.17207508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90941444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:-11.74, Z:-0.01 [[ 9.35275300e-01 3.53921056e-01 0.00000000e+00 5.43940835e+01] [-3.53921056e-01 9.35275300e-01 0.00000000e+00 -1.17410952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36496171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.434340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:54.42, Y:-11.76, Z:-0.01 [[ 9.35617808e-01 3.53014613e-01 0.00000000e+00 5.44219213e+01] [-3.53014613e-01 9.35617808e-01 0.00000000e+00 -1.17578460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11048609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:-11.78, Z:-0.01 [[ 9.36549679e-01 3.50534876e-01 0.00000000e+00 5.44467397e+01] [-3.50534876e-01 9.36549679e-01 0.00000000e+00 -1.17796715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13672531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.494340128000005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:54.47, Y:-11.80, Z:-0.01 [[ 9.36807693e-01 3.49844747e-01 0.00000000e+00 5.44747045e+01] [-3.49844747e-01 9.36807693e-01 0.00000000e+00 -1.17967464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04130681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.524340128000006 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:54.50, Y:-11.81, Z:-0.01 [[ 9.36851838e-01 3.49726513e-01 0.00000000e+00 5.45036675e+01] [-3.49726513e-01 9.36851838e-01 0.00000000e+00 -1.18144196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59278375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.554340128 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:54.53, Y:-11.84, Z:-0.01 [[ 9.37171555e-01 3.48868854e-01 0.00000000e+00 5.45266718e+01] [-3.48868854e-01 9.37171555e-01 0.00000000e+00 -1.18350206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75095467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.584340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.55, Y:-11.85, Z:-0.01 [[ 9.37313812e-01 3.48486468e-01 0.00000000e+00 5.45547110e+01] [-3.48486468e-01 9.37313812e-01 0.00000000e+00 -1.18523936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16385107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.614340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:54.58, Y:-11.87, Z:-0.01 [[ 9.37986480e-01 3.46671838e-01 0.00000000e+00 5.45838920e+01] [-3.46671838e-01 9.37986480e-01 0.00000000e+00 -1.18701683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34406283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.644340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:54.61, Y:-11.88, Z:-0.01 [[ 9.37974575e-01 3.46704048e-01 0.00000000e+00 5.46142608e+01] [-3.46704048e-01 9.37974575e-01 0.00000000e+00 -1.18821848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.34406283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.674340128000004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:54.64, Y:-11.90, Z:-0.01 [[ 9.37679787e-01 3.47500527e-01 0.00000000e+00 5.46396272e+01] [-3.47500527e-01 9.37679787e-01 0.00000000e+00 -1.19000778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04562977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.704340128000005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:54.66, Y:-11.92, Z:-0.01 [[ 9.38863491e-01 3.44289623e-01 0.00000000e+00 5.46646696e+01] [-3.44289623e-01 9.38863491e-01 0.00000000e+00 -1.19198538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58877719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.734340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:54.69, Y:-11.94, Z:-0.01 [[ 9.39424303e-01 3.42756442e-01 0.00000000e+00 5.46942609e+01] [-3.42756442e-01 9.39424303e-01 0.00000000e+00 -1.19373897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10285963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.764340128 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:54.72, Y:-11.95, Z:-0.01 [[ 9.39609037e-01 3.42249702e-01 0.00000000e+00 5.47205772e+01] [-3.42249702e-01 9.39609037e-01 0.00000000e+00 -1.19536769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29630436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:-11.98, Z:-0.01 [[ 9.41135656e-01 3.38029107e-01 0.00000000e+00 5.47469294e+01] [-3.38029107e-01 9.41135656e-01 0.00000000e+00 -1.19765936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03978614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:-12.00, Z:-0.01 [[ 9.41358971e-01 3.37406709e-01 0.00000000e+00 5.47749129e+01] [-3.37406709e-01 9.41358971e-01 0.00000000e+00 -1.19950033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92696084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.854340128000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.80, Y:-12.02, Z:-0.01 [[ 9.41544303e-01 3.36889188e-01 0.00000000e+00 5.47991880e+01] [-3.36889188e-01 9.41544303e-01 0.00000000e+00 -1.20172517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13830341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.884340128000005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:54.83, Y:-12.03, Z:-0.01 [[ 9.41583733e-01 3.36778969e-01 0.00000000e+00 5.48276795e+01] [-3.36778969e-01 9.41583733e-01 0.00000000e+00 -1.20344622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29250475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.914340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:-12.05, Z:-0.02 [[ 9.40546889e-01 3.39663876e-01 0.00000000e+00 5.48530208e+01] [-3.39663876e-01 9.40546889e-01 0.00000000e+00 -1.20504660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50835681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.944340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.88, Y:-12.07, Z:-0.02 [[ 9.40699460e-01 3.39241102e-01 0.00000000e+00 5.48833138e+01] [-3.39241102e-01 9.40699460e-01 0.00000000e+00 -1.20669166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55832979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.974340128 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.91, Y:-12.09, Z:-0.02 [[ 9.39278640e-01 3.43155411e-01 0.00000000e+00 5.49087412e+01] [-3.43155411e-01 9.39278640e-01 0.00000000e+00 -1.20895638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56113655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:-12.10, Z:-0.01 [[ 9.39128851e-01 3.43565134e-01 0.00000000e+00 5.49341853e+01] [-3.43565134e-01 9.39128851e-01 0.00000000e+00 -1.21041117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11753016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.034340128000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.96, Y:-12.13, Z:-0.01 [[ 9.38741050e-01 3.44623333e-01 0.00000000e+00 5.49613668e+01] [-3.44623333e-01 9.38741050e-01 0.00000000e+00 -1.21268010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31103962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064340128000005 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.99, Y:-12.14, Z:-0.01 [[ 9.37943298e-01 3.46788653e-01 0.00000000e+00 5.49884855e+01] [-3.46788653e-01 9.37943298e-01 0.00000000e+00 -1.21423328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75101898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094340128000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.02, Y:-12.15, Z:-0.01 [[ 9.36600578e-01 3.50398856e-01 0.00000000e+00 5.50173910e+01] [-3.50398856e-01 9.36600578e-01 0.00000000e+00 -1.21546409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14040661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:-12.17, Z:-0.00 [[ 9.35036548e-01 3.54551341e-01 0.00000000e+00 5.50466545e+01] [-3.54551341e-01 9.35036548e-01 0.00000000e+00 -1.21679335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59876935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:-12.19, Z:-0.00 [[ 9.32373856e-01 3.61495494e-01 0.00000000e+00 5.50776640e+01] [-3.61495494e-01 9.32373856e-01 0.00000000e+00 -1.21866983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00734766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.184340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.10, Y:-12.20, Z:-0.00 [[ 9.31658769e-01 3.63334471e-01 0.00000000e+00 5.51043109e+01] [-3.63334471e-01 9.31658769e-01 0.00000000e+00 -1.21962612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41573214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.214340128 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.13, Y:-12.21, Z:0.00 [[ 9.28619490e-01 3.71033480e-01 0.00000000e+00 5.51313808e+01] [-3.71033480e-01 9.28619490e-01 0.00000000e+00 -1.22146895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42417142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:-12.22, Z:0.00 [[ 9.28999494e-01 3.70080991e-01 0.00000000e+00 5.51650765e+01] [-3.70080991e-01 9.28999494e-01 0.00000000e+00 -1.22200347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47028070e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.274340128000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.20, Y:-12.24, Z:-0.00 [[ 9.27364062e-01 3.74160255e-01 0.00000000e+00 5.51973092e+01] [-3.74160255e-01 9.27364062e-01 0.00000000e+00 -1.22354751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03701140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:-12.24, Z:-0.00 [[ 9.25975083e-01 3.77584620e-01 0.00000000e+00 5.52283814e+01] [-3.77584620e-01 9.25975083e-01 0.00000000e+00 -1.22436922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53630740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.334340128 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.26, Y:-12.25, Z:-0.00 [[ 9.25198004e-01 3.79484721e-01 0.00000000e+00 5.52575800e+01] [-3.79484721e-01 9.25198004e-01 0.00000000e+00 -1.22543360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40366080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:-12.27, Z:-0.00 [[ 9.24049070e-01 3.82273875e-01 0.00000000e+00 5.52866951e+01] [-3.82273875e-01 9.24049070e-01 0.00000000e+00 -1.22672342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36815021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:-12.28, Z:-0.00 [[ 9.23917853e-01 3.82590906e-01 0.00000000e+00 5.53170836e+01] [-3.82590906e-01 9.23917853e-01 0.00000000e+00 -1.22779362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45533177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:-12.29, Z:-0.00 [[ 9.24137607e-01 3.82059790e-01 0.00000000e+00 5.53502090e+01] [-3.82059790e-01 9.24137607e-01 0.00000000e+00 -1.22895357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51351644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.454340128000005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:55.38, Y:-12.30, Z:-0.00 [[ 9.24080777e-01 3.82197223e-01 0.00000000e+00 5.53782862e+01] [-3.82197223e-01 9.24080777e-01 0.00000000e+00 -1.22986626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91435707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:-12.31, Z:-0.00 [[ 9.24140601e-01 3.82052548e-01 0.00000000e+00 5.54074878e+01] [-3.82052548e-01 9.24140601e-01 0.00000000e+00 -1.23082852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89252566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:-12.32, Z:0.00 [[ 9.24372223e-01 3.81491801e-01 0.00000000e+00 5.54378492e+01] [-3.81491801e-01 9.24372223e-01 0.00000000e+00 -1.23218260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79716241e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:-12.33, Z:0.00 [[ 9.25360267e-01 3.79088877e-01 0.00000000e+00 5.54698155e+01] [-3.79088877e-01 9.25360267e-01 0.00000000e+00 -1.23339949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18735557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:-12.35, Z:-0.00 [[ 9.24464170e-01 3.81268932e-01 0.00000000e+00 5.54968978e+01] [-3.81268932e-01 9.24464170e-01 0.00000000e+00 -1.23478356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59437341e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:-12.36, Z:0.00 [[ 9.26546741e-01 3.76179661e-01 0.00000000e+00 5.55300884e+01] [-3.76179661e-01 9.26546741e-01 0.00000000e+00 -1.23577810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69468778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.634340128000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.56, Y:-12.37, Z:0.00 [[ 9.26053646e-01 3.77391899e-01 0.00000000e+00 5.55580030e+01] [-3.77391899e-01 9.26053646e-01 0.00000000e+00 -1.23692995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87704574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:-12.38, Z:0.00 [[ 9.26357907e-01 3.76644431e-01 0.00000000e+00 5.55896089e+01] [-3.76644431e-01 9.26357907e-01 0.00000000e+00 -1.23799448e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36452188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:-12.39, Z:0.00 [[ 9.27125363e-01 3.74751332e-01 0.00000000e+00 5.56195397e+01] [-3.74751332e-01 9.27125363e-01 0.00000000e+00 -1.23891019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56245753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:-12.40, Z:0.00 [[ 9.27622261e-01 3.73519665e-01 0.00000000e+00 5.56506870e+01] [-3.73519665e-01 9.27622261e-01 0.00000000e+00 -1.24005458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22188320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:-12.41, Z:0.00 [[ 9.27453418e-01 3.73938707e-01 0.00000000e+00 5.56790818e+01] [-3.73938707e-01 9.27453418e-01 0.00000000e+00 -1.24124303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35605588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:-12.42, Z:0.00 [[ 9.28164094e-01 3.72171217e-01 0.00000000e+00 5.57081781e+01] [-3.72171217e-01 9.28164094e-01 0.00000000e+00 -1.24219431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40007300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.814340128000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.74, Y:-12.43, Z:0.00 [[ 9.28625784e-01 3.71017727e-01 0.00000000e+00 5.57397691e+01] [-3.71017727e-01 9.28625784e-01 0.00000000e+00 -1.24348527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41758779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844340128000006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.77, Y:-12.44, Z:0.00 [[ 9.30122589e-01 3.67249192e-01 0.00000000e+00 5.57716070e+01] [-3.67249192e-01 9.30122589e-01 0.00000000e+00 -1.24448612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14453545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:-12.46, Z:0.00 [[ 9.29965617e-01 3.67646502e-01 0.00000000e+00 5.58038368e+01] [-3.67646502e-01 9.29965617e-01 0.00000000e+00 -1.24595631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50007242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.904340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.83, Y:-12.47, Z:0.01 [[ 9.31129244e-01 3.64689362e-01 0.00000000e+00 5.58330028e+01] [-3.64689362e-01 9.31129244e-01 0.00000000e+00 -1.24693151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72689744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.934340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.86, Y:-12.48, Z:0.00 [[ 9.31697520e-01 3.63235090e-01 0.00000000e+00 5.58607141e+01] [-3.63235090e-01 9.31697520e-01 0.00000000e+00 -1.24777376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87683818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964340128 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:55.89, Y:-12.49, Z:0.01 [[ 9.31898122e-01 3.62720126e-01 0.00000000e+00 5.58933432e+01] [-3.62720126e-01 9.31898122e-01 0.00000000e+00 -1.24908944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07004075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.92, Y:-12.50, Z:0.00 [[ 9.31870490e-01 3.62791110e-01 0.00000000e+00 5.59211251e+01] [-3.62791110e-01 9.31870490e-01 0.00000000e+00 -1.25025170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70108301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:-12.52, Z:0.00 [[ 9.31971851e-01 3.62530646e-01 0.00000000e+00 5.59505440e+01] [-3.62530646e-01 9.31971851e-01 0.00000000e+00 -1.25157249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20062657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054340128 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.98, Y:-12.53, Z:0.00 [[ 9.32768186e-01 3.60476783e-01 0.00000000e+00 5.59803410e+01] [-3.60476783e-01 9.32768186e-01 0.00000000e+00 -1.25295298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17897575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.084340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.01, Y:-12.54, Z:0.00 [[ 9.32992347e-01 3.59896207e-01 0.00000000e+00 5.60103011e+01] [-3.59896207e-01 9.32992347e-01 0.00000000e+00 -1.25420968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58741646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:-12.55, Z:0.01 [[ 9.33122354e-01 3.59558998e-01 0.00000000e+00 5.60384176e+01] [-3.59558998e-01 9.33122354e-01 0.00000000e+00 -1.25532578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43550231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144340128 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:56.07, Y:-12.57, Z:0.01 [[ 9.33574321e-01 3.58383854e-01 0.00000000e+00 5.60700966e+01] [-3.58383854e-01 9.33574321e-01 0.00000000e+00 -1.25662019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14540843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.174340128000004 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:56.10, Y:-12.58, Z:0.01 [[ 9.33411464e-01 3.58807801e-01 0.00000000e+00 5.60990066e+01] [-3.58807801e-01 9.33411464e-01 0.00000000e+00 -1.25787436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72437455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204340128000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.13, Y:-12.59, Z:0.01 [[ 9.33924004e-01 3.57471614e-01 0.00000000e+00 5.61291864e+01] [-3.57471614e-01 9.33924004e-01 0.00000000e+00 -1.25904955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80125728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:-12.60, Z:0.01 [[ 9.32902857e-01 3.60128116e-01 0.00000000e+00 5.61573258e+01] [-3.60128116e-01 9.32902857e-01 0.00000000e+00 -1.26047232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12125151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.264340128 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:56.19, Y:-12.62, Z:0.01 [[ 9.33251204e-01 3.59224429e-01 0.00000000e+00 5.61873415e+01] [-3.59224429e-01 9.33251204e-01 0.00000000e+00 -1.26171945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03874960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.294340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.22, Y:-12.63, Z:0.01 [[ 9.32357853e-01 3.61536766e-01 0.00000000e+00 5.62171461e+01] [-3.61536766e-01 9.32357853e-01 0.00000000e+00 -1.26290317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71261382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324340128 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:56.25, Y:-12.64, Z:0.01 [[ 9.30897396e-01 3.65280766e-01 0.00000000e+00 5.62469984e+01] [-3.65280766e-01 9.30897396e-01 0.00000000e+00 -1.26410556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02859928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.354340128000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:56.28, Y:-12.65, Z:0.01 [[ 9.31540559e-01 3.63637440e-01 0.00000000e+00 5.62786460e+01] [-3.63637440e-01 9.31540559e-01 0.00000000e+00 -1.26522416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25479733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384340128000005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:56.31, Y:-12.66, Z:0.01 [[ 9.31920106e-01 3.62663640e-01 0.00000000e+00 5.63075682e+01] [-3.62663640e-01 9.31920106e-01 0.00000000e+00 -1.26620219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08608268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.414340128000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.34, Y:-12.67, Z:0.01 [[ 9.31519455e-01 3.63691496e-01 0.00000000e+00 5.63366235e+01] [-3.63691496e-01 9.31519455e-01 0.00000000e+00 -1.26729028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19070481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:-12.69, Z:0.01 [[ 9.29883783e-01 3.67853435e-01 0.00000000e+00 5.63666132e+01] [-3.67853435e-01 9.29883783e-01 0.00000000e+00 -1.26879720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21482553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.474340128 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.40, Y:-12.69, Z:0.01 [[ 9.31118523e-01 3.64716735e-01 0.00000000e+00 5.63958697e+01] [-3.64716735e-01 9.31118523e-01 0.00000000e+00 -1.26948958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01031987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.504340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.43, Y:-12.71, Z:0.01 [[ 9.30204144e-01 3.67042574e-01 0.00000000e+00 5.64274375e+01] [-3.67042574e-01 9.30204144e-01 0.00000000e+00 -1.27069588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82291897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.534340128000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.46, Y:-12.72, Z:0.01 [[ 9.30081548e-01 3.67353119e-01 0.00000000e+00 5.64583258e+01] [-3.67353119e-01 9.30081548e-01 0.00000000e+00 -1.27196959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82291897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:-12.73, Z:0.01 [[ 9.30303139e-01 3.66791589e-01 0.00000000e+00 5.64888453e+01] [-3.66791589e-01 9.30303139e-01 0.00000000e+00 -1.27299505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58606516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.594340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:-12.74, Z:0.00 [[ 9.31284899e-01 3.64291692e-01 0.00000000e+00 5.65206282e+01] [-3.64291692e-01 9.31284899e-01 0.00000000e+00 -1.27398362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57977426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.55, Y:-12.75, Z:0.01 [[ 9.31372373e-01 3.64067992e-01 0.00000000e+00 5.65495206e+01] [-3.64067992e-01 9.31372373e-01 0.00000000e+00 -1.27509224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48582496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.654340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.58, Y:-12.76, Z:0.01 [[ 9.31424680e-01 3.63934151e-01 0.00000000e+00 5.65778990e+01] [-3.63934151e-01 9.31424680e-01 0.00000000e+00 -1.27629183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81282906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:-12.78, Z:0.01 [[ 9.31032542e-01 3.64936168e-01 0.00000000e+00 5.66093558e+01] [-3.64936168e-01 9.31032542e-01 0.00000000e+00 -1.27760970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98556181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.714340128 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:56.64, Y:-12.79, Z:0.01 [[ 9.31701602e-01 3.63224621e-01 0.00000000e+00 5.66405200e+01] [-3.63224621e-01 9.31701602e-01 0.00000000e+00 -1.27865213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29998126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:-12.80, Z:0.01 [[ 9.31653742e-01 3.63347362e-01 0.00000000e+00 5.66702955e+01] [-3.63347362e-01 9.31653742e-01 0.00000000e+00 -1.27986157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84863662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:-12.81, Z:0.01 [[ 9.31856575e-01 3.62826850e-01 0.00000000e+00 5.66983835e+01] [-3.62826850e-01 9.31856575e-01 0.00000000e+00 -1.28084972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01319933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:-12.82, Z:0.01 [[ 9.31923666e-01 3.62654491e-01 0.00000000e+00 5.67295950e+01] [-3.62654491e-01 9.31923666e-01 0.00000000e+00 -1.28214218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00755250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.76, Y:-12.83, Z:0.01 [[ 9.31567041e-01 3.63569592e-01 0.00000000e+00 5.67583151e+01] [-3.63569592e-01 9.31567041e-01 0.00000000e+00 -1.28327525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63967571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:-12.84, Z:0.01 [[ 9.31426636e-01 3.63929143e-01 0.00000000e+00 5.67873991e+01] [-3.63929143e-01 9.31426636e-01 0.00000000e+00 -1.28405495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10514969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:-12.85, Z:0.01 [[ 9.31520949e-01 3.63687671e-01 0.00000000e+00 5.68184759e+01] [-3.63687671e-01 9.31520949e-01 0.00000000e+00 -1.28509281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00575893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924340128000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:56.85, Y:-12.86, Z:0.01 [[ 9.31179072e-01 3.64562117e-01 0.00000000e+00 5.68458902e+01] [-3.64562117e-01 9.31179072e-01 0.00000000e+00 -1.28618232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57774236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:-12.88, Z:0.01 [[ 9.30402701e-01 3.66538965e-01 0.00000000e+00 5.68804600e+01] [-3.66538965e-01 9.30402701e-01 0.00000000e+00 -1.28767425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87360286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.91, Y:-12.89, Z:0.01 [[ 9.30636696e-01 3.65944449e-01 0.00000000e+00 5.69070108e+01] [-3.65944449e-01 9.30636696e-01 0.00000000e+00 -1.28862893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15895723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:-12.90, Z:0.01 [[ 9.30724804e-01 3.65720303e-01 0.00000000e+00 5.69378892e+01] [-3.65720303e-01 9.30724804e-01 0.00000000e+00 -1.28977414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.36670804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:-12.91, Z:0.01 [[ 9.30975862e-01 3.65080736e-01 0.00000000e+00 5.69691404e+01] [-3.65080736e-01 9.30975862e-01 0.00000000e+00 -1.29081780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62588099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:-12.92, Z:0.01 [[ 9.31996736e-01 3.62466667e-01 0.00000000e+00 5.70008005e+01] [-3.62466667e-01 9.31996736e-01 0.00000000e+00 -1.29178562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55334371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.104340128000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:57.03, Y:-12.93, Z:0.01 [[ 9.31146976e-01 3.64644085e-01 0.00000000e+00 5.70302629e+01] [-3.64644085e-01 9.31146976e-01 0.00000000e+00 -1.29306476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22636453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:-12.94, Z:0.01 [[ 9.30783304e-01 3.65571390e-01 0.00000000e+00 5.70593042e+01] [-3.65571390e-01 9.30783304e-01 0.00000000e+00 -1.29425600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38716270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:-12.96, Z:0.01 [[ 9.30971456e-01 3.65091973e-01 0.00000000e+00 5.70929480e+01] [-3.65091973e-01 9.30971456e-01 0.00000000e+00 -1.29559574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77402954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:-12.97, Z:0.01 [[ 9.30859265e-01 3.65377927e-01 0.00000000e+00 5.71226201e+01] [-3.65377927e-01 9.30859265e-01 0.00000000e+00 -1.29665811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86259675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.224340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:-12.98, Z:0.01 [[ 9.31158374e-01 3.64614980e-01 0.00000000e+00 5.71537394e+01] [-3.64614980e-01 9.31158374e-01 0.00000000e+00 -1.29771670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01096216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:-12.98, Z:0.01 [[ 9.31556562e-01 3.63596441e-01 0.00000000e+00 5.71831841e+01] [-3.63596441e-01 9.31556562e-01 0.00000000e+00 -1.29842280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09636167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:-13.00, Z:0.01 [[ 9.30862215e-01 3.65370410e-01 0.00000000e+00 5.72128887e+01] [-3.65370410e-01 9.30862215e-01 0.00000000e+00 -1.29968885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31855528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:-13.01, Z:0.01 [[ 9.30854961e-01 3.65388890e-01 0.00000000e+00 5.72428434e+01] [-3.65388890e-01 9.30854961e-01 0.00000000e+00 -1.30056320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49316975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:-13.02, Z:0.01 [[ 9.30673597e-01 3.65850593e-01 0.00000000e+00 5.72728742e+01] [-3.65850593e-01 9.30673597e-01 0.00000000e+00 -1.30171628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80165480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:-13.03, Z:0.01 [[ 9.30271931e-01 3.66870733e-01 0.00000000e+00 5.73026610e+01] [-3.66870733e-01 9.30271931e-01 0.00000000e+00 -1.30283756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38521255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.404340128 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:57.34, Y:-13.04, Z:0.01 [[ 9.31349195e-01 3.64127282e-01 0.00000000e+00 5.73351199e+01] [-3.64127282e-01 9.31349195e-01 0.00000000e+00 -1.30400862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24792517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.434340128 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:57.36, Y:-13.05, Z:0.01 [[ 9.31226618e-01 3.64440649e-01 0.00000000e+00 5.73634416e+01] [-3.64440649e-01 9.31226618e-01 0.00000000e+00 -1.30507696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92437649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:-13.06, Z:0.01 [[ 9.32448636e-01 3.61302562e-01 0.00000000e+00 5.73967019e+01] [-3.61302562e-01 9.32448636e-01 0.00000000e+00 -1.30615296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86947935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:-13.07, Z:0.01 [[ 9.31974537e-01 3.62523740e-01 0.00000000e+00 5.74247733e+01] [-3.62523740e-01 9.31974537e-01 0.00000000e+00 -1.30728038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02313314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:-13.08, Z:0.01 [[ 9.32639130e-01 3.60810550e-01 0.00000000e+00 5.74556818e+01] [-3.60810550e-01 9.32639130e-01 0.00000000e+00 -1.30840505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85110291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.554340128 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:57.49, Y:-13.09, Z:0.01 [[ 9.33473969e-01 3.58645157e-01 0.00000000e+00 5.74875333e+01] [-3.58645157e-01 9.33473969e-01 0.00000000e+00 -1.30941117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71608142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:-13.11, Z:0.01 [[ 9.33428236e-01 3.58764168e-01 0.00000000e+00 5.75170745e+01] [-3.58764168e-01 9.33428236e-01 0.00000000e+00 -1.31061173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50869125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:-13.12, Z:0.01 [[ 9.34571980e-01 3.55774105e-01 0.00000000e+00 5.75477304e+01] [-3.55774105e-01 9.34571980e-01 0.00000000e+00 -1.31156494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18032769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.644340128 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:57.58, Y:-13.13, Z:0.01 [[ 9.35186983e-01 3.54154353e-01 0.00000000e+00 5.75792847e+01] [-3.54154353e-01 9.35186983e-01 0.00000000e+00 -1.31262789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04321657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.61, Y:-13.14, Z:0.01 [[ 9.34804677e-01 3.55162240e-01 0.00000000e+00 5.76089014e+01] [-3.55162240e-01 9.34804677e-01 0.00000000e+00 -1.31369734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07632747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:-13.14, Z:0.01 [[ 9.34298558e-01 3.56491522e-01 0.00000000e+00 5.76391855e+01] [-3.56491522e-01 9.34298558e-01 0.00000000e+00 -1.31448711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05042389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.734340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:-13.16, Z:0.01 [[ 9.33764090e-01 3.57889123e-01 0.00000000e+00 5.76692002e+01] [-3.57889123e-01 9.33764090e-01 0.00000000e+00 -1.31559089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02239239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:-13.17, Z:0.01 [[ 9.33006636e-01 3.59859162e-01 0.00000000e+00 5.76966366e+01] [-3.59859162e-01 9.33006636e-01 0.00000000e+00 -1.31656484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05548767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:-13.18, Z:0.01 [[ 9.33522780e-01 3.58518088e-01 0.00000000e+00 5.77311747e+01] [-3.58518088e-01 9.33522780e-01 0.00000000e+00 -1.31762643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21927977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:-13.19, Z:0.01 [[ 9.32397079e-01 3.61435592e-01 0.00000000e+00 5.77630853e+01] [-3.61435592e-01 9.32397079e-01 0.00000000e+00 -1.31855645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77065484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:-13.20, Z:0.01 [[ 9.31562525e-01 3.63581163e-01 0.00000000e+00 5.77923584e+01] [-3.63581163e-01 9.31562525e-01 0.00000000e+00 -1.31960424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56651506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:-13.21, Z:0.01 [[ 9.30837325e-01 3.65433816e-01 0.00000000e+00 5.78237335e+01] [-3.65433816e-01 9.30837325e-01 0.00000000e+00 -1.32071777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61553699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.914340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:-13.22, Z:0.01 [[ 9.30215800e-01 3.67013031e-01 0.00000000e+00 5.78554084e+01] [-3.67013031e-01 9.30215800e-01 0.00000000e+00 -1.32153649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47687805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:-13.23, Z:0.01 [[ 9.28511699e-01 3.71303145e-01 0.00000000e+00 5.78824997e+01] [-3.71303145e-01 9.28511699e-01 0.00000000e+00 -1.32271755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11878986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:-13.24, Z:0.01 [[ 9.28516588e-01 3.71290918e-01 0.00000000e+00 5.79159194e+01] [-3.71290918e-01 9.28516588e-01 0.00000000e+00 -1.32374388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11944533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:-13.25, Z:0.01 [[ 9.28419686e-01 3.71533156e-01 0.00000000e+00 5.79452596e+01] [-3.71533156e-01 9.28419686e-01 0.00000000e+00 -1.32485080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09244893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-13.26, Z:0.01 [[ 9.27896754e-01 3.72837249e-01 0.00000000e+00 5.79755072e+01] [-3.72837249e-01 9.27896754e-01 0.00000000e+00 -1.32616920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14882092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:-13.27, Z:0.01 [[ 9.26669089e-01 3.75878172e-01 0.00000000e+00 5.80035090e+01] [-3.75878172e-01 9.26669089e-01 0.00000000e+00 -1.32733531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37796494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.094340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:-13.28, Z:0.01 [[ 9.27489462e-01 3.73849299e-01 0.00000000e+00 5.80358006e+01] [-3.73849299e-01 9.27489462e-01 0.00000000e+00 -1.32831005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80097764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:-13.30, Z:0.01 [[ 9.26826726e-01 3.75489307e-01 0.00000000e+00 5.80664788e+01] [-3.75489307e-01 9.26826726e-01 0.00000000e+00 -1.32968404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04823436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:-13.31, Z:0.00 [[ 9.26636924e-01 3.75957459e-01 0.00000000e+00 5.80954978e+01] [-3.75957459e-01 9.26636924e-01 0.00000000e+00 -1.33076148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86732656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.184340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.12, Y:-13.32, Z:0.01 [[ 9.27264862e-01 3.74406029e-01 0.00000000e+00 5.81246188e+01] [-3.74406029e-01 9.27264862e-01 0.00000000e+00 -1.33174444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03241459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:-13.33, Z:0.01 [[ 9.27110855e-01 3.74787223e-01 0.00000000e+00 5.81542823e+01] [-3.74787223e-01 9.27110855e-01 0.00000000e+00 -1.33307540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55492972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:-13.34, Z:0.01 [[ 9.27129287e-01 3.74741625e-01 0.00000000e+00 5.81829218e+01] [-3.74741625e-01 9.27129287e-01 0.00000000e+00 -1.33432074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55365497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.274340128000006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:58.21, Y:-13.36, Z:0.01 [[ 9.27479786e-01 3.73873303e-01 0.00000000e+00 5.82125554e+01] [-3.73873303e-01 9.27479786e-01 0.00000000e+00 -1.33553367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49028804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.24, Y:-13.37, Z:0.00 [[ 9.27981722e-01 3.72625715e-01 0.00000000e+00 5.82426859e+01] [-3.72625715e-01 9.27981722e-01 0.00000000e+00 -1.33668454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11799439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:-13.38, Z:0.01 [[ 9.28468089e-01 3.71412180e-01 0.00000000e+00 5.82712175e+01] [-3.71412180e-01 9.28468089e-01 0.00000000e+00 -1.33785451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12782917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.364340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.30, Y:-13.39, Z:0.01 [[ 9.29429889e-01 3.68998755e-01 0.00000000e+00 5.82999113e+01] [-3.68998755e-01 9.29429889e-01 0.00000000e+00 -1.33928718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21080738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.394340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:-13.41, Z:0.01 [[ 9.29828078e-01 3.67994218e-01 0.00000000e+00 5.83301098e+01] [-3.67994218e-01 9.29828078e-01 0.00000000e+00 -1.34068796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96099261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:-13.42, Z:0.01 [[ 9.29896164e-01 3.67822137e-01 0.00000000e+00 5.83610339e+01] [-3.67822137e-01 9.29896164e-01 0.00000000e+00 -1.34218955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06344583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.454340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:-13.43, Z:0.01 [[ 9.29867332e-01 3.67895019e-01 0.00000000e+00 5.83909328e+01] [-3.67895019e-01 9.29867332e-01 0.00000000e+00 -1.34346211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06344583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:-13.44, Z:0.01 [[ 9.30706813e-01 3.65766083e-01 0.00000000e+00 5.84180544e+01] [-3.65766083e-01 9.30706813e-01 0.00000000e+00 -1.34443051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73162588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:-13.46, Z:0.01 [[ 9.30693397e-01 3.65800220e-01 0.00000000e+00 5.84481333e+01] [-3.65800220e-01 9.30693397e-01 0.00000000e+00 -1.34570214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98446744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:-13.47, Z:0.01 [[ 9.30492150e-01 3.66311832e-01 0.00000000e+00 5.84781994e+01] [-3.66311832e-01 9.30492150e-01 0.00000000e+00 -1.34700159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11889368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:-13.48, Z:0.01 [[ 9.30185454e-01 3.67089936e-01 0.00000000e+00 5.85076213e+01] [-3.67089936e-01 9.30185454e-01 0.00000000e+00 -1.34820579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54182695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.54, Y:-13.50, Z:0.01 [[ 9.29788955e-01 3.68093059e-01 0.00000000e+00 5.85387132e+01] [-3.68093059e-01 9.29788955e-01 0.00000000e+00 -1.34951126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00884920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.634340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:-13.51, Z:0.01 [[ 9.29540333e-01 3.68720449e-01 0.00000000e+00 5.85690402e+01] [-3.68720449e-01 9.29540333e-01 0.00000000e+00 -1.35070606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36177663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.664340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:-13.52, Z:0.01 [[ 9.28118203e-01 3.72285645e-01 0.00000000e+00 5.85987440e+01] [-3.72285645e-01 9.28118203e-01 0.00000000e+00 -1.35189296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98806984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:-13.53, Z:0.01 [[ 9.27585985e-01 3.73609743e-01 0.00000000e+00 5.86288129e+01] [-3.73609743e-01 9.27585985e-01 0.00000000e+00 -1.35298426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44844838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:-13.54, Z:0.01 [[ 9.27031285e-01 3.74983995e-01 0.00000000e+00 5.86597619e+01] [-3.74983995e-01 9.27031285e-01 0.00000000e+00 -1.35413198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26884888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.754340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:-13.55, Z:0.01 [[ 9.26524419e-01 3.76234635e-01 0.00000000e+00 5.86887476e+01] [-3.76234635e-01 9.26524419e-01 0.00000000e+00 -1.35525929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75132826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:-13.57, Z:0.01 [[ 9.26050757e-01 3.77398987e-01 0.00000000e+00 5.87182079e+01] [-3.77398987e-01 9.26050757e-01 0.00000000e+00 -1.35657317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.04334658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.814340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:-13.58, Z:0.01 [[ 9.26230329e-01 3.76958059e-01 0.00000000e+00 5.87494991e+01] [-3.76958059e-01 9.26230329e-01 0.00000000e+00 -1.35792392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23017006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:-13.59, Z:0.01 [[ 9.26135182e-01 3.77191762e-01 0.00000000e+00 5.87788405e+01] [-3.77191762e-01 9.26135182e-01 0.00000000e+00 -1.35944136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64688114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.874340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:-13.61, Z:0.01 [[ 9.26285627e-01 3.76822156e-01 0.00000000e+00 5.88073639e+01] [-3.76822156e-01 9.26285627e-01 0.00000000e+00 -1.36073651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07468963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.904340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.84, Y:-13.62, Z:0.01 [[ 9.26200292e-01 3.77031854e-01 0.00000000e+00 5.88381784e+01] [-3.77031854e-01 9.26200292e-01 0.00000000e+00 -1.36207597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44144950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.934340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.87, Y:-13.63, Z:0.01 [[ 9.25240343e-01 3.79381480e-01 0.00000000e+00 5.88666571e+01] [-3.79381480e-01 9.25240343e-01 0.00000000e+00 -1.36329832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23303661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:-13.65, Z:0.01 [[ 9.24835176e-01 3.80368108e-01 0.00000000e+00 5.88947944e+01] [-3.80368108e-01 9.24835176e-01 0.00000000e+00 -1.36453509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92126579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.994340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:-13.66, Z:0.00 [[ 9.23889145e-01 3.82660225e-01 0.00000000e+00 5.89219058e+01] [-3.82660225e-01 9.23889145e-01 0.00000000e+00 -1.36599431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36744359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024340128000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.95, Y:-13.67, Z:0.01 [[ 9.22796040e-01 3.85288812e-01 0.00000000e+00 5.89484792e+01] [-3.85288812e-01 9.22796040e-01 0.00000000e+00 -1.36747770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71901570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.054340128 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.98, Y:-13.69, Z:0.00 [[ 9.22444298e-01 3.86130182e-01 0.00000000e+00 5.89782129e+01] [-3.86130182e-01 9.22444298e-01 0.00000000e+00 -1.36899862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53461302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.084340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:-13.70, Z:0.00 [[ 9.22366695e-01 3.86315519e-01 0.00000000e+00 5.90082383e+01] [-3.86315519e-01 9.22366695e-01 0.00000000e+00 -1.37044863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18646625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.114340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:-13.72, Z:0.00 [[ 9.22416230e-01 3.86197227e-01 0.00000000e+00 5.90345768e+01] [-3.86197227e-01 9.22416230e-01 0.00000000e+00 -1.37189196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31502738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144340128 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:59.06, Y:-13.73, Z:0.00 [[ 9.23321016e-01 3.84029037e-01 0.00000000e+00 5.90625045e+01] [-3.84029037e-01 9.23321016e-01 0.00000000e+00 -1.37306415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54631623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.174340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:-13.75, Z:0.00 [[ 9.23776896e-01 3.82931126e-01 0.00000000e+00 5.90911096e+01] [-3.82931126e-01 9.23776896e-01 0.00000000e+00 -1.37463140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39270141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:-13.76, Z:0.00 [[ 9.24203074e-01 3.81901399e-01 0.00000000e+00 5.91199209e+01] [-3.81901399e-01 9.24203074e-01 0.00000000e+00 -1.37649197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24480776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:-13.79, Z:0.00 [[ 9.25406031e-01 3.78977147e-01 0.00000000e+00 5.91448327e+01] [-3.78977147e-01 9.25406031e-01 0.00000000e+00 -1.37864310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81431295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.264340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:-13.80, Z:0.01 [[ 9.26523642e-01 3.76236550e-01 0.00000000e+00 5.91726461e+01] [-3.76236550e-01 9.26523642e-01 0.00000000e+00 -1.38006042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26213249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.294340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:-13.82, Z:0.00 [[ 9.28793529e-01 3.70597599e-01 0.00000000e+00 5.92030961e+01] [-3.70597599e-01 9.28793529e-01 0.00000000e+00 -1.38176209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48236056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.324340128 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.23, Y:-13.83, Z:0.00 [[ 9.28632546e-01 3.71000802e-01 0.00000000e+00 5.92309928e+01] [-3.71000802e-01 9.28632546e-01 0.00000000e+00 -1.38342465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28386177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.354340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:-13.85, Z:0.00 [[ 9.29331307e-01 3.69246965e-01 0.00000000e+00 5.92592586e+01] [-3.69246965e-01 9.29331307e-01 0.00000000e+00 -1.38480435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82748849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:-13.87, Z:0.01 [[ 9.29533019e-01 3.68738887e-01 0.00000000e+00 5.92862289e+01] [-3.68738887e-01 9.29533019e-01 0.00000000e+00 -1.38667875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47414721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.414340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:-13.88, Z:0.01 [[ 9.30078301e-01 3.67361339e-01 0.00000000e+00 5.93130230e+01] [-3.67361339e-01 9.30078301e-01 0.00000000e+00 -1.38797431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06670447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.444340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:-13.89, Z:0.01 [[ 9.29913575e-01 3.67778117e-01 0.00000000e+00 5.93398238e+01] [-3.67778117e-01 9.29913575e-01 0.00000000e+00 -1.38949658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53358633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.474340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:-13.91, Z:0.01 [[ 9.29517573e-01 3.68777820e-01 0.00000000e+00 5.93690568e+01] [-3.68777820e-01 9.29517573e-01 0.00000000e+00 -1.39143102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01955717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.504340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:-13.93, Z:0.01 [[ 9.29756087e-01 3.68176071e-01 0.00000000e+00 5.93975230e+01] [-3.68176071e-01 9.29756087e-01 0.00000000e+00 -1.39264422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66544304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.534340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:-13.94, Z:0.00 [[ 9.29428698e-01 3.69001754e-01 0.00000000e+00 5.94269123e+01] [-3.69001754e-01 9.29428698e-01 0.00000000e+00 -1.39405360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16190779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:-13.96, Z:0.00 [[ 9.28399620e-01 3.71583296e-01 0.00000000e+00 5.94555619e+01] [-3.71583296e-01 9.28399620e-01 0.00000000e+00 -1.39584427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04968652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.594340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:-13.97, Z:0.00 [[ 9.28561701e-01 3.71178082e-01 0.00000000e+00 5.94843831e+01] [-3.71178082e-01 9.28561701e-01 0.00000000e+00 -1.39709604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72044142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.624340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:-13.99, Z:0.00 [[ 9.28343712e-01 3.71722951e-01 0.00000000e+00 5.95124900e+01] [-3.71722951e-01 9.28343712e-01 0.00000000e+00 -1.39859863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47673444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.654340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:-14.00, Z:0.00 [[ 9.27994551e-01 3.72593764e-01 0.00000000e+00 5.95412058e+01] [-3.72593764e-01 9.27994551e-01 0.00000000e+00 -1.40004213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38553206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.684340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:-14.01, Z:-0.00 [[ 9.27273449e-01 3.74384763e-01 0.00000000e+00 5.95673534e+01] [-3.74384763e-01 9.27273449e-01 0.00000000e+00 -1.40128683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47209076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.714340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.60, Y:-14.03, Z:-0.00 [[ 9.27633236e-01 3.73492410e-01 0.00000000e+00 5.95976451e+01] [-3.73492410e-01 9.27633236e-01 0.00000000e+00 -1.40276475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66622865e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.744340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:-14.04, Z:-0.00 [[ 9.27911948e-01 3.72799432e-01 0.00000000e+00 5.96275398e+01] [-3.72799432e-01 9.27911948e-01 0.00000000e+00 -1.40405845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90585925e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.774340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-14.06, Z:-0.00 [[ 9.26390547e-01 3.76564144e-01 0.00000000e+00 5.96526210e+01] [-3.76564144e-01 9.26390547e-01 0.00000000e+00 -1.40554487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77012815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.804340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:-14.07, Z:-0.00 [[ 9.26738938e-01 3.75705923e-01 0.00000000e+00 5.96852852e+01] [-3.75705923e-01 9.26738938e-01 0.00000000e+00 -1.40696540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58781447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.834340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:-14.08, Z:-0.01 [[ 9.25898703e-01 3.77771877e-01 0.00000000e+00 5.97102356e+01] [-3.77771877e-01 9.25898703e-01 0.00000000e+00 -1.40824520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28138391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.864340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:-14.10, Z:-0.01 [[ 9.26566441e-01 3.76131134e-01 0.00000000e+00 5.97425604e+01] [-3.76131134e-01 9.26566441e-01 0.00000000e+00 -1.40950243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90868836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.894340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:-14.11, Z:-0.01 [[ 9.26173193e-01 3.77098417e-01 0.00000000e+00 5.97721801e+01] [-3.77098417e-01 9.26173193e-01 0.00000000e+00 -1.41079484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84966030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924340128000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:59.80, Y:-14.12, Z:-0.01 [[ 9.25911291e-01 3.77741024e-01 0.00000000e+00 5.98010896e+01] [-3.77741024e-01 9.25911291e-01 0.00000000e+00 -1.41193323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46212459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.954340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:-14.13, Z:-0.01 [[ 9.24635808e-01 3.80852495e-01 0.00000000e+00 5.98282465e+01] [-3.80852495e-01 9.24635808e-01 0.00000000e+00 -1.41313034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05438805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:-14.14, Z:-0.01 [[ 9.24243181e-01 3.81804324e-01 0.00000000e+00 5.98578902e+01] [-3.81804324e-01 9.24243181e-01 0.00000000e+00 -1.41426371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71701086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.014340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:-14.16, Z:-0.01 [[ 9.24030626e-01 3.82318458e-01 0.00000000e+00 5.98887322e+01] [-3.82318458e-01 9.24030626e-01 0.00000000e+00 -1.41551148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25044532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.044340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:-14.17, Z:-0.01 [[ 9.23369685e-01 3.83912000e-01 0.00000000e+00 5.99178539e+01] [-3.83912000e-01 9.23369685e-01 0.00000000e+00 -1.41693486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41244495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.074340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:-14.18, Z:-0.02 [[ 9.22745474e-01 3.85409900e-01 0.00000000e+00 5.99466485e+01] [-3.85409900e-01 9.22745474e-01 0.00000000e+00 -1.41803334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65911363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:-14.19, Z:-0.02 [[ 9.22492597e-01 3.86014778e-01 0.00000000e+00 5.99792682e+01] [-3.86014778e-01 9.22492597e-01 0.00000000e+00 -1.41912835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73781538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.134340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:-14.20, Z:-0.02 [[ 9.21166991e-01 3.89167542e-01 0.00000000e+00 6.00055122e+01] [-3.89167542e-01 9.21166991e-01 0.00000000e+00 -1.42038436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08913830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164340128000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.03, Y:-14.22, Z:-0.02 [[ 9.20140504e-01 3.91588371e-01 0.00000000e+00 6.00335828e+01] [-3.91588371e-01 9.20140504e-01 0.00000000e+00 -1.42153120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00079686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.194340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:-14.23, Z:-0.02 [[ 9.20059542e-01 3.91778560e-01 0.00000000e+00 6.00658169e+01] [-3.91778560e-01 9.20059542e-01 0.00000000e+00 -1.42270172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43675747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.10, Y:-14.24, Z:-0.03 [[ 9.20011395e-01 3.91891609e-01 0.00000000e+00 6.00973682e+01] [-3.91891609e-01 9.20011395e-01 0.00000000e+00 -1.42390621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52808259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.254340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.13, Y:-14.25, Z:-0.03 [[ 9.19398751e-01 3.93326757e-01 0.00000000e+00 6.01254179e+01] [-3.93326757e-01 9.19398751e-01 0.00000000e+00 -1.42504517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74410811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.284340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.16, Y:-14.26, Z:-0.03 [[ 9.19149176e-01 3.93909624e-01 0.00000000e+00 6.01565921e+01] [-3.93909624e-01 9.19149176e-01 0.00000000e+00 -1.42627737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85958952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.314340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:-14.27, Z:-0.03 [[ 9.18976060e-01 3.94313329e-01 0.00000000e+00 6.01855562e+01] [-3.94313329e-01 9.18976060e-01 0.00000000e+00 -1.42739018e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13012608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:-14.29, Z:-0.03 [[ 9.18867575e-01 3.94566064e-01 0.00000000e+00 6.02162222e+01] [-3.94566064e-01 9.18867575e-01 0.00000000e+00 -1.42872242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13012608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.374340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:-14.30, Z:-0.03 [[ 9.18883967e-01 3.94527889e-01 0.00000000e+00 6.02473501e+01] [-3.94527889e-01 9.18883967e-01 0.00000000e+00 -1.42992999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31935977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.404340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:-14.31, Z:-0.03 [[ 9.18806293e-01 3.94708748e-01 0.00000000e+00 6.02770389e+01] [-3.94708748e-01 9.18806293e-01 0.00000000e+00 -1.43110917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26053078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.434340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:-14.32, Z:-0.03 [[ 9.19236235e-01 3.93706418e-01 0.00000000e+00 6.03064088e+01] [-3.93706418e-01 9.19236235e-01 0.00000000e+00 -1.43217004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47914631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.464340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:-14.33, Z:-0.04 [[ 9.19620624e-01 3.92807724e-01 0.00000000e+00 6.03373086e+01] [-3.92807724e-01 9.19620624e-01 0.00000000e+00 -1.43339256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56535662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.494340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:-14.35, Z:-0.04 [[ 9.20486402e-01 3.90774595e-01 0.00000000e+00 6.03672337e+01] [-3.90774595e-01 9.20486402e-01 0.00000000e+00 -1.43451449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65182362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.524340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.39, Y:-14.36, Z:-0.04 [[ 9.19476563e-01 3.93144820e-01 0.00000000e+00 6.03910219e+01] [-3.93144820e-01 9.19476563e-01 0.00000000e+00 -1.43560397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80473912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.554340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:-14.37, Z:-0.04 [[ 9.20139442e-01 3.91590868e-01 0.00000000e+00 6.04209334e+01] [-3.91590868e-01 9.20139442e-01 0.00000000e+00 -1.43685465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93071537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.584340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:-14.38, Z:-0.04 [[ 9.21140572e-01 3.89230068e-01 0.00000000e+00 6.04507671e+01] [-3.89230068e-01 9.21140572e-01 0.00000000e+00 -1.43804074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01497938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.614340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:-14.39, Z:-0.04 [[ 9.23008528e-01 3.84779491e-01 0.00000000e+00 6.04844869e+01] [-3.84779491e-01 9.23008528e-01 0.00000000e+00 -1.43946163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81503439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.644340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:-14.41, Z:-0.04 [[ 9.23750901e-01 3.82993829e-01 0.00000000e+00 6.05138707e+01] [-3.82993829e-01 9.23750901e-01 0.00000000e+00 -1.44083529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72547429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.674340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:-14.42, Z:-0.04 [[ 9.25277201e-01 3.79291579e-01 0.00000000e+00 6.05441108e+01] [-3.79291579e-01 9.25277201e-01 0.00000000e+00 -1.44224183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51037402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.704340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:-14.44, Z:-0.03 [[ 9.26192101e-01 3.77051975e-01 0.00000000e+00 6.05746329e+01] [-3.77051975e-01 9.26192101e-01 0.00000000e+00 -1.44356137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36635436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:-14.45, Z:-0.04 [[ 9.25732774e-01 3.78178306e-01 0.00000000e+00 6.06014909e+01] [-3.78178306e-01 9.25732774e-01 0.00000000e+00 -1.44486479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65387522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.764340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:-14.46, Z:-0.03 [[ 9.26707015e-01 3.75784656e-01 0.00000000e+00 6.06326711e+01] [-3.75784656e-01 9.26707015e-01 0.00000000e+00 -1.44615649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38937481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.794340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:-14.48, Z:-0.03 [[ 9.24872565e-01 3.80277187e-01 0.00000000e+00 6.06534421e+01] [-3.80277187e-01 9.24872565e-01 0.00000000e+00 -1.44754510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28602456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.824340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:-14.49, Z:-0.03 [[ 9.26267001e-01 3.76867939e-01 0.00000000e+00 6.06872128e+01] [-3.76867939e-01 9.26267001e-01 0.00000000e+00 -1.44899946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01255524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.854340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:-14.50, Z:-0.03 [[ 9.25138651e-01 3.79629393e-01 0.00000000e+00 6.07143960e+01] [-3.79629393e-01 9.25138651e-01 0.00000000e+00 -1.45049586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11929403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:-14.52, Z:-0.03 [[ 9.24284494e-01 3.81704302e-01 0.00000000e+00 6.07436724e+01] [-3.81704302e-01 9.24284494e-01 0.00000000e+00 -1.45192272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17137779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.914340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:-14.53, Z:-0.03 [[ 9.22298682e-01 3.86477866e-01 0.00000000e+00 6.07682706e+01] [-3.86477866e-01 9.22298682e-01 0.00000000e+00 -1.45325620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36877549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.944340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:-14.55, Z:-0.03 [[ 9.19644725e-01 3.92751295e-01 0.00000000e+00 6.07949371e+01] [-3.92751295e-01 9.19644725e-01 0.00000000e+00 -1.45478676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22999806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.974340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:-14.56, Z:-0.03 [[ 9.18902836e-01 3.94483939e-01 0.00000000e+00 6.08257637e+01] [-3.94483939e-01 9.18902836e-01 0.00000000e+00 -1.45610625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93011158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.004340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.85, Y:-14.57, Z:-0.03 [[ 9.17927026e-01 3.96749260e-01 0.00000000e+00 6.08546238e+01] [-3.96749260e-01 9.17927026e-01 0.00000000e+00 -1.45742449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97187183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.034340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:-14.59, Z:-0.03 [[ 9.17236185e-01 3.98343798e-01 0.00000000e+00 6.08854352e+01] [-3.98343798e-01 9.17236185e-01 0.00000000e+00 -1.45913848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92523560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:-14.61, Z:-0.03 [[ 9.16391882e-01 4.00282299e-01 0.00000000e+00 6.09161697e+01] [-4.00282299e-01 9.16391882e-01 0.00000000e+00 -1.46068757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55943444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.094340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.95, Y:-14.62, Z:-0.03 [[ 9.17068298e-01 3.98730155e-01 0.00000000e+00 6.09450224e+01] [-3.98730155e-01 9.17068298e-01 0.00000000e+00 -1.46196578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69984083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.124340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:-14.63, Z:-0.03 [[ 9.16463434e-01 4.00118451e-01 0.00000000e+00 6.09737242e+01] [-4.00118451e-01 9.16463434e-01 0.00000000e+00 -1.46343373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67010758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.154340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:-14.65, Z:-0.03 [[ 9.14605104e-01 4.04348245e-01 0.00000000e+00 6.09978967e+01] [-4.04348245e-01 9.14605104e-01 0.00000000e+00 -1.46455977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60410253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.184340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:-14.66, Z:-0.03 [[ 9.15778364e-01 4.01683941e-01 0.00000000e+00 6.10319517e+01] [-4.01683941e-01 9.15778364e-01 0.00000000e+00 -1.46597870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65381496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.214340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:-14.67, Z:-0.03 [[ 9.13684965e-01 4.06423160e-01 0.00000000e+00 6.10594810e+01] [-4.06423160e-01 9.13684965e-01 0.00000000e+00 -1.46727373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97072114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:-14.68, Z:-0.03 [[ 9.14560769e-01 4.04448514e-01 0.00000000e+00 6.10919144e+01] [-4.04448514e-01 9.14560769e-01 0.00000000e+00 -1.46845846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80295170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.274340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:-14.70, Z:-0.03 [[ 9.14013613e-01 4.05683516e-01 0.00000000e+00 6.11208152e+01] [-4.05683516e-01 9.14013613e-01 0.00000000e+00 -1.47001280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00538151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:-14.71, Z:-0.03 [[ 9.14570864e-01 4.04425685e-01 0.00000000e+00 6.11493029e+01] [-4.04425685e-01 9.14570864e-01 0.00000000e+00 -1.47120080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86773343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.334340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:-14.73, Z:-0.03 [[ 9.13603808e-01 4.06605560e-01 0.00000000e+00 6.11751312e+01] [-4.06605560e-01 9.13603808e-01 0.00000000e+00 -1.47253191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23270931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.364340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:-14.74, Z:-0.03 [[ 9.15312569e-01 4.02744212e-01 0.00000000e+00 6.12070191e+01] [-4.02744212e-01 9.15312569e-01 0.00000000e+00 -1.47360975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12290598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.394340128 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.24, Y:-14.75, Z:-0.03 [[ 9.16226501e-01 4.00660703e-01 0.00000000e+00 6.12358965e+01] [-4.00660703e-01 9.16226501e-01 0.00000000e+00 -1.47490927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04109047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:-14.76, Z:-0.03 [[ 9.15844394e-01 4.01533369e-01 0.00000000e+00 6.12637381e+01] [-4.01533369e-01 9.15844394e-01 0.00000000e+00 -1.47609003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94797887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.454340128000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:-14.77, Z:-0.03 [[ 9.16550871e-01 3.99918119e-01 0.00000000e+00 6.12940054e+01] [-3.99918119e-01 9.16550871e-01 0.00000000e+00 -1.47728125e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82349011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48434012800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:-14.79, Z:-0.03 [[ 9.18969272e-01 3.94329148e-01 0.00000000e+00 6.13244868e+01] [-3.94329148e-01 9.18969272e-01 0.00000000e+00 -1.47870831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74347804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.514340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:-14.80, Z:-0.03 [[ 9.18392556e-01 3.95670460e-01 0.00000000e+00 6.13522834e+01] [-3.95670460e-01 9.18392556e-01 0.00000000e+00 -1.48048678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91088483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.544340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:-14.81, Z:-0.03 [[ 9.21145570e-01 3.89218241e-01 0.00000000e+00 6.13795373e+01] [-3.89218241e-01 9.21145570e-01 0.00000000e+00 -1.48137245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74483467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:-14.83, Z:-0.03 [[ 9.21867390e-01 3.87505504e-01 0.00000000e+00 6.14092306e+01] [-3.87505504e-01 9.21867390e-01 0.00000000e+00 -1.48273324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83270751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604340128000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:-14.84, Z:-0.03 [[ 9.22108376e-01 3.86931703e-01 0.00000000e+00 6.14401110e+01] [-3.86931703e-01 9.22108376e-01 0.00000000e+00 -1.48393327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76802738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634340128000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.47, Y:-14.85, Z:-0.03 [[ 9.22760272e-01 3.85374468e-01 0.00000000e+00 6.14699257e+01] [-3.85374468e-01 9.22760272e-01 0.00000000e+00 -1.48500093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21765412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664340128000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.50, Y:-14.86, Z:-0.03 [[ 9.22092190e-01 3.86970274e-01 0.00000000e+00 6.14995434e+01] [-3.86970274e-01 9.22092190e-01 0.00000000e+00 -1.48648975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95699950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.694340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.53, Y:-14.88, Z:-0.03 [[ 9.22390412e-01 3.86258888e-01 0.00000000e+00 6.15289507e+01] [-3.86258888e-01 9.22390412e-01 0.00000000e+00 -1.48768030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01758945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.724340128 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.56, Y:-14.89, Z:-0.03 [[ 9.23330297e-01 3.84006723e-01 0.00000000e+00 6.15598382e+01] [-3.84006723e-01 9.23330297e-01 0.00000000e+00 -1.48882478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52467071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.754340128 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:61.59, Y:-14.90, Z:-0.03 [[ 9.23592741e-01 3.83375075e-01 0.00000000e+00 6.15870974e+01] [-3.83375075e-01 9.23592741e-01 0.00000000e+00 -1.49018445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84014437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784340128000004 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:61.61, Y:-14.91, Z:-0.03 [[ 9.24070169e-01 3.82222870e-01 0.00000000e+00 6.16148999e+01] [-3.82222870e-01 9.24070169e-01 0.00000000e+00 -1.49144179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75983149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.814340128000005 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:61.64, Y:-14.93, Z:-0.03 [[ 9.25311384e-01 3.79208179e-01 0.00000000e+00 6.16449468e+01] [-3.79208179e-01 9.25311384e-01 0.00000000e+00 -1.49260315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86536485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844340128000006 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:61.67, Y:-14.94, Z:-0.03 [[ 9.25714961e-01 3.78221907e-01 0.00000000e+00 6.16739403e+01] [-3.78221907e-01 9.25714961e-01 0.00000000e+00 -1.49375223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89759228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.874340128 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:61.70, Y:-14.95, Z:-0.03 [[ 9.25702204e-01 3.78253128e-01 0.00000000e+00 6.17033232e+01] [-3.78253128e-01 9.25702204e-01 0.00000000e+00 -1.49510745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76916556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.904340128 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.73, Y:-14.97, Z:-0.02 [[ 9.26250307e-01 3.76908967e-01 0.00000000e+00 6.17319850e+01] [-3.76908967e-01 9.26250307e-01 0.00000000e+00 -1.49654387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42820653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.934340128 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:61.76, Y:-14.98, Z:-0.02 [[ 9.26018820e-01 3.77477345e-01 0.00000000e+00 6.17604095e+01] [-3.77477345e-01 9.26018820e-01 0.00000000e+00 -1.49783992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38303917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964340128 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.79, Y:-14.99, Z:-0.02 [[ 9.25315822e-01 3.79197349e-01 0.00000000e+00 6.17901140e+01] [-3.79197349e-01 9.25315822e-01 0.00000000e+00 -1.49923196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21444828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1765.72 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/1999 [00:00