+ python -m lidar_slam --no-model /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: 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 0.00432 Adjusted end_distance from 9.223372036854776e+18 to 48.62432 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00432 meters Centerline goodness : 0.999935 Centerline is valid? [0, True] SLAMing on 0.034319999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99998997e-01 1.41618774e-03 0.00000000e+00 3.06403222e-02] [-1.41618774e-03 9.99998997e-01 0.00000000e+00 -1.65521513e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99599712e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06431999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.00 [[ 9.99998395e-01 1.79189453e-03 0.00000000e+00 6.09442225e-02] [-1.79189453e-03 9.99998395e-01 0.00000000e+00 1.44113364e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99958283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09431999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:0.01 [[ 9.99983370e-01 5.76710665e-03 0.00000000e+00 9.24166360e-02] [-5.76710665e-03 9.99983370e-01 0.00000000e+00 -2.57444379e-05] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20419573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12431999999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:0.01 [[ 0.99997341 0.007293 0. 0.1239934 ] [-0.007293 0.99997341 0. -0.00154614] [ 0. 0. 1. 0.00784674] [ 0. 0. 0. 1. ]] SLAMing on 0.15431999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.00, Z:0.01 [[ 0.99995081 0.00991849 0. 0.15570441] [-0.00991849 0.99995081 0. -0.00171074] [ 0. 0. 1. 0.00798788] [ 0. 0. 0. 1. ]] SLAMing on 0.18431999999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.00, Z:0.00 [[ 9.99943893e-01 1.05929313e-02 0.00000000e+00 1.87528957e-01] [-1.05929313e-02 9.99943893e-01 0.00000000e+00 -9.51227810e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93587154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.00, Z:0.00 [[ 9.99927814e-01 1.20152621e-02 0.00000000e+00 2.18540230e-01] [-1.20152621e-02 9.99927814e-01 0.00000000e+00 -5.37161956e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57519260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.25, Y:0.00, Z:0.01 [[ 9.99935255e-01 1.13791863e-02 0.00000000e+00 2.51732041e-01] [-1.13791863e-02 9.99935255e-01 0.00000000e+00 4.13706891e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55838453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:0.00, Z:0.01 [[ 0.99992603 0.01216324 0. 0.28223443] [-0.01216324 0.99992603 0. 0.00145018] [ 0. 0. 1. 0.00751625] [ 0. 0. 0. 1. ]] SLAMing on 0.3043199999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:0.31, Y:0.00, Z:0.01 [[ 9.99933380e-01 1.15427741e-02 0.00000000e+00 3.14890632e-01] [-1.15427741e-02 9.99933380e-01 0.00000000e+00 7.96851307e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94919288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.00, Z:0.01 [[ 9.99943409e-01 1.06385502e-02 0.00000000e+00 3.47890080e-01] [-1.06385502e-02 9.99943409e-01 0.00000000e+00 -3.53215780e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04358252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3643199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.00, Z:0.01 [[ 0.9999743 0.00716956 0. 0.37968541] [-0.00716956 0.9999743 0. -0.00110173] [ 0. 0. 1. 0.01041148] [ 0. 0. 0. 1. ]] SLAMing on 0.39431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.00, Z:0.01 [[ 0.99998392 0.0056702 0. 0.41175637] [-0.0056702 0.99998392 0. -0.00139961] [ 0. 0. 1. 0.01096895] [ 0. 0. 0. 1. ]] SLAMing on 0.4243199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.00, Z:0.01 [[ 0.9999909 0.00426556 0. 0.44391511] [-0.00426556 0.9999909 0. -0.0012214 ] [ 0. 0. 1. 0.0128739 ] [ 0. 0. 0. 1. ]] SLAMing on 0.45431999999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.48, Y:0.00, Z:0.01 [[ 9.99998283e-01 1.85288859e-03 0.00000000e+00 4.75567538e-01] [-1.85288859e-03 9.99998283e-01 0.00000000e+00 5.94693402e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29529541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4843199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.51, Y:0.00, Z:0.01 [[ 9.99999358e-01 1.13337006e-03 0.00000000e+00 5.06373903e-01] [-1.13337006e-03 9.99999358e-01 0.00000000e+00 7.97536563e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18354701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5143199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.54, Y:0.00, Z:0.01 [[ 1.00000000e+00 2.32890415e-05 0.00000000e+00 5.37189117e-01] [-2.32890415e-05 1.00000000e+00 0.00000000e+00 2.08024346e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44008119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5443199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.57, Y:0.00, Z:0.01 [[ 9.99999937e-01 -3.56355529e-04 0.00000000e+00 5.68136195e-01] [ 3.56355529e-04 9.99999937e-01 0.00000000e+00 2.24022571e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49350680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5743199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.60, Y:0.00, Z:0.01 [[ 9.99999757e-01 -6.97223047e-04 0.00000000e+00 5.98603947e-01] [ 6.97223047e-04 9.99999757e-01 0.00000000e+00 2.74508672e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42320767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6043199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.63, Y:0.00, Z:0.01 [[ 9.99999806e-01 -6.22202610e-04 0.00000000e+00 6.28404663e-01] [ 6.22202610e-04 9.99999806e-01 0.00000000e+00 3.40065336e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31303236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6343199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.66, Y:0.01, Z:0.01 [[ 9.99999611e-01 8.81492727e-04 0.00000000e+00 6.58420670e-01] [-8.81492727e-04 9.99999611e-01 0.00000000e+00 5.12779147e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41504705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6643199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.69, Y:0.01, Z:0.01 [[ 0.99999755 0.00221176 0. 0.68849543] [-0.00221176 0.99999755 0. 0.00632316] [ 0. 0. 1. 0.01492207] [ 0. 0. 0. 1. ]] SLAMing on 0.6943199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.72, Y:0.01, Z:0.02 [[ 0.99999273 0.0038142 0. 0.71981768] [-0.0038142 0.99999273 0. 0.0081531 ] [ 0. 0. 1. 0.01736419] [ 0. 0. 0. 1. ]] SLAMing on 0.7243199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.75, Y:0.01, Z:0.01 [[ 0.99997726 0.0067436 0. 0.75078086] [-0.0067436 0.99997726 0. 0.01273204] [ 0. 0. 1. 0.01376087] [ 0. 0. 0. 1. ]] SLAMing on 0.7543199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.78, Y:0.01, Z:0.02 [[ 0.99996822 0.00797267 0. 0.78307039] [-0.00797267 0.99996822 0. 0.01324915] [ 0. 0. 1. 0.01665025] [ 0. 0. 0. 1. ]] SLAMing on 0.7843199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:0.01, Z:0.02 [[ 0.99995809 0.00915536 0. 0.81391333] [-0.00915536 0.99995809 0. 0.0135996 ] [ 0. 0. 1. 0.01855323] [ 0. 0. 0. 1. ]] SLAMing on 0.8143199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.85, Y:0.01, Z:0.02 [[ 0.9999537 0.00962264 0. 0.84637211] [-0.00962264 0.9999537 0. 0.01402498] [ 0. 0. 1. 0.02030408] [ 0. 0. 0. 1. ]] SLAMing on 0.8443199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.88, Y:0.02, Z:0.02 [[ 0.99995131 0.00986839 0. 0.87860176] [-0.00986839 0.99995131 0. 0.01564747] [ 0. 0. 1. 0.019731 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8743199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.91, Y:0.01, Z:0.02 [[ 0.99994819 0.01017889 0. 0.91201458] [-0.01017889 0.99994819 0. 0.01438813] [ 0. 0. 1. 0.019731 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9043199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.94, Y:0.02, Z:0.02 [[ 0.99995171 0.00982755 0. 0.94423782] [-0.00982755 0.99995171 0. 0.01871377] [ 0. 0. 1. 0.01866456] [ 0. 0. 0. 1. ]] SLAMing on 0.9343199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.98, Y:0.02, Z:0.02 [[ 0.99995144 0.00985445 0. 0.97611898] [-0.00985445 0.99995144 0. 0.01982742] [ 0. 0. 1. 0.0177149 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9643199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.01, Y:0.02, Z:0.02 [[ 0.99994408 0.01057554 0. 1.00665472] [-0.01057554 0.99994408 0. 0.02031563] [ 0. 0. 1. 0.01783013] [ 0. 0. 0. 1. ]] SLAMing on 0.9943199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.04, Y:0.02, Z:0.02 [[ 0.9999617 0.0087516 0. 1.03998457] [-0.0087516 0.9999617 0. 0.02336332] [ 0. 0. 1. 0.01723565] [ 0. 0. 0. 1. ]] SLAMing on 1.02432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.07, Y:0.02, Z:0.02 [[ 0.99996315 0.00858476 0. 1.072128 ] [-0.00858476 0.99996315 0. 0.02360741] [ 0. 0. 1. 0.01798104] [ 0. 0. 0. 1. ]] SLAMing on 1.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.10, Y:0.02, Z:0.02 [[ 0.99996407 0.00847719 0. 1.10274172] [-0.00847719 0.99996407 0. 0.02393736] [ 0. 0. 1. 0.01914782] [ 0. 0. 0. 1. ]] SLAMing on 1.08432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.13, Y:0.03, Z:0.02 [[ 0.99996731 0.00808538 0. 1.13404311] [-0.00808538 0.99996731 0. 0.02533522] [ 0. 0. 1. 0.01798193] [ 0. 0. 0. 1. ]] SLAMing on 1.11432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.17, Y:0.03, Z:0.02 [[ 0.9999636 0.00853218 0. 1.16642903] [-0.00853218 0.9999636 0. 0.02949589] [ 0. 0. 1. 0.01765203] [ 0. 0. 0. 1. ]] SLAMing on 1.14432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.20, Y:0.03, Z:0.02 [[ 0.9999626 0.00864852 0. 1.19733979] [-0.00864852 0.9999626 0. 0.03037899] [ 0. 0. 1. 0.0166123 ] [ 0. 0. 0. 1. ]] SLAMing on 1.17432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.23, Y:0.03, Z:0.02 [[ 0.99996614 0.00822944 0. 1.22911322] [-0.00822944 0.99996614 0. 0.03123829] [ 0. 0. 1. 0.01703523] [ 0. 0. 0. 1. ]] SLAMing on 1.2043199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.26, Y:0.03, Z:0.02 [[ 0.99997752 0.00670497 0. 1.26171416] [-0.00670497 0.99997752 0. 0.03304749] [ 0. 0. 1. 0.01669556] [ 0. 0. 0. 1. ]] SLAMing on 1.2343199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.29, Y:0.03, Z:0.02 [[ 0.9999826 0.00589897 0. 1.29286614] [-0.00589897 0.9999826 0. 0.03283286] [ 0. 0. 1. 0.01667711] [ 0. 0. 0. 1. ]] SLAMing on 1.2643199999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:1.32, Y:0.03, Z:0.02 [[ 0.99999202 0.00399445 0. 1.32400789] [-0.00399445 0.99999202 0. 0.03461836] [ 0. 0. 1. 0.0170369 ] [ 0. 0. 0. 1. ]] SLAMing on 1.29432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.35, Y:0.04, Z:0.02 [[ 0.99999469 0.00325759 0. 1.35492779] [-0.00325759 0.99999469 0. 0.0350861 ] [ 0. 0. 1. 0.01800584] [ 0. 0. 0. 1. ]] SLAMing on 1.32432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.39, Y:0.04, Z:0.02 [[ 0.99999629 0.00272359 0. 1.38664589] [-0.00272359 0.99999629 0. 0.03539819] [ 0. 0. 1. 0.01887056] [ 0. 0. 0. 1. ]] SLAMing on 1.35432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.42, Y:0.04, Z:0.02 [[ 0.99999514 0.00311832 0. 1.41808264] [-0.00311832 0.99999514 0. 0.03571033] [ 0. 0. 1. 0.01951797] [ 0. 0. 0. 1. ]] SLAMing on 1.38432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:0.04, Z:0.02 [[ 0.99998409 0.00564013 0. 1.4495672 ] [-0.00564013 0.99998409 0. 0.03886737] [ 0. 0. 1. 0.02030889] [ 0. 0. 0. 1. ]] SLAMing on 1.4143199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.48, Y:0.04, Z:0.02 [[ 0.99997431 0.00716759 0. 1.48124442] [-0.00716759 0.99997431 0. 0.04097801] [ 0. 0. 1. 0.01778824] [ 0. 0. 0. 1. ]] SLAMing on 1.4443199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.51, Y:0.04, Z:0.02 [[ 0.99994871 0.01012782 0. 1.51220298] [-0.01012782 0.99994871 0. 0.04032453] [ 0. 0. 1. 0.01955616] [ 0. 0. 0. 1. ]] SLAMing on 1.4743199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.54, Y:0.04, Z:0.02 [[ 0.99990139 0.01404333 0. 1.54415222] [-0.01404333 0.99990139 0. 0.04077 ] [ 0. 0. 1. 0.02038153] [ 0. 0. 0. 1. ]] SLAMing on 1.5043199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.58, Y:0.04, Z:0.02 [[ 0.99986351 0.01652183 0. 1.57666152] [-0.01652183 0.99986351 0. 0.03971394] [ 0. 0. 1. 0.02171396] [ 0. 0. 0. 1. ]] SLAMing on 1.53432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.61, Y:0.04, Z:0.02 [[ 0.99979747 0.0201253 0. 1.60866551] [-0.0201253 0.99979747 0. 0.04041184] [ 0. 0. 1. 0.02066927] [ 0. 0. 0. 1. ]] SLAMing on 1.56432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.64, Y:0.04, Z:0.02 [[ 0.99975708 0.02204032 0. 1.64127658] [-0.02204032 0.99975708 0. 0.04085871] [ 0. 0. 1. 0.02032926] [ 0. 0. 0. 1. ]] SLAMing on 1.59432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.67, Y:0.04, Z:0.02 [[ 0.99972907 0.02327652 0. 1.67425107] [-0.02327652 0.99972907 0. 0.04142516] [ 0. 0. 1. 0.02004307] [ 0. 0. 0. 1. ]] SLAMing on 1.6243199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:0.04, Z:0.02 [[ 0.99970381 0.02433705 0. 1.70636202] [-0.02433705 0.99970381 0. 0.04082743] [ 0. 0. 1. 0.02053794] [ 0. 0. 0. 1. ]] SLAMing on 1.6543199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.74, Y:0.04, Z:0.02 [[ 0.99969914 0.02452832 0. 1.73913686] [-0.02452832 0.99969914 0. 0.03800335] [ 0. 0. 1. 0.02171201] [ 0. 0. 0. 1. ]] SLAMing on 1.6843199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.77, Y:0.04, Z:0.02 [[ 0.99970564 0.02426171 0. 1.77152365] [-0.02426171 0.99970564 0. 0.0351828 ] [ 0. 0. 1. 0.02328129] [ 0. 0. 0. 1. ]] SLAMing on 1.7143199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.80, Y:0.03, Z:0.02 [[ 0.99974338 0.02265356 0. 1.80341246] [-0.02265356 0.99974338 0. 0.03278695] [ 0. 0. 1. 0.02479514] [ 0. 0. 0. 1. ]] SLAMing on 1.7443199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.84, Y:0.03, Z:0.02 [[ 0.99975822 0.02198852 0. 1.83659168] [-0.02198852 0.99975822 0. 0.03163106] [ 0. 0. 1. 0.02422826] [ 0. 0. 0. 1. ]] SLAMing on 1.77432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:0.03, Z:0.02 [[ 0.99978322 0.02082105 0. 1.86861683] [-0.02082105 0.99978322 0. 0.03088492] [ 0. 0. 1. 0.02299331] [ 0. 0. 0. 1. ]] SLAMing on 1.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:0.03, Z:0.02 [[ 0.99983857 0.0179677 0. 1.90049706] [-0.0179677 0.99983857 0. 0.02945269] [ 0. 0. 1. 0.0221327 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8343199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.93, Y:0.03, Z:0.02 [[ 0.99986925 0.0161703 0. 1.93294186] [-0.0161703 0.99986925 0. 0.02674531] [ 0. 0. 1. 0.02235287] [ 0. 0. 0. 1. ]] SLAMing on 1.8643199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.97, Y:0.02, Z:0.02 [[ 0.99991824 0.01278696 0. 1.9656358 ] [-0.01278696 0.99991824 0. 0.02184117] [ 0. 0. 1. 0.02298725] [ 0. 0. 0. 1. ]] SLAMing on 1.8943199999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.00, Y:0.02, Z:0.02 [[ 0.99994053 0.01090624 0. 1.99812561] [-0.01090624 0.99994053 0. 0.01984487] [ 0. 0. 1. 0.02273459] [ 0. 0. 0. 1. ]] SLAMing on 1.9243199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.03, Y:0.02, Z:0.02 [[ 0.99994511 0.01047729 0. 2.02809287] [-0.01047729 0.99994511 0. 0.0176728 ] [ 0. 0. 1. 0.02293291] [ 0. 0. 0. 1. ]] SLAMing on 1.9543199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.06, Y:0.02, Z:0.02 [[ 0.99994899 0.01010085 0. 2.06031772] [-0.01010085 0.99994899 0. 0.01598445] [ 0. 0. 1. 0.02316126] [ 0. 0. 0. 1. ]] SLAMing on 1.9843199999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.09, Y:0.01, Z:0.02 [[ 0.99995102 0.00989757 0. 2.09203143] [-0.00989757 0.99995102 0. 0.01492823] [ 0. 0. 1. 0.02222708] [ 0. 0. 0. 1. ]] SLAMing on 2.0143199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.12, Y:0.01, Z:0.02 [[ 0.99994934 0.01006562 0. 2.12400477] [-0.01006562 0.99994934 0. 0.01352839] [ 0. 0. 1. 0.02164349] [ 0. 0. 0. 1. ]] SLAMing on 2.0443199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:0.01, Z:0.02 [[ 0.99994358 0.0106222 0. 2.15591435] [-0.0106222 0.99994358 0. 0.01159928] [ 0. 0. 1. 0.02107258] [ 0. 0. 0. 1. ]] SLAMing on 2.0743199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.19, Y:0.01, Z:0.02 [[ 0.99993407 0.01148288 0. 2.18838243] [-0.01148288 0.99993407 0. 0.00913448] [ 0. 0. 1. 0.02113255] [ 0. 0. 0. 1. ]] SLAMing on 2.1043199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.22, Y:0.01, Z:0.02 [[ 0.99991407 0.01310951 0. 2.22056423] [-0.01310951 0.99991407 0. 0.00635907] [ 0. 0. 1. 0.0202535 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1343199999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.25, Y:0.01, Z:0.02 [[ 0.99986275 0.01656776 0. 2.25304931] [-0.01656776 0.99986275 0. 0.00528216] [ 0. 0. 1. 0.02056589] [ 0. 0. 0. 1. ]] SLAMing on 2.1643199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.29, Y:0.00, Z:0.02 [[ 0.99981823 0.01906579 0. 2.28527239] [-0.01906579 0.99981823 0. 0.00430269] [ 0. 0. 1. 0.02091964] [ 0. 0. 0. 1. ]] SLAMing on 2.1943199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.32, Y:0.00, Z:0.02 [[ 0.99976739 0.02156766 0. 2.31713149] [-0.02156766 0.99976739 0. 0.00340338] [ 0. 0. 1. 0.02075348] [ 0. 0. 0. 1. ]] SLAMing on 2.2243199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.35, Y:0.00, Z:0.02 [[ 9.99637152e-01 2.69362958e-02 0.00000000e+00 2.34987695e+00] [-2.69362958e-02 9.99637152e-01 0.00000000e+00 7.61151300e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03651214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2543199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.00, Z:0.02 [[ 0.9995629 0.02956369 0. 2.38209615] [-0.02956369 0.9995629 0. -0.00275333] [ 0. 0. 1. 0.02145651] [ 0. 0. 0. 1. ]] SLAMing on 2.2843199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.01, Z:0.02 [[ 0.99952014 0.03097575 0. 2.41406061] [-0.03097575 0.99952014 0. -0.00562613] [ 0. 0. 1. 0.0219769 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3143199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.01, Z:0.02 [[ 0.99941885 0.03408765 0. 2.44558791] [-0.03408765 0.99941885 0. -0.00785703] [ 0. 0. 1. 0.02300775] [ 0. 0. 0. 1. ]] SLAMing on 2.3443199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.01, Z:0.02 [[ 0.9994085 0.03438969 0. 2.47793015] [-0.03438969 0.9994085 0. -0.00933409] [ 0. 0. 1. 0.02342144] [ 0. 0. 0. 1. ]] SLAMing on 2.3743199999999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.01, Z:0.02 [[ 0.99938522 0.03505977 0. 2.5094851 ] [-0.03505977 0.99938522 0. -0.01200801] [ 0. 0. 1. 0.02310711] [ 0. 0. 0. 1. ]] SLAMing on 2.4043199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.02, Z:0.02 [[ 0.99938295 0.03512436 0. 2.54105076] [-0.03512436 0.99938295 0. -0.01694828] [ 0. 0. 1. 0.02382792] [ 0. 0. 0. 1. ]] SLAMing on 2.4343199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.02, Z:0.02 [[ 0.99937185 0.03543876 0. 2.57246736] [-0.03543876 0.99937185 0. -0.02015924] [ 0. 0. 1. 0.02412252] [ 0. 0. 0. 1. ]] SLAMing on 2.4643199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.02, Z:0.02 [[ 0.99945117 0.03312654 0. 2.60527278] [-0.03312654 0.99945117 0. -0.0246998 ] [ 0. 0. 1. 0.02390882] [ 0. 0. 0. 1. ]] SLAMing on 2.4943199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.03, Z:0.02 [[ 0.99947422 0.03242335 0. 2.63799161] [-0.03242335 0.99947422 0. -0.02766411] [ 0. 0. 1. 0.02429479] [ 0. 0. 0. 1. ]] SLAMing on 2.5243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.03, Z:0.02 [[ 0.99949174 0.03187896 0. 2.6711675 ] [-0.03187896 0.99949174 0. -0.03082506] [ 0. 0. 1. 0.02451627] [ 0. 0. 0. 1. ]] SLAMing on 2.5543199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.03, Z:0.02 [[ 0.99952446 0.03083577 0. 2.7028104 ] [-0.03083577 0.99952446 0. -0.03363918] [ 0. 0. 1. 0.0244157 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5843199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.04, Z:0.03 [[ 0.99960224 0.02820214 0. 2.73531307] [-0.02820214 0.99960224 0. -0.03849501] [ 0. 0. 1. 0.02549653] [ 0. 0. 0. 1. ]] SLAMing on 2.6143199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.04, Z:0.03 [[ 0.99964345 0.02670141 0. 2.76701734] [-0.02670141 0.99964345 0. -0.04172768] [ 0. 0. 1. 0.02566804] [ 0. 0. 0. 1. ]] SLAMing on 2.6443199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.05, Z:0.03 [[ 0.99971968 0.02367607 0. 2.79996784] [-0.02367607 0.99971968 0. -0.04643654] [ 0. 0. 1. 0.02534176] [ 0. 0. 0. 1. ]] SLAMing on 2.6743199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.05, Z:0.02 [[ 0.99973992 0.02280575 0. 2.83290536] [-0.02280575 0.99973992 0. -0.04970688] [ 0. 0. 1. 0.02431058] [ 0. 0. 0. 1. ]] SLAMing on 2.7043199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.05, Z:0.02 [[ 0.9997507 0.02232795 0. 2.86576572] [-0.02232795 0.9997507 0. -0.05272441] [ 0. 0. 1. 0.02216623] [ 0. 0. 0. 1. ]] SLAMing on 2.7343199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.06, Z:0.02 [[ 0.99973696 0.02293472 0. 2.89561359] [-0.02293472 0.99973696 0. -0.05697633] [ 0. 0. 1. 0.02126199] [ 0. 0. 0. 1. ]] SLAMing on 2.7643199999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.06, Z:0.02 [[ 0.99973144 0.0231743 0. 2.92901265] [-0.0231743 0.99973144 0. -0.0588328 ] [ 0. 0. 1. 0.02126199] [ 0. 0. 0. 1. ]] SLAMing on 2.7943199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.06, Z:0.02 [[ 0.99974914 0.02239775 0. 2.96315767] [-0.02239775 0.99974914 0. -0.0611299 ] [ 0. 0. 1. 0.02192735] [ 0. 0. 0. 1. ]] SLAMing on 2.8243199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.06, Z:0.02 [[ 0.99972865 0.02329415 0. 2.99527841] [-0.02329415 0.99972865 0. -0.0640295 ] [ 0. 0. 1. 0.02254623] [ 0. 0. 0. 1. ]] SLAMing on 2.8543199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.07, Z:0.02 [[ 0.99966049 0.02605586 0. 3.02796682] [-0.02605586 0.99966049 0. -0.06702625] [ 0. 0. 1. 0.0210901 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8843199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.07, Z:0.02 [[ 0.99962727 0.02730041 0. 3.05996898] [-0.02730041 0.99962727 0. -0.069255 ] [ 0. 0. 1. 0.02036051] [ 0. 0. 0. 1. ]] SLAMing on 2.9143199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.07, Z:0.02 [[ 0.99960607 0.02806601 0. 3.09240468] [-0.02806601 0.99960607 0. -0.07219604] [ 0. 0. 1. 0.02144546] [ 0. 0. 0. 1. ]] SLAMing on 2.9443199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.08, Z:0.02 [[ 0.99958885 0.02867272 0. 3.12534074] [-0.02867272 0.99958885 0. -0.07805572] [ 0. 0. 1. 0.02258862] [ 0. 0. 0. 1. ]] SLAMing on 2.9743199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.08, Z:0.02 [[ 0.99959007 0.02863026 0. 3.15820613] [-0.02863026 0.99959007 0. -0.0811858 ] [ 0. 0. 1. 0.02245837] [ 0. 0. 0. 1. ]] SLAMing on 3.0043199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.08, Z:0.02 [[ 0.9996051 0.02810062 0. 3.19142809] [-0.02810062 0.9996051 0. -0.08375278] [ 0. 0. 1. 0.02215947] [ 0. 0. 0. 1. ]] SLAMing on 3.0343199999999992 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:0.02 [[ 0.99962565 0.02735981 0. 3.22277432] [-0.02735981 0.99962565 0. -0.08802947] [ 0. 0. 1. 0.02199926] [ 0. 0. 0. 1. ]] SLAMing on 3.0643199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.09, Z:0.02 [[ 0.99962637 0.02733339 0. 3.25562119] [-0.02733339 0.99962637 0. -0.09152077] [ 0. 0. 1. 0.02263917] [ 0. 0. 0. 1. ]] SLAMing on 3.0943199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.09, Z:0.02 [[ 0.99961394 0.02778443 0. 3.28793205] [-0.02778443 0.99961394 0. -0.09431513] [ 0. 0. 1. 0.02409985] [ 0. 0. 0. 1. ]] SLAMing on 3.1243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.10, Z:0.02 [[ 0.99963802 0.02690398 0. 3.31950555] [-0.02690398 0.99963802 0. -0.09684097] [ 0. 0. 1. 0.0243084 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1543199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.10, Z:0.02 [[ 0.99959027 0.02862336 0. 3.34828713] [-0.02862336 0.99959027 0. -0.09986472] [ 0. 0. 1. 0.02282133] [ 0. 0. 0. 1. ]] SLAMing on 3.1843199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.10, Z:0.03 [[ 0.99961776 0.02764665 0. 3.38327331] [-0.02764665 0.99961776 0. -0.10238757] [ 0. 0. 1. 0.02526856] [ 0. 0. 0. 1. ]] SLAMing on 3.2143199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.11, Z:0.03 [[ 0.9995961 0.02841889 0. 3.41571292] [-0.02841889 0.9995961 0. -0.10593483] [ 0. 0. 1. 0.02541909] [ 0. 0. 0. 1. ]] SLAMing on 3.244319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.11, Z:0.03 [[ 0.99958114 0.02894019 0. 3.44752527] [-0.02894019 0.99958114 0. -0.10819776] [ 0. 0. 1. 0.0256052 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2743199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.11, Z:0.03 [[ 0.99959501 0.02845734 0. 3.4797371 ] [-0.02845734 0.99959501 0. -0.11060141] [ 0. 0. 1. 0.02565665] [ 0. 0. 0. 1. ]] SLAMing on 3.3043199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.11, Z:0.03 [[ 0.99960643 0.02805331 0. 3.51260918] [-0.02805331 0.99960643 0. -0.11359337] [ 0. 0. 1. 0.02557999] [ 0. 0. 0. 1. ]] SLAMing on 3.3343199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.12, Z:0.03 [[ 0.99963636 0.02696577 0. 3.54572257] [-0.02696577 0.99963636 0. -0.11670383] [ 0. 0. 1. 0.02562982] [ 0. 0. 0. 1. ]] SLAMing on 3.3643199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.12, Z:0.03 [[ 0.99969772 0.02458589 0. 3.57830683] [-0.02458589 0.99969772 0. -0.12194038] [ 0. 0. 1. 0.02635286] [ 0. 0. 0. 1. ]] SLAMing on 3.3943199999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.13, Z:0.03 [[ 0.99972387 0.02349841 0. 3.61090906] [-0.02349841 0.99972387 0. -0.12513743] [ 0. 0. 1. 0.02730502] [ 0. 0. 0. 1. ]] SLAMing on 3.4243199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.13, Z:0.03 [[ 0.99973832 0.0228756 0. 3.64180389] [-0.0228756 0.99973832 0. -0.1280509 ] [ 0. 0. 1. 0.02881241] [ 0. 0. 0. 1. ]] SLAMing on 3.454319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.13, Z:0.03 [[ 0.99974417 0.02261858 0. 3.67406111] [-0.02261858 0.99974417 0. -0.13047924] [ 0. 0. 1. 0.02802769] [ 0. 0. 0. 1. ]] SLAMing on 3.4843199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.13, Z:0.03 [[ 0.99971181 0.02400618 0. 3.70725447] [-0.02400618 0.99971181 0. -0.13321582] [ 0. 0. 1. 0.02769131] [ 0. 0. 0. 1. ]] SLAMing on 3.5143199999999992 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.14, Z:0.03 [[ 0.9996674 0.02578942 0. 3.73891222] [-0.02578942 0.9996674 0. -0.13591523] [ 0. 0. 1. 0.02696279] [ 0. 0. 0. 1. ]] SLAMing on 3.5443199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.14, Z:0.03 [[ 0.99956505 0.02949072 0. 3.77157616] [-0.02949072 0.99956505 0. -0.13999657] [ 0. 0. 1. 0.02733651] [ 0. 0. 0. 1. ]] SLAMing on 3.5743199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.14, Z:0.03 [[ 0.99949617 0.03173952 0. 3.80427137] [-0.03173952 0.99949617 0. -0.14303225] [ 0. 0. 1. 0.02713371] [ 0. 0. 0. 1. ]] SLAMing on 3.6043199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.15, Z:0.03 [[ 0.99942414 0.03393224 0. 3.83564764] [-0.03393224 0.99942414 0. -0.14588243] [ 0. 0. 1. 0.02622176] [ 0. 0. 0. 1. ]] SLAMing on 3.6343199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.15, Z:0.03 [[ 0.99929626 0.0375097 0. 3.86845836] [-0.0375097 0.99929626 0. -0.14899045] [ 0. 0. 1. 0.02575558] [ 0. 0. 0. 1. ]] SLAMing on 3.664319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.15, Z:0.03 [[ 0.99922964 0.03924445 0. 3.90072008] [-0.03924445 0.99922964 0. -0.15189661] [ 0. 0. 1. 0.02590453] [ 0. 0. 0. 1. ]] SLAMing on 3.6943199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.15, Z:0.03 [[ 0.99917682 0.04056692 0. 3.93371147] [-0.04056692 0.99917682 0. -0.15484011] [ 0. 0. 1. 0.0264281 ] [ 0. 0. 0. 1. ]] SLAMing on 3.724319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.16, Z:0.03 [[ 0.99913645 0.04154937 0. 3.96557119] [-0.04154937 0.99913645 0. -0.15797236] [ 0. 0. 1. 0.02643445] [ 0. 0. 0. 1. ]] SLAMing on 3.7543199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.16, Z:0.03 [[ 0.999106 0.04227541 0. 3.99822815] [-0.04227541 0.999106 0. -0.16258103] [ 0. 0. 1. 0.02752059] [ 0. 0. 0. 1. ]] SLAMing on 3.7843199999999992 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.17, Z:0.03 [[ 0.99908903 0.04267438 0. 4.02992035] [-0.04267438 0.99908903 0. -0.16610212] [ 0. 0. 1. 0.02850202] [ 0. 0. 0. 1. ]] SLAMing on 3.8143199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.17, Z:0.03 [[ 0.99911838 0.0419818 0. 4.06279745] [-0.0419818 0.99911838 0. -0.17071494] [ 0. 0. 1. 0.02844275] [ 0. 0. 0. 1. ]] SLAMing on 3.8443199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.17, Z:0.03 [[ 0.99914394 0.04136903 0. 4.09587001] [-0.04136903 0.99914394 0. -0.17401522] [ 0. 0. 1. 0.02834567] [ 0. 0. 0. 1. ]] SLAMing on 3.874319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.18, Z:0.03 [[ 0.99917365 0.04064492 0. 4.12869561] [-0.04064492 0.99917365 0. -0.17725654] [ 0. 0. 1. 0.02876846] [ 0. 0. 0. 1. ]] SLAMing on 3.9043199999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.18, Z:0.03 [[ 0.99918521 0.04035981 0. 4.16143693] [-0.04035981 0.99918521 0. -0.18068165] [ 0. 0. 1. 0.02936411] [ 0. 0. 0. 1. ]] SLAMing on 3.934319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.19, Z:0.03 [[ 0.99923867 0.03901393 0. 4.1935607 ] [-0.03901393 0.99923867 0. -0.18501856] [ 0. 0. 1. 0.0288585 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9643199999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:0.03 [[ 0.99925337 0.03863555 0. 4.22554462] [-0.03863555 0.99925337 0. -0.18827093] [ 0. 0. 1. 0.02864623] [ 0. 0. 0. 1. ]] SLAMing on 3.994319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.19, Z:0.03 [[ 0.99929781 0.03746853 0. 4.25794906] [-0.03746853 0.99929781 0. -0.19279772] [ 0. 0. 1. 0.02954634] [ 0. 0. 0. 1. ]] SLAMing on 4.0243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.20, Z:0.03 [[ 0.99929441 0.03755909 0. 4.29168363] [-0.03755909 0.99929441 0. -0.19731062] [ 0. 0. 1. 0.02812031] [ 0. 0. 0. 1. ]] SLAMing on 4.05432 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.20, Z:0.03 [[ 0.99932005 0.03687045 0. 4.32041201] [-0.03687045 0.99932005 0. -0.19943517] [ 0. 0. 1. 0.02967946] [ 0. 0. 0. 1. ]] SLAMing on 4.084319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.20, Z:0.03 [[ 0.99937017 0.03548604 0. 4.35459924] [-0.03548604 0.99937017 0. -0.20285584] [ 0. 0. 1. 0.02832184] [ 0. 0. 0. 1. ]] SLAMing on 4.114319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.21, Z:0.03 [[ 0.99932204 0.03681664 0. 4.38455809] [-0.03681664 0.99932204 0. -0.20561112] [ 0. 0. 1. 0.02770558] [ 0. 0. 0. 1. ]] SLAMing on 4.14432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.21, Z:0.03 [[ 0.99929388 0.03757316 0. 4.41713054] [-0.03757316 0.99929388 0. -0.20840676] [ 0. 0. 1. 0.02767449] [ 0. 0. 0. 1. ]] SLAMing on 4.174319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.21, Z:0.03 [[ 0.99926184 0.03841587 0. 4.45149673] [-0.03841587 0.99926184 0. -0.21234509] [ 0. 0. 1. 0.02524215] [ 0. 0. 0. 1. ]] SLAMing on 4.204319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.21, Z:0.03 [[ 0.99915099 0.04119839 0. 4.48145027] [-0.04119839 0.99915099 0. -0.21461788] [ 0. 0. 1. 0.02667042] [ 0. 0. 0. 1. ]] SLAMing on 4.234319999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.22, Z:0.03 [[ 0.99909003 0.04265107 0. 4.51382929] [-0.04265107 0.99909003 0. -0.21706568] [ 0. 0. 1. 0.02630503] [ 0. 0. 0. 1. ]] SLAMing on 4.26432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.22, Z:0.03 [[ 0.99903532 0.04391392 0. 4.54639486] [-0.04391392 0.99903532 0. -0.22002187] [ 0. 0. 1. 0.02605605] [ 0. 0. 0. 1. ]] SLAMing on 4.294319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.22, Z:0.03 [[ 0.99895877 0.04562211 0. 4.57767703] [-0.04562211 0.99895877 0. -0.22343113] [ 0. 0. 1. 0.02603637] [ 0. 0. 0. 1. ]] SLAMing on 4.324319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.23, Z:0.03 [[ 0.99892143 0.0464324 0. 4.61040374] [-0.0464324 0.99892143 0. -0.22617216] [ 0. 0. 1. 0.02584474] [ 0. 0. 0. 1. ]] SLAMing on 4.3543199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.23, Z:0.03 [[ 0.99890984 0.04668108 0. 4.64293985] [-0.04668108 0.99890984 0. -0.22887622] [ 0. 0. 1. 0.02570431] [ 0. 0. 0. 1. ]] SLAMing on 4.384319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.23, Z:0.03 [[ 0.99890177 0.04685354 0. 4.67491574] [-0.04685354 0.99890177 0. -0.23422361] [ 0. 0. 1. 0.02693816] [ 0. 0. 0. 1. ]] SLAMing on 4.414319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.24, Z:0.03 [[ 0.99890273 0.04683315 0. 4.70730528] [-0.04683315 0.99890273 0. -0.23788279] [ 0. 0. 1. 0.02767985] [ 0. 0. 0. 1. ]] SLAMing on 4.444319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.24, Z:0.03 [[ 0.99888784 0.04714953 0. 4.74217882] [-0.04714953 0.99888784 0. -0.2422989 ] [ 0. 0. 1. 0.02563238] [ 0. 0. 0. 1. ]] SLAMing on 4.47432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.24, Z:0.03 [[ 0.99897315 0.0453062 0. 4.77448571] [-0.0453062 0.99897315 0. -0.24487319] [ 0. 0. 1. 0.0250976 ] [ 0. 0. 0. 1. ]] SLAMing on 4.504319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.25, Z:0.03 [[ 0.99901039 0.04447736 0. 4.80468184] [-0.04447736 0.99901039 0. -0.24756565] [ 0. 0. 1. 0.0277128 ] [ 0. 0. 0. 1. ]] SLAMing on 4.534319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.25, Z:0.03 [[ 0.99907497 0.04300231 0. 4.83726817] [-0.04300231 0.99907497 0. -0.25130685] [ 0. 0. 1. 0.02820938] [ 0. 0. 0. 1. ]] SLAMing on 4.5643199999999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.26, Z:0.03 [[ 0.99920068 0.03997491 0. 4.87039198] [-0.03997491 0.99920068 0. -0.25628913] [ 0. 0. 1. 0.0294371 ] [ 0. 0. 0. 1. ]] SLAMing on 4.594319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.26, Z:0.03 [[ 0.99923668 0.03906486 0. 4.90312399] [-0.03906486 0.99923668 0. -0.26012368] [ 0. 0. 1. 0.03027772] [ 0. 0. 0. 1. ]] SLAMing on 4.624319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.26, Z:0.03 [[ 0.99926825 0.03824875 0. 4.93605157] [-0.03824875 0.99926825 0. -0.26426932] [ 0. 0. 1. 0.02953171] [ 0. 0. 0. 1. ]] SLAMing on 4.654319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.27, Z:0.03 [[ 0.99928247 0.03787542 0. 4.96620672] [-0.03787542 0.99928247 0. -0.26644957] [ 0. 0. 1. 0.03026772] [ 0. 0. 0. 1. ]] SLAMing on 4.68432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.27, Z:0.03 [[ 0.99927116 0.03817257 0. 4.99954529] [-0.03817257 0.99927116 0. -0.26883466] [ 0. 0. 1. 0.03026772] [ 0. 0. 0. 1. ]] SLAMing on 4.714319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.27, Z:0.03 [[ 0.99924406 0.03887546 0. 5.03246811] [-0.03887546 0.99924406 0. -0.27000693] [ 0. 0. 1. 0.02887822] [ 0. 0. 0. 1. ]] SLAMing on 4.744319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.27, Z:0.03 [[ 0.99921454 0.03962695 0. 5.06525641] [-0.03962695 0.99921454 0. -0.27187495] [ 0. 0. 1. 0.02838446] [ 0. 0. 0. 1. ]] SLAMing on 4.7743199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.27, Z:0.03 [[ 0.99920216 0.03993804 0. 5.09775124] [-0.03993804 0.99920216 0. -0.27464222] [ 0. 0. 1. 0.02637188] [ 0. 0. 0. 1. ]] SLAMing on 4.804319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.28, Z:0.03 [[ 0.99919482 0.04012117 0. 5.12913214] [-0.04012117 0.99919482 0. -0.27875177] [ 0. 0. 1. 0.02747958] [ 0. 0. 0. 1. ]] SLAMing on 4.834319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.28, Z:0.03 [[ 0.99919202 0.04019099 0. 5.16107163] [-0.04019099 0.99919202 0. -0.28175124] [ 0. 0. 1. 0.02675953] [ 0. 0. 0. 1. ]] SLAMing on 4.864319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.29, Z:0.02 [[ 0.99914024 0.04145816 0. 5.19481606] [-0.04145816 0.99914024 0. -0.28608332] [ 0. 0. 1. 0.02328425] [ 0. 0. 0. 1. ]] SLAMing on 4.89432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.29, Z:0.02 [[ 0.99901504 0.04437294 0. 5.21999707] [-0.04437294 0.99901504 0. -0.28765046] [ 0. 0. 1. 0.02414625] [ 0. 0. 0. 1. ]] SLAMing on 4.924319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.29, Z:0.02 [[ 0.99899515 0.04481848 0. 5.25626748] [-0.04481848 0.99899515 0. -0.29013381] [ 0. 0. 1. 0.02283782] [ 0. 0. 0. 1. ]] SLAMing on 4.954319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.29, Z:0.03 [[ 0.99892923 0.04626437 0. 5.28799547] [-0.04626437 0.99892923 0. -0.28982152] [ 0. 0. 1. 0.0250404 ] [ 0. 0. 0. 1. ]] SLAMing on 4.984319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.29, Z:0.02 [[ 0.99886127 0.04770917 0. 5.31937674] [-0.04770917 0.99886127 0. -0.29207214] [ 0. 0. 1. 0.02479204] [ 0. 0. 0. 1. ]] SLAMing on 5.014319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.30, Z:0.02 [[ 0.99882088 0.04854732 0. 5.35232075] [-0.04854732 0.99882088 0. -0.29505287] [ 0. 0. 1. 0.02477641] [ 0. 0. 0. 1. ]] SLAMing on 5.044319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.30, Z:0.02 [[ 0.99877615 0.0494591 0. 5.38652634] [-0.0494591 0.99877615 0. -0.30082691] [ 0. 0. 1. 0.02439804] [ 0. 0. 0. 1. ]] SLAMing on 5.074319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.30, Z:0.03 [[ 0.99878357 0.04930911 0. 5.41539015] [-0.04930911 0.99878357 0. -0.30266844] [ 0. 0. 1. 0.02687846] [ 0. 0. 0. 1. ]] SLAMing on 5.1043199999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.31, Z:0.03 [[ 0.99878025 0.04937616 0. 5.44784489] [-0.04937616 0.99878025 0. -0.30546497] [ 0. 0. 1. 0.02681586] [ 0. 0. 0. 1. ]] SLAMing on 5.134319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.31, Z:0.03 [[ 0.99880161 0.04894221 0. 5.47958863] [-0.04894221 0.99880161 0. -0.30880427] [ 0. 0. 1. 0.02780381] [ 0. 0. 0. 1. ]] SLAMing on 5.164319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.31, Z:0.03 [[ 0.99880189 0.04893648 0. 5.51231313] [-0.04893648 0.99880189 0. -0.31172095] [ 0. 0. 1. 0.02877334] [ 0. 0. 0. 1. ]] SLAMing on 5.194319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.31, Z:0.03 [[ 0.99879324 0.04911273 0. 5.54541884] [-0.04911273 0.99879324 0. -0.31439128] [ 0. 0. 1. 0.02925899] [ 0. 0. 0. 1. ]] SLAMing on 5.224319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.32, Z:0.03 [[ 0.99877166 0.04954969 0. 5.57788081] [-0.04954969 0.99877166 0. -0.31688674] [ 0. 0. 1. 0.02903729] [ 0. 0. 0. 1. ]] SLAMing on 5.254319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.32, Z:0.03 [[ 0.99875975 0.04978921 0. 5.60977995] [-0.04978921 0.99875975 0. -0.31920765] [ 0. 0. 1. 0.02804425] [ 0. 0. 0. 1. ]] SLAMing on 5.284319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.32, Z:0.03 [[ 0.9987497 0.04999042 0. 5.64241765] [-0.04999042 0.9987497 0. -0.32156731] [ 0. 0. 1. 0.02777654] [ 0. 0. 0. 1. ]] SLAMing on 5.3143199999999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.32, Z:0.03 [[ 0.99874859 0.05001256 0. 5.67510674] [-0.05001256 0.99874859 0. -0.32360577] [ 0. 0. 1. 0.02708938] [ 0. 0. 0. 1. ]] SLAMing on 5.344319999999999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.33, Z:0.03 [[ 0.99875926 0.04979904 0. 5.7082551 ] [-0.04979904 0.99875926 0. -0.32649341] [ 0. 0. 1. 0.02705543] [ 0. 0. 0. 1. ]] SLAMing on 5.374319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.33, Z:0.03 [[ 0.99879802 0.04901547 0. 5.74011381] [-0.04901547 0.99879802 0. -0.32902664] [ 0. 0. 1. 0.02639812] [ 0. 0. 0. 1. ]] SLAMing on 5.404319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.33, Z:0.03 [[ 0.9988379 0.04819595 0. 5.77320747] [-0.04819595 0.9988379 0. -0.33156173] [ 0. 0. 1. 0.02613497] [ 0. 0. 0. 1. ]] SLAMing on 5.434319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.33, Z:0.03 [[ 0.99894275 0.04597161 0. 5.80558286] [-0.04597161 0.99894275 0. -0.33305745] [ 0. 0. 1. 0.02555343] [ 0. 0. 0. 1. ]] SLAMing on 5.464319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.34, Z:0.03 [[ 0.99895314 0.04574517 0. 5.83876091] [-0.04574517 0.99895314 0. -0.33559948] [ 0. 0. 1. 0.02514719] [ 0. 0. 0. 1. ]] SLAMing on 5.494319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.34, Z:0.02 [[ 0.99895102 0.04579148 0. 5.87185131] [-0.04579148 0.99895102 0. -0.3392497 ] [ 0. 0. 1. 0.02381071] [ 0. 0. 0. 1. ]] SLAMing on 5.5243199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.34, Z:0.02 [[ 0.9989344 0.04615273 0. 5.90389991] [-0.04615273 0.9989344 0. -0.34192972] [ 0. 0. 1. 0.02330162] [ 0. 0. 0. 1. ]] SLAMing on 5.554319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.34, Z:0.02 [[ 0.9989035 0.04681658 0. 5.93635255] [-0.04681658 0.9989035 0. -0.34450214] [ 0. 0. 1. 0.02338086] [ 0. 0. 0. 1. ]] SLAMing on 5.584319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.35, Z:0.02 [[ 0.99886471 0.04763709 0. 5.96935384] [-0.04763709 0.99886471 0. -0.34655238] [ 0. 0. 1. 0.02345041] [ 0. 0. 0. 1. ]] SLAMing on 5.614319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.35, Z:0.02 [[ 0.99872741 0.05043366 0. 6.00285731] [-0.05043366 0.99872741 0. -0.34883434] [ 0. 0. 1. 0.02107936] [ 0. 0. 0. 1. ]] SLAMing on 5.644319999999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.35, Z:0.02 [[ 0.99866918 0.05157397 0. 6.03250421] [-0.05157397 0.99866918 0. -0.34998408] [ 0. 0. 1. 0.02144347] [ 0. 0. 0. 1. ]] SLAMing on 5.674319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.35, Z:0.02 [[ 0.99859064 0.05307296 0. 6.06528856] [-0.05307296 0.99859064 0. -0.35279524] [ 0. 0. 1. 0.02122259] [ 0. 0. 0. 1. ]] SLAMing on 5.704319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.36, Z:0.02 [[ 0.99852491 0.05429551 0. 6.09816053] [-0.05429551 0.99852491 0. -0.35642101] [ 0. 0. 1. 0.02184767] [ 0. 0. 0. 1. ]] SLAMing on 5.734319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.36, Z:0.02 [[ 0.99842045 0.05618365 0. 6.13100692] [-0.05618365 0.99842045 0. -0.36148676] [ 0. 0. 1. 0.02377738] [ 0. 0. 0. 1. ]] SLAMing on 5.764319999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.36, Z:0.02 [[ 0.99837392 0.05700454 0. 6.16257167] [-0.05700454 0.99837392 0. -0.36427501] [ 0. 0. 1. 0.0238962 ] [ 0. 0. 0. 1. ]] SLAMing on 5.794319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.37, Z:0.02 [[ 0.998299 0.05830182 0. 6.19407663] [-0.05830182 0.998299 0. -0.36617745] [ 0. 0. 1. 0.02220696] [ 0. 0. 0. 1. ]] SLAMing on 5.824319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.37, Z:0.02 [[ 0.99828969 0.05846104 0. 6.2257604 ] [-0.05846104 0.99828969 0. -0.36868322] [ 0. 0. 1. 0.02130121] [ 0. 0. 0. 1. ]] SLAMing on 5.854319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.37, Z:0.02 [[ 0.99828273 0.05857977 0. 6.25832577] [-0.05857977 0.99828273 0. -0.37208157] [ 0. 0. 1. 0.02126096] [ 0. 0. 0. 1. ]] SLAMing on 5.884319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.38, Z:0.02 [[ 0.99833532 0.05767652 0. 6.28982717] [-0.05767652 0.99833532 0. -0.37716849] [ 0. 0. 1. 0.02278054] [ 0. 0. 0. 1. ]] SLAMing on 5.914319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.38, Z:0.02 [[ 0.99838229 0.0568578 0. 6.32296884] [-0.0568578 0.99838229 0. -0.38059416] [ 0. 0. 1. 0.02305547] [ 0. 0. 0. 1. ]] SLAMing on 5.944319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.39, Z:0.02 [[ 0.99831767 0.05798122 0. 6.35824575] [-0.05798122 0.99831767 0. -0.38698562] [ 0. 0. 1. 0.02209474] [ 0. 0. 0. 1. ]] SLAMing on 5.974319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.39, Z:0.02 [[ 0.99854361 0.05395058 0. 6.38542932] [-0.05395058 0.99854361 0. -0.38611465] [ 0. 0. 1. 0.02388319] [ 0. 0. 0. 1. ]] SLAMing on 6.004319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.39, Z:0.02 [[ 0.99859287 0.05303093 0. 6.41764007] [-0.05303093 0.99859287 0. -0.38896468] [ 0. 0. 1. 0.02382462] [ 0. 0. 0. 1. ]] SLAMing on 6.034319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.39, Z:0.02 [[ 0.9986506 0.05193246 0. 6.45003105] [-0.05193246 0.9986506 0. -0.39209167] [ 0. 0. 1. 0.02433242] [ 0. 0. 0. 1. ]] SLAMing on 6.064319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.40, Z:0.02 [[ 0.99859282 0.05303193 0. 6.48215732] [-0.05303193 0.99859282 0. -0.39848932] [ 0. 0. 1. 0.02393753] [ 0. 0. 0. 1. ]] SLAMing on 6.094319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.40, Z:0.02 [[ 0.99873935 0.05019665 0. 6.51095764] [-0.05019665 0.99873935 0. -0.39909811] [ 0. 0. 1. 0.02498686] [ 0. 0. 0. 1. ]] SLAMing on 6.124319999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.40, Z:0.03 [[ 0.99873513 0.0502806 0. 6.54417101] [-0.0502806 0.99873513 0. -0.40202425] [ 0. 0. 1. 0.02516911] [ 0. 0. 0. 1. ]] SLAMing on 6.154319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.41, Z:0.02 [[ 0.99870991 0.05077913 0. 6.58023868] [-0.05077913 0.99870991 0. -0.40672481] [ 0. 0. 1. 0.02416575] [ 0. 0. 0. 1. ]] SLAMing on 6.184319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.41, Z:0.02 [[ 0.9986506 0.05193248 0. 6.61299164] [-0.05193248 0.9986506 0. -0.40756597] [ 0. 0. 1. 0.02415557] [ 0. 0. 0. 1. ]] SLAMing on 6.214319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.41, Z:0.02 [[ 0.99858526 0.05317395 0. 6.64020663] [-0.05317395 0.99858526 0. -0.40636768] [ 0. 0. 1. 0.02186106] [ 0. 0. 0. 1. ]] SLAMing on 6.244319999999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.41, Z:0.02 [[ 0.99835578 0.05732135 0. 6.67650359] [-0.05732135 0.99835578 0. -0.41112461] [ 0. 0. 1. 0.01998816] [ 0. 0. 0. 1. ]] SLAMing on 6.274319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.41, Z:0.02 [[ 0.99834242 0.05755355 0. 6.70576401] [-0.05755355 0.99834242 0. -0.41084425] [ 0. 0. 1. 0.02136701] [ 0. 0. 0. 1. ]] SLAMing on 6.304319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.41, Z:0.02 [[ 0.9982422 0.05926647 0. 6.73892343] [-0.05926647 0.9982422 0. -0.41373268] [ 0. 0. 1. 0.0207944 ] [ 0. 0. 0. 1. ]] SLAMing on 6.334319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.41, Z:0.02 [[ 0.9980826 0.06189613 0. 6.77079774] [-0.06189613 0.9980826 0. -0.41469708] [ 0. 0. 1. 0.01927073] [ 0. 0. 0. 1. ]] SLAMing on 6.364319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.42, Z:0.02 [[ 0.99802501 0.06281786 0. 6.80311201] [-0.06281786 0.99802501 0. -0.41638222] [ 0. 0. 1. 0.01909529] [ 0. 0. 0. 1. ]] SLAMing on 6.394319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.42, Z:0.02 [[ 0.99794069 0.06414345 0. 6.83494584] [-0.06414345 0.99794069 0. -0.41892776] [ 0. 0. 1. 0.01767791] [ 0. 0. 0. 1. ]] SLAMing on 6.424319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.42, Z:0.02 [[ 0.99784357 0.06563701 0. 6.87034133] [-0.06563701 0.99784357 0. -0.42389222] [ 0. 0. 1. 0.01716622] [ 0. 0. 0. 1. ]] SLAMing on 6.454319999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.42, Z:0.02 [[ 0.99792925 0.06432123 0. 6.89891865] [-0.06432123 0.99792925 0. -0.42412929] [ 0. 0. 1. 0.02043466] [ 0. 0. 0. 1. ]] SLAMing on 6.4843199999999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.43, Z:0.02 [[ 0.9979917 0.06334488 0. 6.93234641] [-0.06334488 0.9979917 0. -0.42669408] [ 0. 0. 1. 0.02151913] [ 0. 0. 0. 1. ]] SLAMing on 6.514319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.43, Z:0.02 [[ 0.99800837 0.06308167 0. 6.96378786] [-0.06308167 0.99800837 0. -0.42954653] [ 0. 0. 1. 0.02152097] [ 0. 0. 0. 1. ]] SLAMing on 6.544319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.43, Z:0.02 [[ 0.99815287 0.06075237 0. 6.99711253] [-0.06075237 0.99815287 0. -0.43297782] [ 0. 0. 1. 0.02232078] [ 0. 0. 0. 1. ]] SLAMing on 6.574319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.44, Z:0.02 [[ 0.99813658 0.06101943 0. 7.03042563] [-0.06101943 0.99813658 0. -0.43578938] [ 0. 0. 1. 0.02232078] [ 0. 0. 0. 1. ]] SLAMing on 6.604319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.44, Z:0.02 [[ 0.99812267 0.06124659 0. 7.06542534] [-0.06124659 0.99812267 0. -0.44126313] [ 0. 0. 1. 0.02176375] [ 0. 0. 0. 1. ]] SLAMing on 6.634319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.44, Z:0.02 [[ 0.99830704 0.05816405 0. 7.09361798] [-0.05816405 0.99830704 0. -0.44100811] [ 0. 0. 1. 0.02295563] [ 0. 0. 0. 1. ]] SLAMing on 6.664319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.44, Z:0.02 [[ 0.99846469 0.05539195 0. 7.12571284] [-0.05539195 0.99846469 0. -0.44471595] [ 0. 0. 1. 0.02311255] [ 0. 0. 0. 1. ]] SLAMing on 6.6943199999999985 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.45, Z:0.02 [[ 0.99851175 0.05453694 0. 7.15893808] [-0.05453694 0.99851175 0. -0.44783827] [ 0. 0. 1. 0.02296016] [ 0. 0. 0. 1. ]] SLAMing on 6.724319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.45, Z:0.02 [[ 0.99861945 0.05252811 0. 7.19325333] [-0.05252811 0.99861945 0. -0.44968987] [ 0. 0. 1. 0.02262928] [ 0. 0. 0. 1. ]] SLAMing on 6.754319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.45, Z:0.02 [[ 0.99853653 0.05408141 0. 7.2244083 ] [-0.05408141 0.99853653 0. -0.4520478 ] [ 0. 0. 1. 0.02224673] [ 0. 0. 0. 1. ]] SLAMing on 6.784319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.46, Z:0.02 [[ 0.99840961 0.056376 0. 7.26058983] [-0.056376 0.99840961 0. -0.45785044] [ 0. 0. 1. 0.02030671] [ 0. 0. 0. 1. ]] SLAMing on 6.814319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.45, Z:0.02 [[ 0.99851782 0.05442578 0. 7.28843217] [-0.05442578 0.99851782 0. -0.45477451] [ 0. 0. 1. 0.02029999] [ 0. 0. 0. 1. ]] SLAMing on 6.844319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.46, Z:0.02 [[ 0.99850824 0.05460119 0. 7.3209076 ] [-0.05460119 0.99850824 0. -0.45716929] [ 0. 0. 1. 0.01968031] [ 0. 0. 0. 1. ]] SLAMing on 6.874319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.46, Z:0.02 [[ 0.99850698 0.05462424 0. 7.35221909] [-0.05462424 0.99850698 0. -0.46014451] [ 0. 0. 1. 0.01923364] [ 0. 0. 0. 1. ]] SLAMing on 6.9043199999999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.46, Z:0.02 [[ 0.99852357 0.05432025 0. 7.38507278] [-0.05432025 0.99852357 0. -0.46327409] [ 0. 0. 1. 0.01919662] [ 0. 0. 0. 1. ]] SLAMing on 6.934319999999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.47, Z:0.02 [[ 0.99852422 0.05430815 0. 7.41818362] [-0.05430815 0.99852422 0. -0.46551496] [ 0. 0. 1. 0.019323 ] [ 0. 0. 0. 1. ]] SLAMing on 6.964319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.47, Z:0.02 [[ 0.99847519 0.05520225 0. 7.45066216] [-0.05520225 0.99847519 0. -0.46622477] [ 0. 0. 1. 0.01937299] [ 0. 0. 0. 1. ]] SLAMing on 6.994319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.47, Z:0.02 [[ 0.99844583 0.05573083 0. 7.48382154] [-0.05573083 0.99844583 0. -0.46865293] [ 0. 0. 1. 0.02006589] [ 0. 0. 0. 1. ]] SLAMing on 7.024319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.47, Z:0.02 [[ 0.99814813 0.0608302 0. 7.51435775] [-0.0608302 0.99814813 0. -0.47052686] [ 0. 0. 1. 0.02018303] [ 0. 0. 0. 1. ]] SLAMing on 7.054319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.47, Z:0.02 [[ 0.99804593 0.0624845 0. 7.5470062 ] [-0.0624845 0.99804593 0. -0.47244531] [ 0. 0. 1. 0.02060098] [ 0. 0. 0. 1. ]] SLAMing on 7.084319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.47, Z:0.02 [[ 0.99794634 0.06405545 0. 7.57764727] [-0.06405545 0.99794634 0. -0.47473569] [ 0. 0. 1. 0.02043453] [ 0. 0. 0. 1. ]] SLAMing on 7.114319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.48, Z:0.02 [[ 0.99779836 0.06632072 0. 7.61083241] [-0.06632072 0.99779836 0. -0.47762468] [ 0. 0. 1. 0.02148887] [ 0. 0. 0. 1. ]] SLAMing on 7.144319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.48, Z:0.02 [[ 0.99773274 0.06730071 0. 7.64314753] [-0.06730071 0.99773274 0. -0.48024667] [ 0. 0. 1. 0.02149654] [ 0. 0. 0. 1. ]] SLAMing on 7.174319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.48, Z:0.02 [[ 0.99774958 0.06705058 0. 7.67517956] [-0.06705058 0.99774958 0. -0.48177306] [ 0. 0. 1. 0.02199659] [ 0. 0. 0. 1. ]] SLAMing on 7.204319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.48, Z:0.02 [[ 0.99773445 0.06727538 0. 7.70653159] [-0.06727538 0.99773445 0. -0.48436686] [ 0. 0. 1. 0.02198757] [ 0. 0. 0. 1. ]] SLAMing on 7.2343199999999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.49, Z:0.02 [[ 0.99784115 0.0656738 0. 7.73950679] [-0.0656738 0.99784115 0. -0.48669135] [ 0. 0. 1. 0.02298813] [ 0. 0. 0. 1. ]] SLAMing on 7.264319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.49, Z:0.02 [[ 0.9978946 0.06485656 0. 7.77180459] [-0.06485656 0.9978946 0. -0.4901482 ] [ 0. 0. 1. 0.02366045] [ 0. 0. 0. 1. ]] SLAMing on 7.294319999999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.49, Z:0.02 [[ 0.99805359 0.06236213 0. 7.80432396] [-0.06236213 0.99805359 0. -0.49464185] [ 0. 0. 1. 0.02308028] [ 0. 0. 0. 1. ]] SLAMing on 7.324319999999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.50, Z:0.02 [[ 0.99814488 0.06088355 0. 7.83619664] [-0.06088355 0.99814488 0. -0.49793695] [ 0. 0. 1. 0.02276762] [ 0. 0. 0. 1. ]] SLAMing on 7.354319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.50, Z:0.02 [[ 0.99820614 0.05987072 0. 7.86851377] [-0.05987072 0.99820614 0. -0.50089474] [ 0. 0. 1. 0.02263893] [ 0. 0. 0. 1. ]] SLAMing on 7.384319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.50, Z:0.02 [[ 0.99834857 0.05744676 0. 7.90022856] [-0.05744676 0.99834857 0. -0.50284372] [ 0. 0. 1. 0.02255288] [ 0. 0. 0. 1. ]] SLAMing on 7.414319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.51, Z:0.02 [[ 0.99840036 0.05653948 0. 7.93251911] [-0.05653948 0.99840036 0. -0.50516346] [ 0. 0. 1. 0.02227676] [ 0. 0. 0. 1. ]] SLAMing on 7.4443199999999985 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.51, Z:0.02 [[ 0.99847711 0.05516749 0. 7.9642625 ] [-0.05516749 0.99847711 0. -0.5080041 ] [ 0. 0. 1. 0.02167919] [ 0. 0. 0. 1. ]] SLAMing on 7.474319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.51, Z:0.02 [[ 0.99853247 0.05415634 0. 7.99706071] [-0.05415634 0.99853247 0. -0.51087697] [ 0. 0. 1. 0.02147145] [ 0. 0. 0. 1. ]] SLAMing on 7.504319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.51, Z:0.02 [[ 0.99858422 0.05319352 0. 8.02944215] [-0.05319352 0.99858422 0. -0.51380921] [ 0. 0. 1. 0.02131393] [ 0. 0. 0. 1. ]] SLAMing on 7.534319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.52, Z:0.02 [[ 0.99861418 0.05262807 0. 8.0609572 ] [-0.05262807 0.99861418 0. -0.51651185] [ 0. 0. 1. 0.0211757 ] [ 0. 0. 0. 1. ]] SLAMing on 7.564319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.52, Z:0.02 [[ 0.99861195 0.05267051 0. 8.09258695] [-0.05267051 0.99861195 0. -0.51897238] [ 0. 0. 1. 0.02132849] [ 0. 0. 0. 1. ]] SLAMing on 7.594319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.52, Z:0.02 [[ 0.99842754 0.05605753 0. 8.11970883] [-0.05605753 0.99842754 0. -0.52213171] [ 0. 0. 1. 0.01917397] [ 0. 0. 0. 1. ]] SLAMing on 7.624319999999999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.53, Z:0.02 [[ 0.99830962 0.05811964 0. 8.15836229] [-0.05811964 0.99830962 0. -0.52569688] [ 0. 0. 1. 0.01879829] [ 0. 0. 0. 1. ]] SLAMing on 7.6543199999999985 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.53, Z:0.02 [[ 0.99820788 0.05984162 0. 8.18645272] [-0.05984162 0.99820788 0. -0.52637823] [ 0. 0. 1. 0.0198027 ] [ 0. 0. 0. 1. ]] SLAMing on 7.684319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.53, Z:0.02 [[ 0.99805595 0.06232426 0. 8.21879543] [-0.06232426 0.99805595 0. -0.52822963] [ 0. 0. 1. 0.01970045] [ 0. 0. 0. 1. ]] SLAMing on 7.714319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.53, Z:0.02 [[ 0.99773026 0.06733746 0. 8.25162808] [-0.06733746 0.99773026 0. -0.52968536] [ 0. 0. 1. 0.01847583] [ 0. 0. 0. 1. ]] SLAMing on 7.744319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.53, Z:0.02 [[ 0.99746901 0.07110258 0. 8.28338488] [-0.07110258 0.99746901 0. -0.53352489] [ 0. 0. 1. 0.01671955] [ 0. 0. 0. 1. ]] SLAMing on 7.774319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.54, Z:0.02 [[ 0.99746674 0.07113434 0. 8.31612901] [-0.07113434 0.99746674 0. -0.53593477] [ 0. 0. 1. 0.01909749] [ 0. 0. 0. 1. ]] SLAMing on 7.804319999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.54, Z:0.02 [[ 0.9972901 0.07356946 0. 8.35027479] [-0.07356946 0.9972901 0. -0.54035307] [ 0. 0. 1. 0.02041137] [ 0. 0. 0. 1. ]] SLAMing on 7.834319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.54, Z:0.02 [[ 0.99729841 0.07345665 0. 8.38015757] [-0.07345665 0.99729841 0. -0.54257466] [ 0. 0. 1. 0.02223329] [ 0. 0. 0. 1. ]] SLAMing on 7.864319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.55, Z:0.02 [[ 0.99726729 0.07387793 0. 8.41300352] [-0.07387793 0.99726729 0. -0.54613736] [ 0. 0. 1. 0.02372872] [ 0. 0. 0. 1. ]] SLAMing on 7.894319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.55, Z:0.02 [[ 0.99732279 0.07312495 0. 8.44524106] [-0.07312495 0.99732279 0. -0.54944243] [ 0. 0. 1. 0.02424248] [ 0. 0. 0. 1. ]] SLAMing on 7.924319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.55, Z:0.02 [[ 0.99735977 0.07261875 0. 8.47805194] [-0.07261875 0.99735977 0. -0.55337205] [ 0. 0. 1. 0.02468501] [ 0. 0. 0. 1. ]] SLAMing on 7.954319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.56, Z:0.03 [[ 0.99741408 0.071869 0. 8.50930317] [-0.071869 0.99741408 0. -0.55750562] [ 0. 0. 1. 0.02522015] [ 0. 0. 0. 1. ]] SLAMing on 7.9843199999999985 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.56, Z:0.03 [[ 0.99745851 0.07124974 0. 8.54466464] [-0.07124974 0.99745851 0. -0.56480328] [ 0. 0. 1. 0.02518559] [ 0. 0. 0. 1. ]] SLAMing on 8.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.57, Z:0.02 [[ 0.9975556 0.06987722 0. 8.57499593] [-0.06987722 0.9975556 0. -0.56732121] [ 0. 0. 1. 0.02481208] [ 0. 0. 0. 1. ]] SLAMing on 8.044319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.57, Z:0.02 [[ 0.9976522 0.06848418 0. 8.60688617] [-0.06848418 0.9976522 0. -0.57021116] [ 0. 0. 1. 0.02374022] [ 0. 0. 0. 1. ]] SLAMing on 8.074319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.58, Z:0.02 [[ 0.99773159 0.06731776 0. 8.63968371] [-0.06731776 0.99773159 0. -0.57505445] [ 0. 0. 1. 0.02337357] [ 0. 0. 0. 1. ]] SLAMing on 8.10432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.58, Z:0.02 [[ 0.9978003 0.06629144 0. 8.67174349] [-0.06629144 0.9978003 0. -0.5780958 ] [ 0. 0. 1. 0.02358128] [ 0. 0. 0. 1. ]] SLAMing on 8.134319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.58, Z:0.02 [[ 0.9978538 0.06548126 0. 8.70175853] [-0.06548126 0.9978538 0. -0.58089453] [ 0. 0. 1. 0.02486007] [ 0. 0. 0. 1. ]] SLAMing on 8.164319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.59, Z:0.02 [[ 0.9980252 0.06281487 0. 8.73489199] [-0.06281487 0.9980252 0. -0.585 ] [ 0. 0. 1. 0.0224149 ] [ 0. 0. 0. 1. ]] SLAMing on 8.19432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.59, Z:0.02 [[ 0.99802582 0.06280501 0. 8.76527354] [-0.06280501 0.99802582 0. -0.58972402] [ 0. 0. 1. 0.02470866] [ 0. 0. 0. 1. ]] SLAMing on 8.224319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.59, Z:0.02 [[ 0.99809813 0.06164508 0. 8.79787509] [-0.06164508 0.99809813 0. -0.59330303] [ 0. 0. 1. 0.02314132] [ 0. 0. 0. 1. ]] SLAMing on 8.254319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.60, Z:0.02 [[ 0.9982069 0.05985804 0. 8.83011049] [-0.05985804 0.9982069 0. -0.59642383] [ 0. 0. 1. 0.02128548] [ 0. 0. 0. 1. ]] SLAMing on 8.28432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.60, Z:0.02 [[ 0.99816059 0.06062543 0. 8.86231427] [-0.06062543 0.99816059 0. -0.60089902] [ 0. 0. 1. 0.02271947] [ 0. 0. 0. 1. ]] SLAMing on 8.314319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.60, Z:0.02 [[ 0.99818713 0.06018688 0. 8.895462 ] [-0.06018688 0.99818713 0. -0.60369962] [ 0. 0. 1. 0.02041723] [ 0. 0. 0. 1. ]] SLAMing on 8.344319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.61, Z:0.02 [[ 0.99814023 0.06095963 0. 8.92731418] [-0.06095963 0.99814023 0. -0.60819103] [ 0. 0. 1. 0.02257708] [ 0. 0. 0. 1. ]] SLAMing on 8.374319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.61, Z:0.02 [[ 0.9980154 0.06297027 0. 8.95979644] [-0.06297027 0.9980154 0. -0.61072484] [ 0. 0. 1. 0.02199099] [ 0. 0. 0. 1. ]] SLAMing on 8.404319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.61, Z:0.02 [[ 0.99786138 0.0653656 0. 8.99129517] [-0.0653656 0.99786138 0. -0.6147208 ] [ 0. 0. 1. 0.02448243] [ 0. 0. 0. 1. ]] SLAMing on 8.434319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.62, Z:0.02 [[ 0.99773296 0.06729739 0. 9.02365827] [-0.06729739 0.99773296 0. -0.61806017] [ 0. 0. 1. 0.02337242] [ 0. 0. 0. 1. ]] SLAMing on 8.464319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.62, Z:0.02 [[ 0.99753238 0.07020788 0. 9.05642411] [-0.07020788 0.99753238 0. -0.62145621] [ 0. 0. 1. 0.02310475] [ 0. 0. 0. 1. ]] SLAMing on 8.494319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.62, Z:0.02 [[ 0.99751054 0.07051753 0. 9.08967231] [-0.07051753 0.99751054 0. -0.62481774] [ 0. 0. 1. 0.02310475] [ 0. 0. 0. 1. ]] SLAMing on 8.52432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.63, Z:0.02 [[ 0.9974239 0.07173259 0. 9.12192492] [-0.07173259 0.9974239 0. -0.62792398] [ 0. 0. 1. 0.02313607] [ 0. 0. 0. 1. ]] SLAMing on 8.554319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.63, Z:0.02 [[ 0.9972988 0.07345141 0. 9.1546378 ] [-0.07345141 0.9972988 0. -0.62960553] [ 0. 0. 1. 0.0243634 ] [ 0. 0. 0. 1. ]] SLAMing on 8.584319999999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.63, Z:0.02 [[ 0.99715734 0.07534749 0. 9.1864102 ] [-0.07534749 0.99715734 0. -0.63111322] [ 0. 0. 1. 0.02339039] [ 0. 0. 0. 1. ]] SLAMing on 8.61432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.63, Z:0.02 [[ 0.99721967 0.07451801 0. 9.21825096] [-0.07451801 0.99721967 0. -0.63333189] [ 0. 0. 1. 0.0218802 ] [ 0. 0. 0. 1. ]] SLAMing on 8.644319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.64, Z:0.02 [[ 0.99719571 0.07483799 0. 9.25022225] [-0.07483799 0.99719571 0. -0.63758365] [ 0. 0. 1. 0.02457819] [ 0. 0. 0. 1. ]] SLAMing on 8.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.64, Z:0.03 [[ 0.99731075 0.07328891 0. 9.28327415] [-0.07328891 0.99731075 0. -0.64039164] [ 0. 0. 1. 0.02634481] [ 0. 0. 0. 1. ]] SLAMing on 8.70432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.64, Z:0.03 [[ 0.9974005 0.07205716 0. 9.31543723] [-0.07205716 0.9974005 0. -0.64330421] [ 0. 0. 1. 0.02639214] [ 0. 0. 0. 1. ]] SLAMing on 8.734319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.65, Z:0.03 [[ 0.9975641 0.06975573 0. 9.34712444] [-0.06975573 0.9975641 0. -0.64582416] [ 0. 0. 1. 0.0268062 ] [ 0. 0. 0. 1. ]] SLAMing on 8.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.65, Z:0.03 [[ 0.99761512 0.06902228 0. 9.3796245 ] [-0.06902228 0.99761512 0. -0.64869615] [ 0. 0. 1. 0.02689879] [ 0. 0. 0. 1. ]] SLAMing on 8.794319999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.65, Z:0.03 [[ 0.99768956 0.06793775 0. 9.41006302] [-0.06793775 0.99768956 0. -0.64969029] [ 0. 0. 1. 0.0260132 ] [ 0. 0. 0. 1. ]] SLAMing on 8.824319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.65, Z:0.03 [[ 0.99774118 0.06717544 0. 9.44289163] [-0.06717544 0.99774118 0. -0.65215033] [ 0. 0. 1. 0.02832999] [ 0. 0. 0. 1. ]] SLAMing on 8.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.65, Z:0.03 [[ 0.99785324 0.06548979 0. 9.47409822] [-0.06548979 0.99785324 0. -0.65430964] [ 0. 0. 1. 0.0280642 ] [ 0. 0. 0. 1. ]] SLAMing on 8.884319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.66, Z:0.03 [[ 0.99787273 0.06519206 0. 9.50725668] [-0.06519206 0.99787273 0. -0.65739242] [ 0. 0. 1. 0.02832691] [ 0. 0. 0. 1. ]] SLAMing on 8.914319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.66, Z:0.03 [[ 0.99789487 0.06485242 0. 9.54039814] [-0.06485242 0.99789487 0. -0.65981301] [ 0. 0. 1. 0.02806468] [ 0. 0. 0. 1. ]] SLAMing on 8.94432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.66, Z:0.02 [[ 0.9979052 0.06469314 0. 9.57108603] [-0.06469314 0.9979052 0. -0.65970285] [ 0. 0. 1. 0.02415151] [ 0. 0. 0. 1. ]] SLAMing on 8.974319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.66, Z:0.02 [[ 0.99786568 0.06529993 0. 9.60418668] [-0.06529993 0.99786568 0. -0.6625012 ] [ 0. 0. 1. 0.02181403] [ 0. 0. 0. 1. ]] SLAMing on 9.004319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.67, Z:0.02 [[ 0.99781348 0.0660928 0. 9.63555645] [-0.0660928 0.99781348 0. -0.66624065] [ 0. 0. 1. 0.02250873] [ 0. 0. 0. 1. ]] SLAMing on 9.03432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.67, Z:0.02 [[ 0.99776769 0.06678052 0. 9.667649 ] [-0.06678052 0.99776769 0. -0.66941318] [ 0. 0. 1. 0.02230103] [ 0. 0. 0. 1. ]] SLAMing on 9.064319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.67, Z:0.02 [[ 0.99778691 0.06649277 0. 9.70001329] [-0.06649277 0.99778691 0. -0.67079047] [ 0. 0. 1. 0.01985984] [ 0. 0. 0. 1. ]] SLAMing on 9.094319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.67, Z:0.02 [[ 0.99772165 0.06746484 0. 9.73143557] [-0.06746484 0.99772165 0. -0.67406013] [ 0. 0. 1. 0.01946399] [ 0. 0. 0. 1. ]] SLAMing on 9.124319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.68, Z:0.02 [[ 0.99762715 0.06884809 0. 9.764725 ] [-0.06884809 0.99762715 0. -0.67708246] [ 0. 0. 1. 0.01770265] [ 0. 0. 0. 1. ]] SLAMing on 9.154319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.68, Z:0.02 [[ 0.99752937 0.07025063 0. 9.79635757] [-0.07025063 0.99752937 0. -0.68093465] [ 0. 0. 1. 0.01945336] [ 0. 0. 0. 1. ]] SLAMing on 9.184319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.68, Z:0.02 [[ 0.99741839 0.0718092 0. 9.82869346] [-0.0718092 0.99741839 0. -0.68386881] [ 0. 0. 1. 0.02110048] [ 0. 0. 0. 1. ]] SLAMing on 9.214319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.69, Z:0.02 [[ 0.99738755 0.07223626 0. 9.86088604] [-0.07223626 0.99738755 0. -0.68713525] [ 0. 0. 1. 0.02172668] [ 0. 0. 0. 1. ]] SLAMing on 9.244319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.69, Z:0.02 [[ 0.99735952 0.07262216 0. 9.89312953] [-0.07262216 0.99735952 0. -0.69100062] [ 0. 0. 1. 0.02197215] [ 0. 0. 0. 1. ]] SLAMing on 9.274319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.69, Z:0.02 [[ 0.99738255 0.07230526 0. 9.92543718] [-0.07230526 0.99738255 0. -0.694437 ] [ 0. 0. 1. 0.02242939] [ 0. 0. 0. 1. ]] SLAMing on 9.304319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.70, Z:0.02 [[ 0.99739902 0.07207766 0. 9.95953163] [-0.07207766 0.99739902 0. -0.69920726] [ 0. 0. 1. 0.02225985] [ 0. 0. 0. 1. ]] SLAMing on 9.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.70, Z:0.02 [[ 0.99749827 0.07069088 0. 9.98903321] [-0.07069088 0.99749827 0. -0.69993526] [ 0. 0. 1. 0.02169313] [ 0. 0. 0. 1. ]] SLAMing on 9.36432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.70, Z:0.02 [[ 0.99757281 0.06963106 0. 10.0215305 ] [-0.06963106 0.99757281 0. -0.70482284] [ 0. 0. 1. 0.02330157] [ 0. 0. 0. 1. ]] SLAMing on 9.394319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.71, Z:0.02 [[ 0.99758708 0.0694264 0. 10.05269438] [-0.0694264 0.99758708 0. -0.70946384] [ 0. 0. 1. 0.02408064] [ 0. 0. 0. 1. ]] SLAMing on 9.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.72, Z:0.02 [[ 0.99748376 0.07089539 0. 10.08908175] [-0.07089539 0.99748376 0. -0.71722832] [ 0. 0. 1. 0.02414163] [ 0. 0. 0. 1. ]] SLAMing on 9.45432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.72, Z:0.03 [[ 0.99762143 0.06893093 0. 10.11596239] [-0.06893093 0.99762143 0. -0.71752473] [ 0. 0. 1. 0.02518418] [ 0. 0. 0. 1. ]] SLAMing on 9.484319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.72, Z:0.03 [[ 0.9975744 0.06960834 0. 10.14861591] [-0.06960834 0.9975744 0. -0.72124775] [ 0. 0. 1. 0.02504605] [ 0. 0. 0. 1. ]] SLAMing on 9.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.73, Z:0.02 [[ 0.99748043 0.07094223 0. 10.18449998] [-0.07094223 0.99748043 0. -0.72708906] [ 0. 0. 1. 0.02338021] [ 0. 0. 0. 1. ]] SLAMing on 9.544319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.73, Z:0.02 [[ 0.997432 0.07161993 0. 10.21628505] [-0.07161993 0.997432 0. -0.73073222] [ 0. 0. 1. 0.02379138] [ 0. 0. 0. 1. ]] SLAMing on 9.574319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.73, Z:0.02 [[ 0.99739909 0.07207671 0. 10.24446442] [-0.07207671 0.99739909 0. -0.73213227] [ 0. 0. 1. 0.02305723] [ 0. 0. 0. 1. ]] SLAMing on 9.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.74, Z:0.02 [[ 0.9972581 0.07400188 0. 10.27969051] [-0.07400188 0.9972581 0. -0.73820766] [ 0. 0. 1. 0.02239335] [ 0. 0. 0. 1. ]] SLAMing on 9.634319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.74, Z:0.02 [[ 0.99716581 0.0752353 0. 10.31278141] [-0.0752353 0.99716581 0. -0.74249098] [ 0. 0. 1. 0.02161156] [ 0. 0. 0. 1. ]] SLAMing on 9.664319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.74, Z:0.02 [[ 0.99708458 0.07630427 0. 10.33865093] [-0.07630427 0.99708458 0. -0.74317651] [ 0. 0. 1. 0.0212344 ] [ 0. 0. 0. 1. ]] SLAMing on 9.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.75, Z:0.02 [[ 0.9969741 0.07773447 0. 10.37154773] [-0.07773447 0.9969741 0. -0.74679246] [ 0. 0. 1. 0.02095671] [ 0. 0. 0. 1. ]] SLAMing on 9.724319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.75, Z:0.02 [[ 0.99682642 0.07960579 0. 10.40679341] [-0.07960579 0.99682642 0. -0.75257086] [ 0. 0. 1. 0.01991621] [ 0. 0. 0. 1. ]] SLAMing on 9.754319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.75, Z:0.02 [[ 0.99665928 0.08167179 0. 10.43480356] [-0.08167179 0.99665928 0. -0.75303341] [ 0. 0. 1. 0.02058099] [ 0. 0. 0. 1. ]] SLAMing on 9.78432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.76, Z:0.02 [[ 0.99655034 0.08299052 0. 10.46747176] [-0.08299052 0.99655034 0. -0.75729872] [ 0. 0. 1. 0.02075198] [ 0. 0. 0. 1. ]] SLAMing on 9.814319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.77, Z:0.02 [[ 0.99629973 0.08594674 0. 10.50158838] [-0.08594674 0.99629973 0. -0.76529367] [ 0. 0. 1. 0.01973917] [ 0. 0. 0. 1. ]] SLAMing on 9.844319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.77, Z:0.02 [[ 0.99638022 0.08500855 0. 10.52994861] [-0.08500855 0.99638022 0. -0.76663648] [ 0. 0. 1. 0.02219263] [ 0. 0. 0. 1. ]] SLAMing on 9.874319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.77, Z:0.02 [[ 0.99632075 0.08570275 0. 10.56192937] [-0.08570275 0.99632075 0. -0.77031655] [ 0. 0. 1. 0.02188136] [ 0. 0. 0. 1. ]] SLAMing on 9.904319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.77, Z:0.02 [[ 0.99627555 0.08622656 0. 10.59434704] [-0.08622656 0.99627555 0. -0.77377282] [ 0. 0. 1. 0.02215655] [ 0. 0. 0. 1. ]] SLAMing on 9.934319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.78, Z:0.02 [[ 0.99630248 0.08591484 0. 10.62707613] [-0.08591484 0.99630248 0. -0.77735816] [ 0. 0. 1. 0.02318547] [ 0. 0. 0. 1. ]] SLAMing on 9.964319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.78, Z:0.02 [[ 0.99636585 0.08517685 0. 10.65933666] [-0.08517685 0.99636585 0. -0.78112565] [ 0. 0. 1. 0.02330647] [ 0. 0. 0. 1. ]] SLAMing on 9.994319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.79, Z:0.02 [[ 0.9964605 0.08406227 0. 10.69214084] [-0.08406227 0.9964605 0. -0.78552643] [ 0. 0. 1. 0.02350624] [ 0. 0. 0. 1. ]] SLAMing on 10.024319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.79, Z:0.02 [[ 0.99655706 0.08290978 0. 10.72380009] [-0.08290978 0.99655706 0. -0.790014 ] [ 0. 0. 1. 0.02348346] [ 0. 0. 0. 1. ]] SLAMing on 10.054319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.80, Z:0.02 [[ 0.99678469 0.08012665 0. 10.75584046] [-0.08012665 0.99678469 0. -0.79581732] [ 0. 0. 1. 0.0249972 ] [ 0. 0. 0. 1. ]] SLAMing on 10.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.80, Z:0.03 [[ 0.99672432 0.08087414 0. 10.78873382] [-0.08087414 0.99672432 0. -0.7983225 ] [ 0. 0. 1. 0.02627671] [ 0. 0. 0. 1. ]] SLAMing on 10.114319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.80, Z:0.03 [[ 0.9967263 0.08084977 0. 10.82126751] [-0.08084977 0.9967263 0. -0.80103071] [ 0. 0. 1. 0.02592449] [ 0. 0. 0. 1. ]] SLAMing on 10.144319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.80, Z:0.03 [[ 0.99675492 0.08049609 0. 10.85407906] [-0.08049609 0.99675492 0. -0.80460028] [ 0. 0. 1. 0.02527267] [ 0. 0. 0. 1. ]] SLAMing on 10.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.81, Z:0.02 [[ 0.99678102 0.08017233 0. 10.88608226] [-0.08017233 0.99678102 0. -0.80774715] [ 0. 0. 1. 0.02449366] [ 0. 0. 0. 1. ]] SLAMing on 10.20432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.81, Z:0.02 [[ 0.99681699 0.07972382 0. 10.91881941] [-0.07972382 0.99681699 0. -0.81112673] [ 0. 0. 1. 0.02411999] [ 0. 0. 0. 1. ]] SLAMing on 10.234319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.81, Z:0.02 [[ 0.9969358 0.07822414 0. 10.95095344] [-0.07822414 0.9969358 0. -0.81416576] [ 0. 0. 1. 0.02389373] [ 0. 0. 0. 1. ]] SLAMing on 10.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.82, Z:0.02 [[ 0.99698114 0.07764413 0. 10.98333016] [-0.07764413 0.99698114 0. -0.81673205] [ 0. 0. 1. 0.02342762] [ 0. 0. 0. 1. ]] SLAMing on 10.294319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.82, Z:0.02 [[ 0.99699664 0.07744479 0. 11.01640207] [-0.07744479 0.99699664 0. -0.81936239] [ 0. 0. 1. 0.02278731] [ 0. 0. 0. 1. ]] SLAMing on 10.324319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.82, Z:0.02 [[ 0.99698754 0.07756183 0. 11.05050922] [-0.07756183 0.99698754 0. -0.8229873 ] [ 0. 0. 1. 0.02034047] [ 0. 0. 0. 1. ]] SLAMing on 10.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.83, Z:0.02 [[ 0.99696724 0.07782241 0. 11.08306663] [-0.07782241 0.99696724 0. -0.82656431] [ 0. 0. 1. 0.02063411] [ 0. 0. 0. 1. ]] SLAMing on 10.384319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.83, Z:0.02 [[ 0.99695025 0.07803977 0. 11.11531525] [-0.07803977 0.99695025 0. -0.8301702 ] [ 0. 0. 1. 0.02063411] [ 0. 0. 0. 1. ]] SLAMing on 10.414319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.83, Z:0.02 [[ 0.99695995 0.07791577 0. 11.1448276 ] [-0.07791577 0.99695995 0. -0.83217784] [ 0. 0. 1. 0.02354591] [ 0. 0. 0. 1. ]] SLAMing on 10.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.83, Z:0.02 [[ 0.99691674 0.07846669 0. 11.17753087] [-0.07846669 0.99691674 0. -0.83300489] [ 0. 0. 1. 0.02303751] [ 0. 0. 0. 1. ]] SLAMing on 10.474319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.84, Z:0.02 [[ 0.99693911 0.07818191 0. 11.21063955] [-0.07818191 0.99693911 0. -0.83505598] [ 0. 0. 1. 0.0230127 ] [ 0. 0. 0. 1. ]] SLAMing on 10.504319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.84, Z:0.02 [[ 0.99688878 0.07882103 0. 11.24156778] [-0.07882103 0.99688878 0. -0.83789011] [ 0. 0. 1. 0.02137792] [ 0. 0. 0. 1. ]] SLAMing on 10.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.84, Z:0.02 [[ 0.99685826 0.07920612 0. 11.27656155] [-0.07920612 0.99685826 0. -0.84316258] [ 0. 0. 1. 0.02117735] [ 0. 0. 0. 1. ]] SLAMing on 10.564319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.84, Z:0.02 [[ 0.99698111 0.07764448 0. 11.30566033] [-0.07764448 0.99698111 0. -0.84398552] [ 0. 0. 1. 0.0230344 ] [ 0. 0. 0. 1. ]] SLAMing on 10.594319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.85, Z:0.02 [[ 0.99697199 0.07776155 0. 11.33721957] [-0.07776155 0.99697199 0. -0.84702478] [ 0. 0. 1. 0.0236895 ] [ 0. 0. 0. 1. ]] SLAMing on 10.624319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.85, Z:0.02 [[ 0.99701006 0.07727191 0. 11.37044934] [-0.07727191 0.99701006 0. -0.84969608] [ 0. 0. 1. 0.02440085] [ 0. 0. 0. 1. ]] SLAMing on 10.654319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.85, Z:0.03 [[ 0.99704169 0.07686266 0. 11.40392761] [-0.07686266 0.99704169 0. -0.85082797] [ 0. 0. 1. 0.0250485 ] [ 0. 0. 0. 1. ]] SLAMing on 10.684319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.85, Z:0.03 [[ 0.99701426 0.07721766 0. 11.43634292] [-0.07721766 0.99701426 0. -0.85297239] [ 0. 0. 1. 0.02575895] [ 0. 0. 0. 1. ]] SLAMing on 10.714319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.85, Z:0.03 [[ 0.99694864 0.07806023 0. 11.46828198] [-0.07806023 0.99694864 0. -0.85493673] [ 0. 0. 1. 0.02750927] [ 0. 0. 0. 1. ]] SLAMing on 10.744319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.86, Z:0.03 [[ 0.99689721 0.07871435 0. 11.50087064] [-0.07871435 0.99689721 0. -0.85844677] [ 0. 0. 1. 0.02831189] [ 0. 0. 0. 1. ]] SLAMing on 10.774319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.86, Z:0.03 [[ 0.99684785 0.07933709 0. 11.53241031] [-0.07933709 0.99684785 0. -0.86104867] [ 0. 0. 1. 0.02852174] [ 0. 0. 0. 1. ]] SLAMing on 10.804319999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.86, Z:0.03 [[ 0.99671874 0.08094293 0. 11.56501069] [-0.08094293 0.99671874 0. -0.86243386] [ 0. 0. 1. 0.02807234] [ 0. 0. 0. 1. ]] SLAMing on 10.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.87, Z:0.03 [[ 0.9966179 0.08217513 0. 11.59787777] [-0.08217513 0.9966179 0. -0.86539682] [ 0. 0. 1. 0.02785937] [ 0. 0. 0. 1. ]] SLAMing on 10.864319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.87, Z:0.03 [[ 0.99645518 0.08412538 0. 11.62959243] [-0.08412538 0.99645518 0. -0.86622061] [ 0. 0. 1. 0.02693158] [ 0. 0. 0. 1. ]] SLAMing on 10.894319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.87, Z:0.03 [[ 0.99639932 0.08478438 0. 11.66234327] [-0.08478438 0.99639932 0. -0.86874533] [ 0. 0. 1. 0.02589179] [ 0. 0. 0. 1. ]] SLAMing on 10.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.87, Z:0.02 [[ 0.99622661 0.0867902 0. 11.69654563] [-0.0867902 0.99622661 0. -0.87345567] [ 0. 0. 1. 0.02391196] [ 0. 0. 0. 1. ]] SLAMing on 10.954319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.88, Z:0.03 [[ 0.99619226 0.08718358 0. 11.72617186] [-0.08718358 0.99619226 0. -0.8755622 ] [ 0. 0. 1. 0.02618331] [ 0. 0. 0. 1. ]] SLAMing on 10.984319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.88, Z:0.03 [[ 0.9959298 0.09013233 0. 11.75915133] [-0.09013233 0.9959298 0. -0.87779629] [ 0. 0. 1. 0.02643777] [ 0. 0. 0. 1. ]] SLAMing on 11.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.88, Z:0.02 [[ 0.99565159 0.09315534 0. 11.79350648] [-0.09315534 0.99565159 0. -0.88208697] [ 0. 0. 1. 0.02422796] [ 0. 0. 0. 1. ]] SLAMing on 11.044319999999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.88, Z:0.02 [[ 0.99553092 0.09443614 0. 11.82474158] [-0.09443614 0.99553092 0. -0.88309765] [ 0. 0. 1. 0.02315009] [ 0. 0. 0. 1. ]] SLAMing on 11.074319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.88, Z:0.02 [[ 0.99537762 0.09603847 0. 11.85351192] [-0.09603847 0.99537762 0. -0.88327416] [ 0. 0. 1. 0.02491893] [ 0. 0. 0. 1. ]] SLAMing on 11.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.89, Z:0.02 [[ 0.99520905 0.09776988 0. 11.88397159] [-0.09776988 0.99520905 0. -0.88666815] [ 0. 0. 1. 0.02474906] [ 0. 0. 0. 1. ]] SLAMing on 11.134319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.89, Z:0.02 [[ 0.99531625 0.09667245 0. 11.91715526] [-0.09667245 0.99531625 0. -0.88986239] [ 0. 0. 1. 0.02392452] [ 0. 0. 0. 1. ]] SLAMing on 11.164319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.89, Z:0.02 [[ 0.99528405 0.09700338 0. 11.94734004] [-0.09700338 0.99528405 0. -0.89387804] [ 0. 0. 1. 0.02354193] [ 0. 0. 0. 1. ]] SLAMing on 11.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.90, Z:0.02 [[ 0.99548665 0.09490166 0. 11.98067555] [-0.09490166 0.99548665 0. -0.89745464] [ 0. 0. 1. 0.02435314] [ 0. 0. 0. 1. ]] SLAMing on 11.224319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.90, Z:0.02 [[ 0.99557039 0.09401915 0. 12.01259895] [-0.09401915 0.99557039 0. -0.90100399] [ 0. 0. 1. 0.02413248] [ 0. 0. 0. 1. ]] SLAMing on 11.254319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.90, Z:0.02 [[ 0.99582852 0.09124454 0. 12.04593725] [-0.09124454 0.99582852 0. -0.90260629] [ 0. 0. 1. 0.02269934] [ 0. 0. 0. 1. ]] SLAMing on 11.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.91, Z:0.02 [[ 0.995963 0.08976471 0. 12.07804462] [-0.08976471 0.995963 0. -0.90603758] [ 0. 0. 1. 0.02291622] [ 0. 0. 0. 1. ]] SLAMing on 11.314319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.91, Z:0.02 [[ 0.99607844 0.08847451 0. 12.11016181] [-0.08847451 0.99607844 0. -0.91091544] [ 0. 0. 1. 0.01964223] [ 0. 0. 0. 1. ]] SLAMing on 11.344319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.92, Z:0.02 [[ 0.99643865 0.08432093 0. 12.14397315] [-0.08432093 0.99643865 0. -0.91782875] [ 0. 0. 1. 0.02367141] [ 0. 0. 0. 1. ]] SLAMing on 11.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.92, Z:0.02 [[ 0.99663136 0.08201173 0. 12.17441653] [-0.08201173 0.99663136 0. -0.92165677] [ 0. 0. 1. 0.02409291] [ 0. 0. 0. 1. ]] SLAMing on 11.404319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.92, Z:0.03 [[ 0.99683782 0.07946298 0. 12.20453538] [-0.07946298 0.99683782 0. -0.92419745] [ 0. 0. 1. 0.02670639] [ 0. 0. 0. 1. ]] SLAMing on 11.434319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.93, Z:0.03 [[ 0.9969881 0.07755467 0. 12.23713228] [-0.07755467 0.9969881 0. -0.92793372] [ 0. 0. 1. 0.026727 ] [ 0. 0. 0. 1. ]] SLAMing on 11.464319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.93, Z:0.02 [[ 0.99740792 0.07195447 0. 12.27151925] [-0.07195447 0.99740792 0. -0.93071889] [ 0. 0. 1. 0.02273129] [ 0. 0. 0. 1. ]] SLAMing on 11.494319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.94, Z:0.02 [[ 0.99735773 0.07264679 0. 12.30085225] [-0.07264679 0.99735773 0. -0.93560062] [ 0. 0. 1. 0.02393786] [ 0. 0. 0. 1. ]] SLAMing on 11.524319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.94, Z:0.02 [[ 0.99750009 0.07066513 0. 12.33446461] [-0.07066513 0.99750009 0. -0.93882745] [ 0. 0. 1. 0.02060881] [ 0. 0. 0. 1. ]] SLAMing on 11.554319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.94, Z:0.02 [[ 0.9972929 0.07353142 0. 12.3639012 ] [-0.07353142 0.9972929 0. -0.94401731] [ 0. 0. 1. 0.02304961] [ 0. 0. 0. 1. ]] SLAMing on 11.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.95, Z:0.03 [[ 0.99709389 0.07618254 0. 12.39342977] [-0.07618254 0.99709389 0. -0.94780487] [ 0. 0. 1. 0.02605507] [ 0. 0. 0. 1. ]] SLAMing on 11.614319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.95, Z:0.03 [[ 0.9965422 0.08308823 0. 12.42569752] [-0.08308823 0.9965422 0. -0.95057379] [ 0. 0. 1. 0.02512711] [ 0. 0. 0. 1. ]] SLAMing on 11.644319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.96, Z:0.02 [[ 0.99619105 0.08719738 0. 12.46031475] [-0.08719738 0.99619105 0. -0.95503627] [ 0. 0. 1. 0.02110074] [ 0. 0. 0. 1. ]] SLAMing on 11.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.96, Z:0.02 [[ 0.99589191 0.09055 0. 12.49051308] [-0.09055 0.99589191 0. -0.95680139] [ 0. 0. 1. 0.02374372] [ 0. 0. 0. 1. ]] SLAMing on 11.704319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.96, Z:0.02 [[ 0.99555975 0.09413174 0. 12.52250925] [-0.09413174 0.99555975 0. -0.96027451] [ 0. 0. 1. 0.02252721] [ 0. 0. 0. 1. ]] SLAMing on 11.734319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.96, Z:0.02 [[ 0.99493306 0.10053954 0. 12.55431246] [-0.10053954 0.99493306 0. -0.96396125] [ 0. 0. 1. 0.02289473] [ 0. 0. 0. 1. ]] SLAMing on 11.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.97, Z:0.02 [[ 0.99470448 0.10277643 0. 12.58687755] [-0.10277643 0.99470448 0. -0.96805385] [ 0. 0. 1. 0.02285585] [ 0. 0. 0. 1. ]] SLAMing on 11.794319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.97, Z:0.02 [[ 0.99437115 0.10595293 0. 12.61770188] [-0.10595293 0.99437115 0. -0.97337804] [ 0. 0. 1. 0.02387446] [ 0. 0. 0. 1. ]] SLAMing on 11.824319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.98, Z:0.02 [[ 0.9943336 0.10630471 0. 12.65092268] [-0.10630471 0.9943336 0. -0.97802555] [ 0. 0. 1. 0.02425454] [ 0. 0. 0. 1. ]] SLAMing on 11.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.98, Z:0.02 [[ 0.99418343 0.1077001 0. 12.6824089 ] [-0.1077001 0.99418343 0. -0.9823212 ] [ 0. 0. 1. 0.02398382] [ 0. 0. 0. 1. ]] SLAMing on 11.884319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.99, Z:0.02 [[ 0.99428994 0.10671232 0. 12.71756987] [-0.10671232 0.99428994 0. -0.98649518] [ 0. 0. 1. 0.02148037] [ 0. 0. 0. 1. ]] SLAMing on 11.914319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.99, Z:0.02 [[ 0.99454721 0.10428736 0. 12.74614752] [-0.10428736 0.99454721 0. -0.98977384] [ 0. 0. 1. 0.02445182] [ 0. 0. 0. 1. ]] SLAMing on 11.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.00, Z:0.02 [[ 0.99465608 0.10324379 0. 12.7778959 ] [-0.10324379 0.99465608 0. -0.99541211] [ 0. 0. 1. 0.02472498] [ 0. 0. 0. 1. ]] SLAMing on 11.974319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.00, Z:0.03 [[ 0.99482502 0.10160301 0. 12.80992514] [-0.10160301 0.99482502 0. -1.0007931 ] [ 0. 0. 1. 0.02519384] [ 0. 0. 0. 1. ]] SLAMing on 12.004319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.01, Z:0.03 [[ 0.99515163 0.09835262 0. 12.84225053] [-0.09835262 0.99515163 0. -1.00661494] [ 0. 0. 1. 0.02594564] [ 0. 0. 0. 1. ]] SLAMing on 12.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.01, Z:0.03 [[ 0.99527472 0.09709907 0. 12.87345361] [-0.09709907 0.99527472 0. -1.01097586] [ 0. 0. 1. 0.02629633] [ 0. 0. 0. 1. ]] SLAMing on 12.064319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:-1.02, Z:0.03 [[ 0.99547148 0.09506067 0. 12.90521908] [-0.09506067 0.99547148 0. -1.01664908] [ 0. 0. 1. 0.02639884] [ 0. 0. 0. 1. ]] SLAMing on 12.094319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:-1.02, Z:0.03 [[ 0.99548236 0.0949467 0. 12.9374705 ] [-0.0949467 0.99548236 0. -1.02186698] [ 0. 0. 1. 0.02653468] [ 0. 0. 0. 1. ]] SLAMing on 12.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.03, Z:0.03 [[ 0.99549664 0.09479686 0. 12.97035436] [-0.09479686 0.99549664 0. -1.02662552] [ 0. 0. 1. 0.02654157] [ 0. 0. 0. 1. ]] SLAMing on 12.154319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.03, Z:0.02 [[ 0.99543633 0.09542802 0. 13.00351107] [-0.09542802 0.99543633 0. -1.03253697] [ 0. 0. 1. 0.02402897] [ 0. 0. 0. 1. ]] SLAMing on 12.184319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.04, Z:0.02 [[ 0.99534507 0.09637524 0. 13.03305032] [-0.09637524 0.99534507 0. -1.0370101 ] [ 0. 0. 1. 0.02499953] [ 0. 0. 0. 1. ]] SLAMing on 12.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:-1.04, Z:0.02 [[ 0.99522049 0.09765334 0. 13.06606124] [-0.09765334 0.99522049 0. -1.04128748] [ 0. 0. 1. 0.02443089] [ 0. 0. 0. 1. ]] SLAMing on 12.244319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.04, Z:0.02 [[ 0.99513691 0.0985014 0. 13.09921513] [-0.0985014 0.99513691 0. -1.04444286] [ 0. 0. 1. 0.02075686] [ 0. 0. 0. 1. ]] SLAMing on 12.274319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:-1.05, Z:0.02 [[ 0.99479716 0.10187542 0. 13.13048078] [-0.10187542 0.99479716 0. -1.04960109] [ 0. 0. 1. 0.02263448] [ 0. 0. 0. 1. ]] SLAMing on 12.304319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:-1.05, Z:0.02 [[ 0.99476505 0.10218849 0. 13.16363136] [-0.10218849 0.99476505 0. -1.05389034] [ 0. 0. 1. 0.02263448] [ 0. 0. 0. 1. ]] SLAMing on 12.334319999999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.06, Z:0.02 [[ 0.99474656 0.10236841 0. 13.19529955] [-0.10236841 0.99474656 0. -1.05760926] [ 0. 0. 1. 0.01973792] [ 0. 0. 0. 1. ]] SLAMing on 12.364319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.06, Z:0.02 [[ 0.99460876 0.10369863 0. 13.22774344] [-0.10369863 0.99460876 0. -1.06282481] [ 0. 0. 1. 0.02007257] [ 0. 0. 0. 1. ]] SLAMing on 12.394319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.07, Z:0.02 [[ 0.99445755 0.10513891 0. 13.25966384] [-0.10513891 0.99445755 0. -1.06793 ] [ 0. 0. 1. 0.01974655] [ 0. 0. 0. 1. ]] SLAMing on 12.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.07, Z:0.02 [[ 0.99423343 0.10723749 0. 13.29071258] [-0.10723749 0.99423343 0. -1.07438329] [ 0. 0. 1. 0.02268173] [ 0. 0. 0. 1. ]] SLAMing on 12.454319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.08, Z:0.02 [[ 0.99422208 0.10734272 0. 13.32363601] [-0.10734272 0.99422208 0. -1.07986004] [ 0. 0. 1. 0.02260547] [ 0. 0. 0. 1. ]] SLAMing on 12.484319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.08, Z:0.02 [[ 0.99411222 0.10835542 0. 13.35373933] [-0.10835542 0.99411222 0. -1.08493177] [ 0. 0. 1. 0.02196544] [ 0. 0. 0. 1. ]] SLAMing on 12.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.09, Z:0.02 [[ 0.99425414 0.10704539 0. 13.38523761] [-0.10704539 0.99425414 0. -1.0872406 ] [ 0. 0. 1. 0.01909549] [ 0. 0. 0. 1. ]] SLAMing on 12.544319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.09, Z:0.02 [[ 0.99413923 0.10810731 0. 13.41760026] [-0.10810731 0.99413923 0. -1.0939897 ] [ 0. 0. 1. 0.02094511] [ 0. 0. 0. 1. ]] SLAMing on 12.574319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.10, Z:0.02 [[ 0.9942256 0.10731006 0. 13.44774841] [-0.10731006 0.9942256 0. -1.1014069 ] [ 0. 0. 1. 0.02078964] [ 0. 0. 0. 1. ]] SLAMing on 12.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.11, Z:0.02 [[ 0.99422918 0.10727688 0. 13.47684869] [-0.10727688 0.99422918 0. -1.10537073] [ 0. 0. 1. 0.0185207 ] [ 0. 0. 0. 1. ]] SLAMing on 12.634319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.11, Z:0.02 [[ 0.99438573 0.105816 0. 13.51064134] [-0.105816 0.99438573 0. -1.11150632] [ 0. 0. 1. 0.0211476 ] [ 0. 0. 0. 1. ]] SLAMing on 12.664319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.12, Z:0.02 [[ 0.99475559 0.10228061 0. 13.5422905 ] [-0.10228061 0.99475559 0. -1.117862 ] [ 0. 0. 1. 0.02125829] [ 0. 0. 0. 1. ]] SLAMing on 12.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.12, Z:0.02 [[ 0.99482808 0.10157313 0. 13.5733509 ] [-0.10157313 0.99482808 0. -1.12326302] [ 0. 0. 1. 0.02055978] [ 0. 0. 0. 1. ]] SLAMing on 12.724319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.13, Z:0.02 [[ 0.99512932 0.09857806 0. 13.60452646] [-0.09857806 0.99512932 0. -1.12691231] [ 0. 0. 1. 0.01935857] [ 0. 0. 0. 1. ]] SLAMing on 12.754319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:-1.13, Z:0.02 [[ 0.99522787 0.0975781 0. 13.63711816] [-0.0975781 0.99522787 0. -1.13346815] [ 0. 0. 1. 0.01975466] [ 0. 0. 0. 1. ]] SLAMing on 12.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.14, Z:0.02 [[ 0.99547628 0.09501039 0. 13.66925962] [-0.09501039 0.99547628 0. -1.14366255] [ 0. 0. 1. 0.02198498] [ 0. 0. 0. 1. ]] SLAMing on 12.814319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:-1.15, Z:0.02 [[ 0.99556288 0.09409863 0. 13.70060384] [-0.09409863 0.99556288 0. -1.14906551] [ 0. 0. 1. 0.02153536] [ 0. 0. 0. 1. ]] SLAMing on 12.844319999999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.15, Z:0.02 [[ 0.99562757 0.09341171 0. 13.73382085] [-0.09341171 0.99562757 0. -1.15409986] [ 0. 0. 1. 0.0227671 ] [ 0. 0. 0. 1. ]] SLAMing on 12.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.16, Z:0.02 [[ 0.99575189 0.09207696 0. 13.7648484 ] [-0.09207696 0.99575189 0. -1.15649523] [ 0. 0. 1. 0.02113812] [ 0. 0. 0. 1. ]] SLAMing on 12.904319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:-1.16, Z:0.02 [[ 0.99557184 0.09400375 0. 13.79832586] [-0.09400375 0.99557184 0. -1.16217295] [ 0. 0. 1. 0.02277175] [ 0. 0. 0. 1. ]] SLAMing on 12.934319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:-1.17, Z:0.02 [[ 0.99555502 0.09418172 0. 13.82818062] [-0.09418172 0.99555502 0. -1.16579852] [ 0. 0. 1. 0.02242177] [ 0. 0. 0. 1. ]] SLAMing on 12.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:-1.17, Z:0.02 [[ 0.99532838 0.09654749 0. 13.86115635] [-0.09654749 0.99532838 0. -1.16924873] [ 0. 0. 1. 0.0226272 ] [ 0. 0. 0. 1. ]] SLAMing on 12.994319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:-1.17, Z:0.02 [[ 0.99488816 0.10098287 0. 13.89221133] [-0.10098287 0.99488816 0. -1.17331965] [ 0. 0. 1. 0.02182589] [ 0. 0. 0. 1. ]] SLAMing on 13.024319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:-1.18, Z:0.02 [[ 0.9946876 0.10293968 0. 13.92414452] [-0.10293968 0.9946876 0. -1.17784259] [ 0. 0. 1. 0.0196707 ] [ 0. 0. 0. 1. ]] SLAMing on 13.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.18, Z:0.02 [[ 0.99446398 0.10507807 0. 13.95771289] [-0.10507807 0.99446398 0. -1.18265195] [ 0. 0. 1. 0.02140334] [ 0. 0. 0. 1. ]] SLAMing on 13.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:-1.18, Z:0.02 [[ 0.99410085 0.10845969 0. 13.98792863] [-0.10845969 0.99410085 0. -1.18239428] [ 0. 0. 1. 0.01894858] [ 0. 0. 0. 1. ]] SLAMing on 13.114319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.19, Z:0.02 [[ 0.99368579 0.1121987 0. 14.02331429] [-0.1121987 0.99368579 0. -1.1886296 ] [ 0. 0. 1. 0.01954859] [ 0. 0. 0. 1. ]] SLAMing on 13.144319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:-1.19, Z:0.02 [[ 0.99362731 0.11271539 0. 14.0511709 ] [-0.11271539 0.99362731 0. -1.18872539] [ 0. 0. 1. 0.02027596] [ 0. 0. 0. 1. ]] SLAMing on 13.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.19, Z:0.02 [[ 0.99351687 0.11368474 0. 14.08345943] [-0.11368474 0.99351687 0. -1.1933024 ] [ 0. 0. 1. 0.02124897] [ 0. 0. 0. 1. ]] SLAMing on 13.204319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:-1.20, Z:0.02 [[ 0.99347265 0.11407054 0. 14.11528198] [-0.11407054 0.99347265 0. -1.19830176] [ 0. 0. 1. 0.02217797] [ 0. 0. 0. 1. ]] SLAMing on 13.234319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-1.20, Z:0.02 [[ 0.99351406 0.11370932 0. 14.14787146] [-0.11370932 0.99351406 0. -1.20474337] [ 0. 0. 1. 0.02421429] [ 0. 0. 0. 1. ]] SLAMing on 13.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:-1.21, Z:0.02 [[ 0.9935576 0.11332827 0. 14.18047672] [-0.11332827 0.9935576 0. -1.20994827] [ 0. 0. 1. 0.02491223] [ 0. 0. 0. 1. ]] SLAMing on 13.294319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.22, Z:0.03 [[ 0.99336448 0.11500875 0. 14.21633281] [-0.11500875 0.99336448 0. -1.21852091] [ 0. 0. 1. 0.02500365] [ 0. 0. 0. 1. ]] SLAMing on 13.324319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.22, Z:0.03 [[ 0.99345107 0.11425832 0. 14.24507999] [-0.11425832 0.99345107 0. -1.22277211] [ 0. 0. 1. 0.02575132] [ 0. 0. 0. 1. ]] SLAMing on 13.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.23, Z:0.03 [[ 0.99356961 0.11322291 0. 14.27981296] [-0.11322291 0.99356961 0. -1.22880406] [ 0. 0. 1. 0.02578983] [ 0. 0. 0. 1. ]] SLAMing on 13.384319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.23, Z:0.02 [[ 0.99344932 0.11427361 0. 14.30725045] [-0.11427361 0.99344932 0. -1.23326347] [ 0. 0. 1. 0.02462658] [ 0. 0. 0. 1. ]] SLAMing on 13.414319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.24, Z:0.02 [[ 0.99371475 0.11194193 0. 14.34276328] [-0.11194193 0.99371475 0. -1.23795331] [ 0. 0. 1. 0.02486016] [ 0. 0. 0. 1. ]] SLAMing on 13.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.24, Z:0.03 [[ 0.99412021 0.10828207 0. 14.36888395] [-0.10828207 0.99412021 0. -1.23920893] [ 0. 0. 1. 0.02505523] [ 0. 0. 0. 1. ]] SLAMing on 13.474319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:-1.24, Z:0.02 [[ 0.99413538 0.10814268 0. 14.40176974] [-0.10814268 0.99413538 0. -1.24437874] [ 0. 0. 1. 0.02482788] [ 0. 0. 0. 1. ]] SLAMing on 13.504319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.25, Z:0.02 [[ 0.99376664 0.11148035 0. 14.43492434] [-0.11148035 0.99376664 0. -1.25351224] [ 0. 0. 1. 0.0228232 ] [ 0. 0. 0. 1. ]] SLAMing on 13.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.26, Z:0.02 [[ 0.99416878 0.10783523 0. 14.46696105] [-0.10783523 0.99416878 0. -1.25677654] [ 0. 0. 1. 0.02347302] [ 0. 0. 0. 1. ]] SLAMing on 13.564319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.26, Z:0.02 [[ 0.99422436 0.10732156 0. 14.5013642 ] [-0.10732156 0.99422436 0. -1.26223845] [ 0. 0. 1. 0.02482477] [ 0. 0. 0. 1. ]] SLAMing on 13.594319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.26, Z:0.02 [[ 0.99446448 0.10507327 0. 14.52848793] [-0.10507327 0.99446448 0. -1.26348496] [ 0. 0. 1. 0.02446068] [ 0. 0. 0. 1. ]] SLAMing on 13.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.27, Z:0.02 [[ 0.99449371 0.10479627 0. 14.56101645] [-0.10479627 0.99449371 0. -1.26848871] [ 0. 0. 1. 0.02420495] [ 0. 0. 0. 1. ]] SLAMing on 13.654319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.27, Z:0.02 [[ 0.99458929 0.10388521 0. 14.59330972] [-0.10388521 0.99458929 0. -1.27296432] [ 0. 0. 1. 0.02441315] [ 0. 0. 0. 1. ]] SLAMing on 13.684319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.28, Z:0.02 [[ 0.99453942 0.1043616 0. 14.62533921] [-0.1043616 0.99453942 0. -1.27755112] [ 0. 0. 1. 0.02490974] [ 0. 0. 0. 1. ]] SLAMing on 13.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.28, Z:0.03 [[ 0.99450307 0.10470739 0. 14.6576149 ] [-0.10470739 0.99450307 0. -1.28221908] [ 0. 0. 1. 0.02504864] [ 0. 0. 0. 1. ]] SLAMing on 13.744319999999998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.29, Z:0.03 [[ 0.99442845 0.10541378 0. 14.68923813] [-0.10541378 0.99442845 0. -1.28685638] [ 0. 0. 1. 0.02507086] [ 0. 0. 0. 1. ]] SLAMing on 13.774319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.29, Z:0.03 [[ 0.9944874 0.10485617 0. 14.72345394] [-0.10485617 0.9944874 0. -1.29090426] [ 0. 0. 1. 0.02643757] [ 0. 0. 0. 1. ]] SLAMing on 13.804319999999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.29, Z:0.03 [[ 0.99414704 0.10803544 0. 14.75526812] [-0.10803544 0.99414704 0. -1.29451856] [ 0. 0. 1. 0.02656608] [ 0. 0. 0. 1. ]] SLAMing on 13.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.30, Z:0.03 [[ 0.99388675 0.11040441 0. 14.78710226] [-0.11040441 0.99388675 0. -1.29886696] [ 0. 0. 1. 0.0251828 ] [ 0. 0. 0. 1. ]] SLAMing on 13.864319999999998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.30, Z:0.03 [[ 0.99362713 0.11271705 0. 14.81972403] [-0.11271705 0.99362713 0. -1.30353921] [ 0. 0. 1. 0.02500092] [ 0. 0. 0. 1. ]] SLAMing on 13.894319999999997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.31, Z:0.02 [[ 0.99352785 0.11358874 0. 14.85150934] [-0.11358874 0.99352785 0. -1.30774143] [ 0. 0. 1. 0.0248203 ] [ 0. 0. 0. 1. ]] SLAMing on 13.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.31, Z:0.02 [[ 0.99345557 0.11421925 0. 14.88412116] [-0.11421925 0.99345557 0. -1.31157651] [ 0. 0. 1. 0.02475822] [ 0. 0. 0. 1. ]] SLAMing on 13.954319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.31, Z:0.03 [[ 0.99342241 0.11450724 0. 14.91654661] [-0.11450724 0.99342241 0. -1.31453246] [ 0. 0. 1. 0.02567524] [ 0. 0. 0. 1. ]] SLAMing on 13.984319999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.32, Z:0.03 [[ 0.99341843 0.11454178 0. 14.94802423] [-0.11454178 0.99341843 0. -1.31873702] [ 0. 0. 1. 0.02631204] [ 0. 0. 0. 1. ]] SLAMing on 14.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.32, Z:0.03 [[ 0.99343327 0.11441305 0. 14.98078775] [-0.11441305 0.99343327 0. -1.32325624] [ 0. 0. 1. 0.02642663] [ 0. 0. 0. 1. ]] SLAMing on 14.044319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.33, Z:0.03 [[ 0.99362707 0.11271753 0. 15.01296856] [-0.11271753 0.99362707 0. -1.32708226] [ 0. 0. 1. 0.02774931] [ 0. 0. 0. 1. ]] SLAMing on 14.074319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.33, Z:0.03 [[ 0.99372958 0.11181019 0. 15.04528772] [-0.11181019 0.99372958 0. -1.3313957 ] [ 0. 0. 1. 0.0286538 ] [ 0. 0. 0. 1. ]] SLAMing on 14.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.34, Z:0.03 [[ 0.99383897 0.11083368 0. 15.07756261] [-0.11083368 0.99383897 0. -1.33594521] [ 0. 0. 1. 0.02959881] [ 0. 0. 0. 1. ]] SLAMing on 14.134319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.34, Z:0.03 [[ 0.99407639 0.10868359 0. 15.10954676] [-0.10868359 0.99407639 0. -1.33908023] [ 0. 0. 1. 0.02928105] [ 0. 0. 0. 1. ]] SLAMing on 14.164319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.34, Z:0.03 [[ 0.99396785 0.10967186 0. 15.1386955 ] [-0.10967186 0.99396785 0. -1.3427871 ] [ 0. 0. 1. 0.02822216] [ 0. 0. 0. 1. ]] SLAMing on 14.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:-1.35, Z:0.03 [[ 0.99392913 0.11002216 0. 15.17172364] [-0.11002216 0.99392913 0. -1.34775649] [ 0. 0. 1. 0.02822216] [ 0. 0. 0. 1. ]] SLAMing on 14.224319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.35, Z:0.03 [[ 0.99418947 0.10764432 0. 15.20715567] [-0.10764432 0.99418947 0. -1.35072641] [ 0. 0. 1. 0.02820345] [ 0. 0. 0. 1. ]] SLAMing on 14.254319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.35, Z:0.03 [[ 0.9942366 0.10720817 0. 15.23856322] [-0.10720817 0.9942366 0. -1.35445844] [ 0. 0. 1. 0.02804792] [ 0. 0. 0. 1. ]] SLAMing on 14.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.36, Z:0.03 [[ 0.99438559 0.10581728 0. 15.27107096] [-0.10581728 0.99438559 0. -1.35793992] [ 0. 0. 1. 0.02750775] [ 0. 0. 0. 1. ]] SLAMing on 14.314319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.36, Z:0.03 [[ 0.99442501 0.10544615 0. 15.30301905] [-0.10544615 0.99442501 0. -1.36153668] [ 0. 0. 1. 0.02749428] [ 0. 0. 0. 1. ]] SLAMing on 14.344319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.36, Z:0.03 [[ 0.99444686 0.10523997 0. 15.33625641] [-0.10523997 0.99444686 0. -1.36485677] [ 0. 0. 1. 0.02673553] [ 0. 0. 0. 1. ]] SLAMing on 14.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.37, Z:0.03 [[ 0.99444479 0.1052595 0. 15.36813454] [-0.1052595 0.99444479 0. -1.3685313 ] [ 0. 0. 1. 0.02544407] [ 0. 0. 0. 1. ]] SLAMing on 14.404319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.37, Z:0.02 [[ 0.99440559 0.10562916 0. 15.40127768] [-0.10562916 0.99440559 0. -1.37268726] [ 0. 0. 1. 0.02439747] [ 0. 0. 0. 1. ]] SLAMing on 14.434319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.38, Z:0.02 [[ 0.99430784 0.10654543 0. 15.43391745] [-0.10654543 0.99430784 0. -1.37605067] [ 0. 0. 1. 0.02356092] [ 0. 0. 0. 1. ]] SLAMing on 14.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.38, Z:0.02 [[ 0.99391398 0.11015896 0. 15.46930676] [-0.11015896 0.99391398 0. -1.379956 ] [ 0. 0. 1. 0.0193154 ] [ 0. 0. 0. 1. ]] SLAMing on 14.494319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.38, Z:0.02 [[ 0.9938504 0.11073108 0. 15.49750251] [-0.11073108 0.9938504 0. -1.38115798] [ 0. 0. 1. 0.02155024] [ 0. 0. 0. 1. ]] SLAMing on 14.524319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.39, Z:0.02 [[ 0.99360332 0.11292675 0. 15.52980879] [-0.11292675 0.99360332 0. -1.38527561] [ 0. 0. 1. 0.02159099] [ 0. 0. 0. 1. ]] SLAMing on 14.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.39, Z:0.02 [[ 0.99311959 0.11710455 0. 15.56225832] [-0.11710455 0.99311959 0. -1.38816768] [ 0. 0. 1. 0.0223223 ] [ 0. 0. 0. 1. ]] SLAMing on 14.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.39, Z:0.02 [[ 0.99286181 0.1192704 0. 15.59502299] [-0.1192704 0.99286181 0. -1.39231685] [ 0. 0. 1. 0.02248927] [ 0. 0. 0. 1. ]] SLAMing on 14.614319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.40, Z:0.02 [[ 0.99262998 0.12118464 0. 15.6266471 ] [-0.12118464 0.99262998 0. -1.39643608] [ 0. 0. 1. 0.02275546] [ 0. 0. 0. 1. ]] SLAMing on 14.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.40, Z:0.02 [[ 0.99241311 0.122948 0. 15.65816245] [-0.122948 0.99241311 0. -1.40061125] [ 0. 0. 1. 0.02329067] [ 0. 0. 0. 1. ]] SLAMing on 14.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.40, Z:0.02 [[ 0.99212804 0.12522762 0. 15.69131641] [-0.12522762 0.99212804 0. -1.4032787 ] [ 0. 0. 1. 0.02339949] [ 0. 0. 0. 1. ]] SLAMing on 14.704319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.41, Z:0.02 [[ 0.99204085 0.12591647 0. 15.72377874] [-0.12591647 0.99204085 0. -1.40741526] [ 0. 0. 1. 0.02310324] [ 0. 0. 0. 1. ]] SLAMing on 14.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.41, Z:0.02 [[ 0.99196452 0.12651637 0. 15.7544423 ] [-0.12651637 0.99196452 0. -1.41216824] [ 0. 0. 1. 0.02188184] [ 0. 0. 0. 1. ]] SLAMing on 14.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.42, Z:0.02 [[ 0.99217462 0.124858 0. 15.7870139 ] [-0.124858 0.99217462 0. -1.41817646] [ 0. 0. 1. 0.02368412] [ 0. 0. 0. 1. ]] SLAMing on 14.794319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.42, Z:0.02 [[ 0.99233385 0.12358609 0. 15.81937551] [-0.12358609 0.99233385 0. -1.42315343] [ 0. 0. 1. 0.02444079] [ 0. 0. 0. 1. ]] SLAMing on 14.824319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.43, Z:0.02 [[ 0.99249615 0.12227585 0. 15.85111369] [-0.12227585 0.99249615 0. -1.42759737] [ 0. 0. 1. 0.02488049] [ 0. 0. 0. 1. ]] SLAMing on 14.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.43, Z:0.02 [[ 0.99291977 0.11878695 0. 15.88290503] [-0.11878695 0.99291977 0. -1.43111168] [ 0. 0. 1. 0.02462653] [ 0. 0. 0. 1. ]] SLAMing on 14.884319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.44, Z:0.02 [[ 0.99312066 0.11709546 0. 15.91518039] [-0.11709546 0.99312066 0. -1.43589614] [ 0. 0. 1. 0.02451677] [ 0. 0. 0. 1. ]] SLAMing on 14.914319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:-1.44, Z:0.03 [[ 0.9934862 0.11395251 0. 15.94651943] [-0.11395251 0.9934862 0. -1.44207698] [ 0. 0. 1. 0.02515754] [ 0. 0. 0. 1. ]] SLAMing on 14.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.45, Z:0.03 [[ 0.99374916 0.11163602 0. 15.97780879] [-0.11163602 0.99374916 0. -1.44754379] [ 0. 0. 1. 0.02543771] [ 0. 0. 0. 1. ]] SLAMing on 14.974319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.45, Z:0.03 [[ 0.99376995 0.11145081 0. 16.00711479] [-0.11145081 0.99376995 0. -1.45349774] [ 0. 0. 1. 0.02596437] [ 0. 0. 0. 1. ]] SLAMing on 15.004319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.46, Z:0.02 [[ 0.99407632 0.10868428 0. 16.04023539] [-0.10868428 0.99407632 0. -1.4584559 ] [ 0. 0. 1. 0.02446893] [ 0. 0. 0. 1. ]] SLAMing on 15.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.46, Z:0.02 [[ 0.99416191 0.10789857 0. 16.07292952] [-0.10789857 0.99416191 0. -1.4628762 ] [ 0. 0. 1. 0.0235613 ] [ 0. 0. 0. 1. ]] SLAMing on 15.064319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.47, Z:0.02 [[ 0.99424667 0.10711471 0. 16.106654 ] [-0.10711471 0.99424667 0. -1.46751498] [ 0. 0. 1. 0.02234476] [ 0. 0. 0. 1. ]] SLAMing on 15.094319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:-1.47, Z:0.02 [[ 0.99416681 0.10785337 0. 16.13544786] [-0.10785337 0.99416681 0. -1.47190078] [ 0. 0. 1. 0.02285339] [ 0. 0. 0. 1. ]] SLAMing on 15.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.48, Z:0.02 [[ 0.99407828 0.10866633 0. 16.16728689] [-0.10866633 0.99407828 0. -1.47749737] [ 0. 0. 1. 0.02154572] [ 0. 0. 0. 1. ]] SLAMing on 15.154319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.48, Z:0.02 [[ 0.99404146 0.10900266 0. 16.19952065] [-0.10900266 0.99404146 0. -1.48316344] [ 0. 0. 1. 0.0210821 ] [ 0. 0. 0. 1. ]] SLAMing on 15.184319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.49, Z:0.02 [[ 0.99399621 0.10941448 0. 16.23213588] [-0.10941448 0.99399621 0. -1.4894117 ] [ 0. 0. 1. 0.02113624] [ 0. 0. 0. 1. ]] SLAMing on 15.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.49, Z:0.02 [[ 0.99410898 0.10838513 0. 16.26435704] [-0.10838513 0.99410898 0. -1.49492203] [ 0. 0. 1. 0.0213073 ] [ 0. 0. 0. 1. ]] SLAMing on 15.244319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.50, Z:0.02 [[ 0.99401626 0.10923217 0. 16.29515378] [-0.10923217 0.99401626 0. -1.4999925 ] [ 0. 0. 1. 0.02039838] [ 0. 0. 0. 1. ]] SLAMing on 15.274319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.50, Z:0.02 [[ 0.99402612 0.10914242 0. 16.32773732] [-0.10914242 0.99402612 0. -1.50499693] [ 0. 0. 1. 0.02077193] [ 0. 0. 0. 1. ]] SLAMing on 15.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.51, Z:0.02 [[ 0.99399943 0.10938521 0. 16.36184878] [-0.10938521 0.99399943 0. -1.51235098] [ 0. 0. 1. 0.0207261 ] [ 0. 0. 0. 1. ]] SLAMing on 15.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.52, Z:0.02 [[ 0.99414421 0.10806153 0. 16.39069302] [-0.10806153 0.99414421 0. -1.51533546] [ 0. 0. 1. 0.0213147 ] [ 0. 0. 0. 1. ]] SLAMing on 15.364319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.52, Z:0.02 [[ 0.99424497 0.10713048 0. 16.42285926] [-0.10713048 0.99424497 0. -1.52242173] [ 0. 0. 1. 0.02236807] [ 0. 0. 0. 1. ]] SLAMing on 15.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.53, Z:0.02 [[ 0.99409214 0.10853948 0. 16.45506923] [-0.10853948 0.99409214 0. -1.52875605] [ 0. 0. 1. 0.02351219] [ 0. 0. 0. 1. ]] SLAMing on 15.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.53, Z:0.02 [[ 0.99422662 0.10730067 0. 16.48767288] [-0.10730067 0.99422662 0. -1.53342285] [ 0. 0. 1. 0.02277969] [ 0. 0. 0. 1. ]] SLAMing on 15.454319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.54, Z:0.02 [[ 0.99421454 0.10741256 0. 16.5185247 ] [-0.10741256 0.99421454 0. -1.53766514] [ 0. 0. 1. 0.02386236] [ 0. 0. 0. 1. ]] SLAMing on 15.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.54, Z:0.02 [[ 0.9939999 0.10938098 0. 16.54927232] [-0.10938098 0.9939999 0. -1.54202807] [ 0. 0. 1. 0.02385681] [ 0. 0. 0. 1. ]] SLAMing on 15.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.55, Z:0.02 [[ 0.99402311 0.10916987 0. 16.5816326 ] [-0.10916987 0.99402311 0. -1.54632045] [ 0. 0. 1. 0.02294319] [ 0. 0. 0. 1. ]] SLAMing on 15.544319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.55, Z:0.02 [[ 0.99406175 0.10881748 0. 16.61301742] [-0.10881748 0.99406175 0. -1.55009719] [ 0. 0. 1. 0.02346012] [ 0. 0. 0. 1. ]] SLAMing on 15.574319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.56, Z:0.02 [[ 0.99379115 0.11126167 0. 16.64394807] [-0.11126167 0.99379115 0. -1.55606852] [ 0. 0. 1. 0.0233069 ] [ 0. 0. 0. 1. ]] SLAMing on 15.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.56, Z:0.02 [[ 0.99369447 0.11212183 0. 16.67690276] [-0.11212183 0.99369447 0. -1.56056625] [ 0. 0. 1. 0.02372752] [ 0. 0. 0. 1. ]] SLAMing on 15.634319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.56, Z:0.02 [[ 0.99353713 0.11350755 0. 16.70867266] [-0.11350755 0.99353713 0. -1.56481266] [ 0. 0. 1. 0.02349949] [ 0. 0. 0. 1. ]] SLAMing on 15.664319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.57, Z:0.02 [[ 0.99317543 0.11663006 0. 16.74108706] [-0.11663006 0.99317543 0. -1.56903838] [ 0. 0. 1. 0.02194669] [ 0. 0. 0. 1. ]] SLAMing on 15.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.57, Z:0.02 [[ 0.99299287 0.11817431 0. 16.77374141] [-0.11817431 0.99299287 0. -1.57338669] [ 0. 0. 1. 0.02195362] [ 0. 0. 0. 1. ]] SLAMing on 15.724319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.58, Z:0.02 [[ 0.9925619 0.12174099 0. 16.8050426 ] [-0.12174099 0.9925619 0. -1.57672161] [ 0. 0. 1. 0.02123177] [ 0. 0. 0. 1. ]] SLAMing on 15.754319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.58, Z:0.02 [[ 0.99230611 0.12380869 0. 16.83695683] [-0.12380869 0.99230611 0. -1.58073698] [ 0. 0. 1. 0.01960211] [ 0. 0. 0. 1. ]] SLAMing on 15.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.59, Z:0.02 [[ 0.99197087 0.12646657 0. 16.86799074] [-0.12646657 0.99197087 0. -1.58500223] [ 0. 0. 1. 0.020281 ] [ 0. 0. 0. 1. ]] SLAMing on 15.814319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.59, Z:0.02 [[ 0.99136855 0.13110452 0. 16.90135866] [-0.13110452 0.99136855 0. -1.59128021] [ 0. 0. 1. 0.01836248] [ 0. 0. 0. 1. ]] SLAMing on 15.844319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.60, Z:0.02 [[ 0.99112424 0.13293888 0. 16.93344004] [-0.13293888 0.99112424 0. -1.59727056] [ 0. 0. 1. 0.01843262] [ 0. 0. 0. 1. ]] SLAMing on 15.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.60, Z:0.02 [[ 0.99098877 0.133945 0. 16.96554242] [-0.133945 0.99098877 0. -1.60313092] [ 0. 0. 1. 0.01818738] [ 0. 0. 0. 1. ]] SLAMing on 15.904319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.61, Z:0.02 [[ 0.99081574 0.13521893 0. 16.99762887] [-0.13521893 0.99081574 0. -1.60937255] [ 0. 0. 1. 0.01835886] [ 0. 0. 0. 1. ]] SLAMing on 15.934319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.61, Z:0.02 [[ 0.99086553 0.13485359 0. 17.02942383] [-0.13485359 0.99086553 0. -1.61374497] [ 0. 0. 1. 0.01846655] [ 0. 0. 0. 1. ]] SLAMing on 15.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.62, Z:0.02 [[ 0.99082472 0.13515318 0. 17.05968258] [-0.13515318 0.99082472 0. -1.6189391 ] [ 0. 0. 1. 0.01770788] [ 0. 0. 0. 1. ]] SLAMing on 15.994319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.62, Z:0.02 [[ 9.90975517e-01 1.34042999e-01 0.00000000e+00 1.70922205e+01] [-1.34042999e-01 9.90975517e-01 0.00000000e+00 -1.62408794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67893715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:-1.63, Z:0.02 [[ 0.99120566 0.13233044 0. 17.12126878] [-0.13233044 0.99120566 0. -1.63070864] [ 0. 0. 1. 0.01808939] [ 0. 0. 0. 1. ]] SLAMing on 16.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.64, Z:0.02 [[ 9.91399497e-01 1.30870308e-01 0.00000000e+00 1.71542691e+01] [-1.30870308e-01 9.91399497e-01 0.00000000e+00 -1.63754187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63923424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:-1.64, Z:0.02 [[ 0.99112575 0.13292761 0. 17.17978501] [-0.13292761 0.99112575 0. -1.64337714] [ 0. 0. 1. 0.02013747] [ 0. 0. 0. 1. ]] SLAMing on 16.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.65, Z:0.02 [[ 0.99106564 0.13337503 0. 17.21270845] [-0.13337503 0.99106564 0. -1.64886199] [ 0. 0. 1. 0.02013747] [ 0. 0. 0. 1. ]] SLAMing on 16.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.65, Z:0.02 [[ 0.99148106 0.13025094 0. 17.24906529] [-0.13025094 0.99148106 0. -1.6545959 ] [ 0. 0. 1. 0.01805331] [ 0. 0. 0. 1. ]] SLAMing on 16.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.66, Z:0.02 [[ 0.99166831 0.12881758 0. 17.27840942] [-0.12881758 0.99166831 0. -1.66113566] [ 0. 0. 1. 0.01939129] [ 0. 0. 0. 1. ]] SLAMing on 16.20432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.67, Z:0.02 [[ 0.99173256 0.12832194 0. 17.31036611] [-0.12832194 0.99173256 0. -1.66720446] [ 0. 0. 1. 0.0192157 ] [ 0. 0. 0. 1. ]] SLAMing on 16.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.67, Z:0.02 [[ 0.99193488 0.12674851 0. 17.34278215] [-0.12674851 0.99193488 0. -1.6732872 ] [ 0. 0. 1. 0.01767367] [ 0. 0. 0. 1. ]] SLAMing on 16.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.68, Z:0.02 [[ 9.91972634e-01 1.26452732e-01 0.00000000e+00 1.73751794e+01] [-1.26452732e-01 9.91972634e-01 0.00000000e+00 -1.67939401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72234207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.69, Z:0.02 [[ 9.92040181e-01 1.25921720e-01 0.00000000e+00 1.74074529e+01] [-1.25921720e-01 9.92040181e-01 0.00000000e+00 -1.68584294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68653003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324319999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.69, Z:0.02 [[ 9.92233861e-01 1.24386354e-01 0.00000000e+00 1.74387768e+01] [-1.24386354e-01 9.92233861e-01 0.00000000e+00 -1.69284353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61292919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:-1.70, Z:0.02 [[ 9.92305698e-01 1.23811961e-01 0.00000000e+00 1.74700299e+01] [-1.23811961e-01 9.92305698e-01 0.00000000e+00 -1.69834344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50246027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:-1.70, Z:0.02 [[ 0.99231207 0.12376086 0. 17.49954675] [-0.12376086 0.99231207 0. -1.70355201] [ 0. 0. 1. 0.01764001] [ 0. 0. 0. 1. ]] SLAMing on 16.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:-1.71, Z:0.02 [[ 9.92331773e-01 1.23602798e-01 0.00000000e+00 1.75306729e+01] [-1.23602798e-01 9.92331773e-01 0.00000000e+00 -1.71009346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66751533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:-1.72, Z:0.02 [[ 9.92231849e-01 1.24402405e-01 0.00000000e+00 1.75626363e+01] [-1.24402405e-01 9.92231849e-01 0.00000000e+00 -1.71678360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62915880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:-1.72, Z:0.02 [[ 9.92117157e-01 1.25313792e-01 0.00000000e+00 1.75945833e+01] [-1.25313792e-01 9.92117157e-01 0.00000000e+00 -1.72336662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60632650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.73, Z:0.02 [[ 9.91954416e-01 1.26595564e-01 0.00000000e+00 1.76259793e+01] [-1.26595564e-01 9.91954416e-01 0.00000000e+00 -1.72971990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57804789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.74, Z:0.02 [[ 9.91554986e-01 1.29686970e-01 0.00000000e+00 1.76570691e+01] [-1.29686970e-01 9.91554986e-01 0.00000000e+00 -1.73642251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57938170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56432 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.74, Z:0.01 [[ 9.91269313e-01 1.31852758e-01 0.00000000e+00 1.76882668e+01] [-1.31852758e-01 9.91269313e-01 0.00000000e+00 -1.74211469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49688205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.75, Z:0.02 [[ 9.90988442e-01 1.33947410e-01 0.00000000e+00 1.77205723e+01] [-1.33947410e-01 9.90988442e-01 0.00000000e+00 -1.74815541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55915326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.75, Z:0.02 [[ 9.90526331e-01 1.37322935e-01 0.00000000e+00 1.77521820e+01] [-1.37322935e-01 9.90526331e-01 0.00000000e+00 -1.75487857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62082537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.76, Z:0.02 [[ 9.90297364e-01 1.38964498e-01 0.00000000e+00 1.77841300e+01] [-1.38964498e-01 9.90297364e-01 0.00000000e+00 -1.76160106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77363607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.77, Z:0.02 [[ 0.98990539 0.14172976 0. 17.81570798] [-0.14172976 0.98990539 0. -1.77036861] [ 0. 0. 1. 0.01849462] [ 0. 0. 0. 1. ]] SLAMing on 16.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.78, Z:0.02 [[ 0.9897613 0.14273249 0. 17.84796183] [-0.14273249 0.9897613 0. -1.7770083 ] [ 0. 0. 1. 0.01867354] [ 0. 0. 0. 1. ]] SLAMing on 16.74432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.78, Z:0.02 [[ 0.98966671 0.14338691 0. 17.88054713] [-0.14338691 0.98966671 0. -1.78344638] [ 0. 0. 1. 0.01885367] [ 0. 0. 0. 1. ]] SLAMing on 16.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.79, Z:0.02 [[ 0.98958252 0.14396676 0. 17.91280088] [-0.14396676 0.98958252 0. -1.78971266] [ 0. 0. 1. 0.01915385] [ 0. 0. 0. 1. ]] SLAMing on 16.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.80, Z:0.02 [[ 0.98967051 0.14336064 0. 17.94369575] [-0.14336064 0.98967051 0. -1.79669872] [ 0. 0. 1. 0.0192039 ] [ 0. 0. 0. 1. ]] SLAMing on 16.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.80, Z:0.02 [[ 0.98952512 0.14436077 0. 17.97600732] [-0.14436077 0.98952512 0. -1.8020368 ] [ 0. 0. 1. 0.02048805] [ 0. 0. 0. 1. ]] SLAMing on 16.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.81, Z:0.02 [[ 0.98956326 0.14409915 0. 18.00830548] [-0.14409915 0.98956326 0. -1.80842934] [ 0. 0. 1. 0.02213094] [ 0. 0. 0. 1. ]] SLAMing on 16.894319999999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.04, Y:-1.81, Z:0.02 [[ 0.98951507 0.14442963 0. 18.04094642] [-0.14442963 0.98951507 0. -1.81456577] [ 0. 0. 1. 0.02224533] [ 0. 0. 0. 1. ]] SLAMing on 16.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.82, Z:0.02 [[ 0.98950572 0.14449367 0. 18.07300648] [-0.14449367 0.98950572 0. -1.81965674] [ 0. 0. 1. 0.02219505] [ 0. 0. 0. 1. ]] SLAMing on 16.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.82, Z:0.02 [[ 0.9895604 0.14411873 0. 18.1049621 ] [-0.14411873 0.9895604 0. -1.8247261 ] [ 0. 0. 1. 0.02168506] [ 0. 0. 0. 1. ]] SLAMing on 16.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.83, Z:0.02 [[ 0.98953474 0.14429482 0. 18.13730447] [-0.14429482 0.98953474 0. -1.82876316] [ 0. 0. 1. 0.0215414 ] [ 0. 0. 0. 1. ]] SLAMing on 17.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.83, Z:0.02 [[ 0.98963403 0.14361231 0. 18.1694238 ] [-0.14361231 0.98963403 0. -1.834609 ] [ 0. 0. 1. 0.02066646] [ 0. 0. 0. 1. ]] SLAMing on 17.04432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.84, Z:0.02 [[ 0.98967046 0.14336104 0. 18.20044828] [-0.14336104 0.98967046 0. -1.83969581] [ 0. 0. 1. 0.01963852] [ 0. 0. 0. 1. ]] SLAMing on 17.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.84, Z:0.02 [[ 9.90036916e-01 1.40808041e-01 0.00000000e+00 1.82337467e+01] [-1.40808041e-01 9.90036916e-01 0.00000000e+00 -1.84279761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55897034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.85, Z:0.02 [[ 9.89829857e-01 1.42256295e-01 0.00000000e+00 1.82610480e+01] [-1.42256295e-01 9.89829857e-01 0.00000000e+00 -1.84855796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80477373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.85, Z:0.02 [[ 9.90322156e-01 1.38787706e-01 0.00000000e+00 1.82965514e+01] [-1.38787706e-01 9.90322156e-01 0.00000000e+00 -1.85288212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54575296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.86, Z:0.02 [[ 0.99053513 0.13725944 0. 18.3277066 ] [-0.13725944 0.99053513 0. -1.85760033] [ 0. 0. 1. 0.01854958] [ 0. 0. 0. 1. ]] SLAMing on 17.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.86, Z:0.02 [[ 9.90509945e-01 1.37441073e-01 0.00000000e+00 1.83616456e+01] [-1.37441073e-01 9.90509945e-01 0.00000000e+00 -1.86363921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82568690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.87, Z:0.02 [[ 0.99063372 0.13654611 0. 18.39069124] [-0.13654611 0.99063372 0. -1.86654431] [ 0. 0. 1. 0.01890059] [ 0. 0. 0. 1. ]] SLAMing on 17.254319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.87, Z:0.02 [[ 0.9907093 0.13599661 0. 18.42203249] [-0.13599661 0.9907093 0. -1.87012292] [ 0. 0. 1. 0.01919012] [ 0. 0. 0. 1. ]] SLAMing on 17.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.88, Z:0.02 [[ 0.99060594 0.13674745 0. 18.45659194] [-0.13674745 0.99060594 0. -1.87648568] [ 0. 0. 1. 0.02040721] [ 0. 0. 0. 1. ]] SLAMing on 17.31432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.88, Z:0.02 [[ 0.99066305 0.13633315 0. 18.48584688] [-0.13633315 0.99066305 0. -1.87952736] [ 0. 0. 1. 0.02137232] [ 0. 0. 0. 1. ]] SLAMing on 17.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.88, Z:0.02 [[ 0.99050745 0.13745908 0. 18.51996824] [-0.13745908 0.99050745 0. -1.88402219] [ 0. 0. 1. 0.02250454] [ 0. 0. 0. 1. ]] SLAMing on 17.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.89, Z:0.02 [[ 0.99031664 0.13882705 0. 18.55112369] [-0.13882705 0.99031664 0. -1.88909874] [ 0. 0. 1. 0.02293591] [ 0. 0. 0. 1. ]] SLAMing on 17.40432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.89, Z:0.02 [[ 0.99023276 0.13942411 0. 18.58132091] [-0.13942411 0.99023276 0. -1.89174582] [ 0. 0. 1. 0.02340182] [ 0. 0. 0. 1. ]] SLAMing on 17.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.90, Z:0.03 [[ 0.99002296 0.14090612 0. 18.61495868] [-0.14090612 0.99002296 0. -1.89692512] [ 0. 0. 1. 0.02533633] [ 0. 0. 0. 1. ]] SLAMing on 17.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.90, Z:0.02 [[ 0.9899475 0.14143529 0. 18.64708891] [-0.14143529 0.9899475 0. -1.89947378] [ 0. 0. 1. 0.02403784] [ 0. 0. 0. 1. ]] SLAMing on 17.49432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.90, Z:0.02 [[ 0.9898021 0.14244929 0. 18.67814585] [-0.14244929 0.9898021 0. -1.90469509] [ 0. 0. 1. 0.02499748] [ 0. 0. 0. 1. ]] SLAMing on 17.524319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.91, Z:0.02 [[ 0.98981794 0.14233917 0. 18.71007394] [-0.14233917 0.98981794 0. -1.90876162] [ 0. 0. 1. 0.02417939] [ 0. 0. 0. 1. ]] SLAMing on 17.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.91, Z:0.02 [[ 0.98979431 0.1425034 0. 18.74216448] [-0.1425034 0.98979431 0. -1.91389936] [ 0. 0. 1. 0.02469827] [ 0. 0. 0. 1. ]] SLAMing on 17.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.92, Z:0.03 [[ 0.98990097 0.14176063 0. 18.77392802] [-0.14176063 0.98990097 0. -1.9182738 ] [ 0. 0. 1. 0.02516389] [ 0. 0. 0. 1. ]] SLAMing on 17.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.92, Z:0.03 [[ 0.9899638 0.14132119 0. 18.80698572] [-0.14132119 0.9899638 0. -1.92317951] [ 0. 0. 1. 0.02528563] [ 0. 0. 0. 1. ]] SLAMing on 17.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.93, Z:0.02 [[ 0.99007047 0.14057195 0. 18.83892093] [-0.14057195 0.99007047 0. -1.92748842] [ 0. 0. 1. 0.02474366] [ 0. 0. 0. 1. ]] SLAMing on 17.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.93, Z:0.03 [[ 0.99023093 0.13943708 0. 18.86953965] [-0.13943708 0.99023093 0. -1.9308921 ] [ 0. 0. 1. 0.02799912] [ 0. 0. 0. 1. ]] SLAMing on 17.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.94, Z:0.02 [[ 0.99044246 0.13792652 0. 18.9025423 ] [-0.13792652 0.99044246 0. -1.93507971] [ 0. 0. 1. 0.02409461] [ 0. 0. 0. 1. ]] SLAMing on 17.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.94, Z:0.02 [[ 0.99059736 0.13680962 0. 18.93342362] [-0.13680962 0.99059736 0. -1.93957247] [ 0. 0. 1. 0.02304716] [ 0. 0. 0. 1. ]] SLAMing on 17.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.94, Z:0.02 [[ 0.99083058 0.1351102 0. 18.96630802] [-0.1351102 0.99083058 0. -1.94454962] [ 0. 0. 1. 0.02272838] [ 0. 0. 0. 1. ]] SLAMing on 17.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.95, Z:0.02 [[ 0.99077363 0.13552716 0. 18.99587168] [-0.13552716 0.99077363 0. -1.94985255] [ 0. 0. 1. 0.02477786] [ 0. 0. 0. 1. ]] SLAMing on 17.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.95, Z:0.02 [[ 0.99115166 0.13273429 0. 19.02870446] [-0.13273429 0.99115166 0. -1.95304783] [ 0. 0. 1. 0.02064222] [ 0. 0. 0. 1. ]] SLAMing on 17.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.96, Z:0.02 [[ 0.99119894 0.13238078 0. 19.06131686] [-0.13238078 0.99119894 0. -1.95794507] [ 0. 0. 1. 0.02061274] [ 0. 0. 0. 1. ]] SLAMing on 17.88432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.96, Z:0.02 [[ 0.99121607 0.13225245 0. 19.09260343] [-0.13225245 0.99121607 0. -1.96211841] [ 0. 0. 1. 0.01943539] [ 0. 0. 0. 1. ]] SLAMing on 17.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.97, Z:0.02 [[ 0.99121164 0.13228565 0. 19.12506787] [-0.13228565 0.99121164 0. -1.96593728] [ 0. 0. 1. 0.02073316] [ 0. 0. 0. 1. ]] SLAMing on 17.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.97, Z:0.02 [[ 0.99125368 0.1319702 0. 19.15544935] [-0.1319702 0.99125368 0. -1.96986438] [ 0. 0. 1. 0.02081276] [ 0. 0. 0. 1. ]] SLAMing on 17.97432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.98, Z:0.02 [[ 0.99116463 0.13263738 0. 19.18515224] [-0.13263738 0.99116463 0. -1.97504132] [ 0. 0. 1. 0.0199971 ] [ 0. 0. 0. 1. ]] SLAMing on 18.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.98, Z:0.02 [[ 0.99113356 0.13286934 0. 19.2180745 ] [-0.13286934 0.99113356 0. -1.98088987] [ 0. 0. 1. 0.0199971 ] [ 0. 0. 0. 1. ]] SLAMing on 18.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.99, Z:0.03 [[ 0.9910256 0.13367224 0. 19.24876893] [-0.13367224 0.9910256 0. -1.98626148] [ 0. 0. 1. 0.02519772] [ 0. 0. 0. 1. ]] SLAMing on 18.06432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.99, Z:0.02 [[ 0.99102583 0.13367053 0. 19.28196956] [-0.13367053 0.99102583 0. -1.98885198] [ 0. 0. 1. 0.02375499] [ 0. 0. 0. 1. ]] SLAMing on 18.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.99, Z:0.02 [[ 0.99089105 0.134666 0. 19.3141844 ] [-0.134666 0.99089105 0. -1.99315045] [ 0. 0. 1. 0.02484978] [ 0. 0. 0. 1. ]] SLAMing on 18.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:-2.00, Z:0.02 [[ 0.99082418 0.13515715 0. 19.34374581] [-0.13515715 0.99082418 0. -1.99676556] [ 0. 0. 1. 0.02473905] [ 0. 0. 0. 1. ]] SLAMing on 18.15432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:-2.00, Z:0.03 [[ 0.99038872 0.13831189 0. 19.37707378] [-0.13831189 0.99038872 0. -2.00228637] [ 0. 0. 1. 0.02822273] [ 0. 0. 0. 1. ]] SLAMing on 18.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:-2.00, Z:0.03 [[ 0.99031721 0.13882299 0. 19.40732393] [-0.13882299 0.99031721 0. -2.00459359] [ 0. 0. 1. 0.02817496] [ 0. 0. 0. 1. ]] SLAMing on 18.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:-2.01, Z:0.03 [[ 0.98974352 0.14285575 0. 19.43949123] [-0.14285575 0.98974352 0. -2.00831485] [ 0. 0. 1. 0.03021104] [ 0. 0. 0. 1. ]] SLAMing on 18.24432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.01, Z:0.03 [[ 0.9894923 0.14458559 0. 19.47173596] [-0.14458559 0.9894923 0. -2.01269838] [ 0. 0. 1. 0.02901849] [ 0. 0. 0. 1. ]] SLAMing on 18.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-2.02, Z:0.03 [[ 0.9890406 0.14764383 0. 19.50484496] [-0.14764383 0.9890406 0. -2.01812284] [ 0. 0. 1. 0.03336712] [ 0. 0. 0. 1. ]] SLAMing on 18.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:-2.02, Z:0.03 [[ 0.98876084 0.14950583 0. 19.53727057] [-0.14950583 0.98876084 0. -2.02240316] [ 0. 0. 1. 0.0325553 ] [ 0. 0. 0. 1. ]] SLAMing on 18.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.57, Y:-2.03, Z:0.03 [[ 0.98850306 0.15120085 0. 19.56958569] [-0.15120085 0.98850306 0. -2.02522162] [ 0. 0. 1. 0.02909402] [ 0. 0. 0. 1. ]] SLAMing on 18.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:-2.03, Z:0.03 [[ 0.98818992 0.15323411 0. 19.60057512] [-0.15323411 0.98818992 0. -2.0313337 ] [ 0. 0. 1. 0.03255319] [ 0. 0. 0. 1. ]] SLAMing on 18.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:-2.04, Z:0.03 [[ 0.98807822 0.15395266 0. 19.63288625] [-0.15395266 0.98807822 0. -2.03575029] [ 0. 0. 1. 0.0334196 ] [ 0. 0. 0. 1. ]] SLAMing on 18.424319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:-2.04, Z:0.03 [[ 0.98823588 0.15293738 0. 19.66475558] [-0.15293738 0.98823588 0. -2.03891078] [ 0. 0. 1. 0.03069456] [ 0. 0. 0. 1. ]] SLAMing on 18.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:-2.04, Z:0.03 [[ 0.98807135 0.15399678 0. 19.69619243] [-0.15399678 0.98807135 0. -2.04438146] [ 0. 0. 1. 0.032916 ] [ 0. 0. 0. 1. ]] SLAMing on 18.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:-2.05, Z:0.03 [[ 0.98832627 0.15235216 0. 19.72837934] [-0.15235216 0.98832627 0. -2.04777404] [ 0. 0. 1. 0.02977011] [ 0. 0. 0. 1. ]] SLAMing on 18.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:-2.05, Z:0.03 [[ 0.98838914 0.15194374 0. 19.76098921] [-0.15194374 0.98838914 0. -2.05344015] [ 0. 0. 1. 0.02961415] [ 0. 0. 0. 1. ]] SLAMing on 18.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:-2.06, Z:0.03 [[ 0.98881462 0.14914977 0. 19.79269357] [-0.14914977 0.98881462 0. -2.05989391] [ 0. 0. 1. 0.02877088] [ 0. 0. 0. 1. ]] SLAMing on 18.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-2.07, Z:0.03 [[ 0.98914214 0.14696197 0. 19.82398938] [-0.14696197 0.98914214 0. -2.06545551] [ 0. 0. 1. 0.02821474] [ 0. 0. 0. 1. ]] SLAMing on 18.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-2.07, Z:0.03 [[ 0.98934044 0.14562103 0. 19.85433836] [-0.14562103 0.98934044 0. -2.07102549] [ 0. 0. 1. 0.02700252] [ 0. 0. 0. 1. ]] SLAMing on 18.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:-2.08, Z:0.03 [[ 0.98962878 0.14364848 0. 19.88822567] [-0.14364848 0.98962878 0. -2.0775493 ] [ 0. 0. 1. 0.030018 ] [ 0. 0. 0. 1. ]] SLAMing on 18.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:-2.08, Z:0.03 [[ 0.99012481 0.14018864 0. 19.91732496] [-0.14018864 0.99012481 0. -2.07963151] [ 0. 0. 1. 0.02907471] [ 0. 0. 0. 1. ]] SLAMing on 18.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:-2.08, Z:0.03 [[ 0.9905369 0.13724666 0. 19.94939077] [-0.13724666 0.9905369 0. -2.08406448] [ 0. 0. 1. 0.02890337] [ 0. 0. 0. 1. ]] SLAMing on 18.72432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-2.09, Z:0.03 [[ 0.99069378 0.13610963 0. 19.97972186] [-0.13610963 0.99069378 0. -2.08974929] [ 0. 0. 1. 0.02916389] [ 0. 0. 0. 1. ]] SLAMing on 18.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-2.10, Z:0.03 [[ 0.99077002 0.13555355 0. 20.01147783] [-0.13555355 0.99077002 0. -2.09637908] [ 0. 0. 1. 0.02950094] [ 0. 0. 0. 1. ]] SLAMing on 18.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-2.10, Z:0.03 [[ 0.99078457 0.13544716 0. 20.04314547] [-0.13544716 0.99078457 0. -2.10268966] [ 0. 0. 1. 0.02949187] [ 0. 0. 0. 1. ]] SLAMing on 18.81432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:-2.11, Z:0.03 [[ 0.99069202 0.13612242 0. 20.07571139] [-0.13612242 0.99069202 0. -2.1082778 ] [ 0. 0. 1. 0.02876983] [ 0. 0. 0. 1. ]] SLAMing on 18.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:-2.11, Z:0.03 [[ 0.99060946 0.13672197 0. 20.10733795] [-0.13672197 0.99060946 0. -2.11304403] [ 0. 0. 1. 0.02906514] [ 0. 0. 0. 1. ]] SLAMing on 18.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:-2.12, Z:0.03 [[ 0.99035081 0.13858312 0. 20.13923793] [-0.13858312 0.99035081 0. -2.11907783] [ 0. 0. 1. 0.02915945] [ 0. 0. 0. 1. ]] SLAMing on 18.90432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:-2.12, Z:0.03 [[ 0.98986059 0.14204228 0. 20.17097392] [-0.14204228 0.98986059 0. -2.1248342 ] [ 0. 0. 1. 0.02902121] [ 0. 0. 0. 1. ]] SLAMing on 18.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-2.13, Z:0.03 [[ 0.98956372 0.14409598 0. 20.20364678] [-0.14409598 0.98956372 0. -2.13084131] [ 0. 0. 1. 0.02938027] [ 0. 0. 0. 1. ]] SLAMing on 18.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:-2.14, Z:0.03 [[ 0.98921249 0.14648773 0. 20.23661522] [-0.14648773 0.98921249 0. -2.1363861 ] [ 0. 0. 1. 0.02964291] [ 0. 0. 0. 1. ]] SLAMing on 18.99432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:-2.14, Z:0.03 [[ 0.9884377 0.15162754 0. 20.26770346] [-0.15162754 0.9884377 0. -2.14156154] [ 0. 0. 1. 0.02934331] [ 0. 0. 0. 1. ]] SLAMing on 19.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:-2.15, Z:0.03 [[ 0.98802835 0.15427242 0. 20.29962033] [-0.15427242 0.98802835 0. -2.14734112] [ 0. 0. 1. 0.03323003] [ 0. 0. 0. 1. ]] SLAMing on 19.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.15, Z:0.03 [[ 0.98772909 0.15617696 0. 20.33174352] [-0.15617696 0.98772909 0. -2.15274201] [ 0. 0. 1. 0.03098209] [ 0. 0. 0. 1. ]] SLAMing on 19.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:-2.16, Z:0.03 [[ 0.98740214 0.1582309 0. 20.36221317] [-0.1582309 0.98740214 0. -2.15714537] [ 0. 0. 1. 0.03417597] [ 0. 0. 0. 1. ]] SLAMing on 19.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.16, Z:0.03 [[ 0.98700499 0.16068958 0. 20.39483481] [-0.16068958 0.98700499 0. -2.16226364] [ 0. 0. 1. 0.03378922] [ 0. 0. 0. 1. ]] SLAMing on 19.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:-2.17, Z:0.03 [[ 0.98693956 0.16109096 0. 20.42686248] [-0.16109096 0.98693956 0. -2.16876058] [ 0. 0. 1. 0.03398196] [ 0. 0. 0. 1. ]] SLAMing on 19.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:-2.17, Z:0.03 [[ 0.98695839 0.16097557 0. 20.45794848] [-0.16097557 0.98695839 0. -2.17477339] [ 0. 0. 1. 0.03374339] [ 0. 0. 0. 1. ]] SLAMing on 19.204319999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.18, Z:0.03 [[ 0.98716955 0.15967553 0. 20.49013601] [-0.15967553 0.98716955 0. -2.17998955] [ 0. 0. 1. 0.03327032] [ 0. 0. 0. 1. ]] SLAMing on 19.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.19, Z:0.03 [[ 0.98746778 0.15782071 0. 20.52305491] [-0.15782071 0.98746778 0. -2.18552216] [ 0. 0. 1. 0.02974419] [ 0. 0. 0. 1. ]] SLAMing on 19.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.19, Z:0.03 [[ 0.9876382 0.1567507 0. 20.55450316] [-0.1567507 0.9876382 0. -2.19233997] [ 0. 0. 1. 0.03323653] [ 0. 0. 0. 1. ]] SLAMing on 19.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-2.20, Z:0.03 [[ 0.98804824 0.15414501 0. 20.58522144] [-0.15414501 0.98804824 0. -2.1995409 ] [ 0. 0. 1. 0.03332393] [ 0. 0. 0. 1. ]] SLAMing on 19.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-2.21, Z:0.03 [[ 0.98835868 0.1521418 0. 20.61797777] [-0.1521418 0.98835868 0. -2.20604633] [ 0. 0. 1. 0.02937101] [ 0. 0. 0. 1. ]] SLAMing on 19.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:-2.21, Z:0.03 [[ 0.9885258 0.15105209 0. 20.64865966] [-0.15105209 0.9885258 0. -2.21312875] [ 0. 0. 1. 0.03299364] [ 0. 0. 0. 1. ]] SLAMing on 19.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.22, Z:0.03 [[ 0.98882721 0.14906623 0. 20.68011175] [-0.14906623 0.98882721 0. -2.21979608] [ 0. 0. 1. 0.03427884] [ 0. 0. 0. 1. ]] SLAMing on 19.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:-2.23, Z:0.03 [[ 0.98908386 0.14735373 0. 20.71013029] [-0.14735373 0.98908386 0. -2.22592624] [ 0. 0. 1. 0.03343481] [ 0. 0. 0. 1. ]] SLAMing on 19.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:-2.23, Z:0.03 [[ 0.98928011 0.14603034 0. 20.74215509] [-0.14603034 0.98928011 0. -2.23090206] [ 0. 0. 1. 0.03309948] [ 0. 0. 0. 1. ]] SLAMing on 19.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:-2.24, Z:0.03 [[ 0.98914261 0.1469588 0. 20.77027456] [-0.1469588 0.98914261 0. -2.23709878] [ 0. 0. 1. 0.03309638] [ 0. 0. 0. 1. ]] SLAMing on 19.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:-2.24, Z:0.03 [[ 0.98934098 0.1456174 0. 20.80221282] [-0.1456174 0.98934098 0. -2.24489679] [ 0. 0. 1. 0.03237187] [ 0. 0. 0. 1. ]] SLAMing on 19.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:-2.25, Z:0.03 [[ 0.98885827 0.14886005 0. 20.83379978] [-0.14886005 0.98885827 0. -2.25278801] [ 0. 0. 1. 0.03292907] [ 0. 0. 0. 1. ]] SLAMing on 19.56432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.26, Z:0.03 [[ 0.98921094 0.14649817 0. 20.86679674] [-0.14649817 0.98921094 0. -2.25796022] [ 0. 0. 1. 0.0339321 ] [ 0. 0. 0. 1. ]] SLAMing on 19.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.26, Z:0.03 [[ 0.98900404 0.14788851 0. 20.89824379] [-0.14788851 0.98900404 0. -2.26351161] [ 0. 0. 1. 0.03290374] [ 0. 0. 0. 1. ]] SLAMing on 19.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.27, Z:0.03 [[ 0.98895658 0.14820551 0. 20.93082079] [-0.14820551 0.98895658 0. -2.26884023] [ 0. 0. 1. 0.0344976 ] [ 0. 0. 0. 1. ]] SLAMing on 19.65432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:-2.27, Z:0.03 [[ 0.98878551 0.14934263 0. 20.96272459] [-0.14934263 0.98878551 0. -2.27484342] [ 0. 0. 1. 0.03491589] [ 0. 0. 0. 1. ]] SLAMing on 19.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.28, Z:0.04 [[ 0.98847211 0.15140306 0. 20.99370952] [-0.15140306 0.98847211 0. -2.28132151] [ 0. 0. 1. 0.03538614] [ 0. 0. 0. 1. ]] SLAMing on 19.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.29, Z:0.04 [[ 0.98832662 0.15234987 0. 21.02565473] [-0.15234987 0.98832662 0. -2.28781467] [ 0. 0. 1. 0.03595351] [ 0. 0. 0. 1. ]] SLAMing on 19.74432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.29, Z:0.04 [[ 0.98820768 0.15311947 0. 21.0566322 ] [-0.15311947 0.98820768 0. -2.29374838] [ 0. 0. 1. 0.03603202] [ 0. 0. 0. 1. ]] SLAMing on 19.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:-2.30, Z:0.03 [[ 0.98797122 0.15463784 0. 21.0881186 ] [-0.15463784 0.98797122 0. -2.29869529] [ 0. 0. 1. 0.0347545 ] [ 0. 0. 0. 1. ]] SLAMing on 19.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:-2.30, Z:0.03 [[ 0.98784378 0.15544989 0. 21.12023181] [-0.15544989 0.98784378 0. -2.30410753] [ 0. 0. 1. 0.03447284] [ 0. 0. 0. 1. ]] SLAMing on 19.834319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.15, Y:-2.31, Z:0.03 [[ 0.98772071 0.15622993 0. 21.15247686] [-0.15622993 0.98772071 0. -2.3099948 ] [ 0. 0. 1. 0.03486941] [ 0. 0. 0. 1. ]] SLAMing on 19.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:-2.32, Z:0.03 [[ 0.98769379 0.15640004 0. 21.18478732] [-0.15640004 0.98769379 0. -2.31652836] [ 0. 0. 1. 0.03498442] [ 0. 0. 0. 1. ]] SLAMing on 19.894319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:-2.32, Z:0.04 [[ 0.98773846 0.1561177 0. 21.21639714] [-0.1561177 0.98773846 0. -2.32268499] [ 0. 0. 1. 0.03530838] [ 0. 0. 0. 1. ]] SLAMing on 19.924319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:-2.33, Z:0.04 [[ 0.98769035 0.15642177 0. 21.24922851] [-0.15642177 0.98769035 0. -2.32900511] [ 0. 0. 1. 0.03530838] [ 0. 0. 0. 1. ]] SLAMing on 19.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:-2.33, Z:0.04 [[ 0.98783572 0.15550111 0. 21.28156165] [-0.15550111 0.98783572 0. -2.33447256] [ 0. 0. 1. 0.03577293] [ 0. 0. 0. 1. ]] SLAMing on 19.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.34, Z:0.04 [[ 0.98788404 0.15519382 0. 21.31347545] [-0.15519382 0.98788404 0. -2.33996386] [ 0. 0. 1. 0.03580577] [ 0. 0. 0. 1. ]] SLAMing on 20.014319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:-2.35, Z:0.04 [[ 0.98794003 0.15483701 0. 21.34609726] [-0.15483701 0.98794003 0. -2.34558501] [ 0. 0. 1. 0.03527473] [ 0. 0. 0. 1. ]] SLAMing on 20.044319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:-2.35, Z:0.03 [[ 0.98824745 0.15286258 0. 21.37772618] [-0.15286258 0.98824745 0. -2.35083409] [ 0. 0. 1. 0.03295698] [ 0. 0. 0. 1. ]] SLAMing on 20.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:-2.36, Z:0.04 [[ 0.98818271 0.15328059 0. 21.40811966] [-0.15328059 0.98818271 0. -2.35729808] [ 0. 0. 1. 0.03632151] [ 0. 0. 0. 1. ]] SLAMing on 20.104319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:-2.36, Z:0.04 [[ 0.98822331 0.15301861 0. 21.43980299] [-0.15301861 0.98822331 0. -2.36325698] [ 0. 0. 1. 0.03620279] [ 0. 0. 0. 1. ]] SLAMing on 20.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.37, Z:0.04 [[ 0.9882392 0.15291594 0. 21.47198225] [-0.15291594 0.9882392 0. -2.36948199] [ 0. 0. 1. 0.03567679] [ 0. 0. 0. 1. ]] SLAMing on 20.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:-2.38, Z:0.04 [[ 0.98821645 0.15306286 0. 21.50436212] [-0.15306286 0.98821645 0. -2.37606034] [ 0. 0. 1. 0.035795 ] [ 0. 0. 0. 1. ]] SLAMing on 20.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.38, Z:0.03 [[ 0.98816263 0.15340994 0. 21.53573086] [-0.15340994 0.98816263 0. -2.38100812] [ 0. 0. 1. 0.03456608] [ 0. 0. 0. 1. ]] SLAMing on 20.224319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:-2.39, Z:0.04 [[ 0.98807129 0.15399714 0. 21.56853539] [-0.15399714 0.98807129 0. -2.38623989] [ 0. 0. 1. 0.03516075] [ 0. 0. 0. 1. ]] SLAMing on 20.254319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.39, Z:0.03 [[ 0.98784199 0.15546126 0. 21.60044924] [-0.15546126 0.98784199 0. -2.39165967] [ 0. 0. 1. 0.03284296] [ 0. 0. 0. 1. ]] SLAMing on 20.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:-2.40, Z:0.03 [[ 0.98777665 0.15587585 0. 21.63264999] [-0.15587585 0.98777665 0. -2.39796999] [ 0. 0. 1. 0.03461551] [ 0. 0. 0. 1. ]] SLAMing on 20.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.40, Z:0.03 [[ 0.98747847 0.15775385 0. 21.66349108] [-0.15775385 0.98747847 0. -2.40435442] [ 0. 0. 1. 0.03488746] [ 0. 0. 0. 1. ]] SLAMing on 20.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:-2.41, Z:0.03 [[ 0.98706674 0.16030986 0. 21.69566756] [-0.16030986 0.98706674 0. -2.40980783] [ 0. 0. 1. 0.03407495] [ 0. 0. 0. 1. ]] SLAMing on 20.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:-2.42, Z:0.03 [[ 0.98686422 0.16155191 0. 21.72762372] [-0.16155191 0.98686422 0. -2.41549697] [ 0. 0. 1. 0.03421562] [ 0. 0. 0. 1. ]] SLAMing on 20.40432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:-2.42, Z:0.03 [[ 0.98668927 0.16261698 0. 21.75972367] [-0.16261698 0.98668927 0. -2.42118007] [ 0. 0. 1. 0.03430854] [ 0. 0. 0. 1. ]] SLAMing on 20.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:-2.43, Z:0.04 [[ 0.98646172 0.16399167 0. 21.79170703] [-0.16399167 0.98646172 0. -2.42790564] [ 0. 0. 1. 0.03508459] [ 0. 0. 0. 1. ]] SLAMing on 20.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:-2.44, Z:0.04 [[ 0.98632984 0.16478302 0. 21.82410163] [-0.16478302 0.98632984 0. -2.43507071] [ 0. 0. 1. 0.03504507] [ 0. 0. 0. 1. ]] SLAMing on 20.49432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:-2.44, Z:0.04 [[ 0.98638414 0.16445768 0. 21.85574189] [-0.16445768 0.98638414 0. -2.44180095] [ 0. 0. 1. 0.03550126] [ 0. 0. 0. 1. ]] SLAMing on 20.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:-2.45, Z:0.04 [[ 0.98639659 0.164383 0. 21.88843184] [-0.164383 0.98639659 0. -2.4488426 ] [ 0. 0. 1. 0.03648367] [ 0. 0. 0. 1. ]] SLAMing on 20.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:-2.45, Z:0.04 [[ 0.98638362 0.16446081 0. 21.91875125] [-0.16446081 0.98638362 0. -2.45466963] [ 0. 0. 1. 0.03569151] [ 0. 0. 0. 1. ]] SLAMing on 20.584319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:-2.46, Z:0.04 [[ 0.98629937 0.16496532 0. 21.94803078] [-0.16496532 0.98629937 0. -2.46001743] [ 0. 0. 1. 0.03691561] [ 0. 0. 0. 1. ]] SLAMing on 20.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:-2.46, Z:0.04 [[ 0.9866212 0.1630295 0. 21.97950341] [-0.1630295 0.9866212 0. -2.46431623] [ 0. 0. 1. 0.03546304] [ 0. 0. 0. 1. ]] SLAMing on 20.644319999999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.01, Y:-2.47, Z:0.04 [[ 0.9867208 0.16242556 0. 22.01282583] [-0.16242556 0.9867208 0. -2.47247608] [ 0. 0. 1. 0.03510172] [ 0. 0. 0. 1. ]] SLAMing on 20.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:-2.48, Z:0.03 [[ 0.98697254 0.16088877 0. 22.04260722] [-0.16088877 0.98697254 0. -2.47825639] [ 0. 0. 1. 0.03475426] [ 0. 0. 0. 1. ]] SLAMing on 20.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.49, Z:0.04 [[ 0.98694972 0.16102873 0. 22.07553344] [-0.16102873 0.98694972 0. -2.48739997] [ 0. 0. 1. 0.03566191] [ 0. 0. 0. 1. ]] SLAMing on 20.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:-2.49, Z:0.03 [[ 0.9870147 0.16062994 0. 22.10335042] [-0.16062994 0.9870147 0. -2.49257948] [ 0. 0. 1. 0.03427105] [ 0. 0. 0. 1. ]] SLAMing on 20.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:-2.50, Z:0.03 [[ 0.98716177 0.15972362 0. 22.13904101] [-0.15972362 0.98716177 0. -2.49972179] [ 0. 0. 1. 0.03459321] [ 0. 0. 0. 1. ]] SLAMing on 20.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:-2.51, Z:0.03 [[ 0.98714627 0.15981942 0. 22.16816743] [-0.15981942 0.98714627 0. -2.50576232] [ 0. 0. 1. 0.03411235] [ 0. 0. 0. 1. ]] SLAMing on 20.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.51, Z:0.03 [[ 0.98697745 0.16085866 0. 22.19713165] [-0.16085866 0.98697745 0. -2.51410819] [ 0. 0. 1. 0.03448891] [ 0. 0. 0. 1. ]] SLAMing on 20.854319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.52, Z:0.04 [[ 0.98712033 0.15997955 0. 22.22969033] [-0.15997955 0.98712033 0. -2.52080946] [ 0. 0. 1. 0.03525731] [ 0. 0. 0. 1. ]] SLAMing on 20.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.53, Z:0.03 [[ 0.98712044 0.15997887 0. 22.26240428] [-0.15997887 0.98712044 0. -2.52754688] [ 0. 0. 1. 0.03490106] [ 0. 0. 0. 1. ]] SLAMing on 20.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:-2.53, Z:0.03 [[ 0.98703622 0.16049768 0. 22.29425061] [-0.16049768 0.98703622 0. -2.53466441] [ 0. 0. 1. 0.03384821] [ 0. 0. 0. 1. ]] SLAMing on 20.944319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:-2.54, Z:0.03 [[ 0.98690344 0.16131211 0. 22.32631645] [-0.16131211 0.98690344 0. -2.54183112] [ 0. 0. 1. 0.03364228] [ 0. 0. 0. 1. ]] SLAMing on 20.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.55, Z:0.03 [[ 0.98673854 0.16231779 0. 22.35721122] [-0.16231779 0.98673854 0. -2.54938238] [ 0. 0. 1. 0.03380241] [ 0. 0. 0. 1. ]] SLAMing on 21.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-2.56, Z:0.03 [[ 0.98640284 0.16434551 0. 22.38976028] [-0.16434551 0.98640284 0. -2.5569887 ] [ 0. 0. 1. 0.03344364] [ 0. 0. 0. 1. ]] SLAMing on 21.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-2.56, Z:0.03 [[ 0.98638683 0.16444157 0. 22.42070266] [-0.16444157 0.98638683 0. -2.56347584] [ 0. 0. 1. 0.0347698 ] [ 0. 0. 0. 1. ]] SLAMing on 21.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-2.57, Z:0.03 [[ 0.98606968 0.16633274 0. 22.45223709] [-0.16633274 0.98606968 0. -2.57065439] [ 0. 0. 1. 0.0349196 ] [ 0. 0. 0. 1. ]] SLAMing on 21.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:-2.58, Z:0.03 [[ 0.98551306 0.16959956 0. 22.48299862] [-0.16959956 0.98551306 0. -2.57789841] [ 0. 0. 1. 0.03479265] [ 0. 0. 0. 1. ]] SLAMing on 21.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:-2.58, Z:0.04 [[ 0.98510781 0.17193777 0. 22.51332305] [-0.17193777 0.98510781 0. -2.58440271] [ 0. 0. 1. 0.03591357] [ 0. 0. 0. 1. ]] SLAMing on 21.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.59, Z:0.04 [[ 0.98431473 0.17642138 0. 22.54570646] [-0.17642138 0.98431473 0. -2.59174311] [ 0. 0. 1. 0.03756273] [ 0. 0. 0. 1. ]] SLAMing on 21.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.60, Z:0.04 [[ 0.9839012 0.17871325 0. 22.57722535] [-0.17871325 0.9839012 0. -2.59857571] [ 0. 0. 1. 0.03755284] [ 0. 0. 0. 1. ]] SLAMing on 21.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:-2.61, Z:0.04 [[ 0.98353313 0.18072793 0. 22.60982288] [-0.18072793 0.98353313 0. -2.60542351] [ 0. 0. 1. 0.0377209 ] [ 0. 0. 0. 1. ]] SLAMing on 21.24432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:-2.62, Z:0.04 [[ 0.98275008 0.18493859 0. 22.64558754] [-0.18493859 0.98275008 0. -2.61690888] [ 0. 0. 1. 0.03640629] [ 0. 0. 0. 1. ]] SLAMing on 21.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:-2.62, Z:0.04 [[ 0.98290388 0.18411944 0. 22.67222686] [-0.18411944 0.98290388 0. -2.61993719] [ 0. 0. 1. 0.03643506] [ 0. 0. 0. 1. ]] SLAMing on 21.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-2.63, Z:0.04 [[ 0.98281479 0.18459441 0. 22.70396585] [-0.18459441 0.98281479 0. -2.62729008] [ 0. 0. 1. 0.03585812] [ 0. 0. 0. 1. ]] SLAMing on 21.334319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.63, Z:0.04 [[ 0.98332731 0.18184444 0. 22.73964078] [-0.18184444 0.98332731 0. -2.63396505] [ 0. 0. 1. 0.03600069] [ 0. 0. 0. 1. ]] SLAMing on 21.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:-2.64, Z:0.04 [[ 0.98318414 0.18261693 0. 22.76775121] [-0.18261693 0.98318414 0. -2.64257376] [ 0. 0. 1. 0.03560962] [ 0. 0. 0. 1. ]] SLAMing on 21.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.65, Z:0.04 [[ 0.98328215 0.18208847 0. 22.79932 ] [-0.18208847 0.98328215 0. -2.65112377] [ 0. 0. 1. 0.03564224] [ 0. 0. 0. 1. ]] SLAMing on 21.424319999999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.83, Y:-2.66, Z:0.04 [[ 0.98349872 0.18091507 0. 22.83144233] [-0.18091507 0.98349872 0. -2.6592417 ] [ 0. 0. 1. 0.03569396] [ 0. 0. 0. 1. ]] SLAMing on 21.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:-2.67, Z:0.04 [[ 0.98398414 0.17825604 0. 22.86291541] [-0.17825604 0.98398414 0. -2.66787713] [ 0. 0. 1. 0.03592624] [ 0. 0. 0. 1. ]] SLAMing on 21.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:-2.68, Z:0.04 [[ 0.98422424 0.17692553 0. 22.89506239] [-0.17692553 0.98422424 0. -2.67551165] [ 0. 0. 1. 0.03626759] [ 0. 0. 0. 1. ]] SLAMing on 21.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.68, Z:0.04 [[ 0.98451986 0.17527307 0. 22.92632401] [-0.17527307 0.98451986 0. -2.68307941] [ 0. 0. 1. 0.03616718] [ 0. 0. 0. 1. ]] SLAMing on 21.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:-2.69, Z:0.04 [[ 0.98502934 0.1723868 0. 22.95768024] [-0.1723868 0.98502934 0. -2.69237799] [ 0. 0. 1. 0.03621778] [ 0. 0. 0. 1. ]] SLAMing on 21.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:-2.70, Z:0.04 [[ 0.98523228 0.17122312 0. 22.98975647] [-0.17122312 0.98523228 0. -2.70052317] [ 0. 0. 1. 0.03706645] [ 0. 0. 0. 1. ]] SLAMing on 21.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:-2.71, Z:0.03 [[ 0.98503027 0.17238148 0. 23.01988194] [-0.17238148 0.98503027 0. -2.71221697] [ 0. 0. 1. 0.03261175] [ 0. 0. 0. 1. ]] SLAMing on 21.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.05, Y:-2.72, Z:0.04 [[ 0.98545886 0.16991419 0. 23.05011591] [-0.16991419 0.98545886 0. -2.71647855] [ 0. 0. 1. 0.0351276 ] [ 0. 0. 0. 1. ]] SLAMing on 21.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:-2.73, Z:0.03 [[ 0.98532199 0.17070609 0. 23.08418941] [-0.17070609 0.98532199 0. -2.7260071 ] [ 0. 0. 1. 0.03492762] [ 0. 0. 0. 1. ]] SLAMing on 21.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:-2.73, Z:0.03 [[ 0.98529604 0.17085582 0. 23.11295841] [-0.17085582 0.98529604 0. -2.73269867] [ 0. 0. 1. 0.03381895] [ 0. 0. 0. 1. ]] SLAMing on 21.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.74, Z:0.03 [[ 0.98492876 0.17296052 0. 23.14689677] [-0.17296052 0.98492876 0. -2.74282041] [ 0. 0. 1. 0.03254594] [ 0. 0. 0. 1. ]] SLAMing on 21.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.75, Z:0.03 [[ 0.98463165 0.17464394 0. 23.17755979] [-0.17464394 0.98463165 0. -2.75044482] [ 0. 0. 1. 0.03373988] [ 0. 0. 0. 1. ]] SLAMing on 21.784319999999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.21, Y:-2.76, Z:0.04 [[ 0.98448579 0.17546434 0. 23.20860763] [-0.17546434 0.98448579 0. -2.75702303] [ 0. 0. 1. 0.03588148] [ 0. 0. 0. 1. ]] SLAMing on 21.814319999999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.24, Y:-2.76, Z:0.04 [[ 0.98447883 0.1755034 0. 23.24143816] [-0.1755034 0.98447883 0. -2.76365009] [ 0. 0. 1. 0.03588148] [ 0. 0. 0. 1. ]] SLAMing on 21.844319999999996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.27, Y:-2.77, Z:0.03 [[ 0.98406762 0.17779461 0. 23.27122035] [-0.17779461 0.98406762 0. -2.76982055] [ 0. 0. 1. 0.03388869] [ 0. 0. 0. 1. ]] SLAMing on 21.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.78, Z:0.04 [[ 0.98380451 0.17924478 0. 23.30364237] [-0.17924478 0.98380451 0. -2.77699461] [ 0. 0. 1. 0.03583833] [ 0. 0. 0. 1. ]] SLAMing on 21.904319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-2.79, Z:0.04 [[ 0.98354443 0.1806664 0. 23.33410666] [-0.1806664 0.98354443 0. -2.78545157] [ 0. 0. 1. 0.0358215 ] [ 0. 0. 0. 1. ]] SLAMing on 21.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:-2.79, Z:0.04 [[ 0.98348337 0.1809985 0. 23.36600223] [-0.1809985 0.98348337 0. -2.79303459] [ 0. 0. 1. 0.03693973] [ 0. 0. 0. 1. ]] SLAMing on 21.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.40, Y:-2.80, Z:0.04 [[ 0.98337315 0.18159641 0. 23.3964939 ] [-0.18159641 0.98337315 0. -2.80077761] [ 0. 0. 1. 0.03667217] [ 0. 0. 0. 1. ]] SLAMing on 21.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.43, Y:-2.81, Z:0.04 [[ 0.98351209 0.18084237 0. 23.42851139] [-0.18084237 0.98351209 0. -2.80937157] [ 0. 0. 1. 0.03655165] [ 0. 0. 0. 1. ]] SLAMing on 22.024319999999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.46, Y:-2.82, Z:0.04 [[ 0.98371104 0.17975701 0. 23.46120155] [-0.17975701 0.98371104 0. -2.81641823] [ 0. 0. 1. 0.03627374] [ 0. 0. 0. 1. ]] SLAMing on 22.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:-2.82, Z:0.04 [[ 0.98379538 0.17929488 0. 23.49346514] [-0.17929488 0.98379538 0. -2.82386968] [ 0. 0. 1. 0.03594014] [ 0. 0. 0. 1. ]] SLAMing on 22.084319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:-2.83, Z:0.04 [[ 0.98407598 0.1777483 0. 23.52468292] [-0.1777483 0.98407598 0. -2.83293484] [ 0. 0. 1. 0.03532596] [ 0. 0. 0. 1. ]] SLAMing on 22.114319999999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.84, Z:0.04 [[ 0.98419257 0.17710162 0. 23.55712822] [-0.17710162 0.98419257 0. -2.84067244] [ 0. 0. 1. 0.03566982] [ 0. 0. 0. 1. ]] SLAMing on 22.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.85, Z:0.04 [[ 0.98424369 0.17681729 0. 23.58858308] [-0.17681729 0.98424369 0. -2.84786566] [ 0. 0. 1. 0.036404 ] [ 0. 0. 0. 1. ]] SLAMing on 22.174319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.86, Z:0.04 [[ 0.98439818 0.17595517 0. 23.62019521] [-0.17595517 0.98439818 0. -2.85501481] [ 0. 0. 1. 0.0354834 ] [ 0. 0. 0. 1. ]] SLAMing on 22.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.86, Z:0.03 [[ 0.98462758 0.17466689 0. 23.65115729] [-0.17466689 0.98462758 0. -2.86304632] [ 0. 0. 1. 0.03363448] [ 0. 0. 0. 1. ]] SLAMing on 22.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:-2.87, Z:0.03 [[ 0.98464871 0.17454773 0. 23.68334475] [-0.17454773 0.98464871 0. -2.87112531] [ 0. 0. 1. 0.03213617] [ 0. 0. 0. 1. ]] SLAMing on 22.264319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-2.88, Z:0.03 [[ 0.98488927 0.17318523 0. 23.71534066] [-0.17318523 0.98488927 0. -2.87867205] [ 0. 0. 1. 0.03301517] [ 0. 0. 0. 1. ]] SLAMing on 22.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:-2.89, Z:0.03 [[ 0.98516144 0.17163022 0. 23.7471137 ] [-0.17163022 0.98516144 0. -2.88658721] [ 0. 0. 1. 0.03298166] [ 0. 0. 0. 1. ]] SLAMing on 22.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:-2.89, Z:0.03 [[ 0.98520162 0.17139945 0. 23.77971881] [-0.17139945 0.98520162 0. -2.89353105] [ 0. 0. 1. 0.03317492] [ 0. 0. 0. 1. ]] SLAMing on 22.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:-2.90, Z:0.03 [[ 0.98526702 0.1710231 0. 23.81193648] [-0.1710231 0.98526702 0. -2.90080606] [ 0. 0. 1. 0.03387515] [ 0. 0. 0. 1. ]] SLAMing on 22.384319999999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.84, Y:-2.91, Z:0.03 [[ 0.98522565 0.17126123 0. 23.84278734] [-0.17126123 0.98522565 0. -2.90817115] [ 0. 0. 1. 0.03430524] [ 0. 0. 0. 1. ]] SLAMing on 22.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:-2.92, Z:0.04 [[ 0.9852523 0.17110789 0. 23.87533429] [-0.17110789 0.9852523 0. -2.91566133] [ 0. 0. 1. 0.03527882] [ 0. 0. 0. 1. ]] SLAMing on 22.444319999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.92, Z:0.04 [[ 0.98521602 0.17131662 0. 23.90716963] [-0.17131662 0.98521602 0. -2.92280972] [ 0. 0. 1. 0.03582066] [ 0. 0. 0. 1. ]] SLAMing on 22.474319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.94, Y:-2.93, Z:0.04 [[ 0.98508021 0.17209582 0. 23.93802939] [-0.17209582 0.98508021 0. -2.92902063] [ 0. 0. 1. 0.03599896] [ 0. 0. 0. 1. ]] SLAMing on 22.504319999999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:23.97, Y:-2.94, Z:0.04 [[ 0.98481409 0.17361224 0. 23.97023512] [-0.17361224 0.98481409 0. -2.93581704] [ 0. 0. 1. 0.03604666] [ 0. 0. 0. 1. ]] SLAMing on 22.534319999999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.00, Y:-2.94, Z:0.04 [[ 0.98430215 0.17649161 0. 24.00182467] [-0.17649161 0.98430215 0. -2.94268219] [ 0. 0. 1. 0.03573036] [ 0. 0. 0. 1. ]] SLAMing on 22.564319999999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.04, Y:-2.95, Z:0.03 [[ 0.98424095 0.17683254 0. 24.03546404] [-0.17683254 0.98424095 0. -2.94946704] [ 0. 0. 1. 0.03280645] [ 0. 0. 0. 1. ]] SLAMing on 22.594319999999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.07, Y:-2.96, Z:0.04 [[ 0.98421519 0.17697587 0. 24.06920654] [-0.17697587 0.98421519 0. -2.9556671 ] [ 0. 0. 1. 0.03556245] [ 0. 0. 0. 1. ]] SLAMing on 22.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:-2.96, Z:0.04 [[ 0.98388821 0.17878475 0. 24.09917412] [-0.17878475 0.98388821 0. -2.9621005 ] [ 0. 0. 1. 0.03541322] [ 0. 0. 0. 1. ]] SLAMing on 22.654319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.13, Y:-2.97, Z:0.04 [[ 0.98358403 0.18045071 0. 24.12984425] [-0.18045071 0.98358403 0. -2.96901067] [ 0. 0. 1. 0.03555755] [ 0. 0. 0. 1. ]] SLAMing on 22.684319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.16, Y:-2.98, Z:0.04 [[ 0.98356742 0.18054124 0. 24.16175345] [-0.18054124 0.98356742 0. -2.97655914] [ 0. 0. 1. 0.03513226] [ 0. 0. 0. 1. ]] SLAMing on 22.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:-2.98, Z:0.04 [[ 0.98360736 0.18032351 0. 24.1941188 ] [-0.18032351 0.98360736 0. -2.9836813 ] [ 0. 0. 1. 0.0354384 ] [ 0. 0. 0. 1. ]] SLAMing on 22.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-2.99, Z:0.04 [[ 0.98359166 0.18040912 0. 24.22539064] [-0.18040912 0.98359166 0. -2.99057377] [ 0. 0. 1. 0.03595045] [ 0. 0. 0. 1. ]] SLAMing on 22.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:-3.00, Z:0.04 [[ 0.98366515 0.180008 0. 24.25768345] [-0.180008 0.98366515 0. -2.99692457] [ 0. 0. 1. 0.03593038] [ 0. 0. 0. 1. ]] SLAMing on 22.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:-3.00, Z:0.03 [[ 0.98405109 0.17788607 0. 24.28989652] [-0.17788607 0.98405109 0. -3.00268685] [ 0. 0. 1. 0.03401452] [ 0. 0. 0. 1. ]] SLAMing on 22.834319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.32, Y:-3.01, Z:0.03 [[ 0.9839534 0.17842563 0. 24.32263863] [-0.17842563 0.9839534 0. -3.01140174] [ 0. 0. 1. 0.03407938] [ 0. 0. 0. 1. ]] SLAMing on 22.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.35, Y:-3.02, Z:0.04 [[ 0.98410214 0.1776034 0. 24.35144724] [-0.1776034 0.98410214 0. -3.01762797] [ 0. 0. 1. 0.03548315] [ 0. 0. 0. 1. ]] SLAMing on 22.894319999999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.38, Y:-3.03, Z:0.04 [[ 0.98446465 0.17558288 0. 24.38416971] [-0.17558288 0.98446465 0. -3.02600751] [ 0. 0. 1. 0.03516226] [ 0. 0. 0. 1. ]] SLAMing on 22.924319999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.41, Y:-3.03, Z:0.04 [[ 0.98470492 0.17423039 0. 24.41447442] [-0.17423039 0.98470492 0. -3.03155268] [ 0. 0. 1. 0.03582168] [ 0. 0. 0. 1. ]] SLAMing on 22.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:-3.04, Z:0.04 [[ 0.98463644 0.17461694 0. 24.44649007] [-0.17461694 0.98463644 0. -3.03949763] [ 0. 0. 1. 0.03513408] [ 0. 0. 0. 1. ]] SLAMing on 22.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:-3.05, Z:0.04 [[ 0.98484524 0.17343544 0. 24.47726766] [-0.17343544 0.98484524 0. -3.04504221] [ 0. 0. 1. 0.03535905] [ 0. 0. 0. 1. ]] SLAMing on 23.014319999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.51, Y:-3.05, Z:0.04 [[ 0.98458315 0.17491719 0. 24.50529036] [-0.17491719 0.98458315 0. -3.0522562 ] [ 0. 0. 1. 0.03505127] [ 0. 0. 0. 1. ]] SLAMing on 23.044319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.54, Y:-3.06, Z:0.04 [[ 0.98457807 0.17494576 0. 24.53764583] [-0.17494576 0.98457807 0. -3.05882726] [ 0. 0. 1. 0.03512825] [ 0. 0. 0. 1. ]] SLAMing on 23.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.57, Y:-3.07, Z:0.03 [[ 0.98470362 0.17423772 0. 24.56947308] [-0.17423772 0.98470362 0. -3.06563336] [ 0. 0. 1. 0.03423019] [ 0. 0. 0. 1. ]] SLAMing on 23.104319999999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.60, Y:-3.07, Z:0.04 [[ 0.98449575 0.17540842 0. 24.59983924] [-0.17540842 0.98449575 0. -3.07265708] [ 0. 0. 1. 0.03519123] [ 0. 0. 0. 1. ]] SLAMing on 23.134319999999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.63, Y:-3.08, Z:0.03 [[ 0.98441906 0.1758383 0. 24.63195479] [-0.1758383 0.98441906 0. -3.07992288] [ 0. 0. 1. 0.03482951] [ 0. 0. 0. 1. ]] SLAMing on 23.164319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.66, Y:-3.09, Z:0.04 [[ 0.98420034 0.17705845 0. 24.6634144 ] [-0.17705845 0.98420034 0. -3.08733763] [ 0. 0. 1. 0.03613456] [ 0. 0. 0. 1. ]] SLAMing on 23.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:-3.10, Z:0.04 [[ 0.98355501 0.18060882 0. 24.70105187] [-0.18060882 0.98355501 0. -3.10044909] [ 0. 0. 1. 0.03617399] [ 0. 0. 0. 1. ]] SLAMing on 23.224319999999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.73, Y:-3.10, Z:0.04 [[ 0.98379406 0.17930212 0. 24.72622781] [-0.17930212 0.98379406 0. -3.10052341] [ 0. 0. 1. 0.03675073] [ 0. 0. 0. 1. ]] SLAMing on 23.254319999999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:24.76, Y:-3.11, Z:0.04 [[ 0.98304579 0.18336025 0. 24.75910108] [-0.18336025 0.98304579 0. -3.10655516] [ 0. 0. 1. 0.03600272] [ 0. 0. 0. 1. ]] SLAMing on 23.284319999999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.79, Y:-3.11, Z:0.04 [[ 0.98255725 0.18596033 0. 24.79027805] [-0.18596033 0.98255725 0. -3.11289191] [ 0. 0. 1. 0.03712237] [ 0. 0. 0. 1. ]] SLAMing on 23.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-3.12, Z:0.04 [[ 0.9821577 0.18805919 0. 24.82426064] [-0.18805919 0.9821577 0. -3.12027909] [ 0. 0. 1. 0.03554624] [ 0. 0. 0. 1. ]] SLAMing on 23.344319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.85, Y:-3.13, Z:0.04 [[ 0.98155011 0.19120506 0. 24.8525368 ] [-0.19120506 0.98155011 0. -3.12653232] [ 0. 0. 1. 0.03776349] [ 0. 0. 0. 1. ]] SLAMing on 23.374319999999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.88, Y:-3.13, Z:0.04 [[ 0.98118844 0.19305243 0. 24.88427147] [-0.19305243 0.98118844 0. -3.13311136] [ 0. 0. 1. 0.03796494] [ 0. 0. 0. 1. ]] SLAMing on 23.404319999999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:24.92, Y:-3.14, Z:0.04 [[ 0.98084316 0.19479911 0. 24.91697682] [-0.19479911 0.98084316 0. -3.13828948] [ 0. 0. 1. 0.03609944] [ 0. 0. 0. 1. ]] SLAMing on 23.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:-3.15, Z:0.04 [[ 0.98032387 0.19739583 0. 24.95335361] [-0.19739583 0.98032387 0. -3.14973166] [ 0. 0. 1. 0.03637311] [ 0. 0. 0. 1. ]] SLAMing on 23.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:-3.15, Z:0.04 [[ 0.98064906 0.1957739 0. 24.97974868] [-0.1957739 0.98064906 0. -3.15172139] [ 0. 0. 1. 0.03607452] [ 0. 0. 0. 1. ]] SLAMing on 23.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:-3.16, Z:0.03 [[ 0.98076742 0.19518008 0. 25.01179259] [-0.19518008 0.98076742 0. -3.15952618] [ 0. 0. 1. 0.03495988] [ 0. 0. 0. 1. ]] SLAMing on 23.524319999999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.04, Y:-3.17, Z:0.03 [[ 0.98084419 0.19479391 0. 25.04354753] [-0.19479391 0.98084419 0. -3.1670093 ] [ 0. 0. 1. 0.03497152] [ 0. 0. 0. 1. ]] SLAMing on 23.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:-3.17, Z:0.04 [[ 0.98097532 0.19413249 0. 25.07528777] [-0.19413249 0.98097532 0. -3.17436785] [ 0. 0. 1. 0.03531022] [ 0. 0. 0. 1. ]] SLAMing on 23.584319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-3.18, Z:0.03 [[ 0.98145826 0.19167599 0. 25.10773598] [-0.19167599 0.98145826 0. -3.1808715 ] [ 0. 0. 1. 0.03480812] [ 0. 0. 0. 1. ]] SLAMing on 23.614319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.14, Y:-3.19, Z:0.03 [[ 0.9816534 0.19067405 0. 25.13890095] [-0.19067405 0.9816534 0. -3.18795972] [ 0. 0. 1. 0.03445816] [ 0. 0. 0. 1. ]] SLAMing on 23.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-3.20, Z:0.03 [[ 0.98191167 0.18933955 0. 25.17048442] [-0.18933955 0.98191167 0. -3.19553707] [ 0. 0. 1. 0.03447954] [ 0. 0. 0. 1. ]] SLAMing on 23.674319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-3.20, Z:0.04 [[ 0.98240581 0.18675873 0. 25.20195792] [-0.18675873 0.98240581 0. -3.20440702] [ 0. 0. 1. 0.03516988] [ 0. 0. 0. 1. ]] SLAMing on 23.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:-3.21, Z:0.04 [[ 0.98268843 0.18526591 0. 25.23330201] [-0.18526591 0.98268843 0. -3.21172481] [ 0. 0. 1. 0.03545507] [ 0. 0. 0. 1. ]] SLAMing on 23.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:-3.22, Z:0.04 [[ 0.98263193 0.18556535 0. 25.26592048] [-0.18556535 0.98263193 0. -3.2189835 ] [ 0. 0. 1. 0.03545507] [ 0. 0. 0. 1. ]] SLAMing on 23.764319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:-3.23, Z:0.04 [[ 0.98291125 0.18408008 0. 25.29925842] [-0.18408008 0.98291125 0. -3.22648184] [ 0. 0. 1. 0.03588628] [ 0. 0. 0. 1. ]] SLAMing on 23.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:-3.23, Z:0.03 [[ 0.98329582 0.18201467 0. 25.33169139] [-0.18201467 0.98329582 0. -3.23274452] [ 0. 0. 1. 0.03488421] [ 0. 0. 0. 1. ]] SLAMing on 23.824319999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.36, Y:-3.24, Z:0.03 [[ 0.98322061 0.18242046 0. 25.36156421] [-0.18242046 0.98322061 0. -3.23920114] [ 0. 0. 1. 0.03421763] [ 0. 0. 0. 1. ]] SLAMing on 23.854319999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.39, Y:-3.25, Z:0.03 [[ 0.9831679 0.18270434 0. 25.39465793] [-0.18270434 0.9831679 0. -3.24739928] [ 0. 0. 1. 0.0338532 ] [ 0. 0. 0. 1. ]] SLAMing on 23.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-3.25, Z:0.04 [[ 0.98314327 0.18283684 0. 25.42383402] [-0.18283684 0.98314327 0. -3.25242997] [ 0. 0. 1. 0.03503605] [ 0. 0. 0. 1. ]] SLAMing on 23.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.46, Y:-3.26, Z:0.03 [[ 0.9827779 0.18479068 0. 25.45839597] [-0.18479068 0.9827779 0. -3.25900974] [ 0. 0. 1. 0.03279316] [ 0. 0. 0. 1. ]] SLAMing on 23.944319999999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.49, Y:-3.26, Z:0.03 [[ 0.98252709 0.18611962 0. 25.48989566] [-0.18611962 0.98252709 0. -3.2648365 ] [ 0. 0. 1. 0.03360558] [ 0. 0. 0. 1. ]] SLAMing on 23.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:-3.27, Z:0.03 [[ 0.98225966 0.18752591 0. 25.52150297] [-0.18752591 0.98225966 0. -3.27069648] [ 0. 0. 1. 0.0331919 ] [ 0. 0. 0. 1. ]] SLAMing on 24.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.55, Y:-3.28, Z:0.03 [[ 0.98199722 0.18889535 0. 25.55156759] [-0.18889535 0.98199722 0. -3.27575601] [ 0. 0. 1. 0.03458975] [ 0. 0. 0. 1. ]] SLAMing on 24.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:-3.28, Z:0.03 [[ 0.98141914 0.19187618 0. 25.58466705] [-0.19187618 0.98141914 0. -3.28097109] [ 0. 0. 1. 0.03471494] [ 0. 0. 0. 1. ]] SLAMing on 24.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:-3.29, Z:0.04 [[ 0.98102709 0.1938707 0. 25.61556852] [-0.1938707 0.98102709 0. -3.28703215] [ 0. 0. 1. 0.03614626] [ 0. 0. 0. 1. ]] SLAMing on 24.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:-3.29, Z:0.04 [[ 0.98076159 0.1952094 0. 25.64941562] [-0.1952094 0.98076159 0. -3.29313738] [ 0. 0. 1. 0.03600863] [ 0. 0. 0. 1. ]] SLAMing on 24.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-3.30, Z:0.04 [[ 0.97984853 0.19974198 0. 25.67908694] [-0.19974198 0.97984853 0. -3.29721828] [ 0. 0. 1. 0.03642659] [ 0. 0. 0. 1. ]] SLAMing on 24.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:-3.30, Z:0.04 [[ 0.97945918 0.20164252 0. 25.71193869] [-0.20164252 0.97945918 0. -3.30325788] [ 0. 0. 1. 0.03645102] [ 0. 0. 0. 1. ]] SLAMing on 24.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:-3.31, Z:0.04 [[ 0.97914614 0.20315716 0. 25.74359289] [-0.20315716 0.97914614 0. -3.30683439] [ 0. 0. 1. 0.03521933] [ 0. 0. 0. 1. ]] SLAMing on 24.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-3.31, Z:0.04 [[ 0.97873153 0.20514529 0. 25.77536266] [-0.20514529 0.97873153 0. -3.31403807] [ 0. 0. 1. 0.03620841] [ 0. 0. 0. 1. ]] SLAMing on 24.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.81, Y:-3.32, Z:0.03 [[ 0.97882372 0.20470498 0. 25.80686442] [-0.20470498 0.97882372 0. -3.31872065] [ 0. 0. 1. 0.03412756] [ 0. 0. 0. 1. ]] SLAMing on 24.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:-3.32, Z:0.03 [[ 0.97895384 0.20408177 0. 25.8383359 ] [-0.20408177 0.97895384 0. -3.32403645] [ 0. 0. 1. 0.03336574] [ 0. 0. 0. 1. ]] SLAMing on 24.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.87, Y:-3.33, Z:0.03 [[ 0.97929047 0.2024603 0. 25.87049209] [-0.2024603 0.97929047 0. -3.33092189] [ 0. 0. 1. 0.03341562] [ 0. 0. 0. 1. ]] SLAMing on 24.334319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:-3.34, Z:0.04 [[ 0.97945215 0.20167671 0. 25.90151571] [-0.20167671 0.97945215 0. -3.33826386] [ 0. 0. 1. 0.03617174] [ 0. 0. 0. 1. ]] SLAMing on 24.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:-3.34, Z:0.04 [[ 0.9803376 0.19732764 0. 25.93360481] [-0.19732764 0.9803376 0. -3.34493583] [ 0. 0. 1. 0.03590126] [ 0. 0. 0. 1. ]] SLAMing on 24.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-3.35, Z:0.04 [[ 0.98076736 0.19518039 0. 25.9647879 ] [-0.19518039 0.98076736 0. -3.35186019] [ 0. 0. 1. 0.03607938] [ 0. 0. 0. 1. ]] SLAMing on 24.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-3.36, Z:0.04 [[ 0.98119123 0.19303826 0. 25.99673563] [-0.19303826 0.98119123 0. -3.35889818] [ 0. 0. 1. 0.0360854 ] [ 0. 0. 0. 1. ]] SLAMing on 24.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:-3.37, Z:0.04 [[ 0.98205542 0.18859256 0. 26.029457 ] [-0.18859256 0.98205542 0. -3.36558666] [ 0. 0. 1. 0.03657942] [ 0. 0. 0. 1. ]] SLAMing on 24.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.06, Y:-3.37, Z:0.03 [[ 0.98220403 0.18781706 0. 26.06358165] [-0.18781706 0.98220403 0. -3.37407931] [ 0. 0. 1. 0.03443847] [ 0. 0. 0. 1. ]] SLAMing on 24.514319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.09, Y:-3.38, Z:0.03 [[ 0.98295581 0.183842 0. 26.09323748] [-0.183842 0.98295581 0. -3.37639167] [ 0. 0. 1. 0.03438405] [ 0. 0. 0. 1. ]] SLAMing on 24.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:-3.38, Z:0.03 [[ 0.98314975 0.182802 0. 26.12528509] [-0.182802 0.98314975 0. -3.38345097] [ 0. 0. 1. 0.03391383] [ 0. 0. 0. 1. ]] SLAMing on 24.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-3.39, Z:0.03 [[ 0.98327729 0.18211474 0. 26.15674785] [-0.18211474 0.98327729 0. -3.39060645] [ 0. 0. 1. 0.03308938] [ 0. 0. 0. 1. ]] SLAMing on 24.604319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:-3.40, Z:0.03 [[ 0.98331604 0.1819054 0. 26.19091461] [-0.1819054 0.98331604 0. -3.39885899] [ 0. 0. 1. 0.03147218] [ 0. 0. 0. 1. ]] SLAMing on 24.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-3.40, Z:0.03 [[ 0.98365124 0.18008399 0. 26.21997755] [-0.18008399 0.98365124 0. -3.40153008] [ 0. 0. 1. 0.03407436] [ 0. 0. 0. 1. ]] SLAMing on 24.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:-3.41, Z:0.03 [[ 0.98368098 0.17992147 0. 26.25129144] [-0.17992147 0.98368098 0. -3.40752474] [ 0. 0. 1. 0.03420037] [ 0. 0. 0. 1. ]] SLAMing on 24.694319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-3.42, Z:0.03 [[ 0.98354528 0.18066179 0. 26.28449156] [-0.18066179 0.98354528 0. -3.41523185] [ 0. 0. 1. 0.03256449] [ 0. 0. 0. 1. ]] SLAMing on 24.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.42, Z:0.04 [[ 0.98349866 0.18091544 0. 26.31367474] [-0.18091544 0.98349866 0. -3.41785533] [ 0. 0. 1. 0.035657 ] [ 0. 0. 0. 1. ]] SLAMing on 24.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.42, Z:0.04 [[ 0.98327334 0.18213604 0. 26.34605127] [-0.18213604 0.98327334 0. -3.42370768] [ 0. 0. 1. 0.0361654 ] [ 0. 0. 0. 1. ]] SLAMing on 24.784319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-3.43, Z:0.04 [[ 0.98295445 0.18384928 0. 26.37715662] [-0.18384928 0.98295445 0. -3.42974819] [ 0. 0. 1. 0.03648067] [ 0. 0. 0. 1. ]] SLAMing on 24.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-3.43, Z:0.04 [[ 0.98231377 0.18724223 0. 26.41020553] [-0.18724223 0.98231377 0. -3.43499939] [ 0. 0. 1. 0.03762271] [ 0. 0. 0. 1. ]] SLAMing on 24.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-3.44, Z:0.04 [[ 0.98184873 0.1896657 0. 26.44159855] [-0.1896657 0.98184873 0. -3.44014712] [ 0. 0. 1. 0.0379322 ] [ 0. 0. 0. 1. ]] SLAMing on 24.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.44, Z:0.04 [[ 0.98136728 0.19214125 0. 26.47448199] [-0.19214125 0.98136728 0. -3.44498508] [ 0. 0. 1. 0.03787631] [ 0. 0. 0. 1. ]] SLAMing on 24.904319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:-3.45, Z:0.04 [[ 0.98051111 0.19646365 0. 26.50785073] [-0.19646365 0.98051111 0. -3.44814712] [ 0. 0. 1. 0.03717666] [ 0. 0. 0. 1. ]] SLAMing on 24.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:-3.45, Z:0.04 [[ 0.98010471 0.19848114 0. 26.53914256] [-0.19848114 0.98010471 0. -3.45441798] [ 0. 0. 1. 0.03661428] [ 0. 0. 0. 1. ]] SLAMing on 24.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:-3.46, Z:0.04 [[ 0.97965813 0.20067372 0. 26.57006095] [-0.20067372 0.97965813 0. -3.46110538] [ 0. 0. 1. 0.03815057] [ 0. 0. 0. 1. ]] SLAMing on 24.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:-3.47, Z:0.04 [[ 0.9791041 0.20335967 0. 26.60247251] [-0.20335967 0.9791041 0. -3.46620336] [ 0. 0. 1. 0.03937291] [ 0. 0. 0. 1. ]] SLAMing on 25.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:-3.47, Z:0.04 [[ 0.97890607 0.20431082 0. 26.63494349] [-0.20431082 0.97890607 0. -3.4723995 ] [ 0. 0. 1. 0.03669277] [ 0. 0. 0. 1. ]] SLAMing on 25.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:-3.48, Z:0.04 [[ 0.97867403 0.20541944 0. 26.66540159] [-0.20541944 0.97867403 0. -3.47512149] [ 0. 0. 1. 0.03777793] [ 0. 0. 0. 1. ]] SLAMing on 25.084319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:-3.48, Z:0.04 [[ 0.97845003 0.20648373 0. 26.6993924 ] [-0.20648373 0.97845003 0. -3.48345441] [ 0. 0. 1. 0.03530953] [ 0. 0. 0. 1. ]] SLAMing on 25.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:-3.49, Z:0.04 [[ 0.97866908 0.20544302 0. 26.72812569] [-0.20544302 0.97866908 0. -3.4873704 ] [ 0. 0. 1. 0.03745652] [ 0. 0. 0. 1. ]] SLAMing on 25.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:-3.49, Z:0.04 [[ 0.97875231 0.20504612 0. 26.7601392 ] [-0.20504612 0.97875231 0. -3.49397767] [ 0. 0. 1. 0.03789548] [ 0. 0. 0. 1. ]] SLAMing on 25.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:-3.50, Z:0.04 [[ 0.9792172 0.20281439 0. 26.79273632] [-0.20281439 0.9792172 0. -3.50018117] [ 0. 0. 1. 0.03782141] [ 0. 0. 0. 1. ]] SLAMing on 25.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:-3.51, Z:0.04 [[ 0.97950854 0.20140261 0. 26.82414579] [-0.20140261 0.97950854 0. -3.50696831] [ 0. 0. 1. 0.03769448] [ 0. 0. 0. 1. ]] SLAMing on 25.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:-3.51, Z:0.04 [[ 0.9798265 0.19985001 0. 26.85545847] [-0.19985001 0.9798265 0. -3.51329029] [ 0. 0. 1. 0.03712338] [ 0. 0. 0. 1. ]] SLAMing on 25.264319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:-3.52, Z:0.03 [[ 0.98017144 0.19815133 0. 26.88909568] [-0.19815133 0.98017144 0. -3.52160374] [ 0. 0. 1. 0.03407636] [ 0. 0. 0. 1. ]] SLAMing on 25.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:-3.53, Z:0.04 [[ 0.98061001 0.19596943 0. 26.91809349] [-0.19596943 0.98061001 0. -3.5265112 ] [ 0. 0. 1. 0.03621547] [ 0. 0. 0. 1. ]] SLAMing on 25.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:-3.53, Z:0.04 [[ 0.98092118 0.19440584 0. 26.94940766] [-0.19440584 0.98092118 0. -3.53323739] [ 0. 0. 1. 0.03652903] [ 0. 0. 0. 1. ]] SLAMing on 25.354319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:-3.54, Z:0.04 [[ 0.98136427 0.1921566 0. 26.9805043 ] [-0.1921566 0.98136427 0. -3.53935233] [ 0. 0. 1. 0.03619607] [ 0. 0. 0. 1. ]] SLAMing on 25.384319999999995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.55, Z:0.04 [[ 0.98151289 0.19139603 0. 27.01195974] [-0.19139603 0.98151289 0. -3.54596601] [ 0. 0. 1. 0.03580809] [ 0. 0. 0. 1. ]] SLAMing on 25.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:-3.55, Z:0.04 [[ 0.98179274 0.18995532 0. 27.04443278] [-0.18995532 0.98179274 0. -3.55142537] [ 0. 0. 1. 0.03512264] [ 0. 0. 0. 1. ]] SLAMing on 25.444319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.08, Y:-3.56, Z:0.03 [[ 0.98186375 0.18958791 0. 27.07530969] [-0.18958791 0.98186375 0. -3.55778261] [ 0. 0. 1. 0.03442376] [ 0. 0. 0. 1. ]] SLAMing on 25.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:-3.56, Z:0.03 [[ 0.98189653 0.18941807 0. 27.10719357] [-0.18941807 0.98189653 0. -3.56460452] [ 0. 0. 1. 0.03398896] [ 0. 0. 0. 1. ]] SLAMing on 25.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:-3.57, Z:0.03 [[ 0.98197394 0.18901637 0. 27.13962101] [-0.18901637 0.98197394 0. -3.57080326] [ 0. 0. 1. 0.03361133] [ 0. 0. 0. 1. ]] SLAMing on 25.534319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:-3.58, Z:0.03 [[ 0.98176479 0.19009972 0. 27.17071132] [-0.19009972 0.98176479 0. -3.57750158] [ 0. 0. 1. 0.03457705] [ 0. 0. 0. 1. ]] SLAMing on 25.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:-3.58, Z:0.03 [[ 0.98154007 0.19125661 0. 27.19987591] [-0.19125661 0.98154007 0. -3.58276866] [ 0. 0. 1. 0.03492159] [ 0. 0. 0. 1. ]] SLAMing on 25.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:-3.59, Z:0.04 [[ 0.98111997 0.19340011 0. 27.23157123] [-0.19340011 0.98111997 0. -3.58976927] [ 0. 0. 1. 0.03608968] [ 0. 0. 0. 1. ]] SLAMing on 25.624319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-3.60, Z:0.04 [[ 0.98105938 0.19370723 0. 27.2640806 ] [-0.19370723 0.98105938 0. -3.59759999] [ 0. 0. 1. 0.03608968] [ 0. 0. 0. 1. ]] SLAMing on 25.654319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:-3.60, Z:0.03 [[ 0.9805866 0.19608653 0. 27.29710099] [-0.19608653 0.9805866 0. -3.60256189] [ 0. 0. 1. 0.03308625] [ 0. 0. 0. 1. ]] SLAMing on 25.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:-3.61, Z:0.03 [[ 0.9802 0.19801 0. 27.32886597] [-0.19801 0.9802 0. -3.60906675] [ 0. 0. 1. 0.03494457] [ 0. 0. 0. 1. ]] SLAMing on 25.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:-3.62, Z:0.04 [[ 0.97922899 0.20275748 0. 27.35954683] [-0.20275748 0.97922899 0. -3.61509075] [ 0. 0. 1. 0.03692286] [ 0. 0. 0. 1. ]] SLAMing on 25.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:-3.62, Z:0.03 [[ 0.9788342 0.20465484 0. 27.39166687] [-0.20465484 0.9788342 0. -3.6219174 ] [ 0. 0. 1. 0.03479684] [ 0. 0. 0. 1. ]] SLAMing on 25.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:-3.63, Z:0.04 [[ 0.97824799 0.20743885 0. 27.42172528] [-0.20743885 0.97824799 0. -3.62868829] [ 0. 0. 1. 0.03670358] [ 0. 0. 0. 1. ]] SLAMing on 25.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:-3.63, Z:0.04 [[ 0.97722832 0.21219049 0. 27.45451371] [-0.21219049 0.97722832 0. -3.63454284] [ 0. 0. 1. 0.03642185] [ 0. 0. 0. 1. ]] SLAMing on 25.834319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.64, Z:0.04 [[ 0.97682803 0.21402569 0. 27.48577155] [-0.21402569 0.97682803 0. -3.64111921] [ 0. 0. 1. 0.03597928] [ 0. 0. 0. 1. ]] SLAMing on 25.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.52, Y:-3.65, Z:0.04 [[ 0.97640293 0.21595673 0. 27.51836638] [-0.21595673 0.97640293 0. -3.64840296] [ 0. 0. 1. 0.03616199] [ 0. 0. 0. 1. ]] SLAMing on 25.894319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.65, Z:0.04 [[ 0.97588613 0.21828022 0. 27.55014075] [-0.21828022 0.97588613 0. -3.65498948] [ 0. 0. 1. 0.03570136] [ 0. 0. 0. 1. ]] SLAMing on 25.924319999999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.58, Y:-3.66, Z:0.04 [[ 0.97576703 0.21881203 0. 27.58207841] [-0.21881203 0.97576703 0. -3.66231579] [ 0. 0. 1. 0.03561134] [ 0. 0. 0. 1. ]] SLAMing on 25.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:-3.67, Z:0.04 [[ 0.97592547 0.21810428 0. 27.6130327 ] [-0.21810428 0.97592547 0. -3.66893921] [ 0. 0. 1. 0.03511519] [ 0. 0. 0. 1. ]] SLAMing on 25.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-3.68, Z:0.03 [[ 0.97609743 0.2173334 0. 27.64538329] [-0.2173334 0.97609743 0. -3.67645892] [ 0. 0. 1. 0.03496202] [ 0. 0. 0. 1. ]] SLAMing on 26.014319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-3.68, Z:0.03 [[ 0.97669049 0.21465246 0. 27.67570749] [-0.21465246 0.97669049 0. -3.68231555] [ 0. 0. 1. 0.03353693] [ 0. 0. 0. 1. ]] SLAMing on 26.044319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:-3.69, Z:0.04 [[ 0.97691441 0.21363106 0. 27.70794802] [-0.21363106 0.97691441 0. -3.69142936] [ 0. 0. 1. 0.03508949] [ 0. 0. 0. 1. ]] SLAMing on 26.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.74, Y:-3.70, Z:0.03 [[ 0.97730821 0.21182227 0. 27.73819687] [-0.21182227 0.97730821 0. -3.69777947] [ 0. 0. 1. 0.03367976] [ 0. 0. 0. 1. ]] SLAMing on 26.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.77, Y:-3.70, Z:0.03 [[ 0.97786879 0.20921908 0. 27.7696539 ] [-0.20921908 0.97786879 0. -3.70290031] [ 0. 0. 1. 0.02996508] [ 0. 0. 0. 1. ]] SLAMing on 26.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.80, Y:-3.71, Z:0.03 [[ 0.97784938 0.20930979 0. 27.80124238] [-0.20930979 0.97784938 0. -3.71074661] [ 0. 0. 1. 0.03252817] [ 0. 0. 0. 1. ]] SLAMing on 26.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:-3.72, Z:0.03 [[ 0.97816488 0.20783039 0. 27.83300569] [-0.20783039 0.97816488 0. -3.71749157] [ 0. 0. 1. 0.03169117] [ 0. 0. 0. 1. ]] SLAMing on 26.194319999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-3.72, Z:0.03 [[ 0.9785796 0.2058688 0. 27.86606873] [-0.2058688 0.9785796 0. -3.72413264] [ 0. 0. 1. 0.03149016] [ 0. 0. 0. 1. ]] SLAMing on 26.224319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:-3.73, Z:0.03 [[ 0.97855647 0.20597872 0. 27.89684852] [-0.20597872 0.97855647 0. -3.73138648] [ 0. 0. 1. 0.0309032 ] [ 0. 0. 0. 1. ]] SLAMing on 26.254319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:-3.74, Z:0.03 [[ 0.97934493 0.20219672 0. 27.933116 ] [-0.20219672 0.97934493 0. -3.73760065] [ 0. 0. 1. 0.0310326 ] [ 0. 0. 0. 1. ]] SLAMing on 26.284319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.96, Y:-3.74, Z:0.03 [[ 0.978945 0.20412422 0. 27.9608565 ] [-0.20412422 0.978945 0. -3.74431776] [ 0. 0. 1. 0.02959709] [ 0. 0. 0. 1. ]] SLAMing on 26.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.99, Y:-3.75, Z:0.03 [[ 0.97899629 0.20387804 0. 27.99301524] [-0.20387804 0.97899629 0. -3.74877474] [ 0. 0. 1. 0.03156831] [ 0. 0. 0. 1. ]] SLAMing on 26.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.02, Y:-3.75, Z:0.03 [[ 0.97904122 0.20366219 0. 28.02459992] [-0.20366219 0.97904122 0. -3.75497954] [ 0. 0. 1. 0.03116436] [ 0. 0. 0. 1. ]] SLAMing on 26.374319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:-3.76, Z:0.03 [[ 0.9789553 0.20407481 0. 28.05624092] [-0.20407481 0.9789553 0. -3.76194687] [ 0. 0. 1. 0.03117915] [ 0. 0. 0. 1. ]] SLAMing on 26.404319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-3.77, Z:0.03 [[ 0.97863426 0.20560882 0. 28.08766217] [-0.20560882 0.97863426 0. -3.76923447] [ 0. 0. 1. 0.03163139] [ 0. 0. 0. 1. ]] SLAMing on 26.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-3.78, Z:0.03 [[ 0.97842474 0.20660356 0. 28.12022797] [-0.20660356 0.97842474 0. -3.77677408] [ 0. 0. 1. 0.03225933] [ 0. 0. 0. 1. ]] SLAMing on 26.464319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:-3.78, Z:0.03 [[ 0.97813488 0.20797154 0. 28.1490829 ] [-0.20797154 0.97813488 0. -3.78225104] [ 0. 0. 1. 0.03201295] [ 0. 0. 0. 1. ]] SLAMing on 26.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.18, Y:-3.79, Z:0.03 [[ 0.9774748 0.21105217 0. 28.18216674] [-0.21105217 0.9774748 0. -3.78901545] [ 0. 0. 1. 0.03269238] [ 0. 0. 0. 1. ]] SLAMing on 26.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.21, Y:-3.79, Z:0.03 [[ 0.97721615 0.21224655 0. 28.21205416] [-0.21224655 0.97721615 0. -3.79451608] [ 0. 0. 1. 0.03251487] [ 0. 0. 0. 1. ]] SLAMing on 26.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.24, Y:-3.80, Z:0.03 [[ 0.97676968 0.21429184 0. 28.24418961] [-0.21429184 0.97676968 0. -3.80303369] [ 0. 0. 1. 0.03294015] [ 0. 0. 0. 1. ]] SLAMing on 26.584319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.27, Y:-3.81, Z:0.03 [[ 0.97583431 0.2185118 0. 28.27300097] [-0.2185118 0.97583431 0. -3.81019274] [ 0. 0. 1. 0.03366679] [ 0. 0. 0. 1. ]] SLAMing on 26.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.30, Y:-3.82, Z:0.03 [[ 0.97552212 0.21990133 0. 28.30433819] [-0.21990133 0.97552212 0. -3.81757248] [ 0. 0. 1. 0.03239701] [ 0. 0. 0. 1. ]] SLAMing on 26.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.33, Y:-3.82, Z:0.03 [[ 0.97493501 0.22248982 0. 28.33280992] [-0.22248982 0.97493501 0. -3.82275006] [ 0. 0. 1. 0.03092551] [ 0. 0. 0. 1. ]] SLAMing on 26.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:-3.83, Z:0.03 [[ 0.97426479 0.22540655 0. 28.36594769] [-0.22540655 0.97426479 0. -3.83315747] [ 0. 0. 1. 0.03248027] [ 0. 0. 0. 1. ]] SLAMing on 26.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:-3.84, Z:0.03 [[ 0.97426666 0.22539847 0. 28.39885419] [-0.22539847 0.97426666 0. -3.84094713] [ 0. 0. 1. 0.03082147] [ 0. 0. 0. 1. ]] SLAMing on 26.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.43, Y:-3.85, Z:0.03 [[ 0.97386645 0.22712141 0. 28.42908842] [-0.22712141 0.97386645 0. -3.8497252 ] [ 0. 0. 1. 0.03141632] [ 0. 0. 0. 1. ]] SLAMing on 26.764319999999994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:28.46, Y:-3.86, Z:0.03 [[ 0.97410541 0.22609432 0. 28.46133711] [-0.22609432 0.97410541 0. -3.85902655] [ 0. 0. 1. 0.02866225] [ 0. 0. 0. 1. ]] SLAMing on 26.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.49, Y:-3.87, Z:0.03 [[ 0.97386896 0.22711063 0. 28.49105229] [-0.22711063 0.97386896 0. -3.86837106] [ 0. 0. 1. 0.03048103] [ 0. 0. 0. 1. ]] SLAMing on 26.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.52, Y:-3.88, Z:0.03 [[ 0.97392954 0.22685073 0. 28.52102112] [-0.22685073 0.97392954 0. -3.87924124] [ 0. 0. 1. 0.03132859] [ 0. 0. 0. 1. ]] SLAMing on 26.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.55, Y:-3.89, Z:0.03 [[ 0.97389134 0.22701467 0. 28.55217306] [-0.22701467 0.97389134 0. -3.88822737] [ 0. 0. 1. 0.03168069] [ 0. 0. 0. 1. ]] SLAMing on 26.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.58, Y:-3.90, Z:0.03 [[ 0.97381679 0.22733426 0. 28.58406872] [-0.22733426 0.97381679 0. -3.89700773] [ 0. 0. 1. 0.03140693] [ 0. 0. 0. 1. ]] SLAMing on 26.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.62, Y:-3.91, Z:0.03 [[ 0.97373742 0.22767396 0. 28.61607173] [-0.22767396 0.97373742 0. -3.90573858] [ 0. 0. 1. 0.03105828] [ 0. 0. 0. 1. ]] SLAMing on 26.944319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:-3.92, Z:0.03 [[ 0.97356771 0.2283986 0. 28.64699478] [-0.2283986 0.97356771 0. -3.91597996] [ 0. 0. 1. 0.02978086] [ 0. 0. 0. 1. ]] SLAMing on 26.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-3.93, Z:0.03 [[ 0.97351654 0.22861658 0. 28.67824674] [-0.22861658 0.97351654 0. -3.92551638] [ 0. 0. 1. 0.02901014] [ 0. 0. 0. 1. ]] SLAMing on 27.004319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:-3.94, Z:0.03 [[ 9.73429782e-01 2.28985720e-01 0.00000000e+00 2.87092380e+01] [-2.28985720e-01 9.73429782e-01 0.00000000e+00 -3.93517921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83961305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:-3.95, Z:0.03 [[ 9.73380814e-01 2.29193784e-01 0.00000000e+00 2.87406332e+01] [-2.29193784e-01 9.73380814e-01 0.00000000e+00 -3.94550250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77615352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:-3.95, Z:0.03 [[ 9.73335911e-01 2.29384404e-01 0.00000000e+00 2.87719885e+01] [-2.29384404e-01 9.73335911e-01 0.00000000e+00 -3.95445819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77171882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:-3.96, Z:0.03 [[ 9.73281057e-01 2.29617037e-01 0.00000000e+00 2.88036738e+01] [-2.29617037e-01 9.73281057e-01 0.00000000e+00 -3.96369316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80764986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:-3.97, Z:0.03 [[ 9.73411585e-01 2.29063061e-01 0.00000000e+00 2.88335404e+01] [-2.29063061e-01 9.73411585e-01 0.00000000e+00 -3.97479563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62206561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.87, Y:-3.98, Z:0.03 [[ 9.73501504e-01 2.28680609e-01 0.00000000e+00 2.88652164e+01] [-2.28680609e-01 9.73501504e-01 0.00000000e+00 -3.98475441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66516500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.00, Z:0.03 [[ 9.73765703e-01 2.27552975e-01 0.00000000e+00 2.88948892e+01] [-2.27552975e-01 9.73765703e-01 0.00000000e+00 -3.99669214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60870035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.01, Z:0.03 [[ 9.73897973e-01 2.26986206e-01 0.00000000e+00 2.89246760e+01] [-2.26986206e-01 9.73897973e-01 0.00000000e+00 -4.00543266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83315707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:-4.01, Z:0.03 [[ 9.74072427e-01 2.26236395e-01 0.00000000e+00 2.89566043e+01] [-2.26236395e-01 9.74072427e-01 0.00000000e+00 -4.01468544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74048476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:-4.02, Z:0.03 [[ 9.74542414e-01 2.24203217e-01 0.00000000e+00 2.89864527e+01] [-2.24203217e-01 9.74542414e-01 0.00000000e+00 -4.02374386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65085227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:-4.03, Z:0.03 [[ 9.74722262e-01 2.23420034e-01 0.00000000e+00 2.90158868e+01] [-2.23420034e-01 9.74722262e-01 0.00000000e+00 -4.03205712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55641406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:-4.04, Z:0.03 [[ 9.74696879e-01 2.23530744e-01 0.00000000e+00 2.90459550e+01] [-2.23530744e-01 9.74696879e-01 0.00000000e+00 -4.04199635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66850677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:-4.05, Z:0.03 [[ 9.75020019e-01 2.22117001e-01 0.00000000e+00 2.90768702e+01] [-2.22117001e-01 9.75020019e-01 0.00000000e+00 -4.05402030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76517699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:-4.06, Z:0.03 [[ 9.75055637e-01 2.21960592e-01 0.00000000e+00 2.91079986e+01] [-2.21960592e-01 9.75055637e-01 0.00000000e+00 -4.06356771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85322407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-4.07, Z:0.03 [[ 9.75036437e-01 2.22044921e-01 0.00000000e+00 2.91398278e+01] [-2.22044921e-01 9.75036437e-01 0.00000000e+00 -4.07292873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85066821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.08, Z:0.03 [[ 9.74901336e-01 2.22637339e-01 0.00000000e+00 2.91722258e+01] [-2.22637339e-01 9.74901336e-01 0.00000000e+00 -4.08351693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75983601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:-4.09, Z:0.03 [[ 9.74873382e-01 2.22759710e-01 0.00000000e+00 2.92012308e+01] [-2.22759710e-01 9.74873382e-01 0.00000000e+00 -4.09104431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72026681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.10, Z:0.03 [[ 9.74686104e-01 2.23577724e-01 0.00000000e+00 2.92335990e+01] [-2.23577724e-01 9.74686104e-01 0.00000000e+00 -4.10095632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77052772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:-4.11, Z:0.03 [[ 9.74653201e-01 2.23721116e-01 0.00000000e+00 2.92660658e+01] [-2.23721116e-01 9.74653201e-01 0.00000000e+00 -4.10909014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77052772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.12, Z:0.03 [[ 9.74253310e-01 2.25456179e-01 0.00000000e+00 2.92948629e+01] [-2.25456179e-01 9.74253310e-01 0.00000000e+00 -4.11872192e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88378311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.33, Y:-4.13, Z:0.03 [[ 0.97397085 0.22667332 0. 29.32661314] [-0.22667332 0.97397085 0. -4.12803616] [ 0. 0. 1. 0.02934987] [ 0. 0. 0. 1. ]] SLAMing on 27.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:-4.14, Z:0.03 [[ 0.97366784 0.22797134 0. 29.3577549 ] [-0.22797134 0.97366784 0. -4.13694289] [ 0. 0. 1. 0.02941233] [ 0. 0. 0. 1. ]] SLAMing on 27.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:-4.15, Z:0.03 [[ 0.97297756 0.2308997 0. 29.38913003] [-0.2308997 0.97297756 0. -4.14617192] [ 0. 0. 1. 0.03012007] [ 0. 0. 0. 1. ]] SLAMing on 27.694319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:-4.15, Z:0.03 [[ 0.97260066 0.23248216 0. 29.41979328] [-0.23248216 0.97260066 0. -4.15431175] [ 0. 0. 1. 0.02990387] [ 0. 0. 0. 1. ]] SLAMing on 27.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.45, Y:-4.16, Z:0.03 [[ 0.97220993 0.23411075 0. 29.45089414] [-0.23411075 0.97220993 0. -4.16264889] [ 0. 0. 1. 0.02979563] [ 0. 0. 0. 1. ]] SLAMing on 27.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.48, Y:-4.17, Z:0.03 [[ 0.97154367 0.23686052 0. 29.48124683] [-0.23686052 0.97154367 0. -4.17191974] [ 0. 0. 1. 0.03113048] [ 0. 0. 0. 1. ]] SLAMing on 27.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.18, Z:0.03 [[ 0.97124379 0.23808715 0. 29.5126101 ] [-0.23808715 0.97124379 0. -4.18043766] [ 0. 0. 1. 0.03195622] [ 0. 0. 0. 1. ]] SLAMing on 27.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.54, Y:-4.19, Z:0.03 [[ 0.97074565 0.24011016 0. 29.54432385] [-0.24011016 0.97074565 0. -4.18900967] [ 0. 0. 1. 0.03335673] [ 0. 0. 0. 1. ]] SLAMing on 27.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:-4.20, Z:0.03 [[ 0.97064996 0.24049668 0. 29.57506377] [-0.24049668 0.97064996 0. -4.19682899] [ 0. 0. 1. 0.03296549] [ 0. 0. 0. 1. ]] SLAMing on 27.874319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:-4.20, Z:0.03 [[ 0.97059185 0.24073111 0. 29.60653797] [-0.24073111 0.97059185 0. -4.20498889] [ 0. 0. 1. 0.03332154] [ 0. 0. 0. 1. ]] SLAMing on 27.904319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:-4.21, Z:0.03 [[ 0.97062542 0.24059572 0. 29.63730084] [-0.24059572 0.97062542 0. -4.21318763] [ 0. 0. 1. 0.03298526] [ 0. 0. 0. 1. ]] SLAMing on 27.934319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:-4.22, Z:0.03 [[ 0.97084043 0.23972665 0. 29.66847419] [-0.23972665 0.97084043 0. -4.22223529] [ 0. 0. 1. 0.03203873] [ 0. 0. 0. 1. ]] SLAMing on 27.964319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:-4.23, Z:0.03 [[ 0.97090782 0.23945356 0. 29.69900519] [-0.23945356 0.97090782 0. -4.23096118] [ 0. 0. 1. 0.03205467] [ 0. 0. 0. 1. ]] SLAMing on 27.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:-4.24, Z:0.03 [[ 0.97122986 0.23814401 0. 29.72946469] [-0.23814401 0.97122986 0. -4.23995624] [ 0. 0. 1. 0.03239075] [ 0. 0. 0. 1. ]] SLAMing on 28.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:-4.25, Z:0.03 [[ 0.97125958 0.23802275 0. 29.7618346 ] [-0.23802275 0.97125958 0. -4.24916987] [ 0. 0. 1. 0.03045059] [ 0. 0. 0. 1. ]] SLAMing on 28.054319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:-4.26, Z:0.03 [[ 0.97148047 0.23711957 0. 29.79129494] [-0.23711957 0.97148047 0. -4.25607434] [ 0. 0. 1. 0.03293748] [ 0. 0. 0. 1. ]] SLAMing on 28.084319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.27, Z:0.03 [[ 0.97180589 0.23578236 0. 29.82263834] [-0.23578236 0.97180589 0. -4.26508886] [ 0. 0. 1. 0.03332823] [ 0. 0. 0. 1. ]] SLAMing on 28.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.27, Z:0.03 [[ 0.97189471 0.23541597 0. 29.85333227] [-0.23541597 0.97189471 0. -4.27365571] [ 0. 0. 1. 0.03339732] [ 0. 0. 0. 1. ]] SLAMing on 28.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-4.28, Z:0.03 [[ 0.97204526 0.23479354 0. 29.88515132] [-0.23479354 0.97204526 0. -4.28231695] [ 0. 0. 1. 0.03342992] [ 0. 0. 0. 1. ]] SLAMing on 28.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:-4.29, Z:0.03 [[ 0.97200626 0.23495494 0. 29.91578318] [-0.23495494 0.97200626 0. -4.29039506] [ 0. 0. 1. 0.03342333] [ 0. 0. 0. 1. ]] SLAMing on 28.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:-4.30, Z:0.03 [[ 0.97216106 0.23431363 0. 29.94741493] [-0.23431363 0.97216106 0. -4.29818578] [ 0. 0. 1. 0.03295561] [ 0. 0. 0. 1. ]] SLAMing on 28.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:-4.31, Z:0.03 [[ 0.97185173 0.23559331 0. 29.97671886] [-0.23559331 0.97185173 0. -4.30589864] [ 0. 0. 1. 0.03260788] [ 0. 0. 0. 1. ]] SLAMing on 28.264319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:-4.31, Z:0.03 [[ 0.97191837 0.23531827 0. 30.00961248] [-0.23531827 0.97191837 0. -4.31390469] [ 0. 0. 1. 0.03410211] [ 0. 0. 0. 1. ]] SLAMing on 28.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:-4.32, Z:0.03 [[ 0.97174405 0.23603709 0. 30.04024874] [-0.23603709 0.97174405 0. -4.32179413] [ 0. 0. 1. 0.03400823] [ 0. 0. 0. 1. ]] SLAMing on 28.324319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:-4.33, Z:0.03 [[ 0.97157163 0.23674579 0. 30.07116218] [-0.23674579 0.97157163 0. -4.32970426] [ 0. 0. 1. 0.03428219] [ 0. 0. 0. 1. ]] SLAMing on 28.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:-4.34, Z:0.03 [[ 0.97159747 0.23663972 0. 30.10337928] [-0.23663972 0.97159747 0. -4.33804985] [ 0. 0. 1. 0.03294637] [ 0. 0. 0. 1. ]] SLAMing on 28.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:-4.35, Z:0.03 [[ 0.97135952 0.23761457 0. 30.13346124] [-0.23761457 0.97135952 0. -4.34608237] [ 0. 0. 1. 0.0345954 ] [ 0. 0. 0. 1. ]] SLAMing on 28.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.17, Y:-4.35, Z:0.03 [[ 0.97113119 0.23854602 0. 30.16512456] [-0.23854602 0.97113119 0. -4.35375173] [ 0. 0. 1. 0.03360813] [ 0. 0. 0. 1. ]] SLAMing on 28.444319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:-4.36, Z:0.03 [[ 0.97102242 0.23898839 0. 30.19747686] [-0.23898839 0.97102242 0. -4.36205944] [ 0. 0. 1. 0.03324783] [ 0. 0. 0. 1. ]] SLAMing on 28.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:-4.37, Z:0.03 [[ 0.97102839 0.23896413 0. 30.22954115] [-0.23896413 0.97102839 0. -4.3704603 ] [ 0. 0. 1. 0.03363663] [ 0. 0. 0. 1. ]] SLAMing on 28.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:-4.38, Z:0.03 [[ 0.97148157 0.23711508 0. 30.25847167] [-0.23711508 0.97148157 0. -4.37756394] [ 0. 0. 1. 0.03174405] [ 0. 0. 0. 1. ]] SLAMing on 28.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:-4.39, Z:0.03 [[ 0.97127429 0.23796272 0. 30.29068758] [-0.23796272 0.97127429 0. -4.38859754] [ 0. 0. 1. 0.03256644] [ 0. 0. 0. 1. ]] SLAMing on 28.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:-4.40, Z:0.03 [[ 0.97158422 0.2366941 0. 30.32115389] [-0.2366941 0.97158422 0. -4.39825574] [ 0. 0. 1. 0.03175549] [ 0. 0. 0. 1. ]] SLAMing on 28.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:-4.41, Z:0.03 [[ 0.97193087 0.23526663 0. 30.35412455] [-0.23526663 0.97193087 0. -4.40703588] [ 0. 0. 1. 0.03154835] [ 0. 0. 0. 1. ]] SLAMing on 28.624319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:-4.42, Z:0.03 [[ 0.97193167 0.2352633 0. 30.38534731] [-0.2352633 0.97193167 0. -4.41550263] [ 0. 0. 1. 0.03184837] [ 0. 0. 0. 1. ]] SLAMing on 28.654319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:-4.42, Z:0.03 [[ 0.97234686 0.23354139 0. 30.41745274] [-0.23354139 0.97234686 0. -4.42478566] [ 0. 0. 1. 0.03284711] [ 0. 0. 0. 1. ]] SLAMing on 28.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:-4.43, Z:0.03 [[ 0.97247895 0.23299075 0. 30.44874363] [-0.23299075 0.97247895 0. -4.43371117] [ 0. 0. 1. 0.03304399] [ 0. 0. 0. 1. ]] SLAMing on 28.714319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-4.44, Z:0.03 [[ 0.97264905 0.23227965 0. 30.48095986] [-0.23227965 0.97264905 0. -4.44254142] [ 0. 0. 1. 0.03302012] [ 0. 0. 0. 1. ]] SLAMing on 28.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:-4.45, Z:0.03 [[ 0.9729103 0.23118294 0. 30.51151464] [-0.23118294 0.9729103 0. -4.45124563] [ 0. 0. 1. 0.03306851] [ 0. 0. 0. 1. ]] SLAMing on 28.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.46, Z:0.03 [[ 0.97295807 0.23098182 0. 30.54311981] [-0.23098182 0.97295807 0. -4.4597695 ] [ 0. 0. 1. 0.03270235] [ 0. 0. 0. 1. ]] SLAMing on 28.804319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-4.47, Z:0.03 [[ 0.97305955 0.23055394 0. 30.57446194] [-0.23055394 0.97305955 0. -4.46780449] [ 0. 0. 1. 0.03221237] [ 0. 0. 0. 1. ]] SLAMing on 28.834319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.61, Y:-4.48, Z:0.03 [[ 0.97316214 0.23012049 0. 30.60657789] [-0.23012049 0.97316214 0. -4.47713185] [ 0. 0. 1. 0.0313097 ] [ 0. 0. 0. 1. ]] SLAMing on 28.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:-4.49, Z:0.03 [[ 0.97320424 0.22994242 0. 30.63858594] [-0.22994242 0.97320424 0. -4.48587394] [ 0. 0. 1. 0.03144101] [ 0. 0. 0. 1. ]] SLAMing on 28.894319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.67, Y:-4.49, Z:0.03 [[ 0.97327892 0.22962611 0. 30.66995453] [-0.22962611 0.97327892 0. -4.49415698] [ 0. 0. 1. 0.03169221] [ 0. 0. 0. 1. ]] SLAMing on 28.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:-4.50, Z:0.03 [[ 0.97346158 0.22885048 0. 30.70053679] [-0.22885048 0.97346158 0. -4.50271675] [ 0. 0. 1. 0.03247667] [ 0. 0. 0. 1. ]] SLAMing on 28.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:-4.51, Z:0.03 [[ 0.97333505 0.22938806 0. 30.7304247 ] [-0.22938806 0.97333505 0. -4.51101629] [ 0. 0. 1. 0.03234204] [ 0. 0. 0. 1. ]] SLAMing on 28.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:-4.52, Z:0.03 [[ 0.97325522 0.22972653 0. 30.76212237] [-0.22972653 0.97325522 0. -4.51918623] [ 0. 0. 1. 0.03213719] [ 0. 0. 0. 1. ]] SLAMing on 29.014319999999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.79, Y:-4.53, Z:0.03 [[ 9.73137747e-01 2.30223641e-01 0.00000000e+00 3.07933828e+01] [-2.30223641e-01 9.73137747e-01 0.00000000e+00 -4.52643368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99842495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.82, Y:-4.54, Z:0.03 [[ 0.97278612 0.23170491 0. 30.82418825] [-0.23170491 0.97278612 0. -4.53564391] [ 0. 0. 1. 0.03102745] [ 0. 0. 0. 1. ]] SLAMing on 29.074319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.85, Y:-4.55, Z:0.03 [[ 0.97239279 0.23335009 0. 30.85462553] [-0.23335009 0.97239279 0. -4.54515623] [ 0. 0. 1. 0.03126091] [ 0. 0. 0. 1. ]] SLAMing on 29.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:-4.55, Z:0.03 [[ 0.97213851 0.23440718 0. 30.88589111] [-0.23440718 0.97213851 0. -4.5540446 ] [ 0. 0. 1. 0.03151214] [ 0. 0. 0. 1. ]] SLAMing on 29.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:-4.56, Z:0.03 [[ 0.97181473 0.23574589 0. 30.91799996] [-0.23574589 0.97181473 0. -4.5626345 ] [ 0. 0. 1. 0.03147196] [ 0. 0. 0. 1. ]] SLAMing on 29.164319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:-4.57, Z:0.03 [[ 0.97117643 0.23836177 0. 30.94892556] [-0.23836177 0.97117643 0. -4.57065357] [ 0. 0. 1. 0.03104864] [ 0. 0. 0. 1. ]] SLAMing on 29.194319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:-4.58, Z:0.03 [[ 9.70930822e-01 2.39360270e-01 0.00000000e+00 3.09795436e+01] [-2.39360270e-01 9.70930822e-01 0.00000000e+00 -4.57851645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95464125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:-4.59, Z:0.03 [[ 9.70482671e-01 2.41170862e-01 0.00000000e+00 3.10059729e+01] [-2.41170862e-01 9.70482671e-01 0.00000000e+00 -4.58569656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92087993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254319999999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.04, Y:-4.60, Z:0.03 [[ 9.70372697e-01 2.41612974e-01 0.00000000e+00 3.10400570e+01] [-2.41612974e-01 9.70372697e-01 0.00000000e+00 -4.59567667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06415503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284319999999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.07, Y:-4.61, Z:0.03 [[ 9.69662102e-01 2.44449193e-01 0.00000000e+00 3.10683462e+01] [-2.44449193e-01 9.69662102e-01 0.00000000e+00 -4.60514258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98682001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:-4.61, Z:0.03 [[ 0.97002273 0.24301419 0. 31.10250326] [-0.24301419 0.97002273 0. -4.61373812] [ 0. 0. 1. 0.03117711] [ 0. 0. 0. 1. ]] SLAMing on 29.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:-4.62, Z:0.03 [[ 9.69739481e-01 2.44142047e-01 0.00000000e+00 3.11345565e+01] [-2.44142047e-01 9.69739481e-01 0.00000000e+00 -4.62269577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06310681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:-4.63, Z:0.03 [[ 9.69577567e-01 2.44784275e-01 0.00000000e+00 3.11657513e+01] [-2.44784275e-01 9.69577567e-01 0.00000000e+00 -4.63111691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10939221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:-4.64, Z:0.03 [[ 9.69550422e-01 2.44891771e-01 0.00000000e+00 3.11974353e+01] [-2.44891771e-01 9.69550422e-01 0.00000000e+00 -4.63959122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06913215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-4.65, Z:0.03 [[ 9.69474955e-01 2.45190359e-01 0.00000000e+00 3.12297120e+01] [-2.45190359e-01 9.69474955e-01 0.00000000e+00 -4.64828197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06913215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:-4.66, Z:0.03 [[ 9.69487786e-01 2.45139620e-01 0.00000000e+00 3.12626690e+01] [-2.45139620e-01 9.69487786e-01 0.00000000e+00 -4.65767609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94913884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:-4.67, Z:0.03 [[ 9.69447017e-01 2.45300797e-01 0.00000000e+00 3.12932580e+01] [-2.45300797e-01 9.69447017e-01 0.00000000e+00 -4.66693455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93955188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-4.67, Z:0.03 [[ 9.69609310e-01 2.44658510e-01 0.00000000e+00 3.13222367e+01] [-2.44658510e-01 9.69609310e-01 0.00000000e+00 -4.67420938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03064743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:-4.68, Z:0.03 [[ 9.69954420e-01 2.43286711e-01 0.00000000e+00 3.13530509e+01] [-2.43286711e-01 9.69954420e-01 0.00000000e+00 -4.68318447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01872181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.38, Y:-4.69, Z:0.03 [[ 9.70159348e-01 2.42468223e-01 0.00000000e+00 3.13846136e+01] [-2.42468223e-01 9.70159348e-01 0.00000000e+00 -4.69202683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98116036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.42, Y:-4.70, Z:0.03 [[ 9.70688441e-01 2.40341319e-01 0.00000000e+00 3.14158367e+01] [-2.40341319e-01 9.70688441e-01 0.00000000e+00 -4.70088704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02837274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:-4.71, Z:0.03 [[ 9.70600526e-01 2.40696112e-01 0.00000000e+00 3.14450907e+01] [-2.40696112e-01 9.70600526e-01 0.00000000e+00 -4.71009810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83146471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:-4.72, Z:0.03 [[ 9.71156869e-01 2.38441474e-01 0.00000000e+00 3.14767592e+01] [-2.38441474e-01 9.71156869e-01 0.00000000e+00 -4.71813467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97945830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:-4.73, Z:0.03 [[ 9.71267910e-01 2.37988752e-01 0.00000000e+00 3.15049731e+01] [-2.37988752e-01 9.71267910e-01 0.00000000e+00 -4.72850350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96545173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:-4.74, Z:0.03 [[ 9.71781049e-01 2.35884703e-01 0.00000000e+00 3.15368219e+01] [-2.35884703e-01 9.71781049e-01 0.00000000e+00 -4.73704463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04465630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.57, Y:-4.75, Z:0.03 [[ 9.71856835e-01 2.35572267e-01 0.00000000e+00 3.15702231e+01] [-2.35572267e-01 9.71856835e-01 0.00000000e+00 -4.74761257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87973286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.60, Y:-4.75, Z:0.03 [[ 9.72063274e-01 2.34718962e-01 0.00000000e+00 3.15984236e+01] [-2.34718962e-01 9.72063274e-01 0.00000000e+00 -4.75446624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93641717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:-4.76, Z:0.03 [[ 9.71727338e-01 2.36105866e-01 0.00000000e+00 3.16280909e+01] [-2.36105866e-01 9.71727338e-01 0.00000000e+00 -4.76306888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88086971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-4.77, Z:0.03 [[ 9.71787144e-01 2.35859593e-01 0.00000000e+00 3.16599638e+01] [-2.35859593e-01 9.71787144e-01 0.00000000e+00 -4.77190463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89884539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-4.78, Z:0.03 [[ 9.71338862e-01 2.37699002e-01 0.00000000e+00 3.16914838e+01] [-2.37699002e-01 9.71338862e-01 0.00000000e+00 -4.78177032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93951005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:-4.79, Z:0.03 [[ 9.70898697e-01 2.39490542e-01 0.00000000e+00 3.17233102e+01] [-2.39490542e-01 9.70898697e-01 0.00000000e+00 -4.79070445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95863712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:-4.80, Z:0.03 [[ 9.70088283e-01 2.42752389e-01 0.00000000e+00 3.17537812e+01] [-2.42752389e-01 9.70088283e-01 0.00000000e+00 -4.79931964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97337338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.79, Y:-4.81, Z:0.03 [[ 9.69521887e-01 2.45004716e-01 0.00000000e+00 3.17850990e+01] [-2.45004716e-01 9.69521887e-01 0.00000000e+00 -4.80842484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95650384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.81, Y:-4.82, Z:0.03 [[ 9.68894901e-01 2.47472566e-01 0.00000000e+00 3.18136414e+01] [-2.47472566e-01 9.68894901e-01 0.00000000e+00 -4.81701318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83919095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:-4.83, Z:0.03 [[ 9.68638703e-01 2.48473466e-01 0.00000000e+00 3.18465248e+01] [-2.48473466e-01 9.68638703e-01 0.00000000e+00 -4.82646577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96151108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:-4.84, Z:0.03 [[ 9.67987709e-01 2.50997601e-01 0.00000000e+00 3.18773866e+01] [-2.50997601e-01 9.67987709e-01 0.00000000e+00 -4.83620303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04220700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:-4.85, Z:0.03 [[ 9.67740332e-01 2.51949698e-01 0.00000000e+00 3.19088482e+01] [-2.51949698e-01 9.67740332e-01 0.00000000e+00 -4.84523284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05510703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:-4.85, Z:0.03 [[ 9.67386443e-01 2.53305094e-01 0.00000000e+00 3.19407232e+01] [-2.53305094e-01 9.67386443e-01 0.00000000e+00 -4.85453857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97959562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:-4.86, Z:0.03 [[ 9.67282326e-01 2.53702387e-01 0.00000000e+00 3.19711275e+01] [-2.53702387e-01 9.67282326e-01 0.00000000e+00 -4.86352710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99949921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:-4.87, Z:0.03 [[ 9.67265154e-01 2.53767851e-01 0.00000000e+00 3.20023066e+01] [-2.53767851e-01 9.67265154e-01 0.00000000e+00 -4.87374360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98183300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:-4.88, Z:0.03 [[ 9.67264238e-01 2.53771343e-01 0.00000000e+00 3.20342603e+01] [-2.53771343e-01 9.67264238e-01 0.00000000e+00 -4.88333786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94118397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.07, Y:-4.89, Z:0.03 [[ 9.67681992e-01 2.52173676e-01 0.00000000e+00 3.20652701e+01] [-2.52173676e-01 9.67681992e-01 0.00000000e+00 -4.89148106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80199529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.09, Y:-4.90, Z:0.03 [[ 9.67524545e-01 2.52777086e-01 0.00000000e+00 3.20949875e+01] [-2.52777086e-01 9.67524545e-01 0.00000000e+00 -4.90253891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79851838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:-4.91, Z:0.03 [[ 9.67710810e-01 2.52063065e-01 0.00000000e+00 3.21262317e+01] [-2.52063065e-01 9.67710810e-01 0.00000000e+00 -4.91220445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77254433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:-4.92, Z:0.03 [[ 9.67939955e-01 2.51181694e-01 0.00000000e+00 3.21574576e+01] [-2.51181694e-01 9.67939955e-01 0.00000000e+00 -4.92202470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78377956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.19, Y:-4.93, Z:0.03 [[ 9.68232661e-01 2.50051024e-01 0.00000000e+00 3.21882178e+01] [-2.50051024e-01 9.68232661e-01 0.00000000e+00 -4.93208183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77441342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:-4.94, Z:0.03 [[ 9.68868273e-01 2.47576795e-01 0.00000000e+00 3.22192107e+01] [-2.47576795e-01 9.68868273e-01 0.00000000e+00 -4.94314247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77516494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:-4.95, Z:0.03 [[ 9.69040515e-01 2.46901761e-01 0.00000000e+00 3.22509500e+01] [-2.46901761e-01 9.69040515e-01 0.00000000e+00 -4.95300091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78446337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454319999999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.28, Y:-4.96, Z:0.03 [[ 9.69331628e-01 2.45756372e-01 0.00000000e+00 3.22810996e+01] [-2.45756372e-01 9.69331628e-01 0.00000000e+00 -4.96277443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70054816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484319999999997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.31, Y:-4.97, Z:0.03 [[ 9.69399213e-01 2.45489643e-01 0.00000000e+00 3.23124865e+01] [-2.45489643e-01 9.69399213e-01 0.00000000e+00 -4.97190248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64500206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.34, Y:-4.98, Z:0.03 [[ 9.69475859e-01 2.45186782e-01 0.00000000e+00 3.23442241e+01] [-2.45186782e-01 9.69475859e-01 0.00000000e+00 -4.98135705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57734435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:-4.99, Z:0.03 [[ 9.69375848e-01 2.45581893e-01 0.00000000e+00 3.23741145e+01] [-2.45581893e-01 9.69375848e-01 0.00000000e+00 -4.99041146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57730044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574319999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.41, Y:-5.00, Z:0.03 [[ 9.69377605e-01 2.45574957e-01 0.00000000e+00 3.24057234e+01] [-2.45574957e-01 9.69377605e-01 0.00000000e+00 -5.00096001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60029722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:-5.01, Z:0.03 [[ 9.69275456e-01 2.45977824e-01 0.00000000e+00 3.24357561e+01] [-2.45977824e-01 9.69275456e-01 0.00000000e+00 -5.01017528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66598667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:-5.02, Z:0.03 [[ 9.68945245e-01 2.47275376e-01 0.00000000e+00 3.24667955e+01] [-2.47275376e-01 9.68945245e-01 0.00000000e+00 -5.02045120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78656187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.50, Y:-5.03, Z:0.03 [[ 9.68579461e-01 2.48704296e-01 0.00000000e+00 3.24981444e+01] [-2.48704296e-01 9.68579461e-01 0.00000000e+00 -5.02926561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82346880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.53, Y:-5.04, Z:0.03 [[ 9.68182569e-01 2.50244905e-01 0.00000000e+00 3.25300091e+01] [-2.50244905e-01 9.68182569e-01 0.00000000e+00 -5.03798829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81156227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.56, Y:-5.05, Z:0.03 [[ 9.67630724e-01 2.52370325e-01 0.00000000e+00 3.25605556e+01] [-2.52370325e-01 9.67630724e-01 0.00000000e+00 -5.04697075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79629865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:-5.06, Z:0.03 [[ 9.67337821e-01 2.53490710e-01 0.00000000e+00 3.25926742e+01] [-2.53490710e-01 9.67337821e-01 0.00000000e+00 -5.05714001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76643634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:-5.06, Z:0.03 [[ 9.67271131e-01 2.53745066e-01 0.00000000e+00 3.26227643e+01] [-2.53745066e-01 9.67271131e-01 0.00000000e+00 -5.06449718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65662966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814319999999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.65, Y:-5.07, Z:0.03 [[ 9.67008689e-01 2.54743391e-01 0.00000000e+00 3.26525944e+01] [-2.54743391e-01 9.67008689e-01 0.00000000e+00 -5.07362300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72472867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.68, Y:-5.08, Z:0.03 [[ 9.67023590e-01 2.54686820e-01 0.00000000e+00 3.26843675e+01] [-2.54686820e-01 9.67023590e-01 0.00000000e+00 -5.08303651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69322847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.72, Y:-5.09, Z:0.03 [[ 9.67089828e-01 2.54435187e-01 0.00000000e+00 3.27162140e+01] [-2.54435187e-01 9.67089828e-01 0.00000000e+00 -5.09029467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61573661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.75, Y:-5.10, Z:0.03 [[ 9.66865339e-01 2.55286928e-01 0.00000000e+00 3.27462151e+01] [-2.55286928e-01 9.66865339e-01 0.00000000e+00 -5.09860761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71707003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934319999999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.78, Y:-5.11, Z:0.03 [[ 9.66917196e-01 2.55090446e-01 0.00000000e+00 3.27776575e+01] [-2.55090446e-01 9.66917196e-01 0.00000000e+00 -5.10688420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75288217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964319999999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:32.81, Y:-5.12, Z:0.03 [[ 9.67254783e-01 2.53807377e-01 0.00000000e+00 3.28099215e+01] [-2.53807377e-01 9.67254783e-01 0.00000000e+00 -5.11519874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53368353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994319999999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.84, Y:-5.12, Z:0.03 [[ 9.67103432e-01 2.54383473e-01 0.00000000e+00 3.28397866e+01] [-2.54383473e-01 9.67103432e-01 0.00000000e+00 -5.12408473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73601927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.87, Y:-5.13, Z:0.03 [[ 9.67110986e-01 2.54354755e-01 0.00000000e+00 3.28711706e+01] [-2.54354755e-01 9.67110986e-01 0.00000000e+00 -5.13205016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70568648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:-5.14, Z:0.03 [[ 9.67172945e-01 2.54119055e-01 0.00000000e+00 3.29037541e+01] [-2.54119055e-01 9.67172945e-01 0.00000000e+00 -5.13864184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73415455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:-5.15, Z:0.03 [[ 9.67240795e-01 2.53860680e-01 0.00000000e+00 3.29359452e+01] [-2.53860680e-01 9.67240795e-01 0.00000000e+00 -5.14678086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65570107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-5.15, Z:0.03 [[ 9.67390446e-01 2.53289802e-01 0.00000000e+00 3.29670572e+01] [-2.53289802e-01 9.67390446e-01 0.00000000e+00 -5.15449966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57232425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:-5.16, Z:0.03 [[ 9.67777612e-01 2.51806463e-01 0.00000000e+00 3.29991579e+01] [-2.51806463e-01 9.67777612e-01 0.00000000e+00 -5.16264253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56147756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:-5.17, Z:0.03 [[ 9.67977127e-01 2.51038406e-01 0.00000000e+00 3.30306417e+01] [-2.51038406e-01 9.67977127e-01 0.00000000e+00 -5.17116398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61391513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.06, Y:-5.18, Z:0.03 [[ 9.68774203e-01 2.47944637e-01 0.00000000e+00 3.30624395e+01] [-2.47944637e-01 9.68774203e-01 0.00000000e+00 -5.17644134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59638694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:-5.19, Z:0.03 [[ 9.68681615e-01 2.48306120e-01 0.00000000e+00 3.30935366e+01] [-2.48306120e-01 9.68681615e-01 0.00000000e+00 -5.18566853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61031572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:-5.19, Z:0.03 [[ 9.68861038e-01 2.47605106e-01 0.00000000e+00 3.31233302e+01] [-2.47605106e-01 9.68861038e-01 0.00000000e+00 -5.19302382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54495110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-5.20, Z:0.03 [[ 9.69191854e-01 2.46307024e-01 0.00000000e+00 3.31549839e+01] [-2.46307024e-01 9.69191854e-01 0.00000000e+00 -5.20035624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63746447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324319999999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.19, Y:-5.21, Z:0.03 [[ 9.69118930e-01 2.46593793e-01 0.00000000e+00 3.31855542e+01] [-2.46593793e-01 9.69118930e-01 0.00000000e+00 -5.20823763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67292932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.22, Y:-5.22, Z:0.03 [[ 9.69043030e-01 2.46891890e-01 0.00000000e+00 3.32176860e+01] [-2.46891890e-01 9.69043030e-01 0.00000000e+00 -5.21742904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67292932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:-5.23, Z:0.03 [[ 9.68932842e-01 2.47323974e-01 0.00000000e+00 3.32498125e+01] [-2.47323974e-01 9.68932842e-01 0.00000000e+00 -5.22560586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68540764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:-5.23, Z:0.03 [[ 9.68501782e-01 2.49006623e-01 0.00000000e+00 3.32812696e+01] [-2.49006623e-01 9.68501782e-01 0.00000000e+00 -5.23255883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65801990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.31, Y:-5.24, Z:0.03 [[ 9.68147549e-01 2.50380358e-01 0.00000000e+00 3.33120766e+01] [-2.50380358e-01 9.68147549e-01 0.00000000e+00 -5.24013237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65720844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:-5.25, Z:0.03 [[ 9.67278400e-01 2.53717355e-01 0.00000000e+00 3.33442701e+01] [-2.53717355e-01 9.67278400e-01 0.00000000e+00 -5.24735496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70156729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:-5.26, Z:0.03 [[ 9.66654120e-01 2.56085555e-01 0.00000000e+00 3.33762442e+01] [-2.56085555e-01 9.66654120e-01 0.00000000e+00 -5.25663368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76638926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:-5.26, Z:0.03 [[ 9.66181316e-01 2.57863655e-01 0.00000000e+00 3.34069453e+01] [-2.57863655e-01 9.66181316e-01 0.00000000e+00 -5.26407412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72210154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:-5.27, Z:0.03 [[ 9.65531652e-01 2.60285667e-01 0.00000000e+00 3.34381230e+01] [-2.60285667e-01 9.65531652e-01 0.00000000e+00 -5.27251914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71490917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:-5.28, Z:0.03 [[ 9.64386350e-01 2.64497575e-01 0.00000000e+00 3.34699558e+01] [-2.64497575e-01 9.64386350e-01 0.00000000e+00 -5.27988470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75967223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:-5.29, Z:0.03 [[ 9.63884819e-01 2.66319462e-01 0.00000000e+00 3.35002830e+01] [-2.66319462e-01 9.63884819e-01 0.00000000e+00 -5.28815460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70140634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:-5.30, Z:0.03 [[ 9.63083943e-01 2.69201262e-01 0.00000000e+00 3.35325633e+01] [-2.69201262e-01 9.63083943e-01 0.00000000e+00 -5.29619864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81127355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-5.30, Z:0.03 [[ 9.62744955e-01 2.70411078e-01 0.00000000e+00 3.35642358e+01] [-2.70411078e-01 9.62744955e-01 0.00000000e+00 -5.30481123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83414961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:-5.31, Z:0.03 [[ 9.62520285e-01 2.71209699e-01 0.00000000e+00 3.35957813e+01] [-2.71209699e-01 9.62520285e-01 0.00000000e+00 -5.31363005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78003627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:-5.33, Z:0.03 [[ 9.62214043e-01 2.72294209e-01 0.00000000e+00 3.36290520e+01] [-2.72294209e-01 9.62214043e-01 0.00000000e+00 -5.32693682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59335533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:-5.33, Z:0.03 [[ 9.62704650e-01 2.70554535e-01 0.00000000e+00 3.36562460e+01] [-2.70554535e-01 9.62704650e-01 0.00000000e+00 -5.33263317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81688709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:-5.34, Z:0.03 [[ 9.62731389e-01 2.70459374e-01 0.00000000e+00 3.36870526e+01] [-2.70459374e-01 9.62731389e-01 0.00000000e+00 -5.34177641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76320614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834319999999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.72, Y:-5.35, Z:0.03 [[ 9.63061181e-01 2.69282681e-01 0.00000000e+00 3.37189188e+01] [-2.69282681e-01 9.63061181e-01 0.00000000e+00 -5.35153418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72802144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:-5.36, Z:0.03 [[ 9.63208834e-01 2.68754053e-01 0.00000000e+00 3.37501826e+01] [-2.68754053e-01 9.63208834e-01 0.00000000e+00 -5.36104240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71705994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894319999999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:-5.37, Z:0.03 [[ 9.63665601e-01 2.67111605e-01 0.00000000e+00 3.37809491e+01] [-2.67111605e-01 9.63665601e-01 0.00000000e+00 -5.37109578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64573099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.81, Y:-5.38, Z:0.03 [[ 9.63928388e-01 2.66161723e-01 0.00000000e+00 3.38126696e+01] [-2.66161723e-01 9.63928388e-01 0.00000000e+00 -5.38131287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64516489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954319999999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.84, Y:-5.39, Z:0.03 [[ 9.64372034e-01 2.64549769e-01 0.00000000e+00 3.38444178e+01] [-2.64549769e-01 9.64372034e-01 0.00000000e+00 -5.39175572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69083868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984319999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:-5.40, Z:0.03 [[ 9.64951750e-01 2.62427360e-01 0.00000000e+00 3.38734389e+01] [-2.62427360e-01 9.64951750e-01 0.00000000e+00 -5.40193532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64485503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01432 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.91, Y:-5.41, Z:0.03 [[ 9.65363762e-01 2.60907659e-01 0.00000000e+00 3.39050320e+01] [-2.60907659e-01 9.65363762e-01 0.00000000e+00 -5.41202646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89261228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04431999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.93, Y:-5.42, Z:0.03 [[ 9.65508351e-01 2.60372087e-01 0.00000000e+00 3.39336316e+01] [-2.60372087e-01 9.65508351e-01 0.00000000e+00 -5.42132243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67858305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.97, Y:-5.43, Z:0.03 [[ 9.65828901e-01 2.59180506e-01 0.00000000e+00 3.39658260e+01] [-2.59180506e-01 9.65828901e-01 0.00000000e+00 -5.43347304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87143122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.99, Y:-5.44, Z:0.03 [[ 9.65986200e-01 2.58593621e-01 0.00000000e+00 3.39943764e+01] [-2.58593621e-01 9.65986200e-01 0.00000000e+00 -5.44093482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69825081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:-5.45, Z:0.03 [[ 9.65944868e-01 2.58747969e-01 0.00000000e+00 3.40257458e+01] [-2.58747969e-01 9.65944868e-01 0.00000000e+00 -5.45219978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82038943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:-5.46, Z:0.03 [[ 9.65767775e-01 2.59408182e-01 0.00000000e+00 3.40568828e+01] [-2.59408182e-01 9.65767775e-01 0.00000000e+00 -5.46242002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05663352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:-5.47, Z:0.03 [[ 9.65761991e-01 2.59429713e-01 0.00000000e+00 3.40873790e+01] [-2.59429713e-01 9.65761991e-01 0.00000000e+00 -5.47130538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00601869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:-5.48, Z:0.03 [[ 9.64988655e-01 2.62291622e-01 0.00000000e+00 3.41174684e+01] [-2.62291622e-01 9.64988655e-01 0.00000000e+00 -5.48059808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94328237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:-5.49, Z:0.03 [[ 9.64428848e-01 2.64342575e-01 0.00000000e+00 3.41497527e+01] [-2.64342575e-01 9.64428848e-01 0.00000000e+00 -5.49218545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88259851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:-5.50, Z:0.03 [[ 9.64096157e-01 2.65553385e-01 0.00000000e+00 3.41792688e+01] [-2.65553385e-01 9.64096157e-01 0.00000000e+00 -5.50116080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86201285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:-5.51, Z:0.03 [[ 9.63619182e-01 2.67279017e-01 0.00000000e+00 3.42077752e+01] [-2.67279017e-01 9.63619182e-01 0.00000000e+00 -5.50801548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91939235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:-5.52, Z:0.03 [[ 9.63276878e-01 2.68510066e-01 0.00000000e+00 3.42397016e+01] [-2.68510066e-01 9.63276878e-01 0.00000000e+00 -5.51779823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92919401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.27, Y:-5.53, Z:0.03 [[ 9.62888465e-01 2.69899619e-01 0.00000000e+00 3.42703778e+01] [-2.69899619e-01 9.62888465e-01 0.00000000e+00 -5.52844564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92880922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.30, Y:-5.54, Z:0.03 [[ 9.62767790e-01 2.70329766e-01 0.00000000e+00 3.43006293e+01] [-2.70329766e-01 9.62767790e-01 0.00000000e+00 -5.53820932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02651204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:-5.55, Z:0.03 [[ 9.62670993e-01 2.70674269e-01 0.00000000e+00 3.43308668e+01] [-2.70674269e-01 9.62670993e-01 0.00000000e+00 -5.54754726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03857906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:-5.56, Z:0.03 [[ 9.62638162e-01 2.70791007e-01 0.00000000e+00 3.43613130e+01] [-2.70791007e-01 9.62638162e-01 0.00000000e+00 -5.55663433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06952749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494319999999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:34.39, Y:-5.57, Z:0.03 [[ 9.62661569e-01 2.70707783e-01 0.00000000e+00 3.43932862e+01] [-2.70707783e-01 9.62661569e-01 0.00000000e+00 -5.56629838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04856197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524319999999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:34.42, Y:-5.58, Z:0.03 [[ 9.62735007e-01 2.70446496e-01 0.00000000e+00 3.44248709e+01] [-2.70446496e-01 9.62735007e-01 0.00000000e+00 -5.57630335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01920347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55432 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:34.45, Y:-5.59, Z:0.03 [[ 9.63077950e-01 2.69222701e-01 0.00000000e+00 3.44535424e+01] [-2.69222701e-01 9.63077950e-01 0.00000000e+00 -5.58745659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00645256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58432 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:34.48, Y:-5.60, Z:0.03 [[ 9.63327531e-01 2.68328285e-01 0.00000000e+00 3.44848692e+01] [-2.68328285e-01 9.63327531e-01 0.00000000e+00 -5.59796076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99701559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:-5.61, Z:0.03 [[ 9.63976538e-01 2.65987284e-01 0.00000000e+00 3.45163498e+01] [-2.65987284e-01 9.63976538e-01 0.00000000e+00 -5.60868526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02602095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.55, Y:-5.62, Z:0.03 [[ 9.64337781e-01 2.64674599e-01 0.00000000e+00 3.45455900e+01] [-2.64674599e-01 9.64337781e-01 0.00000000e+00 -5.61790595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95636667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674319999999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:34.58, Y:-5.63, Z:0.03 [[ 9.64691577e-01 2.63382159e-01 0.00000000e+00 3.45764215e+01] [-2.63382159e-01 9.64691577e-01 0.00000000e+00 -5.62792100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93304266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704319999999996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:34.61, Y:-5.64, Z:0.03 [[ 9.64976196e-01 2.62337458e-01 0.00000000e+00 3.46075166e+01] [-2.62337458e-01 9.64976196e-01 0.00000000e+00 -5.63825850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11845468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-5.65, Z:0.03 [[ 9.65176175e-01 2.61600748e-01 0.00000000e+00 3.46396889e+01] [-2.61600748e-01 9.65176175e-01 0.00000000e+00 -5.65045978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31226946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:-5.66, Z:0.03 [[ 9.65636713e-01 2.59895629e-01 0.00000000e+00 3.46686170e+01] [-2.59895629e-01 9.65636713e-01 0.00000000e+00 -5.65765911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21276567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:-5.67, Z:0.03 [[ 9.65707809e-01 2.59631330e-01 0.00000000e+00 3.47003273e+01] [-2.59631330e-01 9.65707809e-01 0.00000000e+00 -5.66752288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24379688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:-5.68, Z:0.03 [[ 9.65522788e-01 2.60318548e-01 0.00000000e+00 3.47315888e+01] [-2.60318548e-01 9.65522788e-01 0.00000000e+00 -5.67713440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25189147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854319999999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.76, Y:-5.69, Z:0.03 [[ 9.65441646e-01 2.60619315e-01 0.00000000e+00 3.47632152e+01] [-2.60619315e-01 9.65441646e-01 0.00000000e+00 -5.68678904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36159295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884319999999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:34.80, Y:-5.70, Z:0.03 [[ 9.64939770e-01 2.62471408e-01 0.00000000e+00 3.47956343e+01] [-2.62471408e-01 9.64939770e-01 0.00000000e+00 -5.69921041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35004249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91432 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.83, Y:-5.71, Z:0.04 [[ 0.96464496 0.26355285 0. 34.82768638] [-0.26355285 0.96464496 0. -5.70941099] [ 0. 0. 1. 0.03512469] [ 0. 0. 0. 1. ]] SLAMing on 32.94432 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.86, Y:-5.72, Z:0.03 [[ 0.96408495 0.26559406 0. 34.85885805] [-0.26559406 0.96408495 0. -5.71832844] [ 0. 0. 1. 0.03497425] [ 0. 0. 0. 1. ]] SLAMing on 32.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:-5.73, Z:0.04 [[ 0.963867 0.26638394 0. 34.89059972] [-0.26638394 0.963867 0. -5.72720895] [ 0. 0. 1. 0.03557503] [ 0. 0. 0. 1. ]] SLAMing on 33.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.92, Y:-5.73, Z:0.04 [[ 0.963492 0.26773712 0. 34.91707566] [-0.26773712 0.963492 0. -5.73198749] [ 0. 0. 1. 0.03715943] [ 0. 0. 0. 1. ]] SLAMing on 33.034319999999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.95, Y:-5.74, Z:0.04 [[ 0.96298205 0.26956551 0. 34.95025878] [-0.26956551 0.96298205 0. -5.7432307 ] [ 0. 0. 1. 0.03874844] [ 0. 0. 0. 1. ]] SLAMing on 33.064319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.98, Y:-5.75, Z:0.04 [[ 0.96274667 0.27040498 0. 34.97780854] [-0.27040498 0.96274667 0. -5.7493075 ] [ 0. 0. 1. 0.03825251] [ 0. 0. 0. 1. ]] SLAMing on 33.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.01, Y:-5.76, Z:0.04 [[ 0.96237444 0.27172678 0. 35.00978519] [-0.27172678 0.96237444 0. -5.7588242 ] [ 0. 0. 1. 0.0387992 ] [ 0. 0. 0. 1. ]] SLAMing on 33.12432 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.04, Y:-5.77, Z:0.04 [[ 0.96207466 0.27278627 0. 35.04160073] [-0.27278627 0.96207466 0. -5.76847962] [ 0. 0. 1. 0.04009624] [ 0. 0. 0. 1. ]] SLAMing on 33.15431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.07, Y:-5.78, Z:0.04 [[ 0.96181316 0.27370684 0. 35.07272846] [-0.27370684 0.96181316 0. -5.77706679] [ 0. 0. 1. 0.04019025] [ 0. 0. 0. 1. ]] SLAMing on 33.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:-5.79, Z:0.04 [[ 0.96173887 0.27396778 0. 35.10462563] [-0.27396778 0.96173887 0. -5.7862288 ] [ 0. 0. 1. 0.04098939] [ 0. 0. 0. 1. ]] SLAMing on 33.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:-5.79, Z:0.04 [[ 0.96183543 0.27362859 0. 35.13575537] [-0.27362859 0.96183543 0. -5.79490555] [ 0. 0. 1. 0.03939292] [ 0. 0. 0. 1. ]] SLAMing on 33.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:-5.80, Z:0.04 [[ 0.96175609 0.27390732 0. 35.16773749] [-0.27390732 0.96175609 0. -5.80460056] [ 0. 0. 1. 0.03939292] [ 0. 0. 0. 1. ]] SLAMing on 33.274319999999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.20, Y:-5.81, Z:0.04 [[ 0.96175873 0.27389805 0. 35.19910234] [-0.27389805 0.96175873 0. -5.81366163] [ 0. 0. 1. 0.0414771 ] [ 0. 0. 0. 1. ]] SLAMing on 33.30432 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:35.23, Y:-5.82, Z:0.04 [[ 0.9619461 0.27323926 0. 35.23089967] [-0.27323926 0.9619461 0. -5.82240559] [ 0. 0. 1. 0.04229627] [ 0. 0. 0. 1. ]] SLAMing on 33.33432 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.26, Y:-5.83, Z:0.04 [[ 0.96200287 0.27303935 0. 35.26257775] [-0.27303935 0.96200287 0. -5.83183856] [ 0. 0. 1. 0.04244846] [ 0. 0. 0. 1. ]] SLAMing on 33.36431999999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:35.29, Y:-5.84, Z:0.04 [[ 0.96208128 0.27276294 0. 35.29337915] [-0.27276294 0.96208128 0. -5.84090396] [ 0. 0. 1. 0.04254127] [ 0. 0. 0. 1. ]] SLAMing on 33.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:-5.85, Z:0.04 [[ 0.96231368 0.27194188 0. 35.32525509] [-0.27194188 0.96231368 0. -5.84931448] [ 0. 0. 1. 0.04201232] [ 0. 0. 0. 1. ]] SLAMing on 33.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:-5.86, Z:0.04 [[ 0.96256534 0.27104975 0. 35.35603815] [-0.27104975 0.96256534 0. -5.85794787] [ 0. 0. 1. 0.04074088] [ 0. 0. 0. 1. ]] SLAMing on 33.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:-5.87, Z:0.04 [[ 0.96267093 0.27067448 0. 35.38733012] [-0.27067448 0.96267093 0. -5.86728622] [ 0. 0. 1. 0.04097839] [ 0. 0. 0. 1. ]] SLAMing on 33.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:-5.88, Z:0.04 [[ 0.96313734 0.26901017 0. 35.41757469] [-0.26901017 0.96313734 0. -5.8759708 ] [ 0. 0. 1. 0.04063513] [ 0. 0. 0. 1. ]] SLAMing on 33.51432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.45, Y:-5.88, Z:0.04 [[ 0.96338221 0.2681319 0. 35.44895096] [-0.2681319 0.96338221 0. -5.88496477] [ 0. 0. 1. 0.04072823] [ 0. 0. 0. 1. ]] SLAMing on 33.54431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.48, Y:-5.89, Z:0.04 [[ 0.96389643 0.26627744 0. 35.48094817] [-0.26627744 0.96389643 0. -5.89315626] [ 0. 0. 1. 0.03978406] [ 0. 0. 0. 1. ]] SLAMing on 33.57431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.51, Y:-5.90, Z:0.04 [[ 0.96374387 0.26682907 0. 35.51101246] [-0.26682907 0.96374387 0. -5.90197249] [ 0. 0. 1. 0.03982005] [ 0. 0. 0. 1. ]] SLAMing on 33.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:-5.91, Z:0.04 [[ 0.96312683 0.26904778 0. 35.53719848] [-0.26904778 0.96312683 0. -5.90984165] [ 0. 0. 1. 0.0378808 ] [ 0. 0. 0. 1. ]] SLAMing on 33.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:-5.92, Z:0.04 [[ 0.96373513 0.26686062 0. 35.57109515] [-0.26686062 0.96373513 0. -5.91831525] [ 0. 0. 1. 0.04054458] [ 0. 0. 0. 1. ]] SLAMing on 33.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.60, Y:-5.93, Z:0.04 [[ 0.96364254 0.26719477 0. 35.6018914 ] [-0.26719477 0.96364254 0. -5.92712394] [ 0. 0. 1. 0.0401056 ] [ 0. 0. 0. 1. ]] SLAMing on 33.69432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:-5.93, Z:0.04 [[ 0.96341178 0.26802563 0. 35.6324794 ] [-0.26802563 0.96341178 0. -5.93475715] [ 0. 0. 1. 0.03983562] [ 0. 0. 0. 1. ]] SLAMing on 33.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.66, Y:-5.94, Z:0.04 [[ 0.96320625 0.26876332 0. 35.66434983] [-0.26876332 0.96320625 0. -5.94374907] [ 0. 0. 1. 0.04011623] [ 0. 0. 0. 1. ]] SLAMing on 33.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:-5.95, Z:0.04 [[ 0.96304056 0.26935641 0. 35.69578851] [-0.26935641 0.96304056 0. -5.95264249] [ 0. 0. 1. 0.04070792] [ 0. 0. 0. 1. ]] SLAMing on 33.784319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.73, Y:-5.96, Z:0.04 [[ 0.96293154 0.2697459 0. 35.72778368] [-0.2697459 0.96293154 0. -5.96060988] [ 0. 0. 1. 0.04152398] [ 0. 0. 0. 1. ]] SLAMing on 33.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:-5.97, Z:0.04 [[ 0.96284816 0.27004335 0. 35.75927234] [-0.27004335 0.96284816 0. -5.9691379 ] [ 0. 0. 1. 0.04124919] [ 0. 0. 0. 1. ]] SLAMing on 33.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:-5.98, Z:0.04 [[ 0.96283188 0.2701014 0. 35.79081039] [-0.2701014 0.96283188 0. -5.97771807] [ 0. 0. 1. 0.04026124] [ 0. 0. 0. 1. ]] SLAMing on 33.87432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.82, Y:-5.98, Z:0.04 [[ 0.96302226 0.26942183 0. 35.82055747] [-0.26942183 0.96302226 0. -5.98490298] [ 0. 0. 1. 0.04207163] [ 0. 0. 0. 1. ]] SLAMing on 33.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:-5.99, Z:0.04 [[ 0.96311566 0.26908776 0. 35.85165126] [-0.26908776 0.96311566 0. -5.99327194] [ 0. 0. 1. 0.04123514] [ 0. 0. 0. 1. ]] SLAMing on 33.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:-6.00, Z:0.04 [[ 0.96309878 0.26914819 0. 35.88025316] [-0.26914819 0.96309878 0. -6.00007731] [ 0. 0. 1. 0.04043585] [ 0. 0. 0. 1. ]] SLAMing on 33.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:-6.01, Z:0.04 [[ 0.96385623 0.26642291 0. 35.91236884] [-0.26642291 0.96385623 0. -6.00791033] [ 0. 0. 1. 0.04044105] [ 0. 0. 0. 1. ]] SLAMing on 33.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.94, Y:-6.02, Z:0.04 [[ 0.96409641 0.26555246 0. 35.94417209] [-0.26555246 0.96409641 0. -6.01678835] [ 0. 0. 1. 0.04138809] [ 0. 0. 0. 1. ]] SLAMing on 34.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:-6.03, Z:0.04 [[ 0.9643412 0.26466216 0. 35.97617927] [-0.26466216 0.9643412 0. -6.02599405] [ 0. 0. 1. 0.04217872] [ 0. 0. 0. 1. ]] SLAMing on 34.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:-6.03, Z:0.04 [[ 0.96500774 0.26222141 0. 36.00780299] [-0.26222141 0.96500774 0. -6.03424349] [ 0. 0. 1. 0.04236227] [ 0. 0. 0. 1. ]] SLAMing on 34.08432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:-6.04, Z:0.04 [[ 0.96520976 0.26147682 0. 36.03872917] [-0.26147682 0.96520976 0. -6.04287979] [ 0. 0. 1. 0.04210449] [ 0. 0. 0. 1. ]] SLAMing on 34.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:-6.05, Z:0.04 [[ 0.96546435 0.2605352 0. 36.07092689] [-0.2605352 0.96546435 0. -6.05136933] [ 0. 0. 1. 0.04178577] [ 0. 0. 0. 1. ]] SLAMing on 34.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:-6.06, Z:0.04 [[ 0.96574891 0.2594784 0. 36.10330813] [-0.2594784 0.96574891 0. -6.05902653] [ 0. 0. 1. 0.04170299] [ 0. 0. 0. 1. ]] SLAMing on 34.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:-6.07, Z:0.04 [[ 0.96573859 0.2595168 0. 36.13528664] [-0.2595168 0.96573859 0. -6.06752066] [ 0. 0. 1. 0.04169421] [ 0. 0. 0. 1. ]] SLAMing on 34.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:-6.07, Z:0.04 [[ 0.96553061 0.26028952 0. 36.1662422 ] [-0.26028952 0.96553061 0. -6.07404585] [ 0. 0. 1. 0.04159292] [ 0. 0. 0. 1. ]] SLAMing on 34.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:-6.08, Z:0.04 [[ 0.96529377 0.26116649 0. 36.19820619] [-0.26116649 0.96529377 0. -6.08271433] [ 0. 0. 1. 0.0421594 ] [ 0. 0. 0. 1. ]] SLAMing on 34.26432 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.23, Y:-6.09, Z:0.04 [[ 0.96504475 0.26208517 0. 36.22900015] [-0.26208517 0.96504475 0. -6.0908661 ] [ 0. 0. 1. 0.04240265] [ 0. 0. 0. 1. ]] SLAMing on 34.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:-6.10, Z:0.04 [[ 0.96436562 0.26457316 0. 36.2614029 ] [-0.26457316 0.96436562 0. -6.09715456] [ 0. 0. 1. 0.04179568] [ 0. 0. 0. 1. ]] SLAMing on 34.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.29, Y:-6.10, Z:0.04 [[ 0.96391819 0.26619867 0. 36.29200931] [-0.26619867 0.96391819 0. -6.10464305] [ 0. 0. 1. 0.04109574] [ 0. 0. 0. 1. ]] SLAMing on 34.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:-6.11, Z:0.04 [[ 0.96310814 0.26911469 0. 36.32418635] [-0.26911469 0.96310814 0. -6.11153317] [ 0. 0. 1. 0.04088933] [ 0. 0. 0. 1. ]] SLAMing on 34.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.36, Y:-6.12, Z:0.04 [[ 0.96271979 0.27050065 0. 36.35634463] [-0.27050065 0.96271979 0. -6.11991767] [ 0. 0. 1. 0.04051149] [ 0. 0. 0. 1. ]] SLAMing on 34.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.39, Y:-6.13, Z:0.04 [[ 0.96228788 0.27203315 0. 36.38801638] [-0.27203315 0.96228788 0. -6.12834719] [ 0. 0. 1. 0.04051768] [ 0. 0. 0. 1. ]] SLAMing on 34.44432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:-6.14, Z:0.04 [[ 0.96185179 0.27357106 0. 36.42077695] [-0.27357106 0.96185179 0. -6.13544003] [ 0. 0. 1. 0.03973329] [ 0. 0. 0. 1. ]] SLAMing on 34.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:-6.14, Z:0.04 [[ 0.96171288 0.274059 0. 36.45249118] [-0.274059 0.96171288 0. -6.14384692] [ 0. 0. 1. 0.0399374 ] [ 0. 0. 0. 1. ]] SLAMing on 34.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:-6.15, Z:0.04 [[ 0.96190582 0.27338103 0. 36.48419189] [-0.27338103 0.96190582 0. -6.15092245] [ 0. 0. 1. 0.03996276] [ 0. 0. 0. 1. ]] SLAMing on 34.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:-6.16, Z:0.04 [[ 0.96205918 0.27284086 0. 36.515242 ] [-0.27284086 0.96205918 0. -6.15999704] [ 0. 0. 1. 0.04039243] [ 0. 0. 0. 1. ]] SLAMing on 34.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:-6.17, Z:0.04 [[ 0.96223349 0.27222548 0. 36.54682684] [-0.27222548 0.96223349 0. -6.16964019] [ 0. 0. 1. 0.04070829] [ 0. 0. 0. 1. ]] SLAMing on 34.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:-6.18, Z:0.04 [[ 0.96245355 0.27144643 0. 36.5773892 ] [-0.27144643 0.96245355 0. -6.17847156] [ 0. 0. 1. 0.04182161] [ 0. 0. 0. 1. ]] SLAMing on 34.62432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:-6.19, Z:0.04 [[ 0.96296119 0.26964004 0. 36.60929993] [-0.26964004 0.96296119 0. -6.18572187] [ 0. 0. 1. 0.04143561] [ 0. 0. 0. 1. ]] SLAMing on 34.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-6.19, Z:0.04 [[ 0.96324729 0.2686162 0. 36.64153312] [-0.2686162 0.96324729 0. -6.19450465] [ 0. 0. 1. 0.0416716 ] [ 0. 0. 0. 1. ]] SLAMing on 34.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:-6.21, Z:0.04 [[ 0.96355743 0.26750155 0. 36.67525046] [-0.26750155 0.96355743 0. -6.20581338] [ 0. 0. 1. 0.04286331] [ 0. 0. 0. 1. ]] SLAMing on 34.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:-6.21, Z:0.04 [[ 0.96381293 0.2665795 0. 36.70705315] [-0.2665795 0.96381293 0. -6.21497851] [ 0. 0. 1. 0.04272857] [ 0. 0. 0. 1. ]] SLAMing on 34.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:-6.22, Z:0.04 [[ 0.96428164 0.26487908 0. 36.73806459] [-0.26487908 0.96428164 0. -6.22231344] [ 0. 0. 1. 0.04224788] [ 0. 0. 0. 1. ]] SLAMing on 34.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:-6.23, Z:0.04 [[ 0.96425896 0.2649616 0. 36.76785767] [-0.2649616 0.96425896 0. -6.23010253] [ 0. 0. 1. 0.04147342] [ 0. 0. 0. 1. ]] SLAMing on 34.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.80, Y:-6.24, Z:0.04 [[ 0.96421891 0.26510733 0. 36.79532854] [-0.26510733 0.96421891 0. -6.23606035] [ 0. 0. 1. 0.04152283] [ 0. 0. 0. 1. ]] SLAMing on 34.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:-6.24, Z:0.04 [[ 0.96357171 0.26745012 0. 36.82794609] [-0.26745012 0.96357171 0. -6.24370394] [ 0. 0. 1. 0.04110972] [ 0. 0. 0. 1. ]] SLAMing on 34.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:-6.25, Z:0.04 [[ 0.96316638 0.26890616 0. 36.86053482] [-0.26890616 0.96316638 0. -6.25406649] [ 0. 0. 1. 0.04076407] [ 0. 0. 0. 1. ]] SLAMing on 34.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:-6.26, Z:0.04 [[ 0.9626799 0.27064259 0. 36.89220499] [-0.27064259 0.9626799 0. -6.26376303] [ 0. 0. 1. 0.04065899] [ 0. 0. 0. 1. ]] SLAMing on 34.924319999999994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:36.92, Y:-6.27, Z:0.04 [[ 0.96228905 0.272029 0. 36.92348472] [-0.272029 0.96228905 0. -6.27256143] [ 0. 0. 1. 0.04014777] [ 0. 0. 0. 1. ]] SLAMing on 34.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:-6.28, Z:0.04 [[ 0.96083879 0.27710796 0. 36.95540036] [-0.27710796 0.96083879 0. -6.28270272] [ 0. 0. 1. 0.03975549] [ 0. 0. 0. 1. ]] SLAMing on 34.98432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:-6.29, Z:0.04 [[ 0.95960653 0.28134552 0. 36.98655697] [-0.28134552 0.95960653 0. -6.29070684] [ 0. 0. 1. 0.04027016] [ 0. 0. 0. 1. ]] SLAMing on 35.01432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:-6.29, Z:0.04 [[ 0.95950039 0.28170729 0. 37.01371592] [-0.28170729 0.95950039 0. -6.29491656] [ 0. 0. 1. 0.04097554] [ 0. 0. 0. 1. ]] SLAMing on 35.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:-6.30, Z:0.04 [[ 0.95904996 0.28323697 0. 37.04451569] [-0.28323697 0.95904996 0. -6.30403788] [ 0. 0. 1. 0.0407913 ] [ 0. 0. 0. 1. ]] SLAMing on 35.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:-6.31, Z:0.04 [[ 0.95862777 0.2846626 0. 37.07512743] [-0.2846626 0.95862777 0. -6.31334481] [ 0. 0. 1. 0.04056156] [ 0. 0. 0. 1. ]] SLAMing on 35.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.11, Y:-6.32, Z:0.04 [[ 0.95807441 0.2865195 0. 37.1062576 ] [-0.2865195 0.95807441 0. -6.32338401] [ 0. 0. 1. 0.04020263] [ 0. 0. 0. 1. ]] SLAMing on 35.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.14, Y:-6.33, Z:0.04 [[ 0.95794782 0.28694245 0. 37.1369071 ] [-0.28694245 0.95794782 0. -6.33350863] [ 0. 0. 1. 0.0402227 ] [ 0. 0. 0. 1. ]] SLAMing on 35.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.17, Y:-6.34, Z:0.04 [[ 0.95785879 0.28723953 0. 37.16876708] [-0.28723953 0.95785879 0. -6.34366545] [ 0. 0. 1. 0.0402227 ] [ 0. 0. 0. 1. ]] SLAMing on 35.19432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:-6.35, Z:0.04 [[ 0.95794465 0.28695305 0. 37.20001563] [-0.28695305 0.95794465 0. -6.35420329] [ 0. 0. 1. 0.04019647] [ 0. 0. 0. 1. ]] SLAMing on 35.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:-6.36, Z:0.04 [[ 0.95821975 0.28603307 0. 37.23139089] [-0.28603307 0.95821975 0. -6.36447553] [ 0. 0. 1. 0.04065497] [ 0. 0. 0. 1. ]] SLAMing on 35.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:-6.37, Z:0.04 [[ 0.95856718 0.28486655 0. 37.26064151] [-0.28486655 0.95856718 0. -6.37480553] [ 0. 0. 1. 0.04092363] [ 0. 0. 0. 1. ]] SLAMing on 35.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:-6.38, Z:0.04 [[ 0.95862629 0.28466758 0. 37.28988407] [-0.28466758 0.95862629 0. -6.38470683] [ 0. 0. 1. 0.04135166] [ 0. 0. 0. 1. ]] SLAMing on 35.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:-6.40, Z:0.04 [[ 0.95869032 0.28445188 0. 37.32009319] [-0.28445188 0.95869032 0. -6.39527881] [ 0. 0. 1. 0.04162925] [ 0. 0. 0. 1. ]] SLAMing on 35.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:-6.41, Z:0.04 [[ 0.9588446 0.28393138 0. 37.35171491] [-0.28393138 0.9588446 0. -6.40601787] [ 0. 0. 1. 0.04096477] [ 0. 0. 0. 1. ]] SLAMing on 35.37432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-6.42, Z:0.04 [[ 0.9591307 0.28296342 0. 37.38159603] [-0.28296342 0.9591307 0. -6.41505166] [ 0. 0. 1. 0.04097389] [ 0. 0. 0. 1. ]] SLAMing on 35.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:-6.43, Z:0.04 [[ 0.95902441 0.28332344 0. 37.40967651] [-0.28332344 0.95902441 0. -6.425251 ] [ 0. 0. 1. 0.03974475] [ 0. 0. 0. 1. ]] SLAMing on 35.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-6.44, Z:0.04 [[ 0.9593922 0.28207552 0. 37.44197676] [-0.28207552 0.9593922 0. -6.43543137] [ 0. 0. 1. 0.03972413] [ 0. 0. 0. 1. ]] SLAMing on 35.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:-6.45, Z:0.04 [[ 0.95980764 0.28065866 0. 37.47245218] [-0.28065866 0.95980764 0. -6.44651144] [ 0. 0. 1. 0.03903469] [ 0. 0. 0. 1. ]] SLAMing on 35.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:-6.46, Z:0.04 [[ 0.95988658 0.28038859 0. 37.50368548] [-0.28038859 0.95988658 0. -6.45718957] [ 0. 0. 1. 0.0395714 ] [ 0. 0. 0. 1. ]] SLAMing on 35.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:-6.47, Z:0.04 [[ 0.95998397 0.28005495 0. 37.53459596] [-0.28005495 0.95998397 0. -6.46714359] [ 0. 0. 1. 0.03939606] [ 0. 0. 0. 1. ]] SLAMing on 35.55432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:-6.48, Z:0.04 [[ 0.95982911 0.28058526 0. 37.56603678] [-0.28058526 0.95982911 0. -6.47760055] [ 0. 0. 1. 0.03942341] [ 0. 0. 0. 1. ]] SLAMing on 35.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:-6.49, Z:0.04 [[ 0.95964965 0.28119842 0. 37.59658476] [-0.28119842 0.95964965 0. -6.48784206] [ 0. 0. 1. 0.03846114] [ 0. 0. 0. 1. ]] SLAMing on 35.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:-6.50, Z:0.04 [[ 0.9593691 0.28215408 0. 37.62783129] [-0.28215408 0.9593691 0. -6.49839063] [ 0. 0. 1. 0.03821592] [ 0. 0. 0. 1. ]] SLAMing on 35.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:-6.51, Z:0.04 [[ 9.58720436e-01 2.84350357e-01 0.00000000e+00 3.76595022e+01] [-2.84350357e-01 9.58720436e-01 0.00000000e+00 -6.50798364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74301202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:-6.52, Z:0.04 [[ 0.95832178 0.28569104 0. 37.69125402] [-0.28569104 0.95832178 0. -6.5180907 ] [ 0. 0. 1. 0.03826491] [ 0. 0. 0. 1. ]] SLAMing on 35.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:-6.53, Z:0.04 [[ 0.95724849 0.2892669 0. 37.72133427] [-0.2892669 0.95724849 0. -6.52757177] [ 0. 0. 1. 0.03905022] [ 0. 0. 0. 1. ]] SLAMing on 35.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:-6.54, Z:0.04 [[ 0.95662836 0.29131114 0. 37.75152691] [-0.29131114 0.95662836 0. -6.53682117] [ 0. 0. 1. 0.03883975] [ 0. 0. 0. 1. ]] SLAMing on 35.76432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:-6.55, Z:0.04 [[ 0.95579058 0.29404823 0. 37.78313158] [-0.29404823 0.95579058 0. -6.54722801] [ 0. 0. 1. 0.03865941] [ 0. 0. 0. 1. ]] SLAMing on 35.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:-6.56, Z:0.04 [[ 0.95436979 0.29862735 0. 37.81459547] [-0.29862735 0.95436979 0. -6.55745925] [ 0. 0. 1. 0.03887879] [ 0. 0. 0. 1. ]] SLAMing on 35.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:-6.57, Z:0.04 [[ 0.95376292 0.30055996 0. 37.84504721] [-0.30055996 0.95376292 0. -6.56711523] [ 0. 0. 1. 0.03929631] [ 0. 0. 0. 1. ]] SLAMing on 35.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:-6.58, Z:0.04 [[ 0.95269708 0.30392148 0. 37.87585838] [-0.30392148 0.95269708 0. -6.57695319] [ 0. 0. 1. 0.03971219] [ 0. 0. 0. 1. ]] SLAMing on 35.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:-6.59, Z:0.04 [[ 0.95224782 0.30532621 0. 37.90685472] [-0.30532621 0.95224782 0. -6.58725537] [ 0. 0. 1. 0.03949185] [ 0. 0. 0. 1. ]] SLAMing on 35.91432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:-6.60, Z:0.04 [[ 0.95203598 0.30598611 0. 37.93792857] [-0.30598611 0.95203598 0. -6.59768182] [ 0. 0. 1. 0.03952987] [ 0. 0. 0. 1. ]] SLAMing on 35.94432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:-6.61, Z:0.04 [[ 0.95210299 0.30577753 0. 37.967458 ] [-0.30577753 0.95210299 0. -6.60915653] [ 0. 0. 1. 0.04017005] [ 0. 0. 0. 1. ]] SLAMing on 35.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:-6.62, Z:0.04 [[ 0.95266066 0.30403562 0. 37.99771146] [-0.30403562 0.95266066 0. -6.62100036] [ 0. 0. 1. 0.04044209] [ 0. 0. 0. 1. ]] SLAMing on 36.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:-6.63, Z:0.04 [[ 0.95295802 0.30310231 0. 38.02844683] [-0.30310231 0.95295802 0. -6.63201384] [ 0. 0. 1. 0.04017667] [ 0. 0. 0. 1. ]] SLAMing on 36.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:-6.64, Z:0.04 [[ 0.95334344 0.30188788 0. 38.05926555] [-0.30188788 0.95334344 0. -6.64287823] [ 0. 0. 1. 0.03974304] [ 0. 0. 0. 1. ]] SLAMing on 36.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:-6.65, Z:0.04 [[ 0.95369427 0.30077772 0. 38.09033485] [-0.30077772 0.95369427 0. -6.65410062] [ 0. 0. 1. 0.03944173] [ 0. 0. 0. 1. ]] SLAMing on 36.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:-6.67, Z:0.04 [[ 0.95466291 0.29768899 0. 38.12006756] [-0.29768899 0.95466291 0. -6.66588014] [ 0. 0. 1. 0.03963941] [ 0. 0. 0. 1. ]] SLAMing on 36.12432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:-6.68, Z:0.04 [[ 0.95514015 0.29615417 0. 38.15087796] [-0.29615417 0.95514015 0. -6.67687794] [ 0. 0. 1. 0.03975425] [ 0. 0. 0. 1. ]] SLAMing on 36.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:-6.69, Z:0.04 [[ 0.95606502 0.29315471 0. 38.18007703] [-0.29315471 0.95606502 0. -6.68830534] [ 0. 0. 1. 0.0390077 ] [ 0. 0. 0. 1. ]] SLAMing on 36.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:-6.70, Z:0.04 [[ 0.95664099 0.29126968 0. 38.21120743] [-0.29126968 0.95664099 0. -6.69893514] [ 0. 0. 1. 0.03917051] [ 0. 0. 0. 1. ]] SLAMing on 36.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:-6.71, Z:0.04 [[ 9.57242072e-01 2.89288117e-01 0.00000000e+00 3.82424474e+01] [-2.89288117e-01 9.57242072e-01 0.00000000e+00 -6.70954045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80235762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:-6.72, Z:0.04 [[ 9.57726484e-01 2.87680347e-01 0.00000000e+00 3.82710601e+01] [-2.87680347e-01 9.57726484e-01 0.00000000e+00 -6.72079310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74860538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:-6.73, Z:0.04 [[ 9.57982128e-01 2.86827899e-01 0.00000000e+00 3.83018858e+01] [-2.86827899e-01 9.57982128e-01 0.00000000e+00 -6.73093270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68010628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:-6.74, Z:0.04 [[ 9.58157318e-01 2.86242126e-01 0.00000000e+00 3.83323949e+01] [-2.86242126e-01 9.58157318e-01 0.00000000e+00 -6.74144853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53906618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:-6.75, Z:0.03 [[ 9.58045730e-01 2.86615385e-01 0.00000000e+00 3.83633641e+01] [-2.86615385e-01 9.58045730e-01 0.00000000e+00 -6.75241270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47831030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:-6.76, Z:0.03 [[ 9.58005794e-01 2.86748842e-01 0.00000000e+00 3.83949661e+01] [-2.86748842e-01 9.58005794e-01 0.00000000e+00 -6.76333735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48189771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:-6.77, Z:0.03 [[ 9.57395551e-01 2.88779776e-01 0.00000000e+00 3.84221149e+01] [-2.88779776e-01 9.57395551e-01 0.00000000e+00 -6.77352170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45672851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:-6.78, Z:0.04 [[ 9.57581939e-01 2.88161117e-01 0.00000000e+00 3.84552038e+01] [-2.88161117e-01 9.57581939e-01 0.00000000e+00 -6.78497346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52603140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:-6.80, Z:0.04 [[ 9.57015844e-01 2.90035644e-01 0.00000000e+00 3.84847217e+01] [-2.90035644e-01 9.57015844e-01 0.00000000e+00 -6.79563798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51392138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.52, Y:-6.81, Z:0.04 [[ 9.57016170e-01 2.90034567e-01 0.00000000e+00 3.85159145e+01] [-2.90034567e-01 9.57016170e-01 0.00000000e+00 -6.80650877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57127617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:-6.82, Z:0.04 [[ 9.57052354e-01 2.89915145e-01 0.00000000e+00 3.85456825e+01] [-2.89915145e-01 9.57052354e-01 0.00000000e+00 -6.81669526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59808454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:-6.83, Z:0.04 [[ 9.56976942e-01 2.90163977e-01 0.00000000e+00 3.85770208e+01] [-2.90163977e-01 9.56976942e-01 0.00000000e+00 -6.82793302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60918154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:-6.84, Z:0.04 [[ 9.57313802e-01 2.89050661e-01 0.00000000e+00 3.86078019e+01] [-2.89050661e-01 9.57313802e-01 0.00000000e+00 -6.83852871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65042009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.64, Y:-6.85, Z:0.04 [[ 9.57422007e-01 2.88692053e-01 0.00000000e+00 3.86383509e+01] [-2.88692053e-01 9.57422007e-01 0.00000000e+00 -6.84864697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66207288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.67, Y:-6.86, Z:0.04 [[ 9.56994288e-01 2.90106761e-01 0.00000000e+00 3.86728247e+01] [-2.90106761e-01 9.56994288e-01 0.00000000e+00 -6.86321152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55282947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:-6.87, Z:0.04 [[ 9.57266130e-01 2.89208500e-01 0.00000000e+00 3.87017655e+01] [-2.89208500e-01 9.57266130e-01 0.00000000e+00 -6.87336383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57313047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:-6.88, Z:0.04 [[ 9.57465559e-01 2.88547575e-01 0.00000000e+00 3.87323775e+01] [-2.88547575e-01 9.57465559e-01 0.00000000e+00 -6.88307716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63664035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:-6.89, Z:0.04 [[ 9.57468770e-01 2.88536921e-01 0.00000000e+00 3.87619268e+01] [-2.88536921e-01 9.57468770e-01 0.00000000e+00 -6.89228536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63188807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:-6.90, Z:0.04 [[ 9.57610473e-01 2.88066280e-01 0.00000000e+00 3.87892532e+01] [-2.88066280e-01 9.57610473e-01 0.00000000e+00 -6.89751260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70578617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:-6.91, Z:0.04 [[ 9.57140934e-01 2.89622568e-01 0.00000000e+00 3.88233135e+01] [-2.89622568e-01 9.57140934e-01 0.00000000e+00 -6.91073628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58039939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.85, Y:-6.92, Z:0.04 [[ 9.57127184e-01 2.89668005e-01 0.00000000e+00 3.88517547e+01] [-2.89668005e-01 9.57127184e-01 0.00000000e+00 -6.91716010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51363695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.88, Y:-6.93, Z:0.03 [[ 9.56749135e-01 2.90914235e-01 0.00000000e+00 3.88817605e+01] [-2.90914235e-01 9.56749135e-01 0.00000000e+00 -6.92716181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47065798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.91, Y:-6.94, Z:0.03 [[ 9.56662113e-01 2.91200276e-01 0.00000000e+00 3.89134737e+01] [-2.91200276e-01 9.56662113e-01 0.00000000e+00 -6.93775449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47065798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:-6.95, Z:0.04 [[ 9.55525640e-01 2.94908038e-01 0.00000000e+00 3.89471203e+01] [-2.94908038e-01 9.55525640e-01 0.00000000e+00 -6.95291379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62918825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:-6.96, Z:0.04 [[ 9.55115700e-01 2.96233015e-01 0.00000000e+00 3.89764270e+01] [-2.96233015e-01 9.55115700e-01 0.00000000e+00 -6.96329561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71835083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:-6.97, Z:0.04 [[ 9.55873780e-01 2.93777667e-01 0.00000000e+00 3.90035211e+01] [-2.93777667e-01 9.55873780e-01 0.00000000e+00 -6.96709689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56583986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:-6.98, Z:0.04 [[ 9.55133178e-01 2.96176656e-01 0.00000000e+00 3.90375992e+01] [-2.96176656e-01 9.55133178e-01 0.00000000e+00 -6.98226847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68627939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:-6.99, Z:0.03 [[ 9.55097813e-01 2.96290681e-01 0.00000000e+00 3.90671368e+01] [-2.96290681e-01 9.55097813e-01 0.00000000e+00 -6.99287883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34011683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:-7.00, Z:0.03 [[ 9.55117109e-01 2.96228473e-01 0.00000000e+00 3.90980609e+01] [-2.96228473e-01 9.55117109e-01 0.00000000e+00 -7.00296526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34011683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:-7.01, Z:0.03 [[ 9.55834749e-01 2.93904631e-01 0.00000000e+00 3.91222308e+01] [-2.93904631e-01 9.55834749e-01 0.00000000e+00 -7.00640742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43474491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11431999999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.16, Y:-7.02, Z:0.04 [[ 9.55174648e-01 2.96042889e-01 0.00000000e+00 3.91560304e+01] [-2.96042889e-01 9.55174648e-01 0.00000000e+00 -7.02348701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53485034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:-7.03, Z:0.03 [[ 9.56231264e-01 2.92611977e-01 0.00000000e+00 3.91809696e+01] [-2.92611977e-01 9.56231264e-01 0.00000000e+00 -7.02656328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37986801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:-7.04, Z:0.03 [[ 9.56554663e-01 2.91553044e-01 0.00000000e+00 3.92126672e+01] [-2.91553044e-01 9.56554663e-01 0.00000000e+00 -7.03705029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34395135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:-7.05, Z:0.03 [[ 9.56654528e-01 2.91225195e-01 0.00000000e+00 3.92423735e+01] [-2.91225195e-01 9.56654528e-01 0.00000000e+00 -7.04732440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34283156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:-7.06, Z:0.03 [[ 9.56829917e-01 2.90648429e-01 0.00000000e+00 3.92724961e+01] [-2.90648429e-01 9.56829917e-01 0.00000000e+00 -7.05766634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31367907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-7.07, Z:0.03 [[ 9.56764030e-01 2.90865245e-01 0.00000000e+00 3.93028593e+01] [-2.90865245e-01 9.56764030e-01 0.00000000e+00 -7.06866624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47157342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:-7.08, Z:0.03 [[ 9.56571673e-01 2.91497228e-01 0.00000000e+00 3.93328938e+01] [-2.91497228e-01 9.56571673e-01 0.00000000e+00 -7.07996703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45451955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:-7.09, Z:0.03 [[ 9.56385129e-01 2.92108687e-01 0.00000000e+00 3.93628565e+01] [-2.92108687e-01 9.56385129e-01 0.00000000e+00 -7.09056430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44207579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:-7.10, Z:0.04 [[ 9.55857361e-01 2.93831082e-01 0.00000000e+00 3.93937446e+01] [-2.93831082e-01 9.55857361e-01 0.00000000e+00 -7.10111727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51538820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:-7.12, Z:0.03 [[ 9.54711821e-01 2.97532080e-01 0.00000000e+00 3.94252750e+01] [-2.97532080e-01 9.54711821e-01 0.00000000e+00 -7.11555231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28806900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:-7.13, Z:0.04 [[ 9.54382077e-01 2.98588096e-01 0.00000000e+00 3.94561511e+01] [-2.98588096e-01 9.54382077e-01 0.00000000e+00 -7.12555520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68804891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:-7.14, Z:0.04 [[ 9.53915189e-01 3.00076345e-01 0.00000000e+00 3.94866718e+01] [-3.00076345e-01 9.53915189e-01 0.00000000e+00 -7.13587069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71054840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:-7.15, Z:0.04 [[ 9.53700490e-01 3.00758002e-01 0.00000000e+00 3.95166166e+01] [-3.00758002e-01 9.53700490e-01 0.00000000e+00 -7.14641981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69196283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.55, Y:-7.16, Z:0.04 [[ 9.53576174e-01 3.01151923e-01 0.00000000e+00 3.95468337e+01] [-3.01151923e-01 9.53576174e-01 0.00000000e+00 -7.15650193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66532495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:-7.17, Z:0.04 [[ 9.53300867e-01 3.02022278e-01 0.00000000e+00 3.95778543e+01] [-3.02022278e-01 9.53300867e-01 0.00000000e+00 -7.16734862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67569870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:-7.18, Z:0.04 [[ 9.53111802e-01 3.02618396e-01 0.00000000e+00 3.96080459e+01] [-3.02618396e-01 9.53111802e-01 0.00000000e+00 -7.17685191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66653901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:-7.19, Z:0.04 [[ 9.52933211e-01 3.03180301e-01 0.00000000e+00 3.96387815e+01] [-3.03180301e-01 9.52933211e-01 0.00000000e+00 -7.18701909e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72367215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:-7.20, Z:0.04 [[ 9.52746427e-01 3.03766762e-01 0.00000000e+00 3.96697110e+01] [-3.03766762e-01 9.52746427e-01 0.00000000e+00 -7.19856257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77284628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:-7.21, Z:0.04 [[ 9.52981739e-01 3.03027730e-01 0.00000000e+00 3.96971257e+01] [-3.03027730e-01 9.52981739e-01 0.00000000e+00 -7.20665047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82716567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:-7.22, Z:0.04 [[ 9.52797186e-01 3.03607515e-01 0.00000000e+00 3.97267870e+01] [-3.03607515e-01 9.52797186e-01 0.00000000e+00 -7.21724020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85370013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:-7.23, Z:0.04 [[ 9.52467126e-01 3.04641385e-01 0.00000000e+00 3.97578666e+01] [-3.04641385e-01 9.52467126e-01 0.00000000e+00 -7.22854498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90506851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:-7.24, Z:0.04 [[ 9.51997590e-01 3.06105519e-01 0.00000000e+00 3.97882549e+01] [-3.06105519e-01 9.51997590e-01 0.00000000e+00 -7.24005329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83398327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.82, Y:-7.25, Z:0.04 [[ 9.52223190e-01 3.05403005e-01 0.00000000e+00 3.98181588e+01] [-3.05403005e-01 9.52223190e-01 0.00000000e+00 -7.24895227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70283801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:-7.26, Z:0.04 [[ 9.51911406e-01 3.06373425e-01 0.00000000e+00 3.98483305e+01] [-3.06373425e-01 9.51911406e-01 0.00000000e+00 -7.26029874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74248844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:-7.27, Z:0.04 [[ 9.51342465e-01 3.08135544e-01 0.00000000e+00 3.98772657e+01] [-3.08135544e-01 9.51342465e-01 0.00000000e+00 -7.27321813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71701244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:-7.28, Z:0.04 [[ 9.51328470e-01 3.08178750e-01 0.00000000e+00 3.99066994e+01] [-3.08178750e-01 9.51328470e-01 0.00000000e+00 -7.28444947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73662159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:-7.30, Z:0.04 [[ 9.51252379e-01 3.08413539e-01 0.00000000e+00 3.99368401e+01] [-3.08413539e-01 9.51252379e-01 0.00000000e+00 -7.29604397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74216133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:-7.31, Z:0.04 [[ 9.51678734e-01 3.07095403e-01 0.00000000e+00 3.99669078e+01] [-3.07095403e-01 9.51678734e-01 0.00000000e+00 -7.30799559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72878415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:-7.32, Z:0.04 [[ 9.51888651e-01 3.06444117e-01 0.00000000e+00 3.99981549e+01] [-3.06444117e-01 9.51888651e-01 0.00000000e+00 -7.31964139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77836585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-7.33, Z:0.04 [[ 9.52136035e-01 3.05674617e-01 0.00000000e+00 4.00284534e+01] [-3.05674617e-01 9.52136035e-01 0.00000000e+00 -7.33081823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76827457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-7.34, Z:0.04 [[ 9.52299464e-01 3.05165088e-01 0.00000000e+00 4.00589566e+01] [-3.05165088e-01 9.52299464e-01 0.00000000e+00 -7.34243636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90472366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-7.35, Z:0.04 [[ 9.52761723e-01 3.03718783e-01 0.00000000e+00 4.00893607e+01] [-3.03718783e-01 9.52761723e-01 0.00000000e+00 -7.35483967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00778275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:-7.37, Z:0.04 [[ 9.52966064e-01 3.03077021e-01 0.00000000e+00 4.01201774e+01] [-3.03077021e-01 9.52966064e-01 0.00000000e+00 -7.36738897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99567132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:-7.38, Z:0.04 [[ 9.52893927e-01 3.03303749e-01 0.00000000e+00 4.01510492e+01] [-3.03303749e-01 9.52893927e-01 0.00000000e+00 -7.37901544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97038975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:-7.39, Z:0.04 [[ 9.52798769e-01 3.03602546e-01 0.00000000e+00 4.01821692e+01] [-3.03602546e-01 9.52798769e-01 0.00000000e+00 -7.39002661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93950989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-7.40, Z:0.04 [[ 9.52445392e-01 3.04709329e-01 0.00000000e+00 4.02126783e+01] [-3.04709329e-01 9.52445392e-01 0.00000000e+00 -7.40135182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82861015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-7.41, Z:0.04 [[ 9.52173237e-01 3.05558714e-01 0.00000000e+00 4.02440286e+01] [-3.05558714e-01 9.52173237e-01 0.00000000e+00 -7.41256323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78051261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.27, Y:-7.42, Z:0.04 [[ 9.51817623e-01 3.06664659e-01 0.00000000e+00 4.02749320e+01] [-3.06664659e-01 9.51817623e-01 0.00000000e+00 -7.42356778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71514874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:-7.44, Z:0.04 [[ 9.51090317e-01 3.08912946e-01 0.00000000e+00 4.03044621e+01] [-3.08912946e-01 9.51090317e-01 0.00000000e+00 -7.43501935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57930407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:-7.45, Z:0.03 [[ 9.50737105e-01 3.09998319e-01 0.00000000e+00 4.03340327e+01] [-3.09998319e-01 9.50737105e-01 0.00000000e+00 -7.44611365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49566322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:-7.46, Z:0.04 [[ 9.50462446e-01 3.10839411e-01 0.00000000e+00 4.03650504e+01] [-3.10839411e-01 9.50462446e-01 0.00000000e+00 -7.45775130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65205424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:-7.47, Z:0.04 [[ 9.50244214e-01 3.11505913e-01 0.00000000e+00 4.03955217e+01] [-3.11505913e-01 9.50244214e-01 0.00000000e+00 -7.46997541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60708149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:-7.48, Z:0.04 [[ 9.50269682e-01 3.11428212e-01 0.00000000e+00 4.04256057e+01] [-3.11428212e-01 9.50269682e-01 0.00000000e+00 -7.48074061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57027794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.46, Y:-7.49, Z:0.04 [[ 9.50356967e-01 3.11161750e-01 0.00000000e+00 4.04556054e+01] [-3.11161750e-01 9.50356967e-01 0.00000000e+00 -7.49256860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54395861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:-7.50, Z:0.04 [[ 9.50284930e-01 3.11381681e-01 0.00000000e+00 4.04865100e+01] [-3.11381681e-01 9.50284930e-01 0.00000000e+00 -7.50419022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62806548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:-7.52, Z:0.04 [[ 9.50324014e-01 3.11262378e-01 0.00000000e+00 4.05169484e+01] [-3.11262378e-01 9.50324014e-01 0.00000000e+00 -7.51560214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67436819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:-7.52, Z:0.03 [[ 9.50971990e-01 3.09277018e-01 0.00000000e+00 4.05438958e+01] [-3.09277018e-01 9.50971990e-01 0.00000000e+00 -7.52280028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49001661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:-7.54, Z:0.04 [[ 9.50319623e-01 3.11275785e-01 0.00000000e+00 4.05740387e+01] [-3.11275785e-01 9.50319623e-01 0.00000000e+00 -7.53850850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77884858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.60, Y:-7.55, Z:0.04 [[ 9.50215495e-01 3.11593507e-01 0.00000000e+00 4.06043223e+01] [-3.11593507e-01 9.50215495e-01 0.00000000e+00 -7.54935876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72622750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:-7.56, Z:0.04 [[ 9.50083720e-01 3.11995072e-01 0.00000000e+00 4.06345694e+01] [-3.11995072e-01 9.50083720e-01 0.00000000e+00 -7.56019376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67218488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:-7.57, Z:0.03 [[ 9.49771719e-01 3.12943575e-01 0.00000000e+00 4.06637232e+01] [-3.12943575e-01 9.49771719e-01 0.00000000e+00 -7.57241005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49188304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64431999999999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.69, Y:-7.58, Z:0.03 [[ 9.49581059e-01 3.13521629e-01 0.00000000e+00 4.06939280e+01] [-3.13521629e-01 9.49581059e-01 0.00000000e+00 -7.58432908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44615174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.72, Y:-7.60, Z:0.03 [[ 9.49472289e-01 3.13850876e-01 0.00000000e+00 4.07242691e+01] [-3.13850876e-01 9.49472289e-01 0.00000000e+00 -7.59749455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38097872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:-7.61, Z:0.03 [[ 9.49431058e-01 3.13975582e-01 0.00000000e+00 4.07546888e+01] [-3.13975582e-01 9.49431058e-01 0.00000000e+00 -7.60936280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37586888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:-7.62, Z:0.03 [[ 9.49426484e-01 3.13989412e-01 0.00000000e+00 4.07846575e+01] [-3.13989412e-01 9.49426484e-01 0.00000000e+00 -7.62099824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30221427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76431999999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:40.82, Y:-7.63, Z:0.03 [[ 9.49460901e-01 3.13885325e-01 0.00000000e+00 4.08151573e+01] [-3.13885325e-01 9.49460901e-01 0.00000000e+00 -7.63316233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24449083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:-7.64, Z:0.03 [[ 9.49622781e-01 3.13395235e-01 0.00000000e+00 4.08449326e+01] [-3.13395235e-01 9.49622781e-01 0.00000000e+00 -7.64422091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22597002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.88, Y:-7.66, Z:0.03 [[ 9.49733862e-01 3.13058446e-01 0.00000000e+00 4.08760739e+01] [-3.13058446e-01 9.49733862e-01 0.00000000e+00 -7.65612590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23683896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:-7.67, Z:0.03 [[ 9.50255220e-01 3.11472339e-01 0.00000000e+00 4.09062485e+01] [-3.11472339e-01 9.50255220e-01 0.00000000e+00 -7.66911423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34765500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884319999999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.94, Y:-7.68, Z:0.03 [[ 9.50294120e-01 3.11353634e-01 0.00000000e+00 4.09362311e+01] [-3.11353634e-01 9.50294120e-01 0.00000000e+00 -7.67999521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42553371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91432 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:40.97, Y:-7.69, Z:0.04 [[ 9.50106290e-01 3.11926332e-01 0.00000000e+00 4.09675655e+01] [-3.11926332e-01 9.50106290e-01 0.00000000e+00 -7.68926777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52507349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94431999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.00, Y:-7.70, Z:0.04 [[ 9.50075138e-01 3.12021204e-01 0.00000000e+00 4.09973807e+01] [-3.12021204e-01 9.50075138e-01 0.00000000e+00 -7.69953759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52144462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97431999999999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:41.03, Y:-7.71, Z:0.04 [[ 9.49983379e-01 3.12300465e-01 0.00000000e+00 4.10289050e+01] [-3.12300465e-01 9.49983379e-01 0.00000000e+00 -7.71064011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52144462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:-7.72, Z:0.03 [[ 9.49868826e-01 3.12648706e-01 0.00000000e+00 4.10595700e+01] [-3.12648706e-01 9.49868826e-01 0.00000000e+00 -7.72138531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47317425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:-7.73, Z:0.03 [[ 9.49841496e-01 3.12731726e-01 0.00000000e+00 4.10897212e+01] [-3.12731726e-01 9.49841496e-01 0.00000000e+00 -7.73129153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49428760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:-7.74, Z:0.03 [[ 9.49940128e-01 3.12431996e-01 0.00000000e+00 4.11209596e+01] [-3.12431996e-01 9.49940128e-01 0.00000000e+00 -7.74253625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44653276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:-7.75, Z:0.03 [[ 9.49946636e-01 3.12412209e-01 0.00000000e+00 4.11521237e+01] [-3.12412209e-01 9.49946636e-01 0.00000000e+00 -7.75322034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46144788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:-7.76, Z:0.03 [[ 9.49794947e-01 3.12873072e-01 0.00000000e+00 4.11827877e+01] [-3.12873072e-01 9.49794947e-01 0.00000000e+00 -7.76353198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46311478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:-7.77, Z:0.03 [[ 9.49981544e-01 3.12306046e-01 0.00000000e+00 4.12140131e+01] [-3.12306046e-01 9.49981544e-01 0.00000000e+00 -7.77255715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42061264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:-7.78, Z:0.03 [[ 9.50023407e-01 3.12178676e-01 0.00000000e+00 4.12440335e+01] [-3.12178676e-01 9.50023407e-01 0.00000000e+00 -7.78206731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46231470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:-7.79, Z:0.03 [[ 9.50098760e-01 3.11949268e-01 0.00000000e+00 4.12749806e+01] [-3.11949268e-01 9.50098760e-01 0.00000000e+00 -7.79186288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44570938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:-7.80, Z:0.03 [[ 9.50326939e-01 3.11253447e-01 0.00000000e+00 4.13056951e+01] [-3.11253447e-01 9.50326939e-01 0.00000000e+00 -7.80114094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43110941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:-7.81, Z:0.04 [[ 9.50543217e-01 3.10592325e-01 0.00000000e+00 4.13364628e+01] [-3.10592325e-01 9.50543217e-01 0.00000000e+00 -7.81166111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51565203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:-7.82, Z:0.03 [[ 9.51128860e-01 3.08794254e-01 0.00000000e+00 4.13679350e+01] [-3.08794254e-01 9.51128860e-01 0.00000000e+00 -7.82172074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47552777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:-7.83, Z:0.04 [[ 9.51324548e-01 3.08190856e-01 0.00000000e+00 4.13981273e+01] [-3.08190856e-01 9.51324548e-01 0.00000000e+00 -7.83160171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50912178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:-7.84, Z:0.03 [[ 9.51486442e-01 3.07690674e-01 0.00000000e+00 4.14296779e+01] [-3.07690674e-01 9.51486442e-01 0.00000000e+00 -7.84177257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41524755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:-7.85, Z:0.03 [[ 9.51611186e-01 3.07304656e-01 0.00000000e+00 4.14604182e+01] [-3.07304656e-01 9.51611186e-01 0.00000000e+00 -7.85177283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45843078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:-7.86, Z:0.03 [[ 9.51706444e-01 3.07009520e-01 0.00000000e+00 4.14922361e+01] [-3.07009520e-01 9.51706444e-01 0.00000000e+00 -7.86099708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41123799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:-7.87, Z:0.03 [[ 9.51701951e-01 3.07023448e-01 0.00000000e+00 4.15237569e+01] [-3.07023448e-01 9.51701951e-01 0.00000000e+00 -7.87138309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40865900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:-7.88, Z:0.03 [[ 9.51594937e-01 3.07354966e-01 0.00000000e+00 4.15547657e+01] [-3.07354966e-01 9.51594937e-01 0.00000000e+00 -7.88236943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39400365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:-7.89, Z:0.03 [[ 9.51450668e-01 3.07801276e-01 0.00000000e+00 4.15846359e+01] [-3.07801276e-01 9.51450668e-01 0.00000000e+00 -7.89166655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49385318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:-7.90, Z:0.04 [[ 9.51363374e-01 3.08070984e-01 0.00000000e+00 4.16157587e+01] [-3.08070984e-01 9.51363374e-01 0.00000000e+00 -7.90163750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53340626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:-7.91, Z:0.03 [[ 9.50952966e-01 3.09335508e-01 0.00000000e+00 4.16471342e+01] [-3.09335508e-01 9.50952966e-01 0.00000000e+00 -7.91091747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48175811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:-7.92, Z:0.03 [[ 9.50199701e-01 3.11641668e-01 0.00000000e+00 4.16802980e+01] [-3.11641668e-01 9.50199701e-01 0.00000000e+00 -7.92487016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30999441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:-7.93, Z:0.03 [[ 9.50119155e-01 3.11887145e-01 0.00000000e+00 4.17112204e+01] [-3.11887145e-01 9.50119155e-01 0.00000000e+00 -7.93466750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36340746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:-7.94, Z:0.03 [[ 9.50136982e-01 3.11832831e-01 0.00000000e+00 4.17388823e+01] [-3.11832831e-01 9.50136982e-01 0.00000000e+00 -7.94006965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47954208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:-7.95, Z:0.04 [[ 9.49640095e-01 3.13342769e-01 0.00000000e+00 4.17694144e+01] [-3.13342769e-01 9.49640095e-01 0.00000000e+00 -7.95041951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63467689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:-7.96, Z:0.03 [[ 9.49245509e-01 3.14536110e-01 0.00000000e+00 4.18035490e+01] [-3.14536110e-01 9.49245509e-01 0.00000000e+00 -7.96282950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37746759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:-7.97, Z:0.03 [[ 9.48585226e-01 3.16521830e-01 0.00000000e+00 4.18321489e+01] [-3.16521830e-01 9.48585226e-01 0.00000000e+00 -7.97019608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35680367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:-7.98, Z:0.03 [[ 9.48813318e-01 3.15837440e-01 0.00000000e+00 4.18625711e+01] [-3.15837440e-01 9.48813318e-01 0.00000000e+00 -7.97841324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30392425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:-7.99, Z:0.03 [[ 9.48526683e-01 3.16697224e-01 0.00000000e+00 4.18923428e+01] [-3.16697224e-01 9.48526683e-01 0.00000000e+00 -7.98871288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32195879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844319999999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.92, Y:-8.00, Z:0.03 [[ 9.48831429e-01 3.15783025e-01 0.00000000e+00 4.19247945e+01] [-3.15783025e-01 9.48831429e-01 0.00000000e+00 -7.99925291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18610782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:-8.01, Z:0.03 [[ 9.47863231e-01 3.18677415e-01 0.00000000e+00 4.19530991e+01] [-3.18677415e-01 9.47863231e-01 0.00000000e+00 -8.01388248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23042947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:-8.03, Z:0.03 [[ 9.48787061e-01 3.15916306e-01 0.00000000e+00 4.19895767e+01] [-3.15916306e-01 9.48787061e-01 0.00000000e+00 -8.02570012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94340297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:-8.04, Z:0.03 [[ 9.48997651e-01 3.15283140e-01 0.00000000e+00 4.20211438e+01] [-3.15283140e-01 9.48997651e-01 0.00000000e+00 -8.03712673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90179861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:-8.05, Z:0.03 [[ 9.48881264e-01 3.15633248e-01 0.00000000e+00 4.20489983e+01] [-3.15633248e-01 9.48881264e-01 0.00000000e+00 -8.04723223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87693537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:-8.05, Z:0.03 [[ 9.50453684e-01 3.10866200e-01 0.00000000e+00 4.20753648e+01] [-3.10866200e-01 9.50453684e-01 0.00000000e+00 -8.05060929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00827301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:-8.06, Z:0.03 [[ 9.50576876e-01 3.10489295e-01 0.00000000e+00 4.21056745e+01] [-3.10489295e-01 9.50576876e-01 0.00000000e+00 -8.06158533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00557448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:-8.07, Z:0.03 [[ 9.50918542e-01 3.09441314e-01 0.00000000e+00 4.21369256e+01] [-3.09441314e-01 9.50918542e-01 0.00000000e+00 -8.07333786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95562600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.17, Y:-8.08, Z:0.03 [[ 9.50841028e-01 3.09679414e-01 0.00000000e+00 4.21672013e+01] [-3.09679414e-01 9.50841028e-01 0.00000000e+00 -8.08441706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96274267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:-8.10, Z:0.03 [[ 9.50823265e-01 3.09733948e-01 0.00000000e+00 4.21969465e+01] [-3.09733948e-01 9.50823265e-01 0.00000000e+00 -8.09524871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97151430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:-8.11, Z:0.03 [[ 9.50744929e-01 3.09974321e-01 0.00000000e+00 4.22280727e+01] [-3.09974321e-01 9.50744929e-01 0.00000000e+00 -8.10677852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95905122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:-8.12, Z:0.03 [[ 9.50348376e-01 3.11187988e-01 0.00000000e+00 4.22608525e+01] [-3.11187988e-01 9.50348376e-01 0.00000000e+00 -8.12121485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86067936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:-8.13, Z:0.03 [[ 9.50108870e-01 3.11918474e-01 0.00000000e+00 4.22902669e+01] [-3.11918474e-01 9.50108870e-01 0.00000000e+00 -8.13121339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83175023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:-8.14, Z:0.03 [[ 9.49817506e-01 3.12804580e-01 0.00000000e+00 4.23178642e+01] [-3.12804580e-01 9.49817506e-01 0.00000000e+00 -8.13973339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93685066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:-8.15, Z:0.03 [[ 9.49329299e-01 3.14283125e-01 0.00000000e+00 4.23491175e+01] [-3.14283125e-01 9.49329299e-01 0.00000000e+00 -8.15104219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91212731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:-8.16, Z:0.03 [[ 9.48820089e-01 3.15817098e-01 0.00000000e+00 4.23787196e+01] [-3.15817098e-01 9.48820089e-01 0.00000000e+00 -8.16168115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89781496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32431999999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.41, Y:-8.17, Z:0.03 [[ 9.48213750e-01 3.17632940e-01 0.00000000e+00 4.24107284e+01] [-3.17632940e-01 9.48213750e-01 0.00000000e+00 -8.17269815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81701608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:-8.18, Z:0.03 [[ 9.47578112e-01 3.19524212e-01 0.00000000e+00 4.24397120e+01] [-3.19524212e-01 9.47578112e-01 0.00000000e+00 -8.18300371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73300120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:-8.19, Z:0.03 [[ 9.46165202e-01 3.23684121e-01 0.00000000e+00 4.24719789e+01] [-3.23684121e-01 9.46165202e-01 0.00000000e+00 -8.19498091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85587324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:-8.21, Z:0.03 [[ 9.44940677e-01 3.27241679e-01 0.00000000e+00 4.24996147e+01] [-3.27241679e-01 9.44940677e-01 0.00000000e+00 -8.20570625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88427998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44431999999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.53, Y:-8.22, Z:0.03 [[ 9.44236424e-01 3.29268244e-01 0.00000000e+00 4.25296559e+01] [-3.29268244e-01 9.44236424e-01 0.00000000e+00 -8.21711086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94104615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:-8.23, Z:0.03 [[ 9.44033152e-01 3.29850583e-01 0.00000000e+00 4.25619689e+01] [-3.29850583e-01 9.44033152e-01 0.00000000e+00 -8.22743016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86781849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:-8.24, Z:0.03 [[ 9.43150587e-01 3.32365718e-01 0.00000000e+00 4.25922352e+01] [-3.32365718e-01 9.43150587e-01 0.00000000e+00 -8.23951462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90459535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:-8.25, Z:0.03 [[ 9.41835017e-01 3.36075589e-01 0.00000000e+00 4.26203768e+01] [-3.36075589e-01 9.41835017e-01 0.00000000e+00 -8.25077080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87600708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:-8.26, Z:0.03 [[ 9.41580680e-01 3.36787503e-01 0.00000000e+00 4.26511035e+01] [-3.36787503e-01 9.41580680e-01 0.00000000e+00 -8.26217484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76402414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:-8.27, Z:0.03 [[ 9.41581762e-01 3.36784481e-01 0.00000000e+00 4.26803567e+01] [-3.36784481e-01 9.41581762e-01 0.00000000e+00 -8.27323191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70960217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62431999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:42.71, Y:-8.29, Z:0.03 [[ 9.41651396e-01 3.36589734e-01 0.00000000e+00 4.27085756e+01] [-3.36589734e-01 9.41651396e-01 0.00000000e+00 -8.28617829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66078034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65431999999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:42.74, Y:-8.30, Z:0.03 [[ 9.41870316e-01 3.35976649e-01 0.00000000e+00 4.27383459e+01] [-3.35976649e-01 9.41870316e-01 0.00000000e+00 -8.29850263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71147153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:-8.31, Z:0.03 [[ 9.42571047e-01 3.34005720e-01 0.00000000e+00 4.27685375e+01] [-3.34005720e-01 9.42571047e-01 0.00000000e+00 -8.31149551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82427481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:-8.32, Z:0.03 [[ 9.43080571e-01 3.32564333e-01 0.00000000e+00 4.27989289e+01] [-3.32564333e-01 9.43080571e-01 0.00000000e+00 -8.32277051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75859612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:-8.34, Z:0.03 [[ 9.43111128e-01 3.32477670e-01 0.00000000e+00 4.28281052e+01] [-3.32477670e-01 9.43111128e-01 0.00000000e+00 -8.33526398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87215233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:-8.35, Z:0.03 [[ 9.43385875e-01 3.31697289e-01 0.00000000e+00 4.28581319e+01] [-3.31697289e-01 9.43385875e-01 0.00000000e+00 -8.34689580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86035197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:-8.36, Z:0.03 [[ 9.43686693e-01 3.30840483e-01 0.00000000e+00 4.28884462e+01] [-3.30840483e-01 9.43686693e-01 0.00000000e+00 -8.35935891e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82168049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:-8.37, Z:0.03 [[ 9.43792703e-01 3.30537947e-01 0.00000000e+00 4.29185405e+01] [-3.30537947e-01 9.43792703e-01 0.00000000e+00 -8.37150300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82003506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:-8.38, Z:0.03 [[ 9.43691253e-01 3.30827477e-01 0.00000000e+00 4.29499077e+01] [-3.30827477e-01 9.43691253e-01 0.00000000e+00 -8.38304370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82003506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:-8.40, Z:0.03 [[ 9.43900143e-01 3.30231011e-01 0.00000000e+00 4.29804369e+01] [-3.30231011e-01 9.43900143e-01 0.00000000e+00 -8.39635233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85456586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:-8.41, Z:0.03 [[ 9.43968377e-01 3.30035913e-01 0.00000000e+00 4.30103329e+01] [-3.30035913e-01 9.43968377e-01 0.00000000e+00 -8.40782405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80475030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.04, Y:-8.42, Z:0.03 [[ 9.44031813e-01 3.29854417e-01 0.00000000e+00 4.30413315e+01] [-3.29854417e-01 9.44031813e-01 0.00000000e+00 -8.41959806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81480113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:-8.43, Z:0.03 [[ 9.44246022e-01 3.29240719e-01 0.00000000e+00 4.30719829e+01] [-3.29240719e-01 9.44246022e-01 0.00000000e+00 -8.43230611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73550764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:-8.44, Z:0.03 [[ 9.44357317e-01 3.28921354e-01 0.00000000e+00 4.31019937e+01] [-3.28921354e-01 9.44357317e-01 0.00000000e+00 -8.44425970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68012753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:-8.46, Z:0.03 [[ 9.44508676e-01 3.28486470e-01 0.00000000e+00 4.31309448e+01] [-3.28486470e-01 9.44508676e-01 0.00000000e+00 -8.45695497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57725229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:-8.47, Z:0.03 [[ 9.44500123e-01 3.28511062e-01 0.00000000e+00 4.31617806e+01] [-3.28511062e-01 9.44500123e-01 0.00000000e+00 -8.46950353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64712571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:-8.48, Z:0.03 [[ 9.44510202e-01 3.28482083e-01 0.00000000e+00 4.31912399e+01] [-3.28482083e-01 9.44510202e-01 0.00000000e+00 -8.48109714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57410084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134319999999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.22, Y:-8.49, Z:0.03 [[ 9.44488243e-01 3.28545216e-01 0.00000000e+00 4.32223051e+01] [-3.28545216e-01 9.44488243e-01 0.00000000e+00 -8.49321577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51196185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:-8.50, Z:0.03 [[ 9.44395626e-01 3.28811347e-01 0.00000000e+00 4.32529749e+01] [-3.28811347e-01 9.44395626e-01 0.00000000e+00 -8.50491816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53692238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:-8.52, Z:0.02 [[ 9.44612489e-01 3.28187822e-01 0.00000000e+00 4.32832868e+01] [-3.28187822e-01 9.44612489e-01 0.00000000e+00 -8.51632482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46862534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:-8.53, Z:0.03 [[ 9.44264357e-01 3.29188130e-01 0.00000000e+00 4.33127596e+01] [-3.29188130e-01 9.44264357e-01 0.00000000e+00 -8.52843550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65345286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:-8.54, Z:0.03 [[ 9.44006809e-01 3.29925968e-01 0.00000000e+00 4.33412183e+01] [-3.29925968e-01 9.44006809e-01 0.00000000e+00 -8.53987328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77447008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:-8.55, Z:0.03 [[ 9.43951376e-01 3.30084533e-01 0.00000000e+00 4.33719929e+01] [-3.30084533e-01 9.43951376e-01 0.00000000e+00 -8.55244887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81146266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.40, Y:-8.56, Z:0.03 [[ 9.43707745e-01 3.30780429e-01 0.00000000e+00 4.34024397e+01] [-3.30780429e-01 9.43707745e-01 0.00000000e+00 -8.56420060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86864062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:-8.58, Z:0.03 [[ 9.43552885e-01 3.31221908e-01 0.00000000e+00 4.34320604e+01] [-3.31221908e-01 9.43552885e-01 0.00000000e+00 -8.57570678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91412607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-8.59, Z:0.03 [[ 9.42996408e-01 3.32802908e-01 0.00000000e+00 4.34629163e+01] [-3.32802908e-01 9.42996408e-01 0.00000000e+00 -8.58762694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92886239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:-8.60, Z:0.03 [[ 9.42694977e-01 3.33655782e-01 0.00000000e+00 4.34927439e+01] [-3.33655782e-01 9.42694977e-01 0.00000000e+00 -8.59874881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89689784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:-8.61, Z:0.03 [[ 9.42343972e-01 3.34645841e-01 0.00000000e+00 4.35237030e+01] [-3.34645841e-01 9.42343972e-01 0.00000000e+00 -8.61047086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84271088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:-8.62, Z:0.03 [[ 9.41296150e-01 3.37581928e-01 0.00000000e+00 4.35537937e+01] [-3.37581928e-01 9.41296150e-01 0.00000000e+00 -8.62086846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80893127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:-8.63, Z:0.03 [[ 9.40578287e-01 3.39576921e-01 0.00000000e+00 4.35854233e+01] [-3.39576921e-01 9.40578287e-01 0.00000000e+00 -8.63165178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83159918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:-8.64, Z:0.03 [[ 9.39158560e-01 3.43483913e-01 0.00000000e+00 4.36163814e+01] [-3.43483913e-01 9.39158560e-01 0.00000000e+00 -8.64242104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73783477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:-8.65, Z:0.03 [[ 9.38441430e-01 3.45438392e-01 0.00000000e+00 4.36466262e+01] [-3.45438392e-01 9.38441430e-01 0.00000000e+00 -8.65365549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61783986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58431999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.68, Y:-8.67, Z:0.03 [[ 9.37784577e-01 3.47217637e-01 0.00000000e+00 4.36776224e+01] [-3.47217637e-01 9.37784577e-01 0.00000000e+00 -8.66533879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54022296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61431999999999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:43.71, Y:-8.68, Z:0.02 [[ 9.36955819e-01 3.49447842e-01 0.00000000e+00 4.37069866e+01] [-3.49447842e-01 9.36955819e-01 0.00000000e+00 -8.67688849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43525278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:-8.69, Z:0.02 [[ 9.37080867e-01 3.49112371e-01 0.00000000e+00 4.37364537e+01] [-3.49112371e-01 9.37080867e-01 0.00000000e+00 -8.68597155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26063224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:-8.70, Z:0.02 [[ 9.36227277e-01 3.51395057e-01 0.00000000e+00 4.37665485e+01] [-3.51395057e-01 9.36227277e-01 0.00000000e+00 -8.69861141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32780995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:-8.71, Z:0.02 [[ 9.35742258e-01 3.52684600e-01 0.00000000e+00 4.37958871e+01] [-3.52684600e-01 9.35742258e-01 0.00000000e+00 -8.71009130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30495607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:-8.72, Z:0.02 [[ 9.36012391e-01 3.51967050e-01 0.00000000e+00 4.38280375e+01] [-3.51967050e-01 9.36012391e-01 0.00000000e+00 -8.72173250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32795204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:-8.73, Z:0.02 [[ 9.36085610e-01 3.51772270e-01 0.00000000e+00 4.38582246e+01] [-3.51772270e-01 9.36085610e-01 0.00000000e+00 -8.73311318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37668797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:-8.75, Z:0.02 [[ 9.36482816e-01 3.50713467e-01 0.00000000e+00 4.38890362e+01] [-3.50713467e-01 9.36482816e-01 0.00000000e+00 -8.74589679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42854190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:-8.76, Z:0.02 [[ 9.36949160e-01 3.49465695e-01 0.00000000e+00 4.39186019e+01] [-3.49465695e-01 9.36949160e-01 0.00000000e+00 -8.75877415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42777258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:-8.77, Z:0.02 [[ 9.37140581e-01 3.48952047e-01 0.00000000e+00 4.39478571e+01] [-3.48952047e-01 9.37140581e-01 0.00000000e+00 -8.77042441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39045034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-8.78, Z:0.02 [[ 9.36999219e-01 3.49331451e-01 0.00000000e+00 4.39789733e+01] [-3.49331451e-01 9.36999219e-01 0.00000000e+00 -8.78060130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42443531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:-8.79, Z:0.02 [[ 9.36830542e-01 3.49783555e-01 0.00000000e+00 4.40098059e+01] [-3.49783555e-01 9.36830542e-01 0.00000000e+00 -8.79110032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38097983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.04, Y:-8.80, Z:0.02 [[ 9.37421207e-01 3.48197474e-01 0.00000000e+00 4.40393305e+01] [-3.48197474e-01 9.37421207e-01 0.00000000e+00 -8.80215527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16905068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:-8.82, Z:0.02 [[ 9.37333378e-01 3.48433835e-01 0.00000000e+00 4.40686932e+01] [-3.48433835e-01 9.37333378e-01 0.00000000e+00 -8.81531419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29698149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:-8.83, Z:0.02 [[ 9.38175831e-01 3.46159083e-01 0.00000000e+00 4.40987100e+01] [-3.46159083e-01 9.38175831e-01 0.00000000e+00 -8.82760981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35556522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:-8.84, Z:0.02 [[ 9.38449909e-01 3.45415356e-01 0.00000000e+00 4.41284661e+01] [-3.45415356e-01 9.38449909e-01 0.00000000e+00 -8.83929645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39988757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064319999999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.16, Y:-8.85, Z:0.02 [[ 9.38660992e-01 3.44841328e-01 0.00000000e+00 4.41595476e+01] [-3.44841328e-01 9.38660992e-01 0.00000000e+00 -8.85025819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36842091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.19, Y:-8.86, Z:0.02 [[ 9.38534980e-01 3.45184140e-01 0.00000000e+00 4.41889709e+01] [-3.45184140e-01 9.38534980e-01 0.00000000e+00 -8.86040355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45686385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.22, Y:-8.87, Z:0.02 [[ 9.38255654e-01 3.45942665e-01 0.00000000e+00 4.42198872e+01] [-3.45942665e-01 9.38255654e-01 0.00000000e+00 -8.87115002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44186014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:-8.88, Z:0.02 [[ 9.37969308e-01 3.46718297e-01 0.00000000e+00 4.42504556e+01] [-3.46718297e-01 9.37969308e-01 0.00000000e+00 -8.88310373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49180088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.28, Y:-8.90, Z:0.02 [[ 9.36359204e-01 3.51043359e-01 0.00000000e+00 4.42841487e+01] [-3.51043359e-01 9.36359204e-01 0.00000000e+00 -8.89987550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45677030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.31, Y:-8.91, Z:0.02 [[ 9.36399590e-01 3.50935619e-01 0.00000000e+00 4.43104417e+01] [-3.50935619e-01 9.36399590e-01 0.00000000e+00 -8.90595282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45575435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:-8.92, Z:0.02 [[ 9.34747826e-01 3.55311838e-01 0.00000000e+00 4.43445085e+01] [-3.55311838e-01 9.34747826e-01 0.00000000e+00 -8.92308697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31763426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274319999999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.37, Y:-8.93, Z:0.02 [[ 9.34532987e-01 3.55876519e-01 0.00000000e+00 4.43701030e+01] [-3.55876519e-01 9.34532987e-01 0.00000000e+00 -8.92701850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23263106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30431999999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.40, Y:-8.94, Z:0.02 [[ 9.33236264e-01 3.59263239e-01 0.00000000e+00 4.43985173e+01] [-3.59263239e-01 9.33236264e-01 0.00000000e+00 -8.93764072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17389345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:-8.95, Z:0.02 [[ 9.32757760e-01 3.60503761e-01 0.00000000e+00 4.44310898e+01] [-3.60503761e-01 9.32757760e-01 0.00000000e+00 -8.94982835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35633259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:-8.96, Z:0.02 [[ 9.32428499e-01 3.61354528e-01 0.00000000e+00 4.44604011e+01] [-3.61354528e-01 9.32428499e-01 0.00000000e+00 -8.96172100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43765417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39431999999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:44.49, Y:-8.97, Z:0.02 [[ 9.32021170e-01 3.62403833e-01 0.00000000e+00 4.44904107e+01] [-3.62403833e-01 9.32021170e-01 0.00000000e+00 -8.97433200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47283872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:-8.99, Z:0.03 [[ 9.31803330e-01 3.62963572e-01 0.00000000e+00 4.45204309e+01] [-3.62963572e-01 9.31803330e-01 0.00000000e+00 -8.98644955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56981906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454319999999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:44.55, Y:-9.00, Z:0.03 [[ 9.31682803e-01 3.63272837e-01 0.00000000e+00 4.45507533e+01] [-3.63272837e-01 9.31682803e-01 0.00000000e+00 -8.99796364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58500117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:-9.01, Z:0.03 [[ 9.31359133e-01 3.64101861e-01 0.00000000e+00 4.45794817e+01] [-3.64101861e-01 9.31359133e-01 0.00000000e+00 -9.00923210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56653414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:-9.02, Z:0.03 [[ 9.31598982e-01 3.63487741e-01 0.00000000e+00 4.46109483e+01] [-3.63487741e-01 9.31598982e-01 0.00000000e+00 -9.02079024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68610409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:-9.03, Z:0.03 [[ 9.31972286e-01 3.62529527e-01 0.00000000e+00 4.46407520e+01] [-3.62529527e-01 9.31972286e-01 0.00000000e+00 -9.03277756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80083663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:-9.05, Z:0.03 [[ 9.32322473e-01 3.61627993e-01 0.00000000e+00 4.46725637e+01] [-3.61627993e-01 9.32322473e-01 0.00000000e+00 -9.04553993e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78159655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:-9.06, Z:0.03 [[ 9.32538861e-01 3.61069622e-01 0.00000000e+00 4.47005992e+01] [-3.61069622e-01 9.32538861e-01 0.00000000e+00 -9.05614838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95275109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:-9.07, Z:0.03 [[ 9.32833316e-01 3.60308209e-01 0.00000000e+00 4.47316019e+01] [-3.60308209e-01 9.32833316e-01 0.00000000e+00 -9.06790967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91813443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:-9.08, Z:0.03 [[ 9.33099015e-01 3.59619561e-01 0.00000000e+00 4.47618677e+01] [-3.59619561e-01 9.33099015e-01 0.00000000e+00 -9.07943055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84412522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:-9.09, Z:0.03 [[ 9.33852370e-01 3.57658707e-01 0.00000000e+00 4.47921196e+01] [-3.57658707e-01 9.33852370e-01 0.00000000e+00 -9.09008959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72020964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:-9.10, Z:0.03 [[ 9.34082509e-01 3.57057230e-01 0.00000000e+00 4.48225439e+01] [-3.57057230e-01 9.34082509e-01 0.00000000e+00 -9.10144266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62996427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:-9.10, Z:0.02 [[ 9.35974384e-01 3.52068107e-01 0.00000000e+00 4.48497299e+01] [-3.52068107e-01 9.35974384e-01 0.00000000e+00 -9.10392680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35619718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:-9.12, Z:0.02 [[ 9.35737167e-01 3.52698105e-01 0.00000000e+00 4.48797479e+01] [-3.52698105e-01 9.35737167e-01 0.00000000e+00 -9.11587417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35619718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:-9.14, Z:0.03 [[ 9.34716532e-01 3.55394155e-01 0.00000000e+00 4.49133916e+01] [-3.55394155e-01 9.34716532e-01 0.00000000e+00 -9.13538642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56402869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:-9.14, Z:0.02 [[ 9.36534632e-01 3.50575074e-01 0.00000000e+00 4.49384962e+01] [-3.50575074e-01 9.36534632e-01 0.00000000e+00 -9.13607843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25424514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:-9.16, Z:0.02 [[ 9.35148174e-01 3.54256817e-01 0.00000000e+00 4.49723462e+01] [-3.54256817e-01 9.35148174e-01 0.00000000e+00 -9.15636838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49947574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:-9.17, Z:0.03 [[ 9.35118097e-01 3.54336204e-01 0.00000000e+00 4.50034458e+01] [-3.54336204e-01 9.35118097e-01 0.00000000e+00 -9.16550565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51486993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.03, Y:-9.18, Z:0.03 [[ 9.34903046e-01 3.54903218e-01 0.00000000e+00 4.50344661e+01] [-3.54903218e-01 9.34903046e-01 0.00000000e+00 -9.17675834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50357896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:-9.19, Z:0.03 [[ 9.34614949e-01 3.55661210e-01 0.00000000e+00 4.50652804e+01] [-3.55661210e-01 9.34614949e-01 0.00000000e+00 -9.18764445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51857453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:-9.20, Z:0.02 [[ 9.34618592e-01 3.55651637e-01 0.00000000e+00 4.50955224e+01] [-3.55651637e-01 9.34618592e-01 0.00000000e+00 -9.19898010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41067130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:-9.21, Z:0.02 [[ 9.34801742e-01 3.55169963e-01 0.00000000e+00 4.51261115e+01] [-3.55169963e-01 9.34801742e-01 0.00000000e+00 -9.21089124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33169231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-9.22, Z:0.02 [[ 9.35385044e-01 3.53630909e-01 0.00000000e+00 4.51568743e+01] [-3.53630909e-01 9.35385044e-01 0.00000000e+00 -9.22134709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21053833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-9.23, Z:0.02 [[ 9.35741985e-01 3.52685324e-01 0.00000000e+00 4.51878287e+01] [-3.52685324e-01 9.35741985e-01 0.00000000e+00 -9.23368862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18557153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:-9.25, Z:0.02 [[ 9.36210054e-01 3.51440941e-01 0.00000000e+00 4.52173257e+01] [-3.51440941e-01 9.36210054e-01 0.00000000e+00 -9.24555216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15268001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:-9.26, Z:0.02 [[ 9.37170958e-01 3.48870458e-01 0.00000000e+00 4.52468473e+01] [-3.48870458e-01 9.37170958e-01 0.00000000e+00 -9.25680844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14628777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:-9.27, Z:0.02 [[ 9.37628433e-01 3.47639068e-01 0.00000000e+00 4.52770522e+01] [-3.47639068e-01 9.37628433e-01 0.00000000e+00 -9.26896056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16228015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:-9.28, Z:0.02 [[ 9.38389238e-01 3.45580147e-01 0.00000000e+00 4.53073585e+01] [-3.45580147e-01 9.38389238e-01 0.00000000e+00 -9.28208788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28434268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:-9.29, Z:0.02 [[ 9.38793029e-01 3.44481710e-01 0.00000000e+00 4.53381569e+01] [-3.44481710e-01 9.38793029e-01 0.00000000e+00 -9.29419056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26044309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:-9.31, Z:0.02 [[ 9.39110756e-01 3.43614593e-01 0.00000000e+00 4.53687161e+01] [-3.43614593e-01 9.39110756e-01 0.00000000e+00 -9.30565007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23885381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:-9.32, Z:0.02 [[ 9.39694951e-01 3.42013742e-01 0.00000000e+00 4.53986447e+01] [-3.42013742e-01 9.39694951e-01 0.00000000e+00 -9.31749938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22589186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:-9.32, Z:0.02 [[ 9.38851363e-01 3.44322696e-01 0.00000000e+00 4.54198749e+01] [-3.44322696e-01 9.38851363e-01 0.00000000e+00 -9.32397705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94604942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:-9.34, Z:0.02 [[ 9.40036296e-01 3.41074423e-01 0.00000000e+00 4.54576695e+01] [-3.41074423e-01 9.40036296e-01 0.00000000e+00 -9.34132286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23063280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:-9.35, Z:0.02 [[ 9.40151799e-01 3.40755916e-01 0.00000000e+00 4.54870328e+01] [-3.40755916e-01 9.40151799e-01 0.00000000e+00 -9.35275930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24462494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:-9.36, Z:0.02 [[ 9.40108374e-01 3.40875703e-01 0.00000000e+00 4.55177440e+01] [-3.40875703e-01 9.40108374e-01 0.00000000e+00 -9.36380308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23221576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:-9.38, Z:0.02 [[ 9.40157903e-01 3.40739075e-01 0.00000000e+00 4.55473695e+01] [-3.40739075e-01 9.40157903e-01 0.00000000e+00 -9.37554331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16803502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:-9.39, Z:0.02 [[ 9.40242931e-01 3.40504378e-01 0.00000000e+00 4.55778882e+01] [-3.40504378e-01 9.40242931e-01 0.00000000e+00 -9.38669342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03995214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:-9.39, Z:0.02 [[ 9.40825606e-01 3.38891101e-01 0.00000000e+00 4.56059337e+01] [-3.38891101e-01 9.40825606e-01 0.00000000e+00 -9.39480150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99491636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:-9.41, Z:0.02 [[ 9.39980984e-01 3.41226831e-01 0.00000000e+00 4.56371668e+01] [-3.41226831e-01 9.39980984e-01 0.00000000e+00 -9.40976001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95821943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:-9.42, Z:0.02 [[ 9.39812732e-01 3.41689961e-01 0.00000000e+00 4.56678647e+01] [-3.41689961e-01 9.39812732e-01 0.00000000e+00 -9.42144500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85988558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:-9.43, Z:0.02 [[ 9.39487737e-01 3.42582532e-01 0.00000000e+00 4.56978160e+01] [-3.42582532e-01 9.39487737e-01 0.00000000e+00 -9.43435476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66701031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:-9.45, Z:0.02 [[ 9.39129584e-01 3.43563130e-01 0.00000000e+00 4.57278626e+01] [-3.43563130e-01 9.39129584e-01 0.00000000e+00 -9.44561067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68134799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:-9.46, Z:0.02 [[ 9.38780097e-01 3.44516951e-01 0.00000000e+00 4.57574155e+01] [-3.44516951e-01 9.38780097e-01 0.00000000e+00 -9.45731330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64486094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:-9.47, Z:0.02 [[ 9.38432072e-01 3.45463814e-01 0.00000000e+00 4.57879453e+01] [-3.45463814e-01 9.38432072e-01 0.00000000e+00 -9.47026316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54989087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.82, Y:-9.48, Z:0.01 [[ 9.38300441e-01 3.45821170e-01 0.00000000e+00 4.58186729e+01] [-3.45821170e-01 9.38300441e-01 0.00000000e+00 -9.48211280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46990807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.85, Y:-9.49, Z:0.01 [[ 9.38593799e-01 3.45024173e-01 0.00000000e+00 4.58470450e+01] [-3.45024173e-01 9.38593799e-01 0.00000000e+00 -9.49157864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38989988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:-9.51, Z:0.02 [[ 9.38580847e-01 3.45059406e-01 0.00000000e+00 4.58778391e+01] [-3.45059406e-01 9.38580847e-01 0.00000000e+00 -9.50668930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50415841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:-9.52, Z:0.02 [[ 9.38657879e-01 3.44849803e-01 0.00000000e+00 4.59083810e+01] [-3.44849803e-01 9.38657879e-01 0.00000000e+00 -9.51942144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56861831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:-9.53, Z:0.02 [[ 9.38586171e-01 3.45044923e-01 0.00000000e+00 4.59396712e+01] [-3.45044923e-01 9.38586171e-01 0.00000000e+00 -9.53115838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62489684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:-9.54, Z:0.02 [[ 9.39464955e-01 3.42645002e-01 0.00000000e+00 4.59696222e+01] [-3.42645002e-01 9.39464955e-01 0.00000000e+00 -9.54352323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68096125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:-9.55, Z:0.02 [[ 9.39482642e-01 3.42596506e-01 0.00000000e+00 4.60010969e+01] [-3.42596506e-01 9.39482642e-01 0.00000000e+00 -9.55427091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73277322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:-9.57, Z:0.02 [[ 9.39978562e-01 3.41233503e-01 0.00000000e+00 4.60306347e+01] [-3.41233503e-01 9.39978562e-01 0.00000000e+00 -9.56573726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80632402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:-9.58, Z:0.02 [[ 9.41162057e-01 3.37955594e-01 0.00000000e+00 4.60606168e+01] [-3.37955594e-01 9.41162057e-01 0.00000000e+00 -9.57849245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68690372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:-9.59, Z:0.02 [[ 9.41797217e-01 3.36181503e-01 0.00000000e+00 4.60914442e+01] [-3.36181503e-01 9.41797217e-01 0.00000000e+00 -9.59041947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61409069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:-9.60, Z:0.02 [[ 9.43211510e-01 3.32192785e-01 0.00000000e+00 4.61215446e+01] [-3.32192785e-01 9.43211510e-01 0.00000000e+00 -9.60155037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61119952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:-9.61, Z:0.02 [[ 9.43910320e-01 3.30201920e-01 0.00000000e+00 4.61518489e+01] [-3.30201920e-01 9.43910320e-01 0.00000000e+00 -9.61312701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59041146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:-9.62, Z:0.02 [[ 9.44629598e-01 3.28138571e-01 0.00000000e+00 4.61815194e+01] [-3.28138571e-01 9.44629598e-01 0.00000000e+00 -9.62475457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63479405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:-9.64, Z:0.02 [[ 9.45146965e-01 3.26645396e-01 0.00000000e+00 4.62127112e+01] [-3.26645396e-01 9.45146965e-01 0.00000000e+00 -9.63600897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69198721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:-9.65, Z:0.02 [[ 9.46333406e-01 3.23192025e-01 0.00000000e+00 4.62419525e+01] [-3.23192025e-01 9.46333406e-01 0.00000000e+00 -9.64893157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66613869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:-9.66, Z:0.02 [[ 9.46378321e-01 3.23060481e-01 0.00000000e+00 4.62724923e+01] [-3.23060481e-01 9.46378321e-01 0.00000000e+00 -9.66122274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69580062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:-9.67, Z:0.02 [[ 9.46380249e-01 3.23054832e-01 0.00000000e+00 4.63028679e+01] [-3.23054832e-01 9.46380249e-01 0.00000000e+00 -9.67303858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61750851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:-9.68, Z:0.02 [[ 9.45779880e-01 3.24808278e-01 0.00000000e+00 4.63338909e+01] [-3.24808278e-01 9.45779880e-01 0.00000000e+00 -9.68386771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52639929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:-9.69, Z:0.01 [[ 9.45418083e-01 3.25859861e-01 0.00000000e+00 4.63652177e+01] [-3.25859861e-01 9.45418083e-01 0.00000000e+00 -9.69451575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37721475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:-9.71, Z:0.01 [[ 9.44678577e-01 3.27997539e-01 0.00000000e+00 4.63949731e+01] [-3.27997539e-01 9.44678577e-01 0.00000000e+00 -9.70613172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23709508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:-9.72, Z:0.01 [[ 9.44644614e-01 3.28095343e-01 0.00000000e+00 4.64243038e+01] [-3.28095343e-01 9.44644614e-01 0.00000000e+00 -9.71625845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19167431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:-9.73, Z:0.01 [[ 9.43912808e-01 3.30194809e-01 0.00000000e+00 4.64541121e+01] [-3.30194809e-01 9.43912808e-01 0.00000000e+00 -9.73006134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21418637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:-9.74, Z:0.01 [[ 9.43469990e-01 3.31457957e-01 0.00000000e+00 4.64842897e+01] [-3.31457957e-01 9.43469990e-01 0.00000000e+00 -9.74254463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30281336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:-9.75, Z:0.01 [[ 9.43248458e-01 3.32087860e-01 0.00000000e+00 4.65150591e+01] [-3.32087860e-01 9.43248458e-01 0.00000000e+00 -9.75490127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36393951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:-9.77, Z:0.01 [[ 9.43013563e-01 3.32754293e-01 0.00000000e+00 4.65449186e+01] [-3.32754293e-01 9.43013563e-01 0.00000000e+00 -9.76688554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44981164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:-9.78, Z:0.01 [[ 9.42756249e-01 3.33482617e-01 0.00000000e+00 4.65749272e+01] [-3.33482617e-01 9.42756249e-01 0.00000000e+00 -9.77925536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47575450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:-9.79, Z:0.02 [[ 9.42203702e-01 3.35040569e-01 0.00000000e+00 4.66040812e+01] [-3.35040569e-01 9.42203702e-01 0.00000000e+00 -9.79209972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57684886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:-9.81, Z:0.02 [[ 9.41267596e-01 3.37661537e-01 0.00000000e+00 4.66365044e+01] [-3.37661537e-01 9.41267596e-01 0.00000000e+00 -9.80953340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67559673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55431999999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.66, Y:-9.82, Z:0.02 [[ 9.41991604e-01 3.35636437e-01 0.00000000e+00 4.66639305e+01] [-3.35636437e-01 9.41991604e-01 0.00000000e+00 -9.81694231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54802455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:-9.83, Z:0.02 [[ 9.41879832e-01 3.35949969e-01 0.00000000e+00 4.66937199e+01] [-3.35949969e-01 9.41879832e-01 0.00000000e+00 -9.82977874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55914819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:-9.84, Z:0.02 [[ 9.42220214e-01 3.34994131e-01 0.00000000e+00 4.67231695e+01] [-3.34994131e-01 9.42220214e-01 0.00000000e+00 -9.84313618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57874634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64431999999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.75, Y:-9.86, Z:0.01 [[ 9.42493350e-01 3.34224903e-01 0.00000000e+00 4.67534076e+01] [-3.34224903e-01 9.42493350e-01 0.00000000e+00 -9.85623776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45604268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.78, Y:-9.87, Z:0.01 [[ 9.42389088e-01 3.34518769e-01 0.00000000e+00 4.67843554e+01] [-3.34518769e-01 9.42389088e-01 0.00000000e+00 -9.86885697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45604268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:-9.88, Z:0.01 [[ 9.43265067e-01 3.32040682e-01 0.00000000e+00 4.68133966e+01] [-3.32040682e-01 9.43265067e-01 0.00000000e+00 -9.88253681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46132773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:-9.90, Z:0.01 [[ 9.43589597e-01 3.31117310e-01 0.00000000e+00 4.68436750e+01] [-3.31117310e-01 9.43589597e-01 0.00000000e+00 -9.89616583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44037226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:-9.91, Z:0.01 [[ 9.43793292e-01 3.30536263e-01 0.00000000e+00 4.68741388e+01] [-3.30536263e-01 9.43793292e-01 0.00000000e+00 -9.90993154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37951097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:-9.92, Z:0.01 [[ 9.43745207e-01 3.30673530e-01 0.00000000e+00 4.69042223e+01] [-3.30673530e-01 9.43745207e-01 0.00000000e+00 -9.92210773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38397179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:-9.94, Z:0.01 [[ 9.43763846e-01 3.30620331e-01 0.00000000e+00 4.69334624e+01] [-3.30620331e-01 9.43763846e-01 0.00000000e+00 -9.93504094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42611043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:-9.95, Z:0.01 [[ 9.43798268e-01 3.30522056e-01 0.00000000e+00 4.69628136e+01] [-3.30522056e-01 9.43798268e-01 0.00000000e+00 -9.94762043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44768002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884319999999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.99, Y:-9.96, Z:0.01 [[ 9.43446044e-01 3.31526109e-01 0.00000000e+00 4.69936781e+01] [-3.31526109e-01 9.43446044e-01 0.00000000e+00 -9.95967734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34856339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91432 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:-9.97, Z:0.01 [[ 9.43034562e-01 3.32694779e-01 0.00000000e+00 4.70235275e+01] [-3.32694779e-01 9.43034562e-01 0.00000000e+00 -9.97172153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31500828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:-9.98, Z:0.01 [[ 9.42250464e-01 3.34909038e-01 0.00000000e+00 4.70547363e+01] [-3.34909038e-01 9.42250464e-01 0.00000000e+00 -9.98300501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29770186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:-10.00, Z:0.01 [[ 9.40915316e-01 3.38641946e-01 0.00000000e+00 4.70852527e+01] [-3.38641946e-01 9.40915316e-01 0.00000000e+00 -9.99585968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09803883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:-10.01, Z:0.01 [[ 9.40392987e-01 3.40089739e-01 0.00000000e+00 4.71143207e+01] [-3.40089739e-01 9.40392987e-01 0.00000000e+00 -1.00079856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00074095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-10.02, Z:0.01 [[ 9.39972547e-01 3.41250072e-01 0.00000000e+00 4.71446961e+01] [-3.41250072e-01 9.39972547e-01 0.00000000e+00 -1.00197773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76662626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:-10.03, Z:0.01 [[ 9.39323564e-01 3.43032421e-01 0.00000000e+00 4.71745383e+01] [-3.43032421e-01 9.39323564e-01 0.00000000e+00 -1.00321925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35786332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:-10.04, Z:0.01 [[ 9.39244724e-01 3.43248231e-01 0.00000000e+00 4.72053775e+01] [-3.43248231e-01 9.39244724e-01 0.00000000e+00 -1.00446342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23240444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:-10.05, Z:0.01 [[ 9.39202467e-01 3.43363839e-01 0.00000000e+00 4.72349358e+01] [-3.43363839e-01 9.39202467e-01 0.00000000e+00 -1.00549011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60910246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:-10.07, Z:0.01 [[ 9.39111903e-01 3.43611457e-01 0.00000000e+00 4.72641023e+01] [-3.43611457e-01 9.39111903e-01 0.00000000e+00 -1.00666665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01668839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:-10.08, Z:0.01 [[ 9.39265223e-01 3.43192134e-01 0.00000000e+00 4.72941029e+01] [-3.43192134e-01 9.39265223e-01 0.00000000e+00 -1.00793562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06802756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:-10.09, Z:0.01 [[ 9.39425741e-01 3.42752501e-01 0.00000000e+00 4.73229384e+01] [-3.42752501e-01 9.39425741e-01 0.00000000e+00 -1.00923853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12358244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:-10.11, Z:0.01 [[ 9.40103371e-01 3.40889502e-01 0.00000000e+00 4.73527485e+01] [-3.40889502e-01 9.40103371e-01 0.00000000e+00 -1.01065707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14507841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:-10.12, Z:0.01 [[ 9.40359719e-01 3.40181715e-01 0.00000000e+00 4.73828157e+01] [-3.40181715e-01 9.40359719e-01 0.00000000e+00 -1.01194441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11607592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:-10.13, Z:0.01 [[ 9.40925057e-01 3.38614881e-01 0.00000000e+00 4.74126336e+01] [-3.38614881e-01 9.40925057e-01 0.00000000e+00 -1.01307564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49080864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:-10.14, Z:0.01 [[ 9.41159635e-01 3.37962337e-01 0.00000000e+00 4.74429601e+01] [-3.37962337e-01 9.41159635e-01 0.00000000e+00 -1.01428389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13804404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:-10.15, Z:0.01 [[ 9.41344373e-01 3.37447435e-01 0.00000000e+00 4.74729429e+01] [-3.37447435e-01 9.41344373e-01 0.00000000e+00 -1.01548634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70824584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:-10.17, Z:0.01 [[ 9.42043066e-01 3.35491970e-01 0.00000000e+00 4.75042745e+01] [-3.35491970e-01 9.42043066e-01 0.00000000e+00 -1.01678706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01692586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:-10.18, Z:0.01 [[ 9.41826918e-01 3.36098284e-01 0.00000000e+00 4.75325944e+01] [-3.36098284e-01 9.41826918e-01 0.00000000e+00 -1.01801724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28558925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:-10.19, Z:0.01 [[ 9.41540760e-01 3.36899090e-01 0.00000000e+00 4.75627322e+01] [-3.36899090e-01 9.41540760e-01 0.00000000e+00 -1.01917309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37760638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:-10.20, Z:0.01 [[ 9.41316573e-01 3.37524977e-01 0.00000000e+00 4.75935913e+01] [-3.37524977e-01 9.41316573e-01 0.00000000e+00 -1.02036877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24496317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:-10.22, Z:0.01 [[ 9.41027184e-01 3.38330960e-01 0.00000000e+00 4.76228455e+01] [-3.38330960e-01 9.41027184e-01 0.00000000e+00 -1.02159214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15733581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:-10.23, Z:0.01 [[ 9.40353992e-01 3.40197546e-01 0.00000000e+00 4.76540266e+01] [-3.40197546e-01 9.40353992e-01 0.00000000e+00 -1.02269959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01626647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:-10.24, Z:0.01 [[ 9.40030190e-01 3.41091251e-01 0.00000000e+00 4.76842665e+01] [-3.41091251e-01 9.40030190e-01 0.00000000e+00 -1.02389684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52787308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:-10.25, Z:0.01 [[ 9.39752092e-01 3.41856705e-01 0.00000000e+00 4.77135848e+01] [-3.41856705e-01 9.39752092e-01 0.00000000e+00 -1.02514662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99830768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:-10.26, Z:0.01 [[ 9.39208395e-01 3.43347623e-01 0.00000000e+00 4.77444779e+01] [-3.43347623e-01 9.39208395e-01 0.00000000e+00 -1.02641297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40049507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:-10.28, Z:0.01 [[ 9.38928931e-01 3.44111118e-01 0.00000000e+00 4.77738118e+01] [-3.44111118e-01 9.38928931e-01 0.00000000e+00 -1.02761527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60006501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:-10.29, Z:0.01 [[ 9.38404069e-01 3.45539872e-01 0.00000000e+00 4.78038997e+01] [-3.45539872e-01 9.38404069e-01 0.00000000e+00 -1.02882945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14398776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:-10.30, Z:0.01 [[ 9.37297148e-01 3.48531285e-01 0.00000000e+00 4.78346652e+01] [-3.48531285e-01 9.37297148e-01 0.00000000e+00 -1.02998456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61079521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:-10.31, Z:0.01 [[ 9.36809584e-01 3.49839683e-01 0.00000000e+00 4.78631933e+01] [-3.49839683e-01 9.36809584e-01 0.00000000e+00 -1.03122313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19320436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:-10.33, Z:0.01 [[ 9.36398788e-01 3.50937757e-01 0.00000000e+00 4.78936593e+01] [-3.50937757e-01 9.36398788e-01 0.00000000e+00 -1.03253819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68263495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:-10.34, Z:0.01 [[ 9.36150517e-01 3.51599502e-01 0.00000000e+00 4.79225867e+01] [-3.51599502e-01 9.36150517e-01 0.00000000e+00 -1.03377754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72446894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844319999999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.95, Y:-10.35, Z:0.01 [[ 9.36075717e-01 3.51798596e-01 0.00000000e+00 4.79525132e+01] [-3.51798596e-01 9.36075717e-01 0.00000000e+00 -1.03507128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59919832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:-10.36, Z:0.01 [[ 9.36299588e-01 3.51202337e-01 0.00000000e+00 4.79831333e+01] [-3.51202337e-01 9.36299588e-01 0.00000000e+00 -1.03627548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83781187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:-10.38, Z:0.01 [[ 9.36980322e-01 3.49382134e-01 0.00000000e+00 4.80126045e+01] [-3.49382134e-01 9.36980322e-01 0.00000000e+00 -1.03751220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87774172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:-10.39, Z:0.01 [[ 9.37354790e-01 3.48376229e-01 0.00000000e+00 4.80422002e+01] [-3.48376229e-01 9.37354790e-01 0.00000000e+00 -1.03884420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01847446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:-10.40, Z:0.01 [[ 9.37486747e-01 3.48020975e-01 0.00000000e+00 4.80703402e+01] [-3.48020975e-01 9.37486747e-01 0.00000000e+00 -1.04002954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17071284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:-10.42, Z:0.01 [[ 9.37011339e-01 3.49298941e-01 0.00000000e+00 4.81024168e+01] [-3.49298941e-01 9.37011339e-01 0.00000000e+00 -1.04176886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05352172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:-10.43, Z:0.01 [[ 9.37920070e-01 3.46851471e-01 0.00000000e+00 4.81293349e+01] [-3.46851471e-01 9.37920070e-01 0.00000000e+00 -1.04265973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01230282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:-10.44, Z:0.01 [[ 9.37097187e-01 3.49068565e-01 0.00000000e+00 4.81597708e+01] [-3.49068565e-01 9.37097187e-01 0.00000000e+00 -1.04355043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89193917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:-10.45, Z:0.01 [[ 9.36879010e-01 3.49653716e-01 0.00000000e+00 4.81904993e+01] [-3.49653716e-01 9.36879010e-01 0.00000000e+00 -1.04483190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47201114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:-10.46, Z:0.01 [[ 9.36395095e-01 3.50947611e-01 0.00000000e+00 4.82203793e+01] [-3.50947611e-01 9.36395095e-01 0.00000000e+00 -1.04610792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19007376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:-10.47, Z:0.01 [[ 9.36158774e-01 3.51577517e-01 0.00000000e+00 4.82501743e+01] [-3.51577517e-01 9.36158774e-01 0.00000000e+00 -1.04724867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81131652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174319999999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.28, Y:-10.49, Z:0.01 [[ 9.35955220e-01 3.52119050e-01 0.00000000e+00 4.82792108e+01] [-3.52119050e-01 9.35955220e-01 0.00000000e+00 -1.04853142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42755669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:-10.50, Z:0.01 [[ 9.36185870e-01 3.51505357e-01 0.00000000e+00 4.83087636e+01] [-3.51505357e-01 9.36185870e-01 0.00000000e+00 -1.04997719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27079191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:-10.51, Z:0.01 [[ 9.35698875e-01 3.52799681e-01 0.00000000e+00 4.83395050e+01] [-3.52799681e-01 9.35698875e-01 0.00000000e+00 -1.05110333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91781396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:-10.52, Z:0.01 [[ 9.35293224e-01 3.53873686e-01 0.00000000e+00 4.83691973e+01] [-3.53873686e-01 9.35293224e-01 0.00000000e+00 -1.05238110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85960162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:-10.54, Z:0.01 [[ 9.34814325e-01 3.55136843e-01 0.00000000e+00 4.84018631e+01] [-3.55136843e-01 9.34814325e-01 0.00000000e+00 -1.05417887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82173206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:-10.55, Z:0.01 [[ 9.36074818e-01 3.51800987e-01 0.00000000e+00 4.84273417e+01] [-3.51800987e-01 9.36074818e-01 0.00000000e+00 -1.05481961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35767983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:-10.56, Z:0.01 [[ 9.36036631e-01 3.51902580e-01 0.00000000e+00 4.84569813e+01] [-3.51902580e-01 9.36036631e-01 0.00000000e+00 -1.05606130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39574461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:-10.58, Z:0.01 [[ 9.35756895e-01 3.52645763e-01 0.00000000e+00 4.84885390e+01] [-3.52645763e-01 9.35756895e-01 0.00000000e+00 -1.05758004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28773360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-10.59, Z:0.01 [[ 9.36351589e-01 3.51063672e-01 0.00000000e+00 4.85162974e+01] [-3.51063672e-01 9.36351589e-01 0.00000000e+00 -1.05852245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16007576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:-10.60, Z:0.01 [[ 9.36550245e-01 3.50533363e-01 0.00000000e+00 4.85470181e+01] [-3.50533363e-01 9.36550245e-01 0.00000000e+00 -1.05983749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23409260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:-10.61, Z:0.01 [[ 9.36620958e-01 3.50344374e-01 0.00000000e+00 4.85777433e+01] [-3.50344374e-01 9.36620958e-01 0.00000000e+00 -1.06097989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99728640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:-10.62, Z:0.01 [[ 9.36733308e-01 3.50043867e-01 0.00000000e+00 4.86059871e+01] [-3.50043867e-01 9.36733308e-01 0.00000000e+00 -1.06238429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14541980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:-10.64, Z:0.01 [[ 9.36695586e-01 3.50144799e-01 0.00000000e+00 4.86354367e+01] [-3.50144799e-01 9.36695586e-01 0.00000000e+00 -1.06379809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12415144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:-10.65, Z:0.01 [[ 9.36763067e-01 3.49964222e-01 0.00000000e+00 4.86653742e+01] [-3.49964222e-01 9.36763067e-01 0.00000000e+00 -1.06509283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00596477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:-10.66, Z:0.01 [[ 9.36655815e-01 3.50251174e-01 0.00000000e+00 4.86961356e+01] [-3.50251174e-01 9.36655815e-01 0.00000000e+00 -1.06640008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00596477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:-10.68, Z:0.01 [[ 9.36502073e-01 3.50662041e-01 0.00000000e+00 4.87268265e+01] [-3.50662041e-01 9.36502073e-01 0.00000000e+00 -1.06767311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72010528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:-10.69, Z:0.01 [[ 9.36061881e-01 3.51835409e-01 0.00000000e+00 4.87572495e+01] [-3.51835409e-01 9.36061881e-01 0.00000000e+00 -1.06878016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42032555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:-10.70, Z:0.01 [[ 9.35711539e-01 3.52766092e-01 0.00000000e+00 4.87879080e+01] [-3.52766092e-01 9.35711539e-01 0.00000000e+00 -1.07003404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64245251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:-10.71, Z:0.01 [[ 9.35295296e-01 3.53868208e-01 0.00000000e+00 4.88169846e+01] [-3.53868208e-01 9.35295296e-01 0.00000000e+00 -1.07126038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80328567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:-10.73, Z:0.01 [[ 9.34658756e-01 3.55546074e-01 0.00000000e+00 4.88457418e+01] [-3.55546074e-01 9.34658756e-01 0.00000000e+00 -1.07256037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98954023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:-10.74, Z:0.01 [[ 9.34003249e-01 3.57264511e-01 0.00000000e+00 4.88758266e+01] [-3.57264511e-01 9.34003249e-01 0.00000000e+00 -1.07388494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02014831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:-10.75, Z:0.01 [[ 9.33471325e-01 3.58652040e-01 0.00000000e+00 4.89055721e+01] [-3.58652040e-01 9.33471325e-01 0.00000000e+00 -1.07521579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49134439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:-10.77, Z:0.01 [[ 9.32992207e-01 3.59896570e-01 0.00000000e+00 4.89344197e+01] [-3.59896570e-01 9.32992207e-01 0.00000000e+00 -1.07651825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75338886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:-10.78, Z:0.01 [[ 9.32526960e-01 3.61100358e-01 0.00000000e+00 4.89638535e+01] [-3.61100358e-01 9.32526960e-01 0.00000000e+00 -1.07780636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40873982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:-10.79, Z:0.01 [[ 9.31267708e-01 3.64335636e-01 0.00000000e+00 4.89949805e+01] [-3.64335636e-01 9.31267708e-01 0.00000000e+00 -1.07900829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24559956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:-10.80, Z:0.01 [[ 9.30796257e-01 3.65538409e-01 0.00000000e+00 4.90240521e+01] [-3.65538409e-01 9.30796257e-01 0.00000000e+00 -1.08039427e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38392232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:-10.82, Z:0.01 [[ 9.30350020e-01 3.66672662e-01 0.00000000e+00 4.90540089e+01] [-3.66672662e-01 9.30350020e-01 0.00000000e+00 -1.08173982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00441459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.08, Y:-10.83, Z:0.01 [[ 9.29508412e-01 3.68800911e-01 0.00000000e+00 4.90833488e+01] [-3.68800911e-01 9.29508412e-01 0.00000000e+00 -1.08287183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05823151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:-10.84, Z:0.01 [[ 9.29630007e-01 3.68494302e-01 0.00000000e+00 4.91136803e+01] [-3.68494302e-01 9.29630007e-01 0.00000000e+00 -1.08428057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03733847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.14, Y:-10.85, Z:0.01 [[ 9.29578782e-01 3.68623505e-01 0.00000000e+00 4.91435958e+01] [-3.68623505e-01 9.29578782e-01 0.00000000e+00 -1.08544123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16794572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:-10.87, Z:0.01 [[ 9.29840221e-01 3.67963536e-01 0.00000000e+00 4.91734095e+01] [-3.67963536e-01 9.29840221e-01 0.00000000e+00 -1.08671573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15068946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.20, Y:-10.88, Z:0.01 [[ 9.29738556e-01 3.68220338e-01 0.00000000e+00 4.92039954e+01] [-3.68220338e-01 9.29738556e-01 0.00000000e+00 -1.08797203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20915167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:-10.89, Z:0.01 [[ 9.29825951e-01 3.67999593e-01 0.00000000e+00 4.92344233e+01] [-3.67999593e-01 9.29825951e-01 0.00000000e+00 -1.08931774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24210168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:-10.91, Z:0.01 [[ 9.30207395e-01 3.67034334e-01 0.00000000e+00 4.92639604e+01] [-3.67034334e-01 9.30207395e-01 0.00000000e+00 -1.09070725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24880012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:-10.92, Z:0.01 [[ 9.31175303e-01 3.64571742e-01 0.00000000e+00 4.92940405e+01] [-3.64571742e-01 9.31175303e-01 0.00000000e+00 -1.09190914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26973663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:-10.93, Z:0.01 [[ 9.31797901e-01 3.62977507e-01 0.00000000e+00 4.93230802e+01] [-3.62977507e-01 9.31797901e-01 0.00000000e+00 -1.09319210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23784775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.35, Y:-10.94, Z:0.01 [[ 9.31963624e-01 3.62551794e-01 0.00000000e+00 4.93541476e+01] [-3.62551794e-01 9.31963624e-01 0.00000000e+00 -1.09440205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30054941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.38, Y:-10.96, Z:0.01 [[ 9.32297368e-01 3.61692713e-01 0.00000000e+00 4.93849839e+01] [-3.61692713e-01 9.32297368e-01 0.00000000e+00 -1.09560470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28751573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.41, Y:-10.97, Z:0.01 [[ 9.33125995e-01 3.59549549e-01 0.00000000e+00 4.94130786e+01] [-3.59549549e-01 9.33125995e-01 0.00000000e+00 -1.09679733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23547665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:-10.98, Z:0.01 [[ 9.34230168e-01 3.56670706e-01 0.00000000e+00 4.94432717e+01] [-3.56670706e-01 9.34230168e-01 0.00000000e+00 -1.09805910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23433352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:-10.99, Z:0.01 [[ 9.34278301e-01 3.56544607e-01 0.00000000e+00 4.94738823e+01] [-3.56544607e-01 9.34278301e-01 0.00000000e+00 -1.09934996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22423241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:-11.01, Z:0.01 [[ 9.34237688e-01 3.56651010e-01 0.00000000e+00 4.95030623e+01] [-3.56651010e-01 9.34237688e-01 0.00000000e+00 -1.10053501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20168405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:-11.02, Z:0.01 [[ 9.34063423e-01 3.57107158e-01 0.00000000e+00 4.95335929e+01] [-3.57107158e-01 9.34063423e-01 0.00000000e+00 -1.10166931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05758781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464319999999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.56, Y:-11.03, Z:0.01 [[ 9.34112453e-01 3.56978886e-01 0.00000000e+00 4.95639081e+01] [-3.56978886e-01 9.34112453e-01 0.00000000e+00 -1.10301305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02187001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:-11.04, Z:0.01 [[ 9.33915359e-01 3.57494200e-01 0.00000000e+00 4.95926480e+01] [-3.57494200e-01 9.33915359e-01 0.00000000e+00 -1.10409905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39223006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:-11.05, Z:0.01 [[ 9.34694637e-01 3.55451735e-01 0.00000000e+00 4.96230235e+01] [-3.55451735e-01 9.34694637e-01 0.00000000e+00 -1.10546099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93064982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:-11.07, Z:0.01 [[ 9.34843130e-01 3.55061012e-01 0.00000000e+00 4.96531452e+01] [-3.55061012e-01 9.34843130e-01 0.00000000e+00 -1.10673723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18043889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:-11.08, Z:0.01 [[ 9.35073373e-01 3.54454211e-01 0.00000000e+00 4.96816738e+01] [-3.54454211e-01 9.35073373e-01 0.00000000e+00 -1.10781857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66627578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:-11.09, Z:0.01 [[ 9.35828618e-01 3.52455383e-01 0.00000000e+00 4.97117442e+01] [-3.52455383e-01 9.35828618e-01 0.00000000e+00 -1.10910792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31228849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:-11.10, Z:0.01 [[ 9.36599057e-01 3.50402920e-01 0.00000000e+00 4.97421997e+01] [-3.50402920e-01 9.36599057e-01 0.00000000e+00 -1.11042119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44204828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.77, Y:-11.11, Z:0.01 [[ 9.36144238e-01 3.51616220e-01 0.00000000e+00 4.97711489e+01] [-3.51616220e-01 9.36144238e-01 0.00000000e+00 -1.11148400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15618537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704319999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:-11.13, Z:0.01 [[ 9.35908131e-01 3.52244191e-01 0.00000000e+00 4.98005171e+01] [-3.52244191e-01 9.35908131e-01 0.00000000e+00 -1.11267696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63092042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.83, Y:-11.14, Z:0.01 [[ 9.35326108e-01 3.53786761e-01 0.00000000e+00 4.98298469e+01] [-3.53786761e-01 9.35326108e-01 0.00000000e+00 -1.11372000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53345483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:-11.15, Z:0.01 [[ 9.35306460e-01 3.53838700e-01 0.00000000e+00 4.98588166e+01] [-3.53838700e-01 9.35306460e-01 0.00000000e+00 -1.11499963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53883441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.89, Y:-11.16, Z:0.01 [[ 9.35517908e-01 3.53279272e-01 0.00000000e+00 4.98891542e+01] [-3.53279272e-01 9.35517908e-01 0.00000000e+00 -1.11639562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12370243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82431999999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.92, Y:-11.18, Z:0.00 [[ 9.35879241e-01 3.52320941e-01 0.00000000e+00 4.99191838e+01] [-3.52320941e-01 9.35879241e-01 0.00000000e+00 -1.11776715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82623441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:-11.19, Z:0.00 [[ 9.36531914e-01 3.50582336e-01 0.00000000e+00 4.99476478e+01] [-3.50582336e-01 9.36531914e-01 0.00000000e+00 -1.11895091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90749232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:-11.20, Z:0.00 [[ 9.36912893e-01 3.49562915e-01 0.00000000e+00 4.99778575e+01] [-3.49562915e-01 9.36912893e-01 0.00000000e+00 -1.12027022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92738731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:-11.22, Z:0.00 [[ 9.37279463e-01 3.48578840e-01 0.00000000e+00 5.00081488e+01] [-3.48578840e-01 9.37279463e-01 0.00000000e+00 -1.12154567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30948387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:-11.23, Z:0.00 [[ 9.37761806e-01 3.47279130e-01 0.00000000e+00 5.00375911e+01] [-3.47279130e-01 9.37761806e-01 0.00000000e+00 -1.12283500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55844777e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:-11.24, Z:0.00 [[ 9.37680860e-01 3.47497633e-01 0.00000000e+00 5.00671751e+01] [-3.47497633e-01 9.37680860e-01 0.00000000e+00 -1.12424955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74303925e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:-11.26, Z:0.00 [[ 9.37541927e-01 3.47872297e-01 0.00000000e+00 5.00954857e+01] [-3.47872297e-01 9.37541927e-01 0.00000000e+00 -1.12560173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95213621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034319999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.13, Y:-11.27, Z:0.00 [[ 9.37227476e-01 3.48718596e-01 0.00000000e+00 5.01255537e+01] [-3.48718596e-01 9.37227476e-01 0.00000000e+00 -1.12695695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87068824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064319999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:-11.28, Z:-0.00 [[ 9.36386894e-01 3.50969492e-01 0.00000000e+00 5.01553158e+01] [-3.50969492e-01 9.36386894e-01 0.00000000e+00 -1.12822229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17328970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09431999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:-11.30, Z:-0.00 [[ 9.35781869e-01 3.52579485e-01 0.00000000e+00 5.01857373e+01] [-3.52579485e-01 9.35781869e-01 0.00000000e+00 -1.12954010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98230003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12431999999999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:50.21, Y:-11.31, Z:-0.00 [[ 9.34573417e-01 3.55770330e-01 0.00000000e+00 5.02138258e+01] [-3.55770330e-01 9.34573417e-01 0.00000000e+00 -1.13083414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47303021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15431999999999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:50.24, Y:-11.32, Z:-0.00 [[ 9.33948033e-01 3.57408831e-01 0.00000000e+00 5.02428643e+01] [-3.57408831e-01 9.33948033e-01 0.00000000e+00 -1.13217821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45788242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18431999999999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:50.27, Y:-11.33, Z:-0.00 [[ 9.32919458e-01 3.60085109e-01 0.00000000e+00 5.02706646e+01] [-3.60085109e-01 9.32919458e-01 0.00000000e+00 -1.13314685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54998098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214319999999994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:50.30, Y:-11.34, Z:-0.00 [[ 9.32106035e-01 3.62185505e-01 0.00000000e+00 5.02999989e+01] [-3.62185505e-01 9.32106035e-01 0.00000000e+00 -1.13437292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90090338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244319999999995 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:50.33, Y:-11.36, Z:-0.00 [[ 9.32170378e-01 3.62019870e-01 0.00000000e+00 5.03295373e+01] [-3.62019870e-01 9.32170378e-01 0.00000000e+00 -1.13569773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84889438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274319999999996 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:50.35, Y:-11.36, Z:0.00 [[ 9.34550692e-01 3.55830020e-01 0.00000000e+00 5.03529579e+01] [-3.55830020e-01 9.34550692e-01 0.00000000e+00 -1.13584951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73874403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30431999999999 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:50.38, Y:-11.37, Z:0.00 [[ 9.36197234e-01 3.51475090e-01 0.00000000e+00 5.03775594e+01] [-3.51475090e-01 9.36197234e-01 0.00000000e+00 -1.13672681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73694408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33431999999999 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:50.41, Y:-11.38, Z:0.00 [[ 9.36957827e-01 3.49442457e-01 0.00000000e+00 5.04067221e+01] [-3.49442457e-01 9.36957827e-01 0.00000000e+00 -1.13804943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52178101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36431999999999 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:50.43, Y:-11.39, Z:0.00 [[ 9.37257074e-01 3.48639035e-01 0.00000000e+00 5.04320956e+01] [-3.48639035e-01 9.37257074e-01 0.00000000e+00 -1.13912495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46528832e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39431999999999 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:50.46, Y:-11.40, Z:0.01 [[ 9.39659202e-01 3.42111947e-01 0.00000000e+00 5.04647340e+01] [-3.42111947e-01 9.39659202e-01 0.00000000e+00 -1.14034162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84014434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424319999999994 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:50.50, Y:-11.43, Z:-0.01 [[ 9.37638778e-01 3.47611166e-01 0.00000000e+00 5.04990135e+01] [-3.47611166e-01 9.37638778e-01 0.00000000e+00 -1.14313273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03693487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454319999999996 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:50.53, Y:-11.45, Z:0.00 [[ 9.37257582e-01 3.48637669e-01 0.00000000e+00 5.05268434e+01] [-3.48637669e-01 9.37257582e-01 0.00000000e+00 -1.14462289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61547446e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48431999999999 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:50.56, Y:-11.46, Z:0.00 [[ 9.37136435e-01 3.48963182e-01 0.00000000e+00 5.05573182e+01] [-3.48963182e-01 9.37136435e-01 0.00000000e+00 -1.14599167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61547446e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51431999999999 meters Centerline goodness : 0.986760 Centerline is valid? [True, True] Translation: X:50.59, Y:-11.47, Z:-0.00 [[ 9.37324941e-01 3.48456531e-01 0.00000000e+00 5.05863110e+01] [-3.48456531e-01 9.37324941e-01 0.00000000e+00 -1.14729690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91350940e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54431999999999 meters Centerline goodness : 0.982998 Centerline is valid? [True, True] Translation: X:50.61, Y:-11.48, Z:-0.01 [[ 9.38987416e-01 3.43951498e-01 0.00000000e+00 5.06149499e+01] [-3.43951498e-01 9.38987416e-01 0.00000000e+00 -1.14829388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48678255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57431999999999 meters Centerline goodness : 0.980833 Centerline is valid? [True, True] Translation: X:50.64, Y:-11.50, Z:-0.01 [[ 9.38945158e-01 3.44066841e-01 0.00000000e+00 5.06446840e+01] [-3.44066841e-01 9.38945158e-01 0.00000000e+00 -1.14963883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14552322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604319999999994 meters Centerline goodness : 0.974906 Centerline is valid? [True, True] Translation: X:50.67, Y:-11.51, Z:-0.01 [[ 9.38902373e-01 3.44183576e-01 0.00000000e+00 5.06736389e+01] [-3.44183576e-01 9.38902373e-01 0.00000000e+00 -1.15103787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37071156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 898.30 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/1621 [00:00