+ python -m lidar_slam --no-model /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e Lidar SLAM 0.0.15 ===================================================== The recording path: /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: 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 0.022260615 Adjusted end_distance from 9.223372036854776e+18 to 23.002260615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022260615 meters Centerline goodness : 0.991208 Centerline is valid? [0, True] SLAMing on 0.052260614999999996 meters Centerline goodness : 0.988744 Centerline is valid? [True, True] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99967842 -0.0253586 0. 0.00575874] [ 0.0253586 0.99967842 0. 0.00443326] [ 0. 0. 1. -0.00175406] [ 0. 0. 0. 1. ]] SLAMing on 0.082260615 meters Centerline goodness : 0.987628 Centerline is valid? [True, True] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 9.99574607e-01 -2.91651463e-02 0.00000000e+00 3.94105621e-02] [ 2.91651463e-02 9.99574607e-01 0.00000000e+00 1.88226580e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51820483e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11226061499999998 meters Centerline goodness : 0.986291 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.01, Z:-0.00 [[ 9.99627035e-01 -2.73091856e-02 0.00000000e+00 7.28121894e-02] [ 2.73091856e-02 9.99627035e-01 0.00000000e+00 -5.02072522e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20052538e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14226061499999998 meters Centerline goodness : 0.982765 Centerline is valid? [True, True] Translation: X:0.11, Y:-0.01, Z:-0.00 [[ 0.99952652 -0.03076897 0. 0.10639462] [ 0.03076897 0.99952652 0. -0.00763128] [ 0. 0. 1. -0.00206676] [ 0. 0. 0. 1. ]] SLAMing on 0.17226061499999998 meters Centerline goodness : 0.364626 Centerline is valid? [True, False] Translation: X:0.11, Y:-0.01, Z:-0.00 [[ 0.99948562 -0.03204787 -0.00119939 0.10904668] [ 0.03204931 0.99948557 0.00120006 -0.00963537] [ 0.00116031 -0.00123789 0.99999856 -0.00179362] [ 0. 0. 0. 1. ]] SLAMing on 0.20226061499999998 meters Centerline goodness : 0.306150 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:-0.00 [[ 9.99566322e-01 -2.93593590e-02 -2.27946640e-03 1.10788988e-01] [ 2.93744145e-02 9.99544807e-01 6.87907332e-03 -1.25744960e-02] [ 2.07646362e-03 -6.94304801e-03 9.99973741e-01 -4.78882361e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23226061499999998 meters Centerline goodness : 0.260996 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:0.00 [[ 0.99954204 -0.03014389 -0.00265767 0.11024913] [ 0.03016474 0.9995114 0.00818823 -0.01366495] [ 0.00240955 -0.00826464 0.99996294 0.00243436] [ 0. 0. 0. 1. ]] SLAMing on 0.262260615 meters Centerline goodness : 0.240328 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:0.00 [[ 0.99952146 -0.03075873 -0.00327801 0.11105854] [ 0.03078613 0.99948841 0.00866732 -0.01374939] [ 0.00300974 -0.00876408 0.99995707 0.00338438] [ 0. 0. 0. 1. ]] SLAMing on 0.29226061499999995 meters Centerline goodness : 0.160191 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:0.01 [[ 0.9994302 -0.0334284 -0.00467135 0.11263459] [ 0.03346189 0.99941345 0.00728411 -0.00996941] [ 0.00442512 -0.00743628 0.99996256 0.00534656] [ 0. 0. 0. 1. ]] SLAMing on 0.3222606149999999 meters Centerline goodness : 0.160692 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:0.01 [[ 0.99934209 -0.03581406 -0.00572265 0.1142451 ] [ 0.03584662 0.99934109 0.00569242 -0.00574216] [ 0.00551501 -0.00589381 0.99996742 0.00627351] [ 0. 0. 0. 1. ]] SLAMing on 0.35226061499999994 meters Centerline goodness : 0.155802 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.01 [[ 0.99929176 -0.0370817 -0.00639794 0.11564141] [ 0.03711223 0.99929995 0.00472171 -0.00337815] [ 0.00621838 -0.00495581 0.99996839 0.00628159] [ 0. 0. 0. 1. ]] SLAMing on 0.3822606149999999 meters Centerline goodness : 0.155247 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.01 [[ 9.99235280e-01 -3.84648014e-02 -7.02245966e-03 1.16890764e-01] [ 3.84901843e-02 9.99252793e-01 3.51584662e-03 -3.35068055e-04] [ 6.88197609e-03 -3.78345375e-03 9.99969161e-01 6.40169892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41226061499999994 meters Centerline goodness : 0.161007 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.01 [[ 9.99044102e-01 -4.27838835e-02 -8.96778725e-03 1.18510320e-01] [ 4.27760168e-02 9.99084117e-01 -1.06728291e-03 1.08347798e-02] [ 9.00523632e-03 6.82656476e-04 9.99959219e-01 9.16584279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4422606149999999 meters Centerline goodness : 0.162645 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.01 [[ 0.99906754 -0.04182326 -0.01071754 0.12131454] [ 0.04183924 0.99912355 0.00127078 0.0156401 ] [ 0.010655 -0.00171801 0.99994176 0.01011215] [ 0. 0. 0. 1. ]] SLAMing on 0.47226061499999994 meters Centerline goodness : 0.165291 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:0.01 [[ 9.98985237e-01 -4.29453863e-02 -1.35716800e-02 1.25698618e-01] [ 4.29488836e-02 9.99077270e-01 -3.37910040e-05 3.10111856e-02] [ 1.35606082e-02 -5.49131791e-04 9.99907900e-01 1.11270468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.502260615 meters Centerline goodness : 0.165007 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:0.01 [[ 9.99012663e-01 -4.17946599e-02 -1.50634061e-02 1.28207939e-01] [ 4.18073862e-02 9.99125548e-01 5.30802485e-04 3.88858706e-02] [ 1.50280491e-02 -1.16004004e-03 9.99886400e-01 1.09952833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5322606149999999 meters Centerline goodness : 0.167928 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.01 [[ 9.99037045e-01 -4.03503364e-02 -1.72288225e-02 1.31189569e-01] [ 4.03300779e-02 9.99185253e-01 -1.52182141e-03 5.78212222e-02] [ 1.72761913e-02 8.25516212e-04 9.99850415e-01 1.11223389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5622606149999999 meters Centerline goodness : 0.180038 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:0.01 [[ 0.99890425 -0.04157856 -0.02148305 0.1412274 ] [ 0.04162959 0.99913124 0.00193364 0.07976763] [ 0.02138399 -0.00282585 0.99976734 0.0116617 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5922606149999999 meters Centerline goodness : 0.127523 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.01 [[ 0.99896074 -0.03946223 -0.02280712 0.14476773] [ 0.03956785 0.99920807 0.00419848 0.08946762] [ 0.02262337 -0.00509654 0.99973107 0.01054929] [ 0. 0. 0. 1. ]] SLAMing on 0.6222606149999999 meters Centerline goodness : 0.126646 Centerline is valid? [False, False] Translation: X:0.16, Y:0.11, Z:0.01 [[ 0.99870703 -0.04349407 -0.02631606 0.15517103] [ 0.04367479 0.99902574 0.00633175 0.11399345] [ 0.02601503 -0.00747292 0.99963362 0.01041877] [ 0. 0. 0. 1. ]] SLAMing on 0.6522606149999999 meters Centerline goodness : 0.185756 Centerline is valid? [False, False] Translation: X:0.16, Y:0.13, Z:0.01 [[ 0.99865735 -0.04340076 -0.02828206 0.15929452] [ 0.04362228 0.9990217 0.00726269 0.12504003] [ 0.02793918 -0.00848666 0.9995736 0.01015434] [ 0. 0. 0. 1. ]] SLAMing on 0.6822606149999999 meters Centerline goodness : 0.125490 Centerline is valid? [False, False] Translation: X:0.18, Y:0.15, Z:0.01 [[ 0.99850336 -0.0491097 -0.02406832 0.17575535] [ 0.0492142 0.99878114 0.00376859 0.15252005] [ 0.02385391 -0.00494745 0.99970321 0.00964037] [ 0. 0. 0. 1. ]] SLAMing on 0.7122606149999999 meters Centerline goodness : 0.199823 Centerline is valid? [False, False] Translation: X:0.20, Y:0.18, Z:0.01 [[ 0.99808327 -0.05759748 -0.02263448 0.19830743] [ 0.05765757 0.99833439 0.00201044 0.18064316] [ 0.02248099 -0.00331164 0.99974179 0.01033477] [ 0. 0. 0. 1. ]] SLAMing on 0.7422606149999998 meters Centerline goodness : 0.121531 Centerline is valid? [False, False] Translation: X:0.20, Y:0.19, Z:0.01 [[ 0.99781338 -0.06069477 -0.02616489 0.20465539] [ 0.06076282 0.99815059 0.00181318 0.19323441] [ 0.02600645 -0.00339907 0.999656 0.01118537] [ 0. 0. 0. 1. ]] SLAMing on 0.7722606149999999 meters Centerline goodness : 0.120506 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:0.01 [[ 0.99758972 -0.06314777 -0.02875949 0.20977535] [ 0.0632072 0.99799975 0.00116121 0.20579936] [ 0.02862863 -0.00297622 0.99958569 0.011211 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8022606149999999 meters Centerline goodness : 0.208115 Centerline is valid? [False, False] Translation: X:0.22, Y:0.23, Z:0.01 [[ 0.99738733 -0.064292 -0.03294012 0.22228178] [ 0.06462392 0.99786809 0.00911178 0.22764132] [ 0.03228408 -0.01121669 0.99941579 0.00915046] [ 0. 0. 0. 1. ]] SLAMing on 0.8322606149999998 meters Centerline goodness : 0.117516 Centerline is valid? [False, False] Translation: X:0.23, Y:0.25, Z:0.01 [[ 0.99750133 -0.05998864 -0.03731566 0.22955998] [ 0.06067538 0.99800324 0.01755064 0.24936026] [ 0.03618831 -0.01977093 0.9991494 0.00914037] [ 0. 0. 0. 1. ]] SLAMing on 0.8622606149999998 meters Centerline goodness : 0.117397 Centerline is valid? [False, False] Translation: X:0.23, Y:0.26, Z:0.01 [[ 0.99768271 -0.05491398 -0.04017049 0.23360965] [ 0.05591964 0.9981382 0.02435418 0.25920607] [ 0.03875832 -0.02654406 0.99889599 0.00983386] [ 0. 0. 0. 1. ]] SLAMing on 0.8922606149999999 meters Centerline goodness : 0.117834 Centerline is valid? [False, False] Translation: X:0.24, Y:0.27, Z:0.01 [[ 0.99782636 -0.05037935 -0.04247924 0.23648164] [ 0.05164409 0.99823798 0.02922021 0.27015636] [ 0.0409323 -0.0313505 0.99866996 0.01034961] [ 0. 0. 0. 1. ]] SLAMing on 0.9222606149999999 meters Centerline goodness : 0.117294 Centerline is valid? [False, False] Translation: X:0.24, Y:0.29, Z:0.01 [[ 0.99806299 -0.04274113 -0.04520479 0.24078223] [ 0.04439223 0.99835903 0.03617424 0.29289778] [ 0.04358448 -0.03811091 0.99832257 0.00852524] [ 0. 0. 0. 1. ]] SLAMing on 0.9522606149999998 meters Centerline goodness : 0.117536 Centerline is valid? [False, False] Translation: X:0.25, Y:0.32, Z:0.01 [[ 0.9983909 -0.04024211 -0.0399522 0.25045419] [ 0.04162099 0.99854443 0.03430324 0.32089988] [ 0.03851361 -0.03591089 0.99861259 0.0059789 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9822606149999998 meters Centerline goodness : 0.122842 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.00 [[ 0.99834485 -0.04146433 -0.03985317 0.25124289] [ 0.04270086 0.99861632 0.0306933 0.32577613] [ 0.03852535 -0.03234426 0.99873402 0.00393211] [ 0. 0. 0. 1. ]] SLAMing on 1.012260615 meters Centerline goodness : 0.123562 Centerline is valid? [False, False] Translation: X:0.25, Y:0.32, Z:0.01 [[ 0.99829052 -0.04318762 -0.03938106 0.24947078] [ 0.04434863 0.9985922 0.02910023 0.32340746] [ 0.03806885 -0.03079698 0.99880043 0.00548208] [ 0. 0. 0. 1. ]] SLAMing on 1.0422606149999998 meters Centerline goodness : 0.126409 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99826817 -0.04331631 -0.03980393 0.24883372] [ 0.04447848 0.99859539 0.02879094 0.32563723] [ 0.03850091 -0.03051149 0.99879264 0.0071094 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0722606149999998 meters Centerline goodness : 0.126334 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99825091 -0.04337432 -0.04017196 0.24833401] [ 0.04454121 0.99859743 0.02862243 0.32651275] [ 0.03887413 -0.03036168 0.99878274 0.00847819] [ 0. 0. 0. 1. ]] SLAMing on 1.1022606149999998 meters Centerline goodness : 0.126334 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99825091 -0.04337432 -0.04017196 0.24833401] [ 0.04454121 0.99859743 0.02862243 0.32651275] [ 0.03887413 -0.03036168 0.99878274 0.00847819] [ 0. 0. 0. 1. ]] SLAMing on 1.1322606149999999 meters Centerline goodness : 0.152904 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99833544 -0.04166434 -0.03988021 0.24730446] [ 0.04280559 0.99868525 0.02820389 0.32852856] [ 0.03865268 -0.02986404 0.99880634 0.00846373] [ 0. 0. 0. 1. ]] SLAMing on 1.1622606149999999 meters Centerline goodness : 0.894772 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99847288 -0.03937795 -0.03874645 0.24441511] [ 0.04049691 0.99877224 0.02853081 0.32762915] [ 0.0375754 -0.03005635 0.99884168 0.00922286] [ 0. 0. 0. 1. ]] SLAMing on 1.192260615 meters Centerline goodness : 0.894323 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.9985365 -0.03852216 -0.03795909 0.243631 ] [ 0.03956524 0.99884883 0.02712206 0.32780592] [ 0.03687059 -0.02858422 0.99891116 0.00779852] [ 0. 0. 0. 1. ]] SLAMing on 1.2222606149999997 meters Centerline goodness : 0.165925 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.00 [[ 0.99865773 -0.0369803 -0.03626569 0.24221121] [ 0.03783942 0.99901224 0.02329635 0.32836387] [ 0.03536836 -0.02463735 0.99907061 0.00449162] [ 0. 0. 0. 1. ]] SLAMing on 1.2522606149999997 meters Centerline goodness : 0.126351 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99866667 -0.0366465 -0.03635827 0.24123407] [ 0.03753865 0.99900293 0.02416597 0.32795492] [ 0.03543642 -0.02549859 0.99904659 0.00611449] [ 0. 0. 0. 1. ]] SLAMing on 1.2822606149999998 meters Centerline goodness : 0.168268 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99867908 -0.03552694 -0.0371206 0.24135397] [ 0.0366406 0.99888515 0.02976437 0.3260457 ] [ 0.03602178 -0.03108517 0.99886743 0.00871153] [ 0. 0. 0. 1. ]] SLAMing on 1.3122606149999998 meters Centerline goodness : 0.907877 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99846545 -0.03919692 -0.03911969 0.24206973] [ 0.04039611 0.99872271 0.03034967 0.32706374] [ 0.03788011 -0.03188338 0.99877352 0.01343563] [ 0. 0. 0. 1. ]] SLAMing on 1.3422606149999998 meters Centerline goodness : 0.908380 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99829441 -0.04319657 -0.03927249 0.24242825] [ 0.04424613 0.99867546 0.02626031 0.32813121] [ 0.03808612 -0.02795318 0.99888341 0.0135585 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3722606149999999 meters Centerline goodness : 0.911734 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99804127 -0.04865204 -0.03932691 0.24339256] [ 0.04947921 0.99856802 0.02034013 0.32985865] [ 0.03828101 -0.02224616 0.99901936 0.01271391] [ 0. 0. 0. 1. ]] SLAMing on 1.4022606149999999 meters Centerline goodness : 0.881354 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99791423 -0.05128672 -0.03920277 0.24392176] [ 0.05202005 0.99848524 0.01792015 0.32882998] [ 0.03822432 -0.0199221 0.99907057 0.01218019] [ 0. 0. 0. 1. ]] SLAMing on 1.4322606149999997 meters Centerline goodness : 0.108611 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99775512 -0.05462591 -0.03873935 0.24454208] [ 0.05518867 0.9983832 0.01360863 0.32936098] [ 0.03793333 -0.01571605 0.99915668 0.01050091] [ 0. 0. 0. 1. ]] SLAMing on 1.4622606149999997 meters Centerline goodness : 0.143553 Centerline is valid? [False, False] Translation: X:0.24, Y:0.33, Z:0.01 [[ 0.99775433 -0.05446451 -0.03898613 0.2448655 ] [ 0.05503821 0.99838894 0.01379595 0.33010666] [ 0.03817194 -0.01591069 0.99914451 0.01064108] [ 0. 0. 0. 1. ]] SLAMing on 1.4922606149999997 meters Centerline goodness : 0.922886 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99766308 -0.05488012 -0.04070086 0.24644614] [ 0.05558141 0.99832105 0.01630291 0.33201366] [ 0.03973782 -0.01852702 0.99903837 0.01291682] [ 0. 0. 0. 1. ]] SLAMing on 1.5222606149999998 meters Centerline goodness : 0.923579 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99764983 -0.05444133 -0.04160472 0.2483163 ] [ 0.05517755 0.99833595 0.0167561 0.33481488] [ 0.04062326 -0.01901237 0.99899363 0.01243252] [ 0. 0. 0. 1. ]] SLAMing on 1.5522606149999998 meters Centerline goodness : 0.127142 Centerline is valid? [False, False] Translation: X:0.25, Y:0.34, Z:0.01 [[ 0.99746311 -0.05802745 -0.04123302 0.2468104 ] [ 0.05855946 0.99821403 0.01181307 0.33649769] [ 0.04047389 -0.01419768 0.99907972 0.01370655] [ 0. 0. 0. 1. ]] SLAMing on 1.5822606149999998 meters Centerline goodness : 0.121459 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99745624 -0.05794154 -0.04151893 0.24786216] [ 0.05854064 0.99819561 0.01336107 0.33473841] [ 0.04066985 -0.01575762 0.99904838 0.0133546 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6122606149999998 meters Centerline goodness : 0.129716 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:0.01 [[ 0.99750189 -0.05753314 -0.0409867 0.24678575] [ 0.05813437 0.99821571 0.01363033 0.33411283] [ 0.04012938 -0.01597901 0.99906672 0.01354423] [ 0. 0. 0. 1. ]] SLAMing on 1.6422606149999996 meters Centerline goodness : 0.130302 Centerline is valid? [False, False] Translation: X:0.25, Y:0.34, Z:0.01 [[ 0.99728447 -0.06071768 -0.04167797 0.24867371] [ 0.06115439 0.99808515 0.00928339 0.33838157] [ 0.0410345 -0.01180697 0.99908797 0.01410334] [ 0. 0. 0. 1. ]] SLAMing on 1.6722606149999997 meters Centerline goodness : 0.134370 Centerline is valid? [False, False] Translation: X:0.25, Y:0.34, Z:0.01 [[ 0.99737626 -0.05862314 -0.04247256 0.25119389] [ 0.05922517 0.99815926 0.01305653 0.3384723 ] [ 0.04162897 -0.01553772 0.99901232 0.01259941] [ 0. 0. 0. 1. ]] SLAMing on 1.7022606149999997 meters Centerline goodness : 0.133098 Centerline is valid? [False, False] Translation: X:0.25, Y:0.34, Z:0.01 [[ 0.99738694 -0.05847077 -0.04243195 0.25087591] [ 0.05902476 0.99818533 0.0119217 0.33994346] [ 0.04165788 -0.01439509 0.99902823 0.0125789 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7322606149999997 meters Centerline goodness : 0.585527 Centerline is valid? [False, False] Translation: X:0.27, Y:0.35, Z:0.02 [[ 0.99757697 -0.05680701 -0.04016405 0.26739318] [ 0.05691177 0.99837813 0.00146886 0.34508726] [ 0.04001547 -0.00375111 0.99919202 0.01650027] [ 0. 0. 0. 1. ]] SLAMing on 1.7622606149999998 meters Centerline goodness : 0.146690 Centerline is valid? [False, False] Translation: X:0.27, Y:0.34, Z:0.01 [[ 0.99779868 -0.05291589 -0.03997121 0.26804607] [ 0.05315689 0.9985737 0.00499008 0.34483469] [ 0.03965014 -0.00710384 0.99918837 0.01463679] [ 0. 0. 0. 1. ]] SLAMing on 1.7922606149999998 meters Centerline goodness : 0.935294 Centerline is valid? [False, False] Translation: X:0.27, Y:0.34, Z:0.01 [[ 0.99816857 -0.04636617 -0.03885457 0.26661761] [ 0.04674579 0.998867 0.00891894 0.34474629] [ 0.03839701 -0.01071889 0.99920507 0.01290708] [ 0. 0. 0. 1. ]] SLAMing on 1.8222606149999998 meters Centerline goodness : 0.943069 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:0.01 [[ 0.99833395 -0.04387115 -0.03747854 0.26379561] [ 0.04421197 0.99898758 0.00831367 0.34495711] [ 0.03707587 -0.00995682 0.99926285 0.01270773] [ 0. 0. 0. 1. ]] SLAMing on 1.8522606149999996 meters Centerline goodness : 0.169830 Centerline is valid? [False, False] Translation: X:0.26, Y:0.35, Z:0.01 [[ 0.99853247 -0.04054436 -0.03590341 0.26042598] [ 0.04083401 0.99913876 0.0073708 0.34580348] [ 0.03557364 -0.00882607 0.99932808 0.01255734] [ 0. 0. 0. 1. ]] SLAMing on 1.8822606149999996 meters Centerline goodness : 0.950257 Centerline is valid? [False, True] Translation: X:0.25, Y:0.34, Z:0.01 [[ 0.99913143 -0.02702267 -0.03172004 0.25413282] [ 0.02740559 0.99955592 0.01169992 0.34424465] [ 0.03138979 -0.01255907 0.99942831 0.00903267] [ 0. 0. 0. 1. ]] SLAMing on 1.9122606149999997 meters Centerline goodness : 0.955691 Centerline is valid? [True, True] Translation: X:0.29, Y:0.36, Z:0.01 [[ 0.99946808 -0.01097951 -0.03070838 0.28983582] [ 0.0108939 0.9999363 -0.00295358 0.3567263 ] [ 0.03073886 0.00261748 0.99952402 0.01449707] [ 0. 0. 0. 1. ]] SLAMing on 1.9422606149999997 meters Centerline goodness : 0.954044 Centerline is valid? [True, True] Translation: X:0.30, Y:0.36, Z:0.02 [[ 0.99949332 0.00849613 -0.03067448 0.30186677] [-0.00860643 0.99995696 -0.00346565 0.36046604] [ 0.03064372 0.00372789 0.99952342 0.02375835] [ 0. 0. 0. 1. ]] SLAMing on 1.9722606149999997 meters Centerline goodness : 0.938217 Centerline is valid? [True, False] Translation: X:0.33, Y:0.36, Z:0.02 [[ 9.99268895e-01 2.74941771e-02 -2.65658690e-02 3.29289694e-01] [-2.75156819e-02 9.99621273e-01 -4.44207029e-04 3.60295930e-01] [ 2.65435947e-02 1.17486027e-03 9.99646966e-01 2.12503091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.002260615 meters Centerline goodness : 0.897764 Centerline is valid? [False, False] Translation: X:0.34, Y:0.36, Z:0.02 [[ 0.99936674 0.0307837 -0.01784616 0.33662356] [-0.03084431 0.9995193 -0.00313079 0.36014031] [ 0.0177412 0.00367926 0.99983584 0.01825099] [ 0. 0. 0. 1. ]] SLAMing on 2.0322606149999998 meters Centerline goodness : 0.949463 Centerline is valid? [False, False] Translation: X:0.35, Y:0.35, Z:0.02 [[ 9.99601208e-01 2.57508246e-02 -1.15896696e-02 3.48643125e-01] [-2.57512294e-02 9.99668376e-01 1.14321602e-04 3.54223562e-01] [ 1.15887701e-02 1.84172230e-04 9.99932831e-01 1.76842324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0622606149999996 meters Centerline goodness : 0.958671 Centerline is valid? [False, True] Translation: X:0.36, Y:0.34, Z:0.02 [[ 0.99986221 0.01551826 -0.00589412 0.35830286] [-0.01550659 0.99987773 0.0020191 0.34299752] [ 0.00592473 -0.00192743 0.99998059 0.01685357] [ 0. 0. 0. 1. ]] SLAMing on 2.092260615 meters Centerline goodness : 0.959719 Centerline is valid? [True, True] Translation: X:0.42, Y:0.35, Z:0.05 [[ 9.99972024e-01 -4.96575297e-03 -5.59394632e-03 4.21348055e-01] [ 4.96136131e-03 9.99987373e-01 -7.98677200e-04 3.49316789e-01] [ 5.59784172e-03 7.70901267e-04 9.99984035e-01 5.08898233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1222606149999996 meters Centerline goodness : 0.247796 Centerline is valid? [True, False] Translation: X:0.42, Y:0.34, Z:0.05 [[ 0.99995156 -0.00788406 -0.00589184 0.42317787] [ 0.00787054 0.99996635 -0.00231423 0.34207424] [ 0.00590988 0.00226774 0.99997997 0.04966274] [ 0. 0. 0. 1. ]] SLAMing on 2.152260615 meters Centerline goodness : 0.272298 Centerline is valid? [False, False] Translation: X:0.42, Y:0.33, Z:0.05 [[ 0.99992302 -0.01166016 -0.00424125 0.42407291] [ 0.0116404 0.99992141 -0.00465555 0.32674572] [ 0.0042952 0.00460583 0.99998017 0.04753578] [ 0. 0. 0. 1. ]] SLAMing on 2.1822606149999997 meters Centerline goodness : 0.843982 Centerline is valid? [False, False] Translation: X:0.43, Y:0.32, Z:0.04 [[ 0.99994167 -0.00965826 -0.00483415 0.42762215] [ 0.00965042 0.99995208 -0.00164292 0.31819611] [ 0.00484978 0.00159617 0.99998697 0.04474079] [ 0. 0. 0. 1. ]] SLAMing on 2.2122606149999995 meters Centerline goodness : 0.779562 Centerline is valid? [False, False] Translation: X:0.44, Y:0.31, Z:0.04 [[ 9.99938121e-01 -8.46583399e-03 -7.21684833e-03 4.36160449e-01] [ 8.46040482e-03 9.99963904e-01 -7.82489176e-04 3.05004150e-01] [ 7.22321225e-03 7.21383298e-04 9.99973652e-01 4.23827083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2422606149999997 meters Centerline goodness : 0.824968 Centerline is valid? [False, False] Translation: X:0.44, Y:0.30, Z:0.04 [[ 0.99994771 -0.00711995 -0.00734098 0.43796923] [ 0.00713526 0.99997242 0.00206206 0.29754701] [ 0.0073261 -0.00211433 0.99997093 0.04030789] [ 0. 0. 0. 1. ]] SLAMing on 2.2722606149999995 meters Centerline goodness : 0.298874 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 9.99906825e-01 -1.36210943e-02 -8.98789971e-04 4.50181570e-01] [ 1.36255647e-02 9.99893798e-01 5.17070288e-03 2.83691814e-01] [ 8.28263886e-04 -5.18246761e-03 9.99986228e-01 3.71349889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.302260615 meters Centerline goodness : 0.536425 Centerline is valid? [False, False] Translation: X:0.45, Y:0.28, Z:0.04 [[ 9.99862246e-01 -1.65894692e-02 -5.27029400e-04 4.50642219e-01] [ 1.65912165e-02 9.99856213e-01 3.50484025e-03 2.76341461e-01] [ 4.68810181e-04 -3.51310150e-03 9.99993719e-01 3.60878089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3322606149999996 meters Centerline goodness : 0.504218 Centerline is valid? [False, False] Translation: X:0.45, Y:0.27, Z:0.04 [[ 0.9996403 -0.02678015 -0.00144619 0.45306309] [ 0.02677352 0.99963175 -0.004421 0.26610453] [ 0.00156405 0.00438069 0.99998918 0.0362249 ] [ 0. 0. 0. 1. ]] SLAMing on 2.362260615 meters Centerline goodness : 0.607414 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:0.04 [[ 0.99953836 -0.0302449 -0.00288419 0.45556414] [ 0.0302249 0.99952037 -0.00674371 0.26219862] [ 0.00308677 0.00665342 0.9999731 0.03623739] [ 0. 0. 0. 1. ]] SLAMing on 2.3922606149999996 meters Centerline goodness : 0.525473 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:0.04 [[ 0.99937594 -0.03497369 -0.00495613 0.45996752] [ 0.03492907 0.99935088 -0.00881967 0.2568929 ] [ 0.00526137 0.00864106 0.99994882 0.03516705] [ 0. 0. 0. 1. ]] SLAMing on 2.4222606149999995 meters Centerline goodness : 0.347616 Centerline is valid? [False, False] Translation: X:0.46, Y:0.25, Z:0.03 [[ 0.99936041 -0.03542683 -0.00486908 0.46212011] [ 0.03538452 0.99933748 -0.0085171 0.25434139] [ 0.00516759 0.00833936 0.99995187 0.03246923] [ 0. 0. 0. 1. ]] SLAMing on 2.4522606149999997 meters Centerline goodness : 0.321935 Centerline is valid? [False, False] Translation: X:0.47, Y:0.26, Z:0.03 [[ 0.99925225 -0.03836426 0.00480809 0.47210852] [ 0.03842331 0.99917883 -0.01285735 0.25581842] [-0.00431088 0.01303248 0.99990578 0.02761345] [ 0. 0. 0. 1. ]] SLAMing on 2.4822606149999995 meters Centerline goodness : 0.247243 Centerline is valid? [False, False] Translation: X:0.47, Y:0.26, Z:0.03 [[ 0.99925454 -0.03831866 0.0046943 0.47311536] [ 0.03837734 0.99917715 -0.01312273 0.25745452] [-0.00418759 0.0132931 0.99990287 0.02701925] [ 0. 0. 0. 1. ]] SLAMing on 2.5122606149999998 meters Centerline goodness : 0.223353 Centerline is valid? [False, False] Translation: X:0.49, Y:0.26, Z:0.02 [[ 0.99925181 -0.03746053 0.00961943 0.48944319] [ 0.03750766 0.99928497 -0.00476732 0.26447787] [-0.00943397 0.00512456 0.99994237 0.02355906] [ 0. 0. 0. 1. ]] SLAMing on 2.5422606149999996 meters Centerline goodness : 0.215017 Centerline is valid? [False, False] Translation: X:0.49, Y:0.27, Z:0.02 [[ 0.99936294 -0.03444417 0.00934424 0.49001677] [ 0.0344628 0.99940429 -0.00184067 0.2677317 ] [-0.00927528 0.00216153 0.99995465 0.02385086] [ 0. 0. 0. 1. ]] SLAMing on 2.572260615 meters Centerline goodness : 0.229709 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:0.02 [[ 9.99207090e-01 -3.45336530e-02 1.98145727e-02 5.11638800e-01] [ 3.45579551e-02 9.99402303e-01 -8.85280392e-04 2.78531325e-01] [-1.97721577e-02 1.56932956e-03 9.99803280e-01 2.30191672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6022606149999996 meters Centerline goodness : 0.201772 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:0.02 [[ 0.99915632 -0.03512953 0.02127351 0.51117923] [ 0.03517523 0.99937958 -0.0017779 0.28173354] [-0.02119785 0.0025247 0.99977211 0.02188092] [ 0. 0. 0. 1. ]] SLAMing on 2.6322606149999994 meters Centerline goodness : 0.193677 Centerline is valid? [False, False] Translation: X:0.53, Y:0.29, Z:0.01 [[ 0.99883595 -0.04091306 0.02555132 0.53023243] [ 0.04086749 0.99916192 0.00230344 0.29050222] [-0.02562414 -0.00125654 0.99967086 0.01354931] [ 0. 0. 0. 1. ]] SLAMing on 2.6622606149999997 meters Centerline goodness : 0.188067 Centerline is valid? [False, False] Translation: X:0.53, Y:0.29, Z:0.01 [[ 9.98850084e-01 -4.16186847e-02 2.37990497e-02 5.34893732e-01] [ 4.15832623e-02 9.99133077e-01 1.98156947e-03 2.93621534e-01] [-2.38608881e-02 -9.89648704e-04 9.99714799e-01 1.18014131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6922606149999995 meters Centerline goodness : 0.517404 Centerline is valid? [False, False] Translation: X:0.55, Y:0.30, Z:0.01 [[ 0.99843298 -0.04878377 0.02741753 0.54990759] [ 0.04858558 0.99878818 0.00784937 0.30190616] [-0.02776723 -0.00650497 0.99959325 0.00609414] [ 0. 0. 0. 1. ]] SLAMing on 2.7222606149999997 meters Centerline goodness : 0.453408 Centerline is valid? [False, False] Translation: X:0.55, Y:0.31, Z:0.01 [[ 0.99839212 -0.04982917 0.02702285 0.55106847] [ 0.04966576 0.99874352 0.00668553 0.3057057 ] [-0.02732203 -0.00533267 0.99961246 0.00604826] [ 0. 0. 0. 1. ]] SLAMing on 2.7522606149999995 meters Centerline goodness : 0.416677 Centerline is valid? [False, False] Translation: X:0.59, Y:0.32, Z:0.00 [[ 0.9982096 -0.04998831 0.03284463 0.58877653] [ 0.04977602 0.99873409 0.00725026 0.31627839] [-0.03316548 -0.0056024 0.99943417 0.00264594] [ 0. 0. 0. 1. ]] SLAMing on 2.7822606149999998 meters Centerline goodness : 0.407054 Centerline is valid? [False, False] Translation: X:0.59, Y:0.32, Z:-0.00 [[ 0.99827985 -0.04803393 0.03361671 0.59167504] [ 0.04779323 0.99882579 0.00792798 0.32155645] [-0.03395805 -0.00630769 0.99940335 -0.00168123] [ 0. 0. 0. 1. ]] SLAMing on 2.8122606149999996 meters Centerline goodness : 0.404652 Centerline is valid? [False, False] Translation: X:0.63, Y:0.33, Z:-0.00 [[ 0.99846198 -0.03815249 0.04022512 0.63254901] [ 0.03746651 0.99914161 0.01767205 0.33315373] [-0.04086482 -0.01613777 0.99903435 -0.00453421] [ 0. 0. 0. 1. ]] SLAMing on 2.8422606149999994 meters Centerline goodness : 0.411499 Centerline is valid? [False, False] Translation: X:0.67, Y:0.34, Z:-0.00 [[ 0.99831179 -0.03679487 0.04494126 0.66720613] [ 0.03583665 0.99911669 0.02194459 0.34316908] [-0.04570902 -0.02029699 0.99874858 -0.00240663] [ 0. 0. 0. 1. ]] SLAMing on 2.8722606149999996 meters Centerline goodness : 0.405870 Centerline is valid? [False, False] Translation: X:0.67, Y:0.34, Z:-0.00 [[ 0.99817188 -0.04075069 0.04463506 0.66995968] [ 0.03998832 0.99904084 0.01784218 0.3440556 ] [-0.04531932 -0.01602468 0.99884402 -0.00381185] [ 0. 0. 0. 1. ]] SLAMing on 2.9022606149999994 meters Centerline goodness : 0.417876 Centerline is valid? [False, False] Translation: X:0.67, Y:0.34, Z:-0.00 [[ 0.99784497 -0.04806541 0.04466693 0.67212782] [ 0.04766765 0.99881391 0.00992858 0.34429131] [-0.04509117 -0.00777802 0.9989526 -0.00479348] [ 0. 0. 0. 1. ]] SLAMing on 2.9322606149999997 meters Centerline goodness : 0.429788 Centerline is valid? [False, False] Translation: X:0.70, Y:0.34, Z:-0.01 [[ 9.96612292e-01 -6.33159288e-02 5.24884019e-02 7.01074145e-01] [ 6.34130998e-02 9.97987347e-01 -1.86308488e-04 3.41854066e-01] [-5.23709646e-02 3.51412960e-03 9.98621516e-01 -8.31688620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9622606149999995 meters Centerline goodness : 0.436178 Centerline is valid? [False, False] Translation: X:0.70, Y:0.34, Z:-0.01 [[ 0.99623763 -0.06963722 0.05158723 0.70392448] [ 0.07002841 0.99752806 -0.0058126 0.33913318] [-0.05105494 0.0094033 0.99865158 -0.00799365] [ 0. 0. 0. 1. ]] SLAMing on 2.9922606149999997 meters Centerline goodness : 0.436178 Centerline is valid? [False, False] Translation: X:0.70, Y:0.34, Z:-0.01 [[ 0.99623763 -0.06963722 0.05158723 0.70392448] [ 0.07002841 0.99752806 -0.0058126 0.33913318] [-0.05105494 0.0094033 0.99865158 -0.00799365] [ 0. 0. 0. 1. ]] SLAMing on 3.0222606149999995 meters Centerline goodness : 0.453850 Centerline is valid? [False, False] Translation: X:0.74, Y:0.34, Z:-0.01 [[ 0.9952261 -0.08106027 0.05435299 0.73732368] [ 0.08169176 0.99661241 -0.00949532 0.33855759] [-0.05339917 0.01389018 0.99847664 -0.00899139] [ 0. 0. 0. 1. ]] SLAMing on 3.0522606149999993 meters Centerline goodness : 0.462862 Centerline is valid? [False, False] Translation: X:0.74, Y:0.34, Z:-0.01 [[ 0.9949306 -0.08480376 0.05405023 0.74124332] [ 0.08563781 0.99623753 -0.01330223 0.33791305] [-0.05271878 0.01786354 0.99844961 -0.01150064] [ 0. 0. 0. 1. ]] SLAMing on 3.0822606149999996 meters Centerline goodness : 0.470922 Centerline is valid? [False, False] Translation: X:0.78, Y:0.34, Z:-0.02 [[ 0.99546142 -0.07930723 0.05260162 0.7751225 ] [ 0.08039508 0.99658398 -0.01889469 0.33677197] [-0.05092345 0.02303785 0.99843681 -0.01580772] [ 0. 0. 0. 1. ]] SLAMing on 3.1122606149999994 meters Centerline goodness : 0.471294 Centerline is valid? [False, False] Translation: X:0.78, Y:0.34, Z:-0.02 [[ 0.99552026 -0.07827068 0.0530388 0.77780919] [ 0.07934302 0.99667717 -0.01842015 0.3374098 ] [-0.0514208 0.02254589 0.99842255 -0.01950261] [ 0. 0. 0. 1. ]] SLAMing on 3.1422606149999996 meters Centerline goodness : 0.471108 Centerline is valid? [False, False] Translation: X:0.82, Y:0.34, Z:-0.02 [[ 0.99550597 -0.07282105 0.06053882 0.8154189 ] [ 0.07371818 0.99719803 -0.01271716 0.33940032] [-0.05944311 0.01712282 0.99808483 -0.02225109] [ 0. 0. 0. 1. ]] SLAMing on 3.1722606149999995 meters Centerline goodness : 0.477111 Centerline is valid? [False, False] Translation: X:0.84, Y:0.34, Z:-0.02 [[ 0.99516052 -0.07143678 0.06747099 0.84077952] [ 0.07204682 0.99737909 -0.0066489 0.34048596] [-0.06681918 0.0114778 0.99769908 -0.0232936 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2022606149999997 meters Centerline goodness : 0.473513 Centerline is valid? [False, False] Translation: X:0.87, Y:0.34, Z:-0.02 [[ 0.99474784 -0.07122782 0.07350741 0.86615002] [ 0.07149982 0.99744004 -0.00107228 0.339797 ] [-0.07324285 0.00632242 0.99729409 -0.02380268] [ 0. 0. 0. 1. ]] SLAMing on 3.2322606149999995 meters Centerline goodness : 0.484717 Centerline is valid? [False, False] Translation: X:0.91, Y:0.33, Z:-0.02 [[ 0.99405392 -0.07561578 0.07835211 0.90842397] [ 0.07618605 0.9970843 -0.00431053 0.33451751] [-0.07779771 0.01025423 0.99691643 -0.02240639] [ 0. 0. 0. 1. ]] SLAMing on 3.2622606149999993 meters Centerline goodness : 0.513068 Centerline is valid? [False, False] Translation: X:0.96, Y:0.32, Z:-0.02 [[ 0.99386529 -0.07927339 0.07712018 0.95906693] [ 0.08067235 0.99662489 -0.01519207 0.32460104] [-0.07565557 0.02132034 0.99690605 -0.02464331] [ 0. 0. 0. 1. ]] SLAMing on 3.2922606149999996 meters Centerline goodness : 0.521212 Centerline is valid? [False, False] Translation: X:0.97, Y:0.32, Z:-0.03 [[ 0.99378507 -0.08152332 0.07579701 0.97013908] [ 0.08321529 0.99634209 -0.01943333 0.31598051] [-0.07393548 0.02562003 0.99693388 -0.0272034 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3222606149999994 meters Centerline goodness : 0.524939 Centerline is valid? [False, False] Translation: X:0.98, Y:0.31, Z:-0.03 [[ 0.99367795 -0.08408736 0.07438714 0.97861005] [ 0.08600878 0.99602864 -0.02300944 0.30809359] [-0.07215692 0.02926192 0.99696395 -0.02878921] [ 0. 0. 0. 1. ]] SLAMing on 3.3522606149999996 meters Centerline goodness : 0.538504 Centerline is valid? [False, False] Translation: X:1.03, Y:0.30, Z:-0.03 [[ 0.99350545 -0.08620323 0.07426933 1.03315318] [ 0.08804255 0.995877 -0.02185204 0.29569669] [-0.0720794 0.02824898 0.99699877 -0.03428503] [ 0. 0. 0. 1. ]] SLAMing on 3.3822606149999994 meters Centerline goodness : 0.557152 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.04 [[ 0.99376564 -0.08588057 0.07109415 1.09140653] [ 0.08821125 0.99564042 -0.03031389 0.28093521] [-0.06818084 0.0363962 0.99700887 -0.0400856 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4122606149999997 meters Centerline goodness : 0.563756 Centerline is valid? [False, False] Translation: X:1.11, Y:0.27, Z:-0.04 [[ 0.99408215 -0.0837256 0.06921497 1.11311372] [ 0.08625248 0.99568069 -0.03435797 0.2681726 ] [-0.06603937 0.0401246 0.99700994 -0.04382056] [ 0. 0. 0. 1. ]] SLAMing on 3.4422606149999995 meters Centerline goodness : 0.575899 Centerline is valid? [False, False] Translation: X:1.13, Y:0.26, Z:-0.05 [[ 0.99417171 -0.0835776 0.0680985 1.12743607] [ 0.08625456 0.99557231 -0.03736216 0.25568871] [-0.06467435 0.04301821 0.99697877 -0.04847955] [ 0. 0. 0. 1. ]] SLAMing on 3.4722606149999993 meters Centerline goodness : 0.608389 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.06 [[ 0.99468462 -0.08256998 0.06151989 1.18549748] [ 0.08508018 0.99559628 -0.03936261 0.23024629] [-0.0579988 0.0443875 0.99732938 -0.05562422] [ 0. 0. 0. 1. ]] SLAMing on 3.5022606149999995 meters Centerline goodness : 0.625472 Centerline is valid? [False, False] Translation: X:1.20, Y:0.22, Z:-0.06 [[ 0.9948694 -0.08270772 0.05826071 1.20442949] [ 0.08516663 0.99552013 -0.04106487 0.21538531] [-0.05460333 0.04581605 0.99745645 -0.06078372] [ 0. 0. 0. 1. ]] SLAMing on 3.5322606149999993 meters Centerline goodness : 0.643234 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.07 [[ 0.99583655 -0.08062648 0.04253151 1.26242761] [ 0.08208184 0.99605709 -0.03365789 0.18660258] [-0.03965009 0.03700883 0.99852803 -0.06917719] [ 0. 0. 0. 1. ]] SLAMing on 3.5622606149999996 meters Centerline goodness : 0.652589 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.07 [[ 0.99605203 -0.0806896 0.03700723 1.27976518] [ 0.08188633 0.99612626 -0.03204846 0.17098047] [-0.0342779 0.03495232 0.99880096 -0.07101471] [ 0. 0. 0. 1. ]] SLAMing on 3.5922606149999994 meters Centerline goodness : 0.587505 Centerline is valid? [False, False] Translation: X:1.32, Y:0.14, Z:-0.08 [[ 0.99555411 -0.09107542 0.02402664 1.32123574] [ 0.09201688 0.99489137 -0.04152172 0.13859447] [-0.02012229 0.04354798 0.99884867 -0.07891872] [ 0. 0. 0. 1. ]] SLAMing on 3.6222606149999996 meters Centerline goodness : 0.446680 Centerline is valid? [False, False] Translation: X:1.34, Y:0.12, Z:-0.09 [[ 0.99521544 -0.09578047 0.01929588 1.34494251] [ 0.09656204 0.9943203 -0.04475386 0.11720059] [-0.01489974 0.04640299 0.99881167 -0.09129189] [ 0. 0. 0. 1. ]] SLAMing on 3.6522606149999994 meters Centerline goodness : 0.182635 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:-0.11 [[ 0.994779 -0.10184745 0.00646796 1.39151343] [ 0.10204226 0.99358117 -0.04882461 0.07803131] [-0.00145378 0.0492297 0.99878643 -0.10877061] [ 0. 0. 0. 1. ]] SLAMing on 3.6822606149999992 meters Centerline goodness : 0.634507 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.11 [[ 9.94958877e-01 -1.00283673e-01 1.33332488e-04 1.41264938e+00] [ 1.00191220e-01 9.93982752e-01 -4.42719805e-02 5.85602868e-02] [ 4.30722660e-03 4.40621588e-02 9.99019506e-01 -1.14218929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7122606149999995 meters Centerline goodness : 0.611074 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:-0.12 [[ 0.99469465 -0.10158601 -0.01621201 1.45762407] [ 0.10120874 0.99460833 -0.02260658 0.02981416] [ 0.01842111 0.02084585 0.99961298 -0.1219505 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7422606149999993 meters Centerline goodness : 0.583725 Centerline is valid? [False, False] Translation: X:1.48, Y:0.02, Z:-0.13 [[ 0.99461581 -0.10026221 -0.02620838 1.47619274] [ 0.09992057 0.99489637 -0.01403873 0.01672225] [ 0.02748217 0.01134438 0.99955792 -0.12968769] [ 0. 0. 0. 1. ]] SLAMing on 3.7722606149999995 meters Centerline goodness : 0.508076 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.01, Z:-0.14 [[ 9.93896542e-01 -9.97794230e-02 -4.70502882e-02 1.51651868e+00] [ 9.97025520e-02 9.95009312e-01 -3.98368053e-03 -7.37272714e-03] [ 4.72129643e-02 -7.31667500e-04 9.98884578e-01 -1.41455074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8022606149999993 meters Centerline goodness : 0.413512 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.02, Z:-0.15 [[ 9.93208245e-01 -1.03164170e-01 -5.38009007e-02 1.53416747e+00] [ 1.03258163e-01 9.94654048e-01 -1.03717514e-03 -2.05043707e-02] [ 5.36202830e-02 -4.52525126e-03 9.98551144e-01 -1.50138166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8322606149999996 meters Centerline goodness : 0.369543 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:-0.16 [[ 0.99183383 -0.10877391 -0.0665874 1.57000029] [ 0.10890797 0.99405051 -0.00162417 -0.04294554] [ 0.06636791 -0.00564099 0.99777927 -0.15842921] [ 0. 0. 0. 1. ]] SLAMing on 3.8622606149999994 meters Centerline goodness : 0.388210 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.05, Z:-0.16 [[ 9.91614167e-01 -1.09553429e-01 -6.85520999e-02 1.57844947e+00] [ 1.09762377e-01 9.93957594e-01 -7.22585171e-04 -4.91891777e-02] [ 6.82170420e-02 -6.80791573e-03 9.97647276e-01 -1.61302843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.892260614999999 meters Centerline goodness : 0.398502 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.16 [[ 9.91465320e-01 -1.09627395e-01 -7.05574519e-02 1.58549150e+00] [ 1.09980884e-01 9.93933057e-01 1.13298328e-03 -5.40522627e-02] [ 7.00051779e-02 -8.88328457e-03 9.97507074e-01 -1.62850625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9222606149999995 meters Centerline goodness : 0.432355 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.06, Z:-0.16 [[ 0.99059044 -0.1168035 -0.0713269 1.60145753] [ 0.11766934 0.99302024 0.00804574 -0.05718956] [ 0.06988928 -0.01636302 0.99742054 -0.16058439] [ 0. 0. 0. 1. ]] SLAMing on 3.9522606149999993 meters Centerline goodness : 0.441613 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.10, Z:-0.16 [[ 0.97324197 -0.20220282 -0.10915169 1.50761265] [ 0.20245055 0.97925182 -0.00892436 -0.09883492] [ 0.10869152 -0.01341226 0.99398504 -0.15632856] [ 0. 0. 0. 1. ]] SLAMing on 3.9822606149999995 meters Centerline goodness : 0.381824 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.15 [[ 0.98418431 -0.16193276 -0.07182632 1.59420254] [ 0.16169177 0.98679847 -0.0091957 -0.05888774] [ 0.07236719 -0.00256346 0.99737476 -0.1450566 ] [ 0. 0. 0. 1. ]] SLAMing on 4.012260615 meters Centerline goodness : 0.494686 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.14 [[ 0.98282 -0.1716507 -0.06782985 1.567089 ] [ 0.17089347 0.98514531 -0.01685624 -0.06799575] [ 0.06971565 0.00497497 0.9975545 -0.1430095 ] [ 0. 0. 0. 1. ]] SLAMing on 4.042260615 meters Centerline goodness : 0.523904 Centerline is valid? [False, False] Translation: X:1.88, Y:0.03, Z:-0.12 [[ 0.99581968 -0.09072286 -0.01060749 1.87963388] [ 0.0900877 0.99468277 -0.04990386 0.02590708] [ 0.01507851 0.04873964 0.99869769 -0.12134311] [ 0. 0. 0. 1. ]] SLAMing on 4.072260615 meters Centerline goodness : 0.548180 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.12 [[ 9.95775682e-01 -9.18128297e-02 -1.09301166e-03 1.88692776e+00] [ 9.16480703e-02 9.94574622e-01 -4.92133351e-02 3.46868060e-02] [ 5.60549721e-03 4.89052699e-02 9.98787692e-01 -1.18770750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102260615 meters Centerline goodness : 0.601268 Centerline is valid? [False, False] Translation: X:1.91, Y:0.06, Z:-0.11 [[ 0.99369653 -0.11189018 0.00691389 1.91374609] [ 0.11206815 0.99304197 -0.03617138 0.05562703] [-0.00281856 0.0367182 0.99932168 -0.11452107] [ 0. 0. 0. 1. ]] SLAMing on 4.132260615 meters Centerline goodness : 0.632114 Centerline is valid? [False, False] Translation: X:1.94, Y:0.08, Z:-0.11 [[ 0.99167874 -0.12861532 0.00560054 1.94101869] [ 0.1287197 0.99132261 -0.02665933 0.07999029] [-0.00212315 0.02715839 0.99962889 -0.10978033] [ 0. 0. 0. 1. ]] SLAMing on 4.162260615 meters Centerline goodness : 0.627612 Centerline is valid? [False, False] Translation: X:1.95, Y:0.09, Z:-0.11 [[ 9.91472391e-01 -1.30286582e-01 2.81160542e-03 1.94701596e+00] [ 1.30314482e-01 9.91091252e-01 -2.75002927e-02 9.04837959e-02] [ 7.96361601e-04 2.76321739e-02 9.99617841e-01 -1.09692640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1922606149999995 meters Centerline goodness : 0.636969 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:-0.11 [[ 9.91371329e-01 -1.31071091e-01 1.80478834e-03 1.95159723e+00] [ 1.31066674e-01 9.90929299e-01 -2.96757731e-02 9.84570143e-02] [ 2.10121833e-03 2.96562582e-02 9.99557948e-01 -1.13534954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.222260615 meters Centerline goodness : 0.653098 Centerline is valid? [False, False] Translation: X:1.96, Y:0.11, Z:-0.12 [[ 9.90805581e-01 -1.35289064e-01 -1.08188301e-03 1.96337439e+00] [ 1.35169284e-01 9.90207495e-01 -3.49053235e-02 1.14938569e-01] [ 5.79359720e-03 3.44381520e-02 9.99390038e-01 -1.20753804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.252260615 meters Centerline goodness : 0.666404 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:-0.12 [[ 0.990746 -0.13564741 -0.00470548 1.97250749] [ 0.13542863 0.99026437 -0.03218022 0.12580386] [ 0.00902483 0.03124516 0.99947101 -0.12171089] [ 0. 0. 0. 1. ]] SLAMing on 4.282260615 meters Centerline goodness : 0.122728 Centerline is valid? [False, False] Translation: X:1.99, Y:0.14, Z:-0.12 [[ 0.98994201 -0.14050671 -0.01651315 1.99070179] [ 0.14032819 0.99003804 -0.01151896 0.14433452] [ 0.01796714 0.00908584 0.99979729 -0.12233708] [ 0. 0. 0. 1. ]] SLAMing on 4.312260615 meters Centerline goodness : 0.665679 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:-0.13 [[ 0.98998713 -0.13951903 -0.02144596 2.01987488] [ 0.13926332 0.99017012 -0.01299483 0.15125102] [ 0.02304817 0.00987808 0.99968555 -0.12770407] [ 0. 0. 0. 1. ]] SLAMing on 4.342260615 meters Centerline goodness : 0.697290 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:-0.13 [[ 0.98943645 -0.14331797 -0.02180546 2.02486641] [ 0.14297962 0.98959034 -0.0163644 0.14852553] [ 0.02392378 0.0130738 0.9996283 -0.13100029] [ 0. 0. 0. 1. ]] SLAMing on 4.372260615 meters Centerline goodness : 0.664403 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:-0.13 [[ 0.98891579 -0.14683 -0.02205714 2.02933973] [ 0.14640735 0.98902826 -0.01969762 0.14668529] [ 0.02470733 0.01624996 0.99956265 -0.13413916] [ 0. 0. 0. 1. ]] SLAMing on 4.402260614999999 meters Centerline goodness : 0.691837 Centerline is valid? [False, False] Translation: X:2.03, Y:0.14, Z:-0.14 [[ 0.98901566 -0.146076 -0.02257946 2.03188259] [ 0.14567457 0.98915934 -0.01851282 0.14486978] [ 0.02503897 0.01502021 0.99957363 -0.13520999] [ 0. 0. 0. 1. ]] SLAMing on 4.432260615 meters Centerline goodness : 0.680211 Centerline is valid? [False, False] Translation: X:2.03, Y:0.14, Z:-0.13 [[ 0.9901225 -0.13823427 -0.02342492 2.03105661] [ 0.13804662 0.9903806 -0.00945486 0.14338375] [ 0.02450658 0.00612774 0.99968089 -0.13371074] [ 0. 0. 0. 1. ]] SLAMing on 4.462260615 meters Centerline goodness : 0.700211 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:-0.12 [[ 0.99216588 -0.12322349 -0.02056298 2.01869277] [ 0.12338883 0.99233392 0.00697087 0.14506124] [ 0.01954636 -0.0094535 0.99976426 -0.12408913] [ 0. 0. 0. 1. ]] SLAMing on 4.492260615 meters Centerline goodness : 0.752101 Centerline is valid? [False, False] Translation: X:2.01, Y:0.15, Z:-0.12 [[ 0.99310771 -0.11529978 -0.02104828 2.01485056] [ 0.11562428 0.99318114 0.014908 0.14593109] [ 0.01918586 -0.01723894 0.99966731 -0.11966145] [ 0. 0. 0. 1. ]] SLAMing on 4.5222606149999995 meters Centerline goodness : 0.835726 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:-0.12 [[ 0.99334133 -0.11464373 -0.01139366 2.02226265] [ 0.11477085 0.99332874 0.01120974 0.15230466] [ 0.01003253 -0.01244276 0.99987225 -0.11914928] [ 0. 0. 0. 1. ]] SLAMing on 4.552260615 meters Centerline goodness : 0.767515 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:-0.12 [[ 0.99328456 -0.11507657 -0.01196488 2.0238253 ] [ 0.11521479 0.99327305 0.01158488 0.15044206] [ 0.01055125 -0.01288562 0.99986131 -0.11889611] [ 0. 0. 0. 1. ]] SLAMing on 4.582260615 meters Centerline goodness : 0.782778 Centerline is valid? [False, False] Translation: X:2.04, Y:0.15, Z:-0.12 [[ 0.99231007 -0.12277976 -0.01567998 2.03524816] [ 0.12292288 0.99237972 0.0085121 0.15360611] [ 0.01451538 -0.01037407 0.99984083 -0.11948745] [ 0. 0. 0. 1. ]] SLAMing on 4.612260614999999 meters Centerline goodness : 0.853466 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.12 [[ 0.99214454 -0.12404104 -0.01621852 2.03787063] [ 0.12416722 0.99223651 0.00701541 0.15591011] [ 0.01522241 -0.00897411 0.99984386 -0.12131643] [ 0. 0. 0. 1. ]] SLAMing on 4.642260615 meters Centerline goodness : 0.872157 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.12 [[ 0.99196611 -0.12553105 -0.01565859 2.03650448] [ 0.12562478 0.99206446 0.0051494 0.16157181] [ 0.01488792 -0.00707514 0.99986414 -0.12082033] [ 0. 0. 0. 1. ]] SLAMing on 4.672260615 meters Centerline goodness : 0.856563 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.12 [[ 0.9923229 -0.12258476 -0.016378 2.03727098] [ 0.12273292 0.99240447 0.00836628 0.16338037] [ 0.01522803 -0.01031217 0.99983087 -0.1209114 ] [ 0. 0. 0. 1. ]] SLAMing on 4.702260615 meters Centerline goodness : 0.887766 Centerline is valid? [False, False] Translation: X:2.04, Y:0.17, Z:-0.12 [[ 0.99205795 -0.12463711 -0.01692954 2.04045676] [ 0.12474806 0.99217231 0.00565937 0.16827827] [ 0.01609165 -0.00772635 0.99984067 -0.12350234] [ 0. 0. 0. 1. ]] SLAMing on 4.7322606149999995 meters Centerline goodness : 0.887255 Centerline is valid? [False, False] Translation: X:2.04, Y:0.17, Z:-0.13 [[ 0.99188324 -0.12592389 -0.01762961 2.04359205] [ 0.12602039 0.99201758 0.00446986 0.16933976] [ 0.01692602 -0.00665527 0.99983459 -0.12545829] [ 0. 0. 0. 1. ]] SLAMing on 4.762260615 meters Centerline goodness : 0.839737 Centerline is valid? [False, False] Translation: X:2.04, Y:0.17, Z:-0.13 [[ 0.99182934 -0.12628709 -0.01805905 2.04471881] [ 0.1263881 0.99197038 0.00456142 0.16867343] [ 0.01733799 -0.00680659 0.99982652 -0.12538227] [ 0. 0. 0. 1. ]] SLAMing on 4.792260615 meters Centerline goodness : 0.905964 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.12 [[ 9.91276975e-01 -1.30663097e-01 -1.72369662e-02 2.04331321e+00] [ 1.30716727e-01 9.91417706e-01 2.01739753e-03 1.64382531e-01] [ 1.68254341e-02 -4.25295952e-03 9.99849397e-01 -1.22021541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822260614999999 meters Centerline goodness : 0.914856 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.12 [[ 0.9912935 -0.13056683 -0.0170144 2.04233009] [ 0.13064427 0.99142307 0.00351771 0.16059143] [ 0.01640917 -0.00570992 0.99984906 -0.11986629] [ 0. 0. 0. 1. ]] SLAMing on 4.852260615 meters Centerline goodness : 0.924234 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.11 [[ 0.99163486 -0.12803062 -0.01638517 2.03745387] [ 0.12816166 0.99172708 0.00721004 0.15817317] [ 0.01532651 -0.00924968 0.99983976 -0.11413842] [ 0. 0. 0. 1. ]] SLAMing on 4.882260615 meters Centerline goodness : 0.936910 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:-0.11 [[ 0.99210923 -0.12429516 -0.01643145 2.0354339 ] [ 0.12448223 0.99216201 0.01089559 0.15995591] [ 0.01494839 -0.01285504 0.99980563 -0.1121749 ] [ 0. 0. 0. 1. ]] SLAMing on 4.912260615 meters Centerline goodness : 0.951940 Centerline is valid? [False, True] Translation: X:2.04, Y:0.18, Z:-0.11 [[ 0.99254553 -0.12149042 -0.00966645 2.04496201] [ 0.1215996 0.99251091 0.0116458 0.17602031] [ 0.00817921 -0.01273442 0.99988546 -0.11024915] [ 0. 0. 0. 1. ]] SLAMing on 4.9422606149999995 meters Centerline goodness : 0.951940 Centerline is valid? [True, True] Translation: X:2.07, Y:0.19, Z:-0.11 [[ 9.92527385e-01 -1.21818418e-01 -7.04725142e-03 2.07050109e+00] [ 1.21811322e-01 9.92552245e-01 -1.42906413e-03 1.88467264e-01] [ 7.16885155e-03 5.59950273e-04 9.99974147e-01 -1.10070220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.972260615 meters Centerline goodness : 0.957961 Centerline is valid? [True, True] Translation: X:2.10, Y:0.21, Z:-0.11 [[ 9.91623460e-01 -1.28969615e-01 -7.05354478e-03 2.10188646e+00] [ 1.28962921e-01 9.91648431e-01 -1.39768738e-03 2.05149819e-01] [ 7.17489582e-03 4.76333854e-04 9.99974147e-01 -1.13436865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.002260615 meters Centerline goodness : 0.954733 Centerline is valid? [True, True] Translation: X:2.13, Y:0.21, Z:-0.13 [[ 9.91967002e-01 -1.26298943e-01 -7.07414314e-03 2.12562355e+00] [ 1.26292912e-01 9.91992149e-01 -1.29476859e-03 2.12631761e-01] [ 7.18102236e-03 3.90953581e-04 9.99974140e-01 -1.33754342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.032260614999999 meters Centerline goodness : 0.954720 Centerline is valid? [True, True] Translation: X:2.15, Y:0.21, Z:-0.16 [[ 9.92170681e-01 -1.24689702e-01 -7.05824022e-03 2.15388351e+00] [ 1.24683068e-01 9.92195669e-01 -1.37399834e-03 2.08634106e-01] [ 7.17447882e-03 4.83197824e-04 9.99974146e-01 -1.57573827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062260615 meters Centerline goodness : 0.960026 Centerline is valid? [True, True] Translation: X:2.18, Y:0.21, Z:-0.15 [[ 9.92542274e-01 -1.21696907e-01 -7.04966658e-03 2.17626203e+00] [ 1.21689896e-01 9.92567158e-01 -1.41666297e-03 2.07069860e-01] [ 7.16967102e-03 5.48224685e-04 9.99974147e-01 -1.52969172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.092260615 meters Centerline goodness : 0.962793 Centerline is valid? [True, True] Translation: X:2.20, Y:0.21, Z:-0.15 [[ 9.92781951e-01 -1.19727638e-01 -7.02073436e-03 2.20418371e+00] [ 1.19719566e-01 9.92806522e-01 -1.56038677e-03 2.10476435e-01] [ 7.15705229e-03 7.08604546e-04 9.99974137e-01 -1.50199487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122260615 meters Centerline goodness : 0.965464 Centerline is valid? [True, True] Translation: X:2.24, Y:0.22, Z:-0.15 [[ 9.92968736e-01 -1.18168970e-01 -7.01308122e-03 2.24266007e+00] [ 1.18160594e-01 9.92993212e-01 -1.59836354e-03 2.15530959e-01] [ 7.15281902e-03 7.58455186e-04 9.99974131e-01 -1.54488765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.152260614999999 meters Centerline goodness : 0.970316 Centerline is valid? [True, True] Translation: X:2.26, Y:0.21, Z:-0.14 [[ 9.93089370e-01 -1.17148628e-01 -7.04991647e-03 2.26405701e+00] [ 1.17141516e-01 9.93114225e-01 -1.41481720e-03 2.14369147e-01] [ 7.16711622e-03 5.79202020e-04 9.99974148e-01 -1.38862759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182260615 meters Centerline goodness : 0.974216 Centerline is valid? [True, True] Translation: X:2.29, Y:0.21, Z:-0.14 [[ 9.93916787e-01 -1.09909713e-01 -7.01970600e-03 2.28832473e+00] [ 1.09901366e-01 9.93941266e-01 -1.56511538e-03 2.06571579e-01] [ 7.14919685e-03 7.84119163e-04 9.99974137e-01 -1.37502272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.212260615 meters Centerline goodness : 0.974880 Centerline is valid? [True, True] Translation: X:2.32, Y:0.21, Z:-0.13 [[ 9.93435898e-01 -1.14176110e-01 -6.99511357e-03 2.32026772e+00] [ 1.14167015e-01 9.93460138e-01 -1.68729250e-03 2.12024851e-01] [ 7.14201499e-03 8.77605707e-04 9.99974110e-01 -1.32003616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242260614999999 meters Centerline goodness : 0.978376 Centerline is valid? [True, True] Translation: X:2.35, Y:0.21, Z:-0.13 [[ 9.94209786e-01 -1.07227934e-01 -7.00511876e-03 2.34604928e+00] [ 1.07219016e-01 9.94234078e-01 -1.63754158e-03 2.07034179e-01] [ 7.14031799e-03 8.76977920e-04 9.99974123e-01 -1.26308503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2722606149999995 meters Centerline goodness : 0.979049 Centerline is valid? [True, True] Translation: X:2.38, Y:0.21, Z:-0.11 [[ 9.93362893e-01 -1.14809364e-01 -6.99803885e-03 2.37937951e+00] [ 1.14800382e-01 9.93387171e-01 -1.67327467e-03 2.11881380e-01] [ 7.14386962e-03 8.58791435e-04 9.99974113e-01 -1.07927641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302260615 meters Centerline goodness : 0.981352 Centerline is valid? [True, True] Translation: X:2.40, Y:0.20, Z:-0.09 [[ 9.94079561e-01 -1.08427555e-01 -7.02076213e-03 2.40316696e+00] [ 1.08419231e-01 9.94104043e-01 -1.55656713e-03 1.99954105e-01] [ 7.14814278e-03 7.86165936e-04 9.99974143e-01 -8.94014308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.332260615 meters Centerline goodness : 0.981861 Centerline is valid? [True, True] Translation: X:2.43, Y:0.20, Z:-0.08 [[ 9.94695304e-01 -1.02626241e-01 -7.00760862e-03 2.42543302e+00] [ 1.02617284e-01 9.94719582e-01 -1.62691658e-03 1.96238210e-01] [ 7.13756985e-03 8.99184515e-04 9.99974123e-01 -8.07820375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362260614999999 meters Centerline goodness : 0.984279 Centerline is valid? [True, True] Translation: X:2.45, Y:0.20, Z:-0.07 [[ 9.95233636e-01 -9.72695702e-02 -6.97433655e-03 2.44833980e+00] [ 9.72592467e-02 9.95257444e-01 -1.80520958e-03 1.97006159e-01] [ 7.11685233e-03 1.11828658e-03 9.99974050e-01 -7.39517645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.392260615 meters Centerline goodness : 0.986040 Centerline is valid? [True, True] Translation: X:2.48, Y:0.21, Z:-0.07 [[ 9.94530445e-01 -1.04215916e-01 -6.94521387e-03 2.48481591e+00] [ 1.04204690e-01 9.94553941e-01 -1.96010904e-03 2.07370160e-01] [ 7.11166438e-03 1.22566426e-03 9.99973961e-01 -7.17221004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422260615 meters Centerline goodness : 0.987636 Centerline is valid? [True, True] Translation: X:2.51, Y:0.22, Z:-0.07 [[ 9.94733690e-01 -1.02255400e-01 -6.97989841e-03 2.51094641e+00] [ 1.02245439e-01 9.94757627e-01 -1.77023089e-03 2.19123665e-01] [ 7.12432284e-03 1.04724552e-03 9.99974073e-01 -7.01216021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.452260614999999 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:2.54, Y:0.23, Z:-0.07 [[ 9.94402470e-01 -1.05427879e-01 -6.97783075e-03 2.54238109e+00] [ 1.05417916e-01 9.94426412e-01 -1.78152058e-03 2.29296629e-01] [ 7.12676113e-03 1.03596009e-03 9.99974068e-01 -7.01483149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4822606149999995 meters Centerline goodness : 0.989426 Centerline is valid? [True, True] Translation: X:2.58, Y:0.24, Z:-0.07 [[ 9.94047939e-01 -1.08718774e-01 -6.99445821e-03 2.57668175e+00] [ 1.08709525e-01 9.94072121e-01 -1.69031844e-03 2.39225500e-01] [ 7.13676526e-03 9.19893333e-04 9.99974110e-01 -6.86656220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.512260615 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:2.60, Y:0.24, Z:-0.07 [[ 9.95503432e-01 -9.44649125e-02 -7.02115897e-03 2.59849951e+00] [ 9.44563424e-02 9.95527809e-01 -1.54308808e-03 2.38784867e-01] [ 7.13552669e-03 8.72956484e-04 9.99974161e-01 -7.23566437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.542260615 meters Centerline goodness : 0.915738 Centerline is valid? [True, False] Translation: X:2.60, Y:0.24, Z:-0.08 [[ 9.95428962e-01 -9.51868242e-02 -7.78783922e-03 2.60330794e+00] [ 9.51750735e-02 9.95458799e-01 -1.86664529e-03 2.37665327e-01] [ 7.93015312e-03 1.11690461e-03 9.99967932e-01 -7.66432743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.572260614999999 meters Centerline goodness : 0.991658 Centerline is valid? [False, True] Translation: X:2.61, Y:0.23, Z:-0.08 [[ 9.95446459e-01 -9.49618752e-02 -8.28183386e-03 2.60509978e+00] [ 9.49590130e-02 9.95480909e-01 -7.39028072e-04 2.34494282e-01] [ 8.31458699e-03 -5.07718915e-05 9.99965432e-01 -7.77288197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602260615 meters Centerline goodness : 0.145325 Centerline is valid? [True, False] Translation: X:2.61, Y:0.23, Z:-0.08 [[ 9.95494526e-01 -9.44614070e-02 -8.22749508e-03 2.60522592e+00] [ 9.44671960e-02 9.95527924e-01 3.16994613e-04 2.32068862e-01] [ 8.16075734e-03 -1.09279479e-03 9.99966103e-01 -7.76852577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.632260615 meters Centerline goodness : 0.993889 Centerline is valid? [False, True] Translation: X:2.61, Y:0.23, Z:-0.08 [[ 9.95509999e-01 -9.42778152e-02 -8.45784944e-03 2.60554214e+00] [ 9.42866689e-02 9.95544875e-01 6.53360058e-04 2.31528489e-01] [ 8.35857130e-03 -1.44788892e-03 9.99964018e-01 -7.74708184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662260614999999 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:2.63, Y:0.24, Z:-0.08 [[ 9.95443222e-01 -9.50070784e-02 -8.15143265e-03 2.63306354e+00] [ 9.49995480e-02 9.95476458e-01 -1.30696220e-03 2.35107285e-01] [ 8.23872995e-03 5.26624248e-04 9.99965922e-01 -7.89152975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6922606149999995 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:2.66, Y:0.23, Z:-0.09 [[ 9.95634360e-01 -9.29833569e-02 -8.14353743e-03 2.65561871e+00] [ 9.29753480e-02 9.95667486e-01 -1.35740378e-03 2.31029199e-01] [ 8.23447139e-03 5.94329620e-04 9.99965920e-01 -8.50095891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722260615 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:2.69, Y:0.24, Z:-0.08 [[ 9.94243584e-01 -1.06835742e-01 -8.11290568e-03 2.69464791e+00] [ 1.06826615e-01 9.94276454e-01 -1.55142311e-03 2.39467207e-01] [ 8.23221853e-03 6.75818223e-04 9.99965886e-01 -8.37673340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.752260615 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:2.72, Y:0.24, Z:-0.08 [[ 9.93881858e-01 -1.10147168e-01 -8.15193438e-03 2.72319801e+00] [ 1.10140181e-01 9.93915210e-01 -1.30250453e-03 2.44473036e-01] [ 8.24579876e-03 3.96680091e-04 9.99965924e-01 -8.33015243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782260614999999 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:2.73, Y:0.24, Z:-0.09 [[ 9.95993312e-01 -8.90555311e-02 -8.15071540e-03 2.72834395e+00] [ 8.90477754e-02 9.96026494e-01 -1.31027189e-03 2.39701433e-01] [ 8.23501545e-03 5.79218968e-04 9.99965924e-01 -8.66687112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.812260615 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:2.77, Y:0.25, Z:-0.08 [[ 9.95194333e-01 -9.75872933e-02 -8.05976369e-03 2.77384422e+00] [ 9.75751903e-02 9.95226376e-01 -1.88241124e-03 2.52778848e-01] [ 8.20498882e-03 1.08693202e-03 9.99965748e-01 -7.64154679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842260615 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:2.81, Y:0.26, Z:-0.07 [[ 9.95217842e-01 -9.73418592e-02 -8.12466335e-03 2.80852738e+00] [ 9.73330896e-02 9.95250779e-01 -1.46883828e-03 2.61096659e-01] [ 8.22905697e-03 6.71015473e-04 9.99965916e-01 -6.86668205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.872260614999999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:2.82, Y:0.26, Z:-0.06 [[ 9.97066777e-01 -7.61010858e-02 -8.15276642e-03 2.81652901e+00] [ 7.60930751e-02 9.97099886e-01 -1.28875403e-03 2.63063670e-01] [ 8.22719805e-03 6.64604761e-04 9.99965935e-01 -6.27534959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902260614999999 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:2.86, Y:0.29, Z:-0.06 [[ 9.97086199e-01 -7.58535371e-02 -8.08406132e-03 2.86068294e+00] [ 7.58418321e-02 9.97118333e-01 -1.74520639e-03 2.86082224e-01] [ 8.19314582e-03 1.12701119e-03 9.99965801e-01 -6.04317731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.932260615 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:2.89, Y:0.29, Z:-0.06 [[ 9.97067656e-01 -7.60893374e-02 -8.15489741e-03 2.88761756e+00] [ 7.60814982e-02 9.97100797e-01 -1.26769140e-03 2.92463383e-01] [ 8.22771250e-03 6.43537285e-04 9.99965945e-01 -6.28986674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962260615 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:2.91, Y:0.30, Z:-0.06 [[ 9.96879714e-01 -7.85130175e-02 -8.15728002e-03 2.91334729e+00] [ 7.85053895e-02 9.96912904e-01 -1.25164082e-03 2.96040539e-01] [ 8.23036781e-03 6.07344902e-04 9.99965946e-01 -5.91927780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.992260614999999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:2.94, Y:0.30, Z:-0.06 [[ 9.95750333e-01 -9.17328010e-02 -8.14668437e-03 2.94376818e+00] [ 9.17250344e-02 9.95783495e-01 -1.32270288e-03 2.97426002e-01] [ 8.23366907e-03 5.69826932e-04 9.99965940e-01 -5.77258164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0222606149999995 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:2.97, Y:0.30, Z:-0.06 [[ 9.95060590e-01 -9.89337754e-02 -8.15663269e-03 2.97170750e+00] [ 9.89267947e-02 9.95093921e-01 -1.25589387e-03 2.98865960e-01] [ 8.24086593e-03 4.42780968e-04 9.99965945e-01 -5.61241872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.052260615 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:3.00, Y:0.30, Z:-0.05 [[ 9.94654850e-01 -1.02932903e-01 -8.15757383e-03 3.00041873e+00] [ 1.02926108e-01 9.94688220e-01 -1.24958044e-03 2.96397741e-01] [ 8.24286553e-03 4.03273919e-04 9.99965946e-01 -5.15453733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.082260614999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.03, Y:0.30, Z:-0.05 [[ 9.95579596e-01 -9.35667244e-02 -8.15694212e-03 3.02795668e+00] [ 9.35595811e-02 9.95612893e-01 -1.25381019e-03 2.97579965e-01] [ 8.23847165e-03 4.85107755e-04 9.99965946e-01 -4.54079323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.112260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:0.30, Z:-0.04 [[ 9.96101945e-01 -8.78314756e-02 -8.15760268e-03 3.05580186e+00] [ 8.78241766e-02 9.96135208e-01 -1.24938685e-03 3.03876583e-01] [ 8.23581074e-03 5.28081934e-04 9.99965946e-01 -4.18793614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:0.31, Z:-0.04 [[ 9.96489009e-01 -8.33253101e-02 -8.15773317e-03 3.08363653e+00] [ 8.33178680e-02 9.96522240e-01 -1.24851377e-03 3.13019114e-01] [ 8.23339533e-03 5.64445310e-04 9.99965946e-01 -4.29826518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.172260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:0.32, Z:-0.05 [[ 9.96564161e-01 -8.24215892e-02 -8.15814855e-03 3.10975910e+00] [ 8.24141395e-02 9.96597390e-01 -1.24573601e-03 3.23572117e-01] [ 8.23306509e-03 5.69109069e-04 9.99965946e-01 -4.81497585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:0.33, Z:-0.05 [[ 9.96222994e-01 -8.64475895e-02 -8.15841881e-03 3.13856198e+00] [ 8.64402888e-02 9.96256257e-01 -1.24392940e-03 3.25466162e-01] [ 8.23541048e-03 5.34014994e-04 9.99965946e-01 -4.92924716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2322606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:0.32, Z:-0.05 [[ 9.95217909e-01 -9.73383125e-02 -8.15881013e-03 3.16790916e+00] [ 9.73313974e-02 9.95251254e-01 -1.24131586e-03 3.20257582e-01] [ 8.24089361e-03 4.41271387e-04 9.99965946e-01 -4.92135025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.20, Y:0.32, Z:-0.05 [[ 9.94711052e-01 -1.02388369e-01 -8.15748613e-03 3.19661012e+00] [ 1.02381551e-01 9.94744417e-01 -1.25014630e-03 3.21506770e-01] [ 8.24261423e-03 4.08358259e-04 9.99965946e-01 -4.83055841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.292260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:0.32, Z:-0.04 [[ 9.93355940e-01 -1.14792963e-01 -8.15793351e-03 3.22474803e+00] [ 1.14786586e-01 9.93389392e-01 -1.24716463e-03 3.23227753e-01] [ 8.24717034e-03 3.02457055e-04 9.99965946e-01 -3.81347555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:0.33, Z:-0.03 [[ 9.92522085e-01 -1.21792326e-01 -8.15725926e-03 3.25236461e+00] [ 1.21786149e-01 9.92555574e-01 -1.25164953e-03 3.26934315e-01] [ 8.24897445e-03 2.48848609e-04 9.99965946e-01 -3.14888255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:0.33, Z:-0.03 [[ 9.91722151e-01 -1.28142948e-01 -8.15843020e-03 3.28120917e+00] [ 1.28137049e-01 9.91755690e-01 -1.24385688e-03 3.30019239e-01] [ 8.25056106e-03 1.88163251e-04 9.99965946e-01 -2.81242120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:0.34, Z:-0.02 [[ 9.90713430e-01 -1.35721460e-01 -8.15990673e-03 3.30943582e+00] [ 1.35715899e-01 9.90747027e-01 -1.23404235e-03 3.35133742e-01] [ 8.25188937e-03 1.15153248e-04 9.99965946e-01 -2.39756564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.412260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:0.35, Z:-0.02 [[ 9.90845786e-01 -1.34751757e-01 -8.16038201e-03 3.33576251e+00] [ 1.34746188e-01 9.90879382e-01 -1.23088624e-03 3.46624877e-01] [ 8.25181837e-03 1.20038075e-04 9.99965946e-01 -1.82863269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4422606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.36, Y:0.36, Z:-0.02 [[ 9.91181538e-01 -1.32259490e-01 -8.15998827e-03 3.36315664e+00] [ 1.32253816e-01 9.91215116e-01 -1.23349453e-03 3.56432332e-01] [ 8.25144508e-03 1.43427419e-04 9.99965946e-01 -1.56693014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.39, Y:0.38, Z:-0.01 [[ 9.91852291e-01 -1.27131595e-01 -8.16025513e-03 3.38780170e+00] [ 1.27125762e-01 9.91885842e-01 -1.23172824e-03 3.76941737e-01] [ 8.25063311e-03 1.84313825e-04 9.99965946e-01 -1.17580054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.502260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:0.39, Z:-0.01 [[ 9.92067504e-01 -1.25441199e-01 -8.15921067e-03 3.41667594e+00] [ 1.25435251e-01 9.92101035e-01 -1.23863312e-03 3.88036242e-01] [ 8.25013697e-03 2.05355029e-04 9.99965946e-01 -1.22226654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.532260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:0.40, Z:-0.01 [[ 9.92248710e-01 -1.23999417e-01 -8.16340573e-03 3.44330464e+00] [ 1.23993648e-01 9.92282273e-01 -1.21097061e-03 3.98417203e-01] [ 8.25056244e-03 1.89373565e-04 9.99965946e-01 -1.28332333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:0.41, Z:-0.01 [[ 9.93105570e-01 -1.16939197e-01 -8.15792632e-03 3.46896085e+00] [ 1.16932893e-01 9.93139035e-01 -1.24704147e-03 4.07959438e-01] [ 8.24778310e-03 2.84513897e-04 9.99965946e-01 -9.97974960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:0.41, Z:-0.01 [[ 9.93602116e-01 -1.12642523e-01 -8.15460168e-03 3.49793168e+00] [ 1.12635896e-01 9.93635519e-01 -1.26883929e-03 4.13567165e-01] [ 8.24562713e-03 3.42220536e-04 9.99965946e-01 -1.03951698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622260614999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:3.53, Y:0.42, Z:-0.01 [[ 9.94485024e-01 -1.04560936e-01 -8.15772389e-03 3.52731695e+00] [ 1.04554206e-01 9.94518406e-01 -1.24837301e-03 4.18708981e-01] [ 8.24353761e-03 3.88563916e-04 9.99965946e-01 -5.13277361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.652260614999999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:3.55, Y:0.43, Z:-0.01 [[ 9.94527586e-01 -1.04154857e-01 -8.16367590e-03 3.55458869e+00] [ 1.04148432e-01 9.94561030e-01 -1.20940563e-03 4.25726048e-01] [ 8.24523938e-03 3.52553221e-04 9.99965945e-01 -7.44566674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682260615 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:3.58, Y:0.43, Z:-0.00 [[ 9.94387686e-01 -1.05482258e-01 -8.16230536e-03 3.58458106e+00] [ 1.05475804e-01 9.94421123e-01 -1.21834406e-03 4.33641308e-01] [ 8.24528254e-03 3.50580608e-04 9.99965946e-01 -3.50385668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.712260614999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:3.61, Y:0.44, Z:-0.00 [[ 9.94187955e-01 -1.07347860e-01 -8.16987023e-03 3.61201852e+00] [ 1.07341874e-01 9.94221482e-01 -1.16901255e-03 4.35403015e-01] [ 8.24815149e-03 2.85249013e-04 9.99965943e-01 -1.04559085e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:0.43, Z:0.00 [[ 9.93415000e-01 -1.14279911e-01 -8.16947203e-03 3.64034282e+00] [ 1.14274137e-01 9.93448564e-01 -1.17160496e-03 4.31241170e-01] [ 8.24984117e-03 2.30330568e-04 9.99965943e-01 3.31102821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7722606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:0.43, Z:0.01 [[ 9.92926135e-01 -1.18453209e-01 -8.15644142e-03 3.67175467e+00] [ 1.18446882e-01 9.92959595e-01 -1.25621145e-03 4.31625717e-01] [ 8.24781905e-03 2.81220127e-04 9.99965947e-01 8.45904460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.70, Y:0.44, Z:0.01 [[ 9.92899852e-01 -1.18672876e-01 -8.16287252e-03 3.69970502e+00] [ 1.18666898e-01 9.92933378e-01 -1.21446941e-03 4.36115603e-01] [ 8.24931316e-03 2.37183735e-04 9.99965946e-01 8.69235684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.832260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:0.44, Z:0.01 [[ 9.92087856e-01 -1.25279911e-01 -8.16269962e-03 3.72874599e+00] [ 1.25274148e-01 9.92121419e-01 -1.21559156e-03 4.39421000e-01] [ 8.25067833e-03 1.83398386e-04 9.99965946e-01 7.47586382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.44, Z:0.00 [[ 9.92039336e-01 -1.25663484e-01 -8.16363312e-03 3.75586261e+00] [ 1.25657783e-01 9.92072910e-01 -1.20953859e-03 4.44551265e-01] [ 8.25091410e-03 1.74085821e-04 9.99965945e-01 4.09928239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.892260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:0.45, Z:0.01 [[ 9.91554226e-01 -1.29436082e-01 -8.15577909e-03 3.78653524e+00] [ 1.29430091e-01 9.91587749e-01 -1.26036192e-03 4.51099935e-01] [ 8.25030694e-03 1.94113952e-04 9.99965947e-01 1.13894592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:0.46, Z:0.02 [[ 9.91185948e-01 -1.32226071e-01 -8.16593939e-03 3.81183120e+00] [ 1.32220717e-01 9.91219580e-01 -1.19452349e-03 4.57358009e-01] [ 8.25218616e-03 1.04288545e-04 9.99965945e-01 1.90995115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.952260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:0.46, Z:0.02 [[ 9.90351381e-01 -1.38338955e-01 -8.15327332e-03 3.84182011e+00] [ 1.38333134e-01 9.90384933e-01 -1.27631555e-03 4.64192608e-01] [ 8.25144321e-03 1.36133014e-04 9.99965947e-01 1.82715119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9822606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:0.47, Z:0.02 [[ 9.88944540e-01 -1.48060938e-01 -8.16422714e-03 3.86848348e+00] [ 1.48056030e-01 9.88978240e-01 -1.20567558e-03 4.70309918e-01] [ 8.25275645e-03 -1.64167830e-05 9.99965945e-01 1.83081186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:0.47, Z:0.01 [[ 9.87722498e-01 -1.56005450e-01 -8.15883912e-03 3.89949902e+00] [ 1.56000526e-01 9.87756193e-01 -1.24030772e-03 4.74693663e-01] [ 8.25243863e-03 -4.77033548e-05 9.99965947e-01 5.97997257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.93, Y:0.48, Z:0.00 [[ 9.87763872e-01 -1.55743007e-01 -8.16386753e-03 3.92652255e+00] [ 1.55738341e-01 9.87797606e-01 -1.20801595e-03 4.80214940e-01] [ 8.25238884e-03 -7.81926727e-05 9.99965945e-01 3.20407937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.072260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:0.49, Z:0.01 [[ 9.88044042e-01 -1.53955924e-01 -8.15746676e-03 3.95488441e+00] [ 1.53950859e-01 9.88077716e-01 -1.24902973e-03 4.88751219e-01] [ 8.25250665e-03 -2.17526236e-05 9.99965947e-01 5.77629654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102260615 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:3.98, Y:0.51, Z:0.01 [[ 9.88635172e-01 -1.50112945e-01 -8.16085523e-03 3.98071079e+00] [ 1.50107928e-01 9.88668854e-01 -1.22735365e-03 5.09056301e-01] [ 8.25262507e-03 -1.16040853e-05 9.99965946e-01 1.26028021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132260614999999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:4.01, Y:0.53, Z:0.02 [[ 9.88789921e-01 -1.49090336e-01 -8.15868688e-03 4.00718662e+00] [ 1.49085170e-01 9.88823580e-01 -1.24118423e-03 5.25867733e-01] [ 8.25255054e-03 1.09312302e-05 9.99965947e-01 1.87404085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162260614999999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:4.03, Y:0.53, Z:0.02 [[ 9.89012858e-01 -1.47604032e-01 -8.16184973e-03 4.03389806e+00] [ 1.47598982e-01 9.89046536e-01 -1.22103305e-03 5.34072659e-01] [ 8.25267861e-03 2.93667677e-06 9.99965946e-01 1.73499300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1922606149999995 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:4.06, Y:0.54, Z:0.02 [[ 9.89363152e-01 -1.45237919e-01 -8.15471221e-03 4.06221851e+00] [ 1.45232415e-01 9.89396757e-01 -1.26637466e-03 5.42739640e-01] [ 8.25217143e-03 6.85758816e-05 9.99965948e-01 1.77000165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222260615 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:4.09, Y:0.55, Z:0.02 [[ 9.89937649e-01 -1.41268745e-01 -8.16045299e-03 4.08848319e+00] [ 1.41263406e-01 9.89971281e-01 -1.22989737e-03 5.48912593e-01] [ 8.25236015e-03 6.47483275e-05 9.99965947e-01 1.81090455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.252260614999999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:4.12, Y:0.56, Z:0.02 [[ 9.90504408e-01 -1.37238970e-01 -8.15365649e-03 4.11653001e+00] [ 1.37233139e-01 9.90537957e-01 -1.27294935e-03 5.57229812e-01] [ 8.25120450e-03 1.41910064e-04 9.99965948e-01 2.04250709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282260614999999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:4.14, Y:0.57, Z:0.01 [[ 9.92039787e-01 -1.25660427e-01 -8.15588189e-03 4.14387541e+00] [ 1.25654321e-01 9.92073287e-01 -1.25887509e-03 5.66082779e-01] [ 8.24942333e-03 2.24032375e-04 9.99965948e-01 1.19709046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.312260615 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:4.17, Y:0.57, Z:0.01 [[ 9.93184151e-01 -1.16270161e-01 -8.15427079e-03 4.17273499e+00] [ 1.16263655e-01 9.93217575e-01 -1.26905019e-03 5.72870710e-01] [ 8.24651773e-03 3.12355215e-04 9.99965948e-01 5.63103647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342260614999999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:4.20, Y:0.58, Z:0.00 [[ 9.93554289e-01 -1.13063554e-01 -8.15525114e-03 4.20083543e+00] [ 1.13056990e-01 9.93587702e-01 -1.26286967e-03 5.78757028e-01] [ 8.24574178e-03 3.32721421e-04 9.99965948e-01 9.32980653e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372260614999999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:4.23, Y:0.59, Z:-0.01 [[ 9.94230717e-01 -1.06952270e-01 -8.15428474e-03 4.22923641e+00] [ 1.06945452e-01 9.94264080e-01 -1.26894403e-03 5.85328793e-01] [ 8.24322886e-03 3.89559463e-04 9.99965948e-01 -9.03438400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402260614999999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:4.26, Y:0.59, Z:-0.01 [[ 9.94484384e-01 -1.04567520e-01 -8.15134326e-03 4.25643510e+00] [ 1.04560471e-01 9.94517697e-01 -1.28741775e-03 5.88577405e-01] [ 8.24127721e-03 4.28008556e-04 9.99965948e-01 -1.09488106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.432260615 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:4.29, Y:0.59, Z:-0.01 [[ 9.95050569e-01 -9.90348190e-02 -8.15284326e-03 4.28609070e+00] [ 9.90276611e-02 9.95083860e-01 -1.27801304e-03 5.89429040e-01] [ 8.23933054e-03 4.64330609e-04 9.99965948e-01 -1.28036538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.462260614999999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:4.31, Y:0.59, Z:-0.01 [[ 9.95063007e-01 -9.89094782e-02 -8.15640968e-03 4.31380451e+00] [ 9.89024985e-02 9.95096337e-01 -1.25567344e-03 5.92305035e-01] [ 8.24061140e-03 4.42784891e-04 9.99965948e-01 -1.47002143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.492260614999999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:4.34, Y:0.60, Z:-0.02 [[ 9.94725217e-01 -1.02251077e-01 -8.15226461e-03 4.34284459e+00] [ 1.02243998e-01 9.94758525e-01 -1.28158981e-03 5.95270207e-01] [ 8.24057865e-03 4.41309582e-04 9.99965948e-01 -1.54758604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5222606149999995 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:4.37, Y:0.59, Z:-0.01 [[ 9.93777526e-01 -1.11084535e-01 -8.15193903e-03 4.37041907e+00] [ 1.11077735e-01 9.93810892e-01 -1.28362062e-03 5.93203731e-01] [ 8.24407620e-03 3.70134400e-04 9.99965949e-01 -1.44608178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552260614999999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:4.40, Y:0.59, Z:-0.02 [[ 9.93404020e-01 -1.14376701e-01 -8.15004019e-03 4.39986397e+00] [ 1.14369915e-01 9.93437388e-01 -1.29544235e-03 5.91633633e-01] [ 8.24472306e-03 3.54778228e-04 9.99965949e-01 -1.93650074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582260614999999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:4.43, Y:0.59, Z:-0.02 [[ 9.93242407e-01 -1.15771886e-01 -8.14812794e-03 4.42761782e+00] [ 1.15765050e-01 9.93275764e-01 -1.30733061e-03 5.92968084e-01] [ 8.24469014e-03 3.55227770e-04 9.99965949e-01 -1.91997514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.612260614999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:4.46, Y:0.59, Z:-0.02 [[ 9.93321079e-01 -1.15094850e-01 -8.14919605e-03 4.45625079e+00] [ 1.15088045e-01 9.93354443e-01 -1.30070181e-03 5.93282410e-01] [ 8.24474418e-03 3.54139476e-04 9.99965949e-01 -2.40971530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642260615 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.48, Y:0.59, Z:-0.03 [[ 9.94006794e-01 -1.09014282e-01 -8.14733242e-03 4.48457958e+00] [ 1.09007179e-01 9.94040096e-01 -1.31224921e-03 5.92656596e-01] [ 8.24182901e-03 4.16266905e-04 9.99965949e-01 -2.79882991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.672260614999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:4.51, Y:0.60, Z:-0.03 [[ 9.94265645e-01 -1.06627582e-01 -8.14771542e-03 4.51282400e+00] [ 1.06620418e-01 9.94298934e-01 -1.30987779e-03 5.97024579e-01] [ 8.24093387e-03 4.33653657e-04 9.99965949e-01 -2.61950157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702260614999999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:4.54, Y:0.60, Z:-0.02 [[ 9.94596968e-01 -1.03491170e-01 -8.15160675e-03 4.53944017e+00] [ 1.03484098e-01 9.94630277e-01 -1.28582162e-03 5.96351151e-01] [ 8.24090607e-03 4.35312619e-04 9.99965948e-01 -2.31571488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7322606149999995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:4.57, Y:0.60, Z:-0.02 [[ 9.94322676e-01 -1.06094988e-01 -8.14059738e-03 4.57007155e+00] [ 1.06087448e-01 9.94355882e-01 -1.35374709e-03 5.96736415e-01] [ 8.23827667e-03 4.82446233e-04 9.99965948e-01 -2.48380416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762260614999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:4.60, Y:0.60, Z:-0.02 [[ 9.94172918e-01 -1.07488748e-01 -8.14726011e-03 4.59861907e+00] [ 1.07481590e-01 9.94206208e-01 -1.31263875e-03 5.99368539e-01] [ 8.24115048e-03 4.29309422e-04 9.99965949e-01 -2.46513794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.792260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.62, Y:0.60, Z:-0.02 [[ 9.94401170e-01 -1.05355810e-01 -8.15274312e-03 4.62405958e+00] [ 1.05348858e-01 9.94434504e-01 -1.27882532e-03 6.00418617e-01] [ 8.24210074e-03 4.12783225e-04 9.99965948e-01 -2.46984172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.65, Y:0.60, Z:-0.02 [[ 9.94969136e-01 -9.98508420e-02 -8.13804673e-03 4.65366961e+00] [ 9.98429681e-02 9.95002265e-01 -1.36914810e-03 6.02551353e-01] [ 8.23408552e-03 5.49733358e-04 9.99965948e-01 -2.29299567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.852260615 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.68, Y:0.60, Z:-0.02 [[ 9.96090173e-01 -8.79660483e-02 -8.14508864e-03 4.67795697e+00] [ 8.79581311e-02 9.96123290e-01 -1.32588885e-03 6.03035993e-01] [ 8.23014570e-03 6.04278078e-04 9.99965949e-01 -2.30592169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:0.61, Z:-0.02 [[ 9.96279574e-01 -8.57961345e-02 -8.12616384e-03 4.70900720e+00] [ 8.57872067e-02 9.96312439e-01 -1.44156851e-03 6.08658613e-01] [ 8.21987912e-03 7.39084361e-04 9.99965943e-01 -1.91185251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.912260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.74, Y:0.61, Z:-0.02 [[ 9.96462000e-01 -8.36489572e-02 -8.14454192e-03 4.73728391e+00] [ 8.36408719e-02 9.96495077e-01 -1.32893665e-03 6.12993979e-01] [ 8.22716009e-03 6.43018291e-04 9.99965950e-01 -1.70440961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9422606149999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:0.62, Z:-0.01 [[ 9.96532036e-01 -8.28104773e-02 -8.14411635e-03 4.76754203e+00] [ 8.28023430e-02 9.96565100e-01 -1.33153955e-03 6.16738383e-01] [ 8.22640755e-03 6.52569902e-04 9.99965950e-01 -1.17677672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.972260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:0.62, Z:-0.01 [[ 9.96492709e-01 -8.32817263e-02 -8.15073522e-03 4.79640182e+00] [ 8.32739365e-02 9.96525857e-01 -1.29106461e-03 6.19270830e-01] [ 8.22994049e-03 6.07792662e-04 9.99965949e-01 -1.13954665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:0.62, Z:-0.01 [[ 9.96456891e-01 -8.37093307e-02 -8.14933383e-03 4.82466322e+00] [ 8.37014855e-02 9.96490026e-01 -1.29962695e-03 6.16059014e-01] [ 8.22952078e-03 6.12910881e-04 9.99965949e-01 -1.40991900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.032260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:0.62, Z:-0.02 [[ 9.96269919e-01 -8.59062354e-02 -8.14655127e-03 4.85369500e+00] [ 8.58983252e-02 9.96303038e-01 -1.31660702e-03 6.20446624e-01] [ 8.22953854e-03 6.11920862e-04 9.99965950e-01 -1.63739165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:0.63, Z:-0.02 [[ 9.95804469e-01 -9.11430315e-02 -8.14907210e-03 4.88160715e+00] [ 9.11354205e-02 9.95837658e-01 -1.30125535e-03 6.28138501e-01] [ 8.23375323e-03 5.53126786e-04 9.99965949e-01 -1.73590517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.092260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:0.63, Z:-0.02 [[ 9.95379181e-01 -9.56754167e-02 -8.15475954e-03 4.90837174e+00] [ 9.56682393e-02 9.95412469e-01 -1.26661895e-03 6.32043806e-01] [ 8.23853363e-03 4.80614645e-04 9.99965947e-01 -1.54232611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:0.63, Z:-0.01 [[ 9.94807915e-01 -1.01443522e-01 -8.15014897e-03 4.93736478e+00] [ 1.01436309e-01 9.94841193e-01 -1.29462549e-03 6.31575535e-01] [ 8.23943530e-03 4.61182656e-04 9.99965949e-01 -1.49077406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.152260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.96, Y:0.63, Z:-0.01 [[ 9.94509312e-01 -1.04330240e-01 -8.15036350e-03 4.96365226e+00] [ 1.04323134e-01 9.94542614e-01 -1.29332418e-03 6.34831903e-01] [ 8.24081664e-03 4.35951474e-04 9.99965949e-01 -1.49745802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.99, Y:0.64, Z:-0.02 [[ 9.93491660e-01 -1.13613116e-01 -8.14746598e-03 4.99386745e+00] [ 1.13606178e-01 9.93524996e-01 -1.31087217e-03 6.42367604e-01] [ 8.24364337e-03 3.76738093e-04 9.99965950e-01 -1.76710449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.212260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:0.65, Z:-0.01 [[ 9.92909707e-01 -1.18590520e-01 -8.16099735e-03 5.01965144e+00] [ 1.18584422e-01 9.92943213e-01 -1.22885770e-03 6.47157663e-01] [ 8.24913781e-03 2.52377589e-04 9.99965943e-01 -1.19088588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:0.65, Z:-0.01 [[ 9.91893949e-01 -1.26806946e-01 -8.14814584e-03 5.04774295e+00] [ 1.26800490e-01 9.91927381e-01 -1.30619419e-03 6.50232570e-01] [ 8.24800346e-03 2.62417220e-04 9.99965950e-01 -5.18952473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:0.65, Z:-0.00 [[ 9.91508560e-01 -1.29786013e-01 -8.14654014e-03 5.07489252e+00] [ 1.29779579e-01 9.91541996e-01 -1.31584530e-03 6.52648005e-01] [ 8.24841498e-03 2.47417331e-04 9.99965951e-01 -1.63311080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:0.66, Z:0.00 [[ 9.90915467e-01 -1.34239523e-01 -8.14167557e-03 5.10271549e+00] [ 1.34232998e-01 9.90948885e-01 -1.34504382e-03 6.60100916e-01] [ 8.24854237e-03 2.39943199e-04 9.99965951e-01 1.07966928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.13, Y:0.67, Z:0.01 [[ 9.91179462e-01 -1.32275969e-01 -8.14503617e-03 5.12949826e+00] [ 1.32269544e-01 9.91212900e-01 -1.32489343e-03 6.68124742e-01] [ 8.24871648e-03 2.35866934e-04 9.99965951e-01 5.37714439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.16, Y:0.68, Z:0.01 [[ 9.92722318e-01 -1.20150204e-01 -8.14414874e-03 5.15718824e+00] [ 1.20143328e-01 9.92755666e-01 -1.33019287e-03 6.76243239e-01] [ 8.24497274e-03 3.42047024e-04 9.99965951e-01 7.91884039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.392260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:0.68, Z:0.01 [[ 9.93836403e-01 -1.10557107e-01 -8.14432248e-03 5.18578860e+00] [ 1.10549917e-01 9.93869684e-01 -1.32915725e-03 6.83658356e-01] [ 8.24134299e-03 4.20610684e-04 9.99965951e-01 8.07840474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.21, Y:0.69, Z:0.01 [[ 9.95672857e-01 -9.25697917e-02 -8.14831965e-03 5.21158133e+00] [ 9.25621949e-02 9.95706049e-01 -1.30535446e-03 6.92101592e-01] [ 8.23416756e-03 5.45479654e-04 9.99965950e-01 7.70233722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.452260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:0.70, Z:0.01 [[ 9.96148291e-01 -8.73061424e-02 -8.13755475e-03 5.24162388e+00] [ 8.72978506e-02 9.96181314e-01 -1.36932755e-03 6.96412841e-01] [ 8.22603069e-03 6.53662264e-04 9.99965952e-01 9.28394539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:0.70, Z:0.00 [[ 9.96610061e-01 -8.18662579e-02 -8.14262136e-03 5.27183251e+00] [ 8.18580298e-02 9.96643100e-01 -1.33924975e-03 6.98547124e-01] [ 8.22492676e-03 6.68170835e-04 9.99965951e-01 4.32556582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.512260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:0.70, Z:-0.00 [[ 9.96781864e-01 -7.97467932e-02 -8.14641431e-03 5.29911937e+00] [ 7.97386772e-02 9.96814932e-01 -1.31677826e-03 7.01260934e-01] [ 8.22547628e-03 6.62956385e-04 9.99965950e-01 -3.75799786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:0.70, Z:-0.01 [[ 9.96930795e-01 -7.78639308e-02 -8.13623462e-03 5.32740061e+00] [ 7.78552649e-02 9.96963721e-01 -1.37692982e-03 7.02730113e-01] [ 8.21874391e-03 7.39255041e-04 9.99965952e-01 -7.30338702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.572260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:0.70, Z:-0.01 [[ 9.97212289e-01 -7.41717916e-02 -8.13608299e-03 5.35596166e+00] [ 7.41629967e-02 9.97245181e-01 -1.37782522e-03 6.99593415e-01] [ 8.21586532e-03 7.70587951e-04 9.99965952e-01 -1.19374445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:0.70, Z:-0.01 [[ 9.97235362e-01 -7.38609596e-02 -8.13585662e-03 5.38427254e+00] [ 7.38521436e-02 9.97268248e-01 -1.37916059e-03 7.00928252e-01] [ 8.21549760e-03 7.74497256e-04 9.99965952e-01 -1.23765268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.632260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.41, Y:0.70, Z:-0.02 [[ 9.97104911e-01 -7.56019452e-02 -8.13285005e-03 5.41299105e+00] [ 7.55930436e-02 9.97137774e-01 -1.39685827e-03 7.03771185e-01] [ 8.21517720e-03 7.78027348e-04 9.99965952e-01 -1.76567227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:0.70, Z:-0.02 [[ 9.96581439e-01 -8.22146986e-02 -8.13502427e-03 5.44357243e+00] [ 8.22061187e-02 9.96614388e-01 -1.38407915e-03 6.97051643e-01] [ 8.22127389e-03 7.10598816e-04 9.99965952e-01 -2.46085890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.692260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:0.70, Z:-0.03 [[ 9.96312132e-01 -8.54164199e-02 -8.13459844e-03 5.47164216e+00] [ 8.54079256e-02 9.96345103e-01 -1.38657735e-03 6.95609096e-01] [ 8.22330379e-03 6.86704651e-04 9.99965952e-01 -2.74409532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:0.70, Z:-0.03 [[ 9.96282542e-01 -8.57608706e-02 -8.13444669e-03 5.49969597e+00] [ 8.57523804e-02 9.96315514e-01 -1.38746704e-03 7.00598754e-01] [ 8.22346582e-03 6.84761026e-04 9.99965952e-01 -2.72058481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.752260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:0.70, Z:-0.03 [[ 9.96149192e-01 -8.72961985e-02 -8.13396602e-03 5.52915850e+00] [ 8.72877364e-02 9.96182171e-01 -1.39027924e-03 7.00125982e-01] [ 8.22427802e-03 6.74930061e-04 9.99965952e-01 -3.08975185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:0.71, Z:-0.03 [[ 9.96193242e-01 -8.67921126e-02 -8.13354788e-03 5.55871127e+00] [ 8.67836140e-02 9.96226212e-01 -1.39272118e-03 7.05245411e-01] [ 8.22373081e-03 6.81560748e-04 9.99965952e-01 -3.31855923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.812260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:0.71, Z:-0.03 [[ 9.96304955e-01 -8.54995409e-02 -8.14033207e-03 5.58385707e+00] [ 8.54913208e-02 9.96337996e-01 -1.35311174e-03 7.09061446e-01] [ 8.22621258e-03 6.52184186e-04 9.99965951e-01 -2.79816840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:0.71, Z:-0.02 [[ 9.95944702e-01 -8.95991448e-02 -8.13285794e-03 5.61287836e+00] [ 8.95907074e-02 9.95977688e-01 -1.39663503e-03 7.12572681e-01] [ 8.22528235e-03 6.62342758e-04 9.99965952e-01 -2.40662026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.872260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:0.71, Z:-0.02 [[ 9.94880437e-01 -1.00731222e-01 -8.13243041e-03 5.64170414e+00] [ 1.00723134e-01 9.94913510e-01 -1.39912007e-03 7.12618716e-01] [ 8.23199996e-03 5.72833306e-04 9.99965952e-01 -1.71537254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:0.72, Z:-0.01 [[ 9.94155147e-01 -1.07654142e-01 -8.13199496e-03 5.67243059e+00] [ 1.07646264e-01 9.94188271e-01 -1.40164640e-03 7.16315226e-01] [ 8.23562705e-03 5.18075110e-04 9.99965952e-01 -1.16796045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.932260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:0.72, Z:-0.01 [[ 9.93251808e-01 -1.15691759e-01 -8.14017225e-03 5.69914131e+00] [ 1.15684537e-01 9.93285082e-01 -1.35417987e-03 7.18452724e-01] [ 8.24217911e-03 4.03349544e-04 9.99965951e-01 -8.18652971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:0.72, Z:-0.01 [[ 9.92901508e-01 -1.18661157e-01 -8.13176001e-03 5.72799459e+00] [ 1.18653635e-01 9.92934714e-01 -1.40293923e-03 7.22595152e-01] [ 8.24078119e-03 4.28117595e-04 9.99965953e-01 -5.37619117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.992260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:0.73, Z:-0.00 [[ 9.92661910e-01 -1.20649133e-01 -8.13132127e-03 5.75624807e+00] [ 1.20641657e-01 9.92695127e-01 -1.40547756e-03 7.27016913e-01] [ 8.24149265e-03 4.14187960e-04 9.99965953e-01 -2.08913445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:0.73, Z:0.01 [[ 9.92905266e-01 -1.18629744e-01 -8.13119287e-03 5.78438405e+00] [ 1.18622194e-01 9.92938466e-01 -1.40621998e-03 7.33099535e-01] [ 8.24059369e-03 4.31703280e-04 9.99965953e-01 8.19338603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.052260615 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.81, Y:0.74, Z:0.01 [[ 9.93725701e-01 -1.11548720e-01 -8.13109764e-03 5.81264723e+00] [ 1.11540929e-01 9.93758845e-01 -1.40677040e-03 7.41686213e-01] [ 8.23727364e-03 4.90993708e-04 9.99965953e-01 8.19728146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:0.75, Z:0.01 [[ 9.93963894e-01 -1.09405973e-01 -8.13085512e-03 5.84030446e+00] [ 1.09398100e-01 9.93997018e-01 -1.40817075e-03 7.46808574e-01] [ 8.23610804e-03 5.10170779e-04 9.99965953e-01 7.90467503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.112260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:0.75, Z:0.01 [[ 9.93990224e-01 -1.09166531e-01 -8.13034231e-03 5.86921705e+00] [ 1.09158626e-01 9.94023341e-01 -1.41112534e-03 7.51677448e-01] [ 8.23579769e-03 5.15147797e-04 9.99965953e-01 7.75088377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.75, Z:0.00 [[ 9.93692674e-01 -1.11842555e-01 -8.13098877e-03 5.89806506e+00] [ 1.11834769e-01 9.93725819e-01 -1.40740326e-03 7.53397136e-01] [ 8.23738105e-03 4.89199059e-04 9.99965953e-01 1.14110454e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.172260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:0.76, Z:-0.00 [[ 9.92736187e-01 -1.20036507e-01 -8.13014522e-03 5.92570662e+00] [ 1.20028955e-01 9.92769387e-01 -1.41225943e-03 7.57864807e-01] [ 8.24088197e-03 4.26148209e-04 9.99965953e-01 -2.40977548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.76, Z:-0.00 [[ 9.92165890e-01 -1.24662546e-01 -8.12998980e-03 5.95411060e+00] [ 1.24655142e-01 9.92199122e-01 -1.41315359e-03 7.63444418e-01] [ 8.24273607e-03 3.88637756e-04 9.99965953e-01 -3.70453010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.77, Z:-0.01 [[ 9.91372705e-01 -1.30820753e-01 -8.12955553e-03 5.98270845e+00] [ 1.30813535e-01 9.91405979e-01 -1.41564744e-03 7.69489416e-01] [ 8.24488602e-03 3.39978338e-04 9.99965953e-01 -6.86793775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.78, Z:-0.01 [[ 9.91076539e-01 -1.33045898e-01 -8.12911570e-03 6.01072138e+00] [ 1.33038734e-01 9.91109824e-01 -1.41816861e-03 7.75346844e-01] [ 8.24552795e-03 3.24026374e-04 9.99965953e-01 -7.99293591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:0.78, Z:-0.01 [[ 9.90741439e-01 -1.35518728e-01 -8.12867583e-03 6.03927781e+00] [ 1.35511626e-01 9.90774738e-01 -1.42068538e-03 7.80531712e-01] [ 8.24621614e-03 3.06001798e-04 9.99965953e-01 -8.96903260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:0.79, Z:-0.01 [[ 9.89602455e-01 -1.43599836e-01 -8.12823104e-03 6.06560275e+00] [ 1.43592986e-01 9.89635806e-01 -1.42322560e-03 7.87681055e-01] [ 8.24836344e-03 2.41270585e-04 9.99965953e-01 -6.32158022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.80, Z:-0.01 [[ 9.87900758e-01 -1.54874237e-01 -8.12788278e-03 6.09329616e+00] [ 1.54867751e-01 9.87934182e-01 -1.42521172e-03 7.98410855e-01] [ 8.25054181e-03 1.49220807e-04 9.99965953e-01 -7.38556883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:0.81, Z:-0.01 [[ 9.86954390e-01 -1.60794826e-01 -8.12743734e-03 6.11979007e+00] [ 1.60788520e-01 9.86987849e-01 -1.42774737e-03 8.06859200e-01] [ 8.25125629e-03 1.02322916e-04 9.99965953e-01 -8.98152473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:0.83, Z:-0.02 [[ 9.85427724e-01 -1.69900404e-01 -8.12727940e-03 6.14601762e+00] [ 1.69894399e-01 9.85461238e-01 -1.42864587e-03 8.26669854e-01] [ 8.25184633e-03 2.70479964e-05 9.99965953e-01 -1.81183622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:0.84, Z:-0.02 [[ 9.84803620e-01 -1.73481367e-01 -8.12684001e-03 6.17210888e+00] [ 1.73475464e-01 9.84837152e-01 -1.43114099e-03 8.42539455e-01] [ 8.25189026e-03 -4.14512626e-07 9.99965953e-01 -2.04144541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:0.86, Z:-0.02 [[ 9.84396085e-01 -1.75779153e-01 -8.12632728e-03 6.19833069e+00] [ 1.75773304e-01 9.84429626e-01 -1.43404648e-03 8.56754329e-01] [ 8.25187280e-03 -1.67216549e-05 9.99965953e-01 -2.20936184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:0.87, Z:-0.03 [[ 9.84275059e-01 -1.76455602e-01 -8.12581223e-03 6.22333966e+00] [ 1.76449752e-01 9.84308600e-01 -1.43695899e-03 8.72652503e-01] [ 8.25186633e-03 -1.94346583e-05 9.99965953e-01 -2.72062475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:0.88, Z:-0.03 [[ 9.84372909e-01 -1.75908932e-01 -8.12546385e-03 6.25023556e+00] [ 1.75903047e-01 9.84406444e-01 -1.43892630e-03 8.81541502e-01] [ 8.25187896e-03 -1.28537839e-05 9.99965953e-01 -2.94770192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:0.90, Z:-0.03 [[ 9.84622827e-01 -1.74504651e-01 -8.12495901e-03 6.27599765e+00] [ 1.74498695e-01 9.84656350e-01 -1.44177123e-03 8.96167438e-01] [ 8.25188827e-03 1.80612567e-06 9.99965953e-01 -2.68147902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.91, Z:-0.02 [[ 9.84866339e-01 -1.73125066e-01 -8.12444560e-03 6.30346861e+00] [ 1.73119039e-01 9.84899848e-01 -1.44465855e-03 9.05617403e-01] [ 8.25187185e-03 1.62993562e-05 9.99965953e-01 -2.15353882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:0.92, Z:-0.01 [[ 9.85342338e-01 -1.70395063e-01 -8.12399576e-03 6.32898719e+00] [ 1.70388923e-01 9.85375827e-01 -1.44718382e-03 9.19387760e-01] [ 8.25178202e-03 4.17326005e-05 9.99965953e-01 -5.05486141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.652260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.36, Y:0.93, Z:0.00 [[ 9.85007916e-01 -1.72318094e-01 -8.11665922e-03 6.35669474e+00] [ 1.72311680e-01 9.85041354e-01 -1.48827583e-03 9.30770521e-01] [ 8.25170185e-03 6.73682862e-05 9.99965952e-01 9.71523544e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682260614999999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.38, Y:0.95, Z:0.00 [[ 9.83862562e-01 -1.78741467e-01 -8.12081066e-03 6.38376925e+00] [ 1.78735463e-01 9.83896076e-01 -1.46502389e-03 9.47177441e-01] [ 8.25189426e-03 -1.00946982e-05 9.99965952e-01 8.53112766e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.712260614999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.41, Y:0.96, Z:0.00 [[ 9.83455838e-01 -1.80965812e-01 -8.12344683e-03 6.41088385e+00] [ 1.80960006e-01 9.83489386e-01 -1.45025770e-03 9.56446752e-01] [ 8.25177080e-03 -4.37545944e-05 9.99965953e-01 8.38460099e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742260615 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:6.44, Y:0.97, Z:-0.00 [[ 9.82503875e-01 -1.86065050e-01 -8.11991813e-03 6.43815521e+00] [ 1.86059255e-01 9.82537426e-01 -1.46998407e-03 9.70105318e-01] [ 8.25163612e-03 -6.65208717e-05 9.99965952e-01 -6.13220127e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.772260614999999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:6.47, Y:0.98, Z:-0.00 [[ 9.81832197e-01 -1.89577305e-01 -8.12292452e-03 6.46504391e+00] [ 1.89571769e-01 9.81865792e-01 -1.45317912e-03 9.80465492e-01] [ 8.25111149e-03 -1.13099125e-04 9.99965953e-01 -5.81331794e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802260615 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:6.49, Y:1.00, Z:-0.00 [[ 9.80782586e-01 -1.94934718e-01 -8.12247292e-03 6.48996570e+00] [ 1.94929345e-01 9.80816207e-01 -1.45569893e-03 1.00098509e+00] [ 8.25041934e-03 -1.55584169e-04 9.99965953e-01 -1.09363539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832260615 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:6.52, Y:1.01, Z:-0.00 [[ 9.80189501e-01 -1.97895366e-01 -8.12196050e-03 6.51611907e+00] [ 1.97890071e-01 9.80223134e-01 -1.45855235e-03 1.01350929e+00] [ 8.24997433e-03 -1.77597635e-04 9.99965953e-01 -1.25064714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862260614999999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:6.54, Y:1.03, Z:0.00 [[ 9.79280006e-01 -2.02347996e-01 -8.12144217e-03 6.54124745e+00] [ 2.02342830e-01 9.79313659e-01 -1.46143282e-03 1.03070976e+00] [ 8.24915725e-03 -2.12163651e-04 9.99965953e-01 1.96352349e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.892260615 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:6.57, Y:1.04, Z:-0.00 [[ 9.78686188e-01 -2.05200935e-01 -8.11918561e-03 6.56923920e+00] [ 2.05195762e-01 9.78719841e-01 -1.47396041e-03 1.04304546e+00] [ 8.24886610e-03 -2.23477782e-04 9.99965953e-01 -3.44015266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922260614999999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:6.59, Y:1.06, Z:-0.00 [[ 9.78348905e-01 -2.06802972e-01 -8.12095546e-03 6.59378247e+00] [ 2.06797937e-01 9.78382578e-01 -1.46414387e-03 1.06389373e+00] [ 8.24819064e-03 -2.46953282e-04 9.99965953e-01 -3.91838745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952260614999998 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:6.62, Y:1.08, Z:-0.00 [[ 9.78670231e-01 -2.05276975e-01 -8.12044281e-03 6.62073634e+00] [ 2.05271864e-01 9.78703893e-01 -1.46698161e-03 1.07938385e+00] [ 8.24864654e-03 -2.31207197e-04 9.99965953e-01 -1.80111609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982260615 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:6.65, Y:1.11, Z:0.00 [[ 9.80222720e-01 -1.97730822e-01 -8.12037805e-03 6.64621941e+00] [ 1.97725448e-01 9.80256341e-01 -1.46734000e-03 1.10730969e+00] [ 8.25019042e-03 -1.67285379e-04 9.99965953e-01 4.23676325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012260614999999 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:6.68, Y:1.12, Z:0.01 [[ 9.81260814e-01 -1.92513048e-01 -8.12041005e-03 6.67553608e+00] [ 1.92507497e-01 9.81294406e-01 -1.46716289e-03 1.12394663e+00] [ 8.25096095e-03 -1.23570358e-04 9.99965953e-01 6.71758317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042260614999998 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:6.70, Y:1.14, Z:0.01 [[ 9.83641178e-01 -1.79955797e-01 -8.12053817e-03 6.70270099e+00] [ 1.79949823e-01 9.83674698e-01 -1.46645341e-03 1.14151696e+00] [ 8.25186472e-03 -1.88254434e-05 9.99965953e-01 1.40769184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.072260615 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:6.73, Y:1.15, Z:0.01 [[ 9.84392764e-01 -1.75798324e-01 -8.11386906e-03 6.73436025e+00] [ 1.75791904e-01 9.84426202e-01 -1.50336608e-03 1.14841947e+00] [ 8.25179454e-03 5.35501982e-05 9.99965952e-01 1.06212141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102260614999999 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:6.77, Y:1.16, Z:0.01 [[ 9.86577431e-01 -1.63092078e-01 -8.12071886e-03 6.76525426e+00] [ 1.63085540e-01 9.86610845e-01 -1.46540721e-03 1.15856316e+00] [ 8.25098560e-03 1.21365859e-04 9.99965953e-01 1.13785568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132260614999998 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:6.80, Y:1.17, Z:0.01 [[ 9.87496458e-01 -1.57431879e-01 -8.12084871e-03 6.79607265e+00] [ 1.57425155e-01 9.87529835e-01 -1.46468726e-03 1.17114910e+00] [ 8.25016885e-03 1.67947612e-04 9.99965953e-01 1.27720182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162260615 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:6.82, Y:1.19, Z:0.02 [[ 9.89530947e-01 -1.44092176e-01 -8.12097953e-03 6.82438898e+00] [ 1.44085008e-01 9.89564231e-01 -1.46396153e-03 1.18759200e+00] [ 8.24717627e-03 2.78523839e-04 9.99965953e-01 1.99193128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.192260614999999 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:6.85, Y:1.20, Z:0.02 [[ 9.90561895e-01 -1.36825530e-01 -8.11830629e-03 6.85499975e+00] [ 1.36817997e-01 9.90595098e-01 -1.47879667e-03 1.19676234e+00] [ 8.24429155e-03 3.54109224e-04 9.99965953e-01 2.05873832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222260615 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:6.89, Y:1.21, Z:0.02 [[ 9.91976150e-01 -1.26164281e-01 -8.11738620e-03 6.88593350e+00] [ 1.26156349e-01 9.92009261e-01 -1.48390689e-03 1.20846961e+00] [ 8.23973833e-03 4.47940433e-04 9.99965952e-01 1.59859650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252260614999999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:6.92, Y:1.22, Z:0.01 [[ 9.92219287e-01 -1.24237245e-01 -8.12358403e-03 6.91707693e+00] [ 1.24229530e-01 9.92252449e-01 -1.44942666e-03 1.21721268e+00] [ 8.24071892e-03 4.28960057e-04 9.99965953e-01 1.01870296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282260614999998 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:6.95, Y:1.23, Z:0.01 [[ 9.92485740e-01 -1.22089985e-01 -8.12961230e-03 6.94646289e+00] [ 1.22082472e-01 9.92518950e-01 -1.41592773e-03 1.22812696e+00] [ 8.24166486e-03 4.12804916e-04 9.99965952e-01 5.77731838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.312260615 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:6.98, Y:1.24, Z:0.01 [[ 9.92452277e-01 -1.22362086e-01 -8.12390604e-03 6.97700334e+00] [ 1.22354324e-01 9.92485428e-01 -1.44759337e-03 1.23629988e+00] [ 8.23998890e-03 4.42672302e-04 9.99965953e-01 7.86438396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342260614999999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:7.01, Y:1.25, Z:0.01 [[ 9.91458969e-01 -1.30166141e-01 -8.11717956e-03 7.00802047e+00] [ 1.30158335e-01 9.91492109e-01 -1.48492438e-03 1.24558303e+00] [ 8.24140636e-03 4.15723015e-04 9.99965953e-01 8.22832480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372260614999998 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:7.04, Y:1.25, Z:0.01 [[ 9.90299978e-01 -1.38708397e-01 -8.12000094e-03 7.03859463e+00] [ 1.38701005e-01 9.90333213e-01 -1.46924529e-03 1.25135492e+00] [ 8.24530328e-03 3.28741281e-04 9.99965953e-01 7.51644711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402260615 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:7.07, Y:1.26, Z:0.00 [[ 9.86710908e-01 -1.62282653e-01 -8.11945873e-03 7.06999729e+00] [ 1.62276030e-01 9.86744304e-01 -1.47226425e-03 1.25693457e+00] [ 8.25075260e-03 1.35105665e-04 9.99965953e-01 2.05972006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.432260614999999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:7.10, Y:1.26, Z:0.00 [[ 9.84851930e-01 -1.73207269e-01 -8.11895835e-03 7.10113852e+00] [ 1.73200995e-01 9.84885394e-01 -1.47505409e-03 1.25970025e+00] [ 8.25173359e-03 4.64982023e-05 9.99965953e-01 2.09424204e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462260614999998 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:7.13, Y:1.26, Z:-0.01 [[ 9.82657570e-01 -1.85251727e-01 -8.11777970e-03 7.13432910e+00] [ 1.85245808e-01 9.82691099e-01 -1.48163722e-03 1.25829487e+00] [ 8.25174570e-03 -4.78426282e-05 9.99965953e-01 -1.06693193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.492260615 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:7.17, Y:1.27, Z:-0.01 [[ 9.82396157e-01 -1.86633109e-01 -8.11625258e-03 7.16520489e+00] [ 1.86627167e-01 9.82429682e-01 -1.49018174e-03 1.26968254e+00] [ 8.25176469e-03 -5.07644138e-05 9.99965952e-01 -7.91706026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522260614999999 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:7.20, Y:1.28, Z:-0.00 [[ 9.82690717e-01 -1.85075785e-01 -8.11844995e-03 7.19611631e+00] [ 1.85069892e-01 9.82724250e-01 -1.47786209e-03 1.27804650e+00] [ 8.25171413e-03 -5.01992944e-05 9.99965953e-01 -2.40712371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.552260614999998 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:7.23, Y:1.28, Z:0.00 [[ 9.82933478e-01 -1.83782159e-01 -8.11760203e-03 7.22686409e+00] [ 1.83776182e-01 9.82966997e-01 -1.48262369e-03 1.28483432e+00] [ 8.25181468e-03 -3.45014476e-05 9.99965953e-01 3.30440570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582260615 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:7.26, Y:1.30, Z:0.01 [[ 9.83099452e-01 -1.82892235e-01 -8.11780199e-03 7.25793487e+00] [ 1.82886237e-01 9.83132966e-01 -1.48149933e-03 1.29636387e+00] [ 8.25183348e-03 -2.81730799e-05 9.99965953e-01 8.25261487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612260614999999 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:7.29, Y:1.30, Z:0.01 [[ 9.83179075e-01 -1.82463648e-01 -8.11937798e-03 7.29010196e+00] [ 1.82457709e-01 9.83212600e-01 -1.47262102e-03 1.30179326e+00] [ 8.25177453e-03 -3.35929278e-05 9.99965953e-01 8.51958174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642260615 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:7.32, Y:1.31, Z:0.01 [[ 9.83275533e-01 -1.81943103e-01 -8.11989128e-03 7.32001135e+00] [ 1.81937170e-01 9.83309059e-01 -1.46972272e-03 1.31261089e+00] [ 8.25176857e-03 -3.21676439e-05 9.99965953e-01 1.01870965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672260614999999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:7.35, Y:1.33, Z:0.02 [[ 9.84008989e-01 -1.77933685e-01 -8.11875301e-03 7.34977233e+00] [ 1.77927561e-01 9.84042481e-01 -1.47616977e-03 1.32914901e+00] [ 8.25185818e-03 8.01439548e-06 9.99965953e-01 1.52535581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702260614999998 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:7.38, Y:1.34, Z:0.02 [[ 9.84495064e-01 -1.75224315e-01 -8.11839458e-03 7.37991796e+00] [ 1.75218083e-01 9.84528536e-01 -1.47820239e-03 1.33885030e+00] [ 8.25180813e-03 3.27934174e-05 9.99965953e-01 1.78566730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732260615 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:7.41, Y:1.35, Z:0.02 [[ 9.86054526e-01 -1.66224440e-01 -8.11834802e-03 7.41066419e+00] [ 1.66217900e-01 9.86087939e-01 -1.47846652e-03 1.34957236e+00] [ 8.25116233e-03 1.08433849e-04 9.99965953e-01 1.75946584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762260614999999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:7.44, Y:1.36, Z:0.02 [[ 9.87098801e-01 -1.59906171e-01 -8.12244177e-03 7.44161718e+00] [ 1.59899609e-01 9.87132209e-01 -1.45516926e-03 1.35595839e+00] [ 8.25061443e-03 1.37620565e-04 9.99965954e-01 1.65275832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792260614999998 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:7.47, Y:1.37, Z:0.02 [[ 9.88766076e-01 -1.49250695e-01 -8.11642083e-03 7.47127506e+00] [ 1.49243492e-01 9.88799354e-01 -1.48943403e-03 1.36619476e+00] [ 8.24781074e-03 2.61378851e-04 9.99965952e-01 1.95077477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822260615 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:7.50, Y:1.37, Z:0.02 [[ 9.89339327e-01 -1.45402284e-01 -8.11611194e-03 7.50223257e+00] [ 1.45394937e-01 9.89372573e-01 -1.49119352e-03 1.37471464e+00] [ 8.24668150e-03 2.95254812e-04 9.99965952e-01 2.02903901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852260614999999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:7.53, Y:1.38, Z:0.01 [[ 9.90320206e-01 -1.38564181e-01 -8.11522761e-03 7.53265298e+00] [ 1.38556563e-01 9.90353391e-01 -1.49623891e-03 1.38156463e+00] [ 8.24426831e-03 3.57337582e-04 9.99965952e-01 1.03199246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882260614999998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:7.57, Y:1.39, Z:0.00 [[ 9.90520884e-01 -1.37122350e-01 -8.11414704e-03 7.56648045e+00] [ 1.37114634e-01 9.90554047e-01 -1.50240965e-03 1.38614699e+00] [ 8.24351513e-03 3.75599836e-04 9.99965951e-01 3.61418675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.912260615 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:7.60, Y:1.39, Z:0.00 [[ 9.90927640e-01 -1.34150462e-01 -8.12809352e-03 7.59632907e+00] [ 1.34143300e-01 9.90960923e-01 -1.42251003e-03 1.38682906e+00] [ 8.24545344e-03 3.19275219e-04 9.99965955e-01 3.92571994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942260614999999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:7.63, Y:1.39, Z:0.02 [[ 9.90680904e-01 -1.35961397e-01 -8.11453848e-03 7.62836549e+00] [ 1.35953660e-01 9.90714062e-01 -1.50019986e-03 1.38543050e+00] [ 8.24315664e-03 3.83018145e-04 9.99965951e-01 1.51543000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972260614999998 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:7.66, Y:1.38, Z:0.02 [[ 9.90186807e-01 -1.39514207e-01 -8.11620966e-03 7.66175666e+00] [ 1.39506668e-01 9.90220010e-01 -1.49058350e-03 1.38435555e+00] [ 8.24479079e-03 3.43690757e-04 9.99965952e-01 1.50730292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002260614999999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:7.70, Y:1.38, Z:0.01 [[ 9.89137121e-01 -1.46771354e-01 -8.11950629e-03 7.69535447e+00] [ 1.46764214e-01 9.89170410e-01 -1.47159762e-03 1.38373752e+00] [ 8.24756374e-03 2.63958878e-04 9.99965953e-01 1.06603238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032260614999998 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:7.73, Y:1.38, Z:0.01 [[ 9.86484109e-01 -1.63655120e-01 -8.13049870e-03 7.72539083e+00] [ 1.63649073e-01 9.86517612e-01 -1.40812774e-03 1.38103166e+00] [ 8.25132748e-03 5.85470647e-05 9.99965956e-01 1.47499423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062260615 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:7.76, Y:1.38, Z:0.02 [[ 9.84126154e-01 -1.77284505e-01 -8.11892726e-03 7.75724071e+00] [ 1.77278370e-01 9.84159644e-01 -1.47489883e-03 1.38055746e+00] [ 8.25179727e-03 1.21763259e-05 9.99965953e-01 1.75342096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092260614999999 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:7.79, Y:1.38, Z:0.02 [[ 9.83870441e-01 -1.78698317e-01 -8.11587479e-03 7.78957526e+00] [ 1.78692084e-01 9.83903914e-01 -1.49252749e-03 1.38058130e+00] [ 8.25195312e-03 1.82110945e-05 9.99965952e-01 1.51276732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122260614999998 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:7.82, Y:1.38, Z:0.00 [[ 9.84080417e-01 -1.77538231e-01 -8.11843153e-03 7.82250322e+00] [ 1.77532082e-01 9.84113904e-01 -1.47766414e-03 1.37854134e+00] [ 8.25180323e-03 1.28582844e-05 9.99965953e-01 4.65913661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152260615 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:7.85, Y:1.38, Z:0.00 [[ 9.84313244e-01 -1.76242824e-01 -8.11815538e-03 7.85314853e+00] [ 1.76236618e-01 9.84346721e-01 -1.47927051e-03 1.38280860e+00] [ 8.25179044e-03 2.53493079e-05 9.99965953e-01 1.41639381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182260614999999 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:7.88, Y:1.39, Z:-0.00 [[ 9.84756073e-01 -1.73751429e-01 -8.11900286e-03 7.88461497e+00] [ 1.73745178e-01 9.84789541e-01 -1.47433711e-03 1.38831031e+00] [ 8.25167728e-03 4.12248225e-05 9.99965953e-01 -7.98112929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.212260614999998 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:7.92, Y:1.40, Z:-0.01 [[ 9.85300218e-01 -1.70638665e-01 -8.11957428e-03 7.91692677e+00] [ 1.70632336e-01 9.85333670e-01 -1.47100110e-03 1.39728712e+00] [ 8.25149959e-03 6.39157782e-05 9.99965954e-01 -5.29252922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242260615 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:7.95, Y:1.40, Z:-0.01 [[ 9.85455762e-01 -1.69737960e-01 -8.12194146e-03 7.94706386e+00] [ 1.69731716e-01 9.85489230e-01 -1.45712025e-03 1.40450576e+00] [ 8.25141445e-03 5.73764880e-05 9.99965955e-01 -8.71849507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272260614999999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:7.98, Y:1.42, Z:-0.01 [[ 9.85939247e-01 -1.66906766e-01 -8.11995932e-03 7.97688529e+00] [ 1.66900329e-01 9.85972679e-01 -1.46874125e-03 1.41716410e+00] [ 8.25120089e-03 9.28657584e-05 9.99965954e-01 -1.17755308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302260614999998 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:8.01, Y:1.43, Z:-0.01 [[ 9.86002937e-01 -1.66530221e-01 -8.11744035e-03 8.00779206e+00] [ 1.66523650e-01 9.86036345e-01 -1.48349215e-03 1.42565518e+00] [ 8.25113749e-03 1.10981816e-04 9.99965953e-01 -1.34572887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.332260615 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:8.04, Y:1.43, Z:-0.01 [[ 9.86375091e-01 -1.64311283e-01 -8.12299404e-03 8.03957149e+00] [ 1.64304905e-01 9.86408533e-01 -1.45085234e-03 1.43320238e+00] [ 8.25098204e-03 9.64368400e-05 9.99965955e-01 -1.24094720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362260614999999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:8.07, Y:1.44, Z:-0.01 [[ 9.87688763e-01 -1.56220773e-01 -8.12260791e-03 8.07154902e+00] [ 1.56214103e-01 9.87722148e-01 -1.45312748e-03 1.44103927e+00] [ 8.24988843e-03 1.66371777e-04 9.99965955e-01 -1.10185713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392260614999998 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:8.10, Y:1.45, Z:-0.01 [[ 9.88468840e-01 -1.51206314e-01 -8.12425077e-03 8.10259170e+00] [ 1.51199555e-01 9.88502206e-01 -1.44340336e-03 1.44817002e+00] [ 8.24909151e-03 1.98376146e-04 9.99965956e-01 -9.46879265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422260614999999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:8.13, Y:1.46, Z:-0.01 [[ 9.89478223e-01 -1.44453558e-01 -8.12502358e-03 8.13330314e+00] [ 1.44446608e-01 9.89511550e-01 -1.43881497e-03 1.45850745e+00] [ 8.24764661e-03 2.50043977e-04 9.99965956e-01 -6.30418348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.452260614999998 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:8.16, Y:1.46, Z:-0.00 [[ 9.89291369e-01 -1.45727728e-01 -8.12499952e-03 8.16472412e+00] [ 1.45720820e-01 9.89324705e-01 -1.43895841e-03 1.46366120e+00] [ 8.24795889e-03 2.39567544e-04 9.99965956e-01 -2.59219777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482260615 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:8.20, Y:1.47, Z:0.00 [[ 9.88965181e-01 -1.47925173e-01 -8.12484573e-03 8.19739894e+00] [ 1.47918332e-01 9.88998531e-01 -1.43987621e-03 1.46520785e+00] [ 8.24845443e-03 2.22173806e-04 9.99965956e-01 4.27934795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512260614999999 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:8.23, Y:1.47, Z:0.02 [[ 9.88311387e-01 -1.52231899e-01 -8.12723687e-03 8.22895078e+00] [ 1.52225321e-01 9.88344788e-01 -1.42561690e-03 1.46527686e+00] [ 8.24953657e-03 1.71782180e-04 9.99965957e-01 1.62979098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542260614999998 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:8.26, Y:1.47, Z:0.02 [[ 9.88551760e-01 -1.50663126e-01 -8.12647830e-03 8.26016117e+00] [ 1.50656458e-01 9.88585144e-01 -1.43014453e-03 1.47072867e+00] [ 8.24918576e-03 1.89465457e-04 9.99965957e-01 1.76249947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572260615 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:8.29, Y:1.49, Z:0.02 [[ 9.88771238e-01 -1.49215874e-01 -8.12785673e-03 8.29040574e+00] [ 1.49209225e-01 9.88804625e-01 -1.42188217e-03 1.48593153e+00] [ 8.24902971e-03 1.93164996e-04 9.99965958e-01 1.59853814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602260614999999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:8.32, Y:1.50, Z:0.02 [[ 9.88679776e-01 -1.49820647e-01 -8.12867257e-03 8.32144460e+00] [ 1.49814058e-01 9.88713174e-01 -1.41698321e-03 1.49524245e+00] [ 8.24921899e-03 1.83153222e-04 9.99965958e-01 1.52926161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632260614999998 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:8.35, Y:1.50, Z:0.02 [[ 9.88079649e-01 -1.53728837e-01 -8.12725520e-03 8.35186711e+00] [ 1.53722310e-01 9.88113060e-01 -1.42548395e-03 1.50236027e+00] [ 8.24978499e-03 1.59151231e-04 9.99965957e-01 1.58130363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662260615 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:8.38, Y:1.51, Z:0.01 [[ 9.87499617e-01 -1.57411787e-01 -8.12626003e-03 8.38398454e+00] [ 1.57405336e-01 9.87533043e-01 -1.43145403e-03 1.50584069e+00] [ 8.25027803e-03 1.34443619e-04 9.99965957e-01 1.39095042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692260614999999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:8.42, Y:1.51, Z:0.01 [[ 9.86997005e-01 -1.60532970e-01 -8.12885562e-03 8.41584089e+00] [ 1.60526753e-01 9.87030474e-01 -1.41581729e-03 1.51060642e+00] [ 8.25071357e-03 9.25086198e-05 9.99965958e-01 1.19410202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722260614999998 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:8.45, Y:1.52, Z:0.01 [[ 9.85496852e-01 -1.69498927e-01 -8.12829631e-03 8.44702447e+00] [ 1.69492987e-01 9.85530372e-01 -1.41919473e-03 1.52380491e+00] [ 8.25123487e-03 2.09227161e-05 9.99965958e-01 1.43375593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752260614999999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:8.48, Y:1.54, Z:0.02 [[ 9.84860757e-01 -1.73156425e-01 -8.13279167e-03 8.47836540e+00] [ 1.73150834e-01 9.84894335e-01 -1.39192151e-03 1.53672245e+00] [ 8.25096060e-03 -3.73507940e-05 9.99965960e-01 1.77666828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782260614999998 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:8.51, Y:1.55, Z:0.02 [[ 9.84892070e-01 -1.72978195e-01 -8.13352142e-03 8.50651178e+00] [ 1.72972635e-01 9.84925653e-01 -1.38749567e-03 1.55325112e+00] [ 8.25092040e-03 -4.03431552e-05 9.99965960e-01 2.48668512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812260614999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.54, Y:1.56, Z:0.02 [[ 9.85376887e-01 -1.70194902e-01 -8.12935958e-03 8.53852081e+00] [ 1.70189039e-01 9.85410420e-01 -1.41277132e-03 1.56251430e+00] [ 8.25120211e-03 8.58431018e-06 9.99965958e-01 2.46820690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842260614999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.56, Y:1.57, Z:0.02 [[ 9.86607732e-01 -1.62908058e-01 -8.13309976e-03 8.56365503e+00] [ 1.62902135e-01 9.86641253e-01 -1.38989985e-03 1.56892746e+00] [ 8.25087762e-03 4.63866219e-05 9.99965960e-01 2.34250315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.872260614999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.60, Y:1.59, Z:0.03 [[ 9.87879344e-01 -1.55011420e-01 -8.11553889e-03 8.59878178e+00] [ 1.55004344e-01 9.87912653e-01 -1.49760634e-03 1.58708435e+00] [ 8.24958964e-03 2.21510585e-04 9.99965947e-01 2.69729298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:1.61, Z:0.03 [[ 9.89998099e-01 -1.40845700e-01 -8.13962933e-03 8.62678746e+00] [ 1.40839365e-01 9.90031541e-01 -1.34914645e-03 1.60953265e+00] [ 8.24851125e-03 1.89272198e-04 9.99965963e-01 2.56603008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.932260614999999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.66, Y:1.62, Z:0.03 [[ 9.90865212e-01 -1.34610035e-01 -8.14061607e-03 8.65638433e+00] [ 1.34603540e-01 9.90898624e-01 -1.34304987e-03 1.62479942e+00] [ 8.24731325e-03 2.35025655e-04 9.99965963e-01 2.73648695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:1.64, Z:0.03 [[ 9.91835349e-01 -1.27265200e-01 -8.13693462e-03 8.68691559e+00] [ 1.27258271e-01 9.91868674e-01 -1.36581635e-03 1.63573172e+00] [ 8.24459144e-03 3.19172701e-04 9.99965962e-01 2.76648748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992260615 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:8.72, Y:1.65, Z:0.03 [[ 9.92957091e-01 -1.18194831e-01 -8.13612837e-03 8.71816133e+00] [ 1.18187557e-01 9.92990343e-01 -1.37081378e-03 1.64810142e+00] [ 8.24112001e-03 3.99570125e-04 9.99965962e-01 2.93723935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022260614999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:8.75, Y:1.66, Z:0.03 [[ 9.92998403e-01 -1.17846914e-01 -8.14101641e-03 8.75129285e+00] [ 1.17839877e-01 9.93031705e-01 -1.34045660e-03 1.65918395e+00] [ 8.24225608e-03 3.71734895e-04 9.99965963e-01 3.03062040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.052260614999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:8.78, Y:1.67, Z:0.03 [[ 9.92417218e-01 -1.22644532e-01 -8.14762615e-03 8.78156446e+00] [ 1.22637993e-01 9.92450621e-01 -1.29929624e-03 1.67380041e+00] [ 8.24546821e-03 2.90235447e-04 9.99965963e-01 2.94351786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082260615 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:8.81, Y:1.68, Z:0.03 [[ 9.91924426e-01 -1.26568434e-01 -8.14644798e-03 8.81088232e+00] [ 1.26561967e-01 9.91957843e-01 -1.30664170e-03 1.68022267e+00] [ 8.24631256e-03 2.65059343e-04 9.99965963e-01 2.96709953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.112260614999999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:8.84, Y:1.69, Z:0.03 [[ 9.91115099e-01 -1.32757632e-01 -8.14073208e-03 8.84447975e+00] [ 1.32751080e-01 9.91148500e-01 -1.34234114e-03 1.68636738e+00] [ 8.24688042e-03 2.49723593e-04 9.99965963e-01 2.85265528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142260614999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:8.88, Y:1.69, Z:0.03 [[ 9.89655066e-01 -1.43235719e-01 -8.14736428e-03 8.87510152e+00] [ 1.43229862e-01 9.89688595e-01 -1.30080145e-03 1.69215850e+00] [ 8.24967473e-03 1.20398884e-04 9.99965964e-01 3.13242146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172260614999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:8.91, Y:1.70, Z:0.04 [[ 9.88685515e-01 -1.49781732e-01 -8.14771189e-03 8.90556934e+00] [ 1.49776115e-01 9.88719085e-01 -1.29862050e-03 1.69889801e+00] [ 8.25030787e-03 6.35946418e-05 9.99965964e-01 3.51625391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202260614999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:8.94, Y:1.71, Z:0.04 [[ 9.86097674e-01 -1.65966823e-01 -8.14805197e-03 8.93635826e+00] [ 1.65961776e-01 9.86131334e-01 -1.29648316e-03 1.70569469e+00] [ 8.25022256e-03 -7.38061402e-05 9.99965964e-01 4.22168837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232260614999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:8.97, Y:1.71, Z:0.04 [[ 9.85131297e-01 -1.71609764e-01 -8.14967490e-03 8.96891592e+00] [ 1.71604994e-01 9.85164997e-01 -1.28627289e-03 1.71114629e+00] [ 8.24951144e-03 -1.31377235e-04 9.99965964e-01 4.29401186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262260614999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.00, Y:1.72, Z:0.04 [[ 9.85520128e-01 -1.69362454e-01 -8.15084622e-03 9.00041531e+00] [ 1.69357667e-01 9.85553826e-01 -1.27890189e-03 1.71616823e+00] [ 8.24969564e-03 -1.20024751e-04 9.99965963e-01 3.85858004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292260614999998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:9.03, Y:1.72, Z:0.04 [[ 9.86445079e-01 -1.63889185e-01 -8.15110877e-03 9.03128144e+00] [ 1.63884226e-01 9.86478753e-01 -1.27724725e-03 1.72215480e+00] [ 8.25022262e-03 -7.59038847e-05 9.99965963e-01 4.06707493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322260615 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:9.06, Y:1.74, Z:0.05 [[ 9.88089194e-01 -1.53666245e-01 -8.15045535e-03 9.06124122e+00] [ 1.53660903e-01 9.88122809e-01 -1.28136982e-03 1.74008112e+00] [ 8.25055412e-03 1.37013419e-05 9.99965964e-01 4.96507451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352260614999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:9.09, Y:1.75, Z:0.06 [[ 9.88326966e-01 -1.52129553e-01 -8.14909301e-03 9.09141245e+00] [ 1.52124088e-01 9.88360561e-01 -1.28997610e-03 1.75318461e+00] [ 8.25048562e-03 3.52448216e-05 9.99965964e-01 5.77898908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382260614999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:9.12, Y:1.76, Z:0.06 [[ 9.88475427e-01 -1.51161902e-01 -8.14922548e-03 9.12301139e+00] [ 1.51156411e-01 9.88509017e-01 -1.28913870e-03 1.76268406e+00] [ 8.25045153e-03 4.24742518e-05 9.99965964e-01 6.30086144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412260615 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:9.16, Y:1.76, Z:0.06 [[ 9.88389960e-01 -1.51719658e-01 -8.15065872e-03 9.15544982e+00] [ 1.51714260e-01 9.88423565e-01 -1.28006305e-03 1.76483175e+00] [ 8.25051388e-03 2.86303052e-05 9.99965964e-01 5.54319194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442260614999999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:9.19, Y:1.76, Z:0.05 [[ 9.88092788e-01 -1.53643100e-01 -8.15105750e-03 9.18610050e+00] [ 1.53637789e-01 9.88126408e-01 -1.27753650e-03 1.76227499e+00] [ 8.25055984e-03 1.00141524e-05 9.99965964e-01 4.51255088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472260614999998 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:9.22, Y:1.77, Z:0.04 [[ 9.87895121e-01 -1.54909223e-01 -8.14627238e-03 9.22001943e+00] [ 1.54903705e-01 9.87928708e-01 -1.30786427e-03 1.76589809e+00] [ 8.25053658e-03 3.01449665e-05 9.99965963e-01 4.17475268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502260614999999 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:9.25, Y:1.77, Z:0.03 [[ 9.88029761e-01 -1.54047893e-01 -8.15098451e-03 9.24786795e+00] [ 1.54042592e-01 9.88063382e-01 -1.27794180e-03 1.77050695e+00] [ 8.25055356e-03 7.04574758e-06 9.99965964e-01 3.42091532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.532260614999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:9.28, Y:1.78, Z:0.03 [[ 9.88106386e-01 -1.53556227e-01 -8.13970162e-03 9.28023723e+00] [ 1.53550319e-01 9.88139908e-01 -1.34956301e-03 1.77526611e+00] [ 8.25039782e-03 8.36580537e-05 9.99965961e-01 3.45080597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562260614999998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:9.32, Y:1.78, Z:0.03 [[ 9.88490814e-01 -1.51061730e-01 -8.14033634e-03 9.31553705e+00] [ 1.51055771e-01 9.88524326e-01 -1.34551992e-03 1.77984807e+00] [ 8.25017707e-03 1.00389300e-04 9.99965962e-01 3.12404686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.592260614999999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:9.35, Y:1.79, Z:0.03 [[ 9.88650347e-01 -1.50013506e-01 -8.15102882e-03 9.34598705e+00] [ 1.50008075e-01 9.88683947e-01 -1.27714595e-03 1.78921816e+00] [ 8.25038049e-03 3.99306453e-05 9.99965964e-01 3.22152105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622260614999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:9.38, Y:1.79, Z:0.03 [[ 9.88090615e-01 -1.53657378e-01 -8.14539845e-03 9.37823364e+00] [ 1.53651773e-01 9.88124187e-01 -1.31317502e-03 1.79336829e+00] [ 8.25044424e-03 4.59809986e-05 9.99965963e-01 3.20733493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.652260614999998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:9.41, Y:1.79, Z:0.03 [[ 9.85417858e-01 -1.69956797e-01 -8.14450260e-03 9.41070747e+00] [ 1.69951700e-01 9.85451511e-01 -1.31892352e-03 1.79023927e+00] [ 8.25017241e-03 -8.44812792e-05 9.99965963e-01 3.01190620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682260614999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:9.44, Y:1.79, Z:0.03 [[ 9.84223648e-01 -1.76741582e-01 -8.13784193e-03 9.44475279e+00] [ 1.76736363e-01 9.84257285e-01 -1.36177076e-03 1.79162834e+00] [ 8.25041173e-03 -9.79656039e-05 9.99965960e-01 3.08073861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.712260614999998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:9.48, Y:1.80, Z:0.03 [[ 9.82170097e-01 -1.87817970e-01 -8.14313764e-03 9.47579768e+00] [ 1.87813414e-01 9.82203828e-01 -1.32755189e-03 1.80001918e+00] [ 8.24755907e-03 -2.25508716e-04 9.99965963e-01 3.44659952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742260615 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:9.51, Y:1.81, Z:0.04 [[ 9.82014594e-01 -1.88629256e-01 -8.14501154e-03 9.50698274e+00] [ 1.88624828e-01 9.82048341e-01 -1.31541088e-03 1.80956232e+00] [ 8.24692005e-03 -2.44598726e-04 9.99965964e-01 3.62219488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772260614999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:9.54, Y:1.83, Z:0.04 [[ 9.83835039e-01 -1.78891785e-01 -8.14519633e-03 9.53657434e+00] [ 1.78887033e-01 9.83868742e-01 -1.31420697e-03 1.82602984e+00] [ 8.24890490e-03 -1.64107137e-04 9.99965964e-01 4.35266897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802260614999998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:9.57, Y:1.84, Z:0.05 [[ 9.85459418e-01 -1.69715874e-01 -8.13982808e-03 9.56689403e+00] [ 1.69710519e-01 9.85493034e-01 -1.34917317e-03 1.83633149e+00] [ 8.25071997e-03 -5.18590396e-05 9.99965961e-01 4.92940490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832260615 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.60, Y:1.85, Z:0.05 [[ 9.88828300e-01 -1.48836523e-01 -8.14137007e-03 9.59810674e+00] [ 1.48830542e-01 9.88861809e-01 -1.33907086e-03 1.84965425e+00] [ 8.24999259e-03 1.12426636e-04 9.99965962e-01 5.32624365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862260614999999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:9.63, Y:1.86, Z:0.05 [[ 9.91418092e-01 -1.30475834e-01 -8.13778300e-03 9.63016135e+00] [ 1.30469039e-01 9.91451448e-01 -1.36258752e-03 1.86192324e+00] [ 8.24600148e-03 2.89165190e-04 9.99965959e-01 5.48787632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892260614999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:9.66, Y:1.87, Z:0.06 [[ 9.92184350e-01 -1.24514774e-01 -8.14163659e-03 9.66053800e+00] [ 1.24507986e-01 9.92217704e-01 -1.33728570e-03 1.87033077e+00] [ 8.24478780e-03 3.13135168e-04 9.99965962e-01 5.55292860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922260614999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:9.69, Y:1.88, Z:0.06 [[ 9.92681987e-01 -1.20483347e-01 -8.13848952e-03 9.69310919e+00] [ 1.20476254e-01 9.92715280e-01 -1.35800271e-03 1.87877658e+00] [ 8.24281962e-03 3.67570092e-04 9.99965960e-01 6.04773807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952260614999998 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:9.72, Y:1.89, Z:0.07 [[ 9.93167858e-01 -1.16410079e-01 -8.14240192e-03 9.72201179e+00] [ 1.16403062e-01 9.93201164e-01 -1.33205344e-03 1.88802069e+00] [ 8.24210751e-03 3.75152145e-04 9.99965963e-01 7.26998381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982260614999998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:9.76, Y:1.89, Z:0.07 [[ 9.93341541e-01 -1.14918578e-01 -8.14273035e-03 9.75882230e+00] [ 1.14911529e-01 9.93374840e-01 -1.32986520e-03 1.88923970e+00] [ 8.24160967e-03 3.85316745e-04 9.99965963e-01 7.11592297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.012260614999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:9.79, Y:1.89, Z:0.06 [[ 9.92507711e-01 -1.21909272e-01 -8.15916929e-03 9.78749197e+00] [ 1.21903360e-01 9.92541225e-01 -1.21991697e-03 1.88811843e+00] [ 8.24703107e-03 2.16146856e-04 9.99965969e-01 6.46525761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042260614999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:9.82, Y:1.89, Z:0.06 [[ 9.91728020e-01 -1.28098112e-01 -8.14910641e-03 9.81932548e+00] [ 1.28091856e-01 9.91761473e-01 -1.28719117e-03 1.88900274e+00] [ 8.24685653e-03 2.32709382e-04 9.99965967e-01 6.04801837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.072260614999998 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.85, Y:1.89, Z:0.07 [[ 9.89484011e-01 -1.44412903e-01 -8.14280233e-03 9.85247046e+00] [ 1.44406850e-01 9.89517506e-01 -1.32953373e-03 1.89203161e+00] [ 8.24944728e-03 1.39675928e-04 9.99965963e-01 7.06316500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102260614999999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:9.89, Y:1.90, Z:0.08 [[ 9.88373950e-01 -1.51823811e-01 -8.15267197e-03 9.88609034e+00] [ 1.51818558e-01 9.88407573e-01 -1.26295838e-03 1.89855888e+00] [ 8.24990987e-03 1.05482560e-05 9.99965969e-01 7.54655327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132260614999998 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:9.92, Y:1.90, Z:0.08 [[ 9.88301931e-01 -1.52291461e-01 -8.16109042e-03 9.91768446e+00] [ 1.52286694e-01 9.88335625e-01 -1.20598973e-03 1.90478006e+00] [ 8.24955834e-03 -5.09434958e-05 9.99965971e-01 7.96817392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162260615 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:9.95, Y:1.91, Z:0.08 [[ 9.89303232e-01 -1.45645137e-01 -8.16145470e-03 9.94903488e+00] [ 1.45640164e-01 9.89336896e-01 -1.20351946e-03 1.91467481e+00] [ 8.24971501e-03 2.01008371e-06 9.99965971e-01 8.34833440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192260614999999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.98, Y:1.92, Z:0.08 [[ 9.89917903e-01 -1.41406963e-01 -8.16181320e-03 9.97938631e+00] [ 1.41401866e-01 9.89951549e-01 -1.20108326e-03 1.92171998e+00] [ 8.24964116e-03 3.48782070e-05 9.99965971e-01 8.40928952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222260614999998 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:10.01, Y:1.93, Z:0.08 [[ 9.91051765e-01 -1.33228298e-01 -8.16214202e-03 1.00064806e+01] [ 1.33222942e-01 9.91085370e-01 -1.19884453e-03 1.92958542e+00] [ 8.24909956e-03 1.00732414e-04 9.99965971e-01 8.20619178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.252260614999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:10.04, Y:1.94, Z:0.08 [[ 9.90854555e-01 -1.34688095e-01 -8.14665855e-03 1.00424045e+01] [ 1.34681922e-01 9.90888025e-01 -1.30411377e-03 1.93616076e+00] [ 8.24807500e-03 1.94979433e-04 9.99965965e-01 8.07191896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282260614999998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:10.07, Y:1.94, Z:0.08 [[ 9.90875481e-01 -1.34533096e-01 -8.16257667e-03 1.00741400e+01] [ 1.34527813e-01 9.90909097e-01 -1.19542207e-03 1.94222077e+00] [ 8.24919531e-03 8.64208281e-05 9.99965971e-01 8.11727647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312260614999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:10.11, Y:1.95, Z:0.08 [[ 9.90962650e-01 -1.33889478e-01 -8.16292364e-03 1.01065388e+01] [ 1.33884192e-01 9.90996266e-01 -1.19304805e-03 1.94713035e+00] [ 8.24916343e-03 8.93796242e-05 9.99965971e-01 7.82810482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342260614999999 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:10.13, Y:1.95, Z:0.08 [[ 9.91321625e-01 -1.31205167e-01 -8.16332199e-03 1.01336400e+01] [ 1.31199813e-01 9.91355230e-01 -1.19031617e-03 1.95157140e+00] [ 8.24892758e-03 1.08959843e-04 9.99965971e-01 7.97650827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372260614999998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:10.17, Y:1.96, Z:0.07 [[ 9.90649558e-01 -1.36187667e-01 -8.14691902e-03 1.01686950e+01] [ 1.36181558e-01 9.90683040e-01 -1.30253658e-03 1.95639106e+00] [ 8.24840392e-03 1.80897155e-04 9.99965965e-01 7.06982048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402260614999998 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:10.20, Y:1.96, Z:0.07 [[ 9.89992407e-01 -1.40884306e-01 -8.16367596e-03 1.02012509e+01] [ 1.40879305e-01 9.90026066e-01 -1.18732114e-03 1.95995498e+00] [ 8.24952691e-03 2.53459156e-05 9.99965972e-01 6.54327151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432260614999999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:10.23, Y:1.96, Z:0.06 [[ 9.88210904e-01 -1.52880866e-01 -8.16400778e-03 1.02332047e+01] [ 1.52876292e-01 9.88244623e-01 -1.18503510e-03 1.96312943e+00] [ 8.24920599e-03 -7.70186304e-05 9.99965972e-01 5.87004658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462260614999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.26, Y:1.97, Z:0.06 [[ 9.88048703e-01 -1.53925645e-01 -8.16433597e-03 1.02634252e+01] [ 1.53921126e-01 9.88082430e-01 -1.18276974e-03 1.96890544e+00] [ 8.24909551e-03 -8.80296711e-05 9.99965972e-01 5.99182686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:1.98, Z:0.07 [[ 9.88706057e-01 -1.49645430e-01 -8.15949821e-03 1.02940003e+01] [ 1.49640489e-01 9.88739726e-01 -1.21621543e-03 1.98135640e+00] [ 8.24962111e-03 -1.85117396e-05 9.99965971e-01 6.51215727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:1.99, Z:0.07 [[ 9.89359969e-01 -1.45259390e-01 -8.15847491e-03 1.03255404e+01] [ 1.45254241e-01 9.89393607e-01 -1.22332738e-03 1.99166288e+00] [ 8.24964271e-03 2.52580537e-05 9.99965971e-01 6.61828595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552260614999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.36, Y:2.00, Z:0.06 [[ 9.90490690e-01 -1.37337725e-01 -8.15732218e-03 1.03580318e+01] [ 1.37332240e-01 9.90524275e-01 -1.23137500e-03 1.99705260e+00] [ 8.24913988e-03 9.94021432e-05 9.99965970e-01 6.43007049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582260615 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:10.39, Y:2.00, Z:0.07 [[ 9.90711660e-01 -1.35734452e-01 -8.15877790e-03 1.03917906e+01] [ 1.35728997e-01 9.90745249e-01 -1.22119735e-03 1.99803845e+00] [ 8.24902899e-03 1.02471712e-04 9.99965971e-01 6.60998973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.612260614999999 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:10.42, Y:2.00, Z:0.07 [[ 9.90953493e-01 -1.33956999e-01 -8.16681942e-03 1.04225419e+01] [ 1.33951948e-01 9.90987144e-01 -1.16481632e-03 2.00026764e+00] [ 8.24924835e-03 6.03174321e-05 9.99965973e-01 6.77397871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642260614999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.46, Y:2.00, Z:0.08 [[ 9.91192970e-01 -1.32173717e-01 -8.16112870e-03 1.04555485e+01] [ 1.32168276e-01 9.91226561e-01 -1.20476321e-03 2.00367784e+00] [ 8.24876557e-03 1.15510516e-04 9.99965972e-01 7.58626956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.672260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:2.01, Z:0.08 [[ 9.91843686e-01 -1.27198255e-01 -8.16736415e-03 1.04875026e+01] [ 1.27193007e-01 9.91877307e-01 -1.16089432e-03 2.00701214e+00] [ 8.24868689e-03 1.12594101e-04 9.99965973e-01 7.93238998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702260614999998 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:10.52, Y:2.01, Z:0.08 [[ 9.93508859e-01 -1.13461165e-01 -8.16769879e-03 1.05198102e+01] [ 1.13455472e-01 9.93542407e-01 -1.15853516e-03 2.00697542e+00] [ 8.24640386e-03 2.24344826e-04 9.99965973e-01 7.60944710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732260614999998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:10.55, Y:2.01, Z:0.08 [[ 9.94628106e-01 -1.03190188e-01 -8.16803300e-03 1.05456291e+01] [ 1.03184168e-01 9.94661596e-01 -1.15617403e-03 2.00933916e+00] [ 8.24373456e-03 3.07151490e-04 9.99965973e-01 7.60185007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762260614999999 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:10.58, Y:2.02, Z:0.07 [[ 9.95271206e-01 -9.67924199e-02 -8.15190454e-03 1.05822136e+01] [ 9.67852524e-02 9.95304477e-01 -1.27012038e-03 2.01763089e+00] [ 8.23656511e-03 4.75130107e-04 9.99965966e-01 7.19383187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.792260614999998 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:10.61, Y:2.02, Z:0.07 [[ 9.95589055e-01 -9.34649982e-02 -8.16874953e-03 1.06133086e+01] [ 9.34586974e-02 9.95622493e-01 -1.15052067e-03 2.02095618e+00] [ 8.24052418e-03 3.82005096e-04 9.99965973e-01 7.13620176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822260614999998 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:10.65, Y:2.02, Z:0.06 [[ 9.96156807e-01 -8.72059764e-02 -8.16905230e-03 1.06464825e+01] [ 8.71994832e-02 9.96190208e-01 -1.14836684e-03 2.01522579e+00] [ 8.23807437e-03 4.31616302e-04 9.99965973e-01 6.48943672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852260614999999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:10.68, Y:2.01, Z:0.06 [[ 9.96316210e-01 -8.53655168e-02 -8.16937997e-03 1.06792649e+01] [ 8.53589809e-02 9.96349603e-01 -1.14603111e-03 2.01363013e+00] [ 8.23739002e-03 4.44479419e-04 9.99965973e-01 6.26268085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882260614999998 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:10.71, Y:2.01, Z:0.07 [[ 9.96397778e-01 -8.44080761e-02 -8.16970671e-03 1.07128654e+01] [ 8.44015273e-02 9.96431169e-01 -1.14369711e-03 2.01230050e+00] [ 8.23708768e-03 4.50041538e-04 9.99965973e-01 6.56896716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912260614999997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:10.75, Y:2.02, Z:0.07 [[ 9.96264155e-01 -8.59708293e-02 -8.17008346e-03 1.07463411e+01] [ 8.59643549e-02 9.96297560e-01 -1.14099939e-03 2.01536566e+00] [ 8.23792688e-03 4.34400843e-04 9.99965973e-01 6.89454346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942260614999999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:10.78, Y:2.01, Z:0.07 [[ 9.95789311e-01 -9.13065791e-02 -8.17045654e-03 1.07797803e+01] [ 9.13003057e-02 9.95822755e-01 -1.13832153e-03 2.00818390e+00] [ 8.24026279e-03 3.87563234e-04 9.99965973e-01 6.94189027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972260614999998 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:10.81, Y:2.00, Z:0.07 [[ 9.95506904e-01 -9.43357997e-02 -8.17078193e-03 1.08139101e+01] [ 9.43296473e-02 9.95540369e-01 -1.13598114e-03 1.99548563e+00] [ 8.24150695e-03 3.60130093e-04 9.99965973e-01 6.53783967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002260614999999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:10.85, Y:2.00, Z:0.07 [[ 9.95351203e-01 -9.59646599e-02 -8.17110868e-03 1.08459585e+01] [ 9.59585815e-02 9.95384682e-01 -1.13362594e-03 1.99542002e+00] [ 8.24218444e-03 3.44267940e-04 9.99965973e-01 6.90427195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032260614999998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:10.88, Y:2.00, Z:0.08 [[ 9.94990666e-01 -9.96333377e-02 -8.17143188e-03 1.08776257e+01] [ 9.96274019e-02 9.95024171e-01 -1.13129145e-03 1.99902368e+00] [ 8.24348657e-03 3.11525905e-04 9.99965973e-01 8.03652147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062260614999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:10.91, Y:2.00, Z:0.09 [[ 9.94873587e-01 -1.00795694e-01 -8.17153540e-03 1.09089074e+01] [ 1.00789803e-01 9.94907100e-01 -1.13054321e-03 2.00200687e+00] [ 8.24387247e-03 3.01140137e-04 9.99965973e-01 8.58762113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092260614999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:10.94, Y:1.99, Z:0.08 [[ 9.94746426e-01 -1.02042986e-01 -8.17172678e-03 1.09420797e+01] [ 1.02037149e-01 9.94779948e-01 -1.12915818e-03 1.99496982e+00] [ 8.24429261e-03 2.89406367e-04 9.99965973e-01 8.02897521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122260614999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:10.97, Y:1.99, Z:0.08 [[ 9.94942726e-01 -1.00110886e-01 -8.17202914e-03 1.09746790e+01] [ 1.00105002e-01 9.94976240e-01 -1.12696567e-03 1.99335583e+00] [ 8.24379636e-03 3.03205303e-04 9.99965973e-01 7.84007420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.152260614999998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:11.00, Y:1.99, Z:0.07 [[ 9.95418320e-01 -9.52658292e-02 -8.17255599e-03 1.10032115e+01] [ 9.52598132e-02 9.95451810e-01 -1.12314379e-03 1.99464976e+00] [ 8.24238288e-03 3.39481744e-04 9.99965973e-01 6.84498713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:2.00, Z:0.07 [[ 9.95863659e-01 -9.04932963e-02 -8.15701945e-03 1.10377255e+01] [ 9.04861972e-02 9.95896943e-01 -1.23595841e-03 1.99631861e+00] [ 8.23539669e-03 4.92748390e-04 9.99965967e-01 7.30086840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.212260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.07, Y:2.00, Z:0.08 [[ 9.96172683e-01 -8.70240776e-02 -8.17283358e-03 1.10688901e+01] [ 8.70178053e-02 9.96206126e-01 -1.12062475e-03 2.00124541e+00] [ 8.23934822e-03 4.05153720e-04 9.99965974e-01 8.22074016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242260614999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:11.10, Y:2.00, Z:0.08 [[ 9.96250658e-01 -8.61268060e-02 -8.17315923e-03 1.11016135e+01] [ 8.61205230e-02 9.96284099e-01 -1.11824462e-03 2.00312698e+00] [ 8.23909941e-03 4.10175190e-04 9.99965974e-01 8.14159573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272260614999999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:11.13, Y:2.00, Z:0.07 [[ 9.95903624e-01 -9.00509045e-02 -8.17348087e-03 1.11336958e+01] [ 9.00447726e-02 9.95937093e-01 -1.11588873e-03 1.99747293e+00] [ 8.24075956e-03 3.75338402e-04 9.99965974e-01 7.24433182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:1.99, Z:0.07 [[ 9.95907649e-01 -9.00066504e-02 -8.17047275e-03 1.11661962e+01] [ 9.00003365e-02 9.95941085e-01 -1.13793349e-03 1.99426974e+00] [ 8.23973108e-03 3.97931370e-04 9.99965974e-01 7.49311868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.332260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:1.99, Z:0.08 [[ 9.95720817e-01 -9.20502129e-02 -8.17389172e-03 1.11977991e+01] [ 9.20441733e-02 9.95754303e-01 -1.11282050e-03 1.99405884e+00] [ 8.24162322e-03 3.55699429e-04 9.99965974e-01 8.27350572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362260614999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:11.23, Y:2.00, Z:0.08 [[ 9.95783162e-01 -9.13733090e-02 -8.17394200e-03 1.12286919e+01] [ 9.13672497e-02 9.95816644e-01 -1.11245110e-03 1.99824519e+00] [ 8.24139582e-03 3.60929476e-04 9.99965974e-01 8.44102391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.392260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:2.00, Z:0.09 [[ 9.95843717e-01 -9.07113758e-02 -8.16933505e-03 1.12631202e+01] [ 9.07050169e-02 9.95877144e-01 -1.14632124e-03 2.00251701e+00] [ 8.23963843e-03 4.00557131e-04 9.99965973e-01 8.53412293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422260614999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:2.01, Z:0.09 [[ 9.95863300e-01 -9.04954951e-02 -8.17639094e-03 1.12964144e+01] [ 9.04895549e-02 9.95896803e-01 -1.09431876e-03 2.00686500e+00] [ 8.24187252e-03 3.49913913e-04 9.99965974e-01 8.55996728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.452260614999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.33, Y:2.00, Z:0.08 [[ 9.96194753e-01 -8.67707181e-02 -8.17663215e-03 1.13283370e+01] [ 8.67646672e-02 9.96228236e-01 -1.09253799e-03 2.00331696e+00] [ 8.24059213e-03 3.78937841e-04 9.99965974e-01 8.35470476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482260614999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.36, Y:2.00, Z:0.08 [[ 9.96139488e-01 -8.74030388e-02 -8.17486115e-03 1.13616540e+01] [ 8.73969019e-02 9.96172956e-01 -1.10563245e-03 2.00135318e+00] [ 8.24021124e-03 3.86906600e-04 9.99965974e-01 7.93896680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512260614999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:11.39, Y:1.99, Z:0.08 [[ 9.95923538e-01 -8.98301663e-02 -8.17600352e-03 1.13941392e+01] [ 8.98241804e-02 9.95957034e-01 -1.09716590e-03 1.99311453e+00] [ 8.24150681e-03 3.58290529e-04 9.99965974e-01 7.71255973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542260614999998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:11.43, Y:1.99, Z:0.08 [[ 9.96352032e-01 -8.49458226e-02 -8.17535802e-03 1.14262564e+01] [ 8.49396333e-02 9.96385490e-01 -1.10195482e-03 1.99466846e+00] [ 8.23941457e-03 4.03523014e-04 9.99965974e-01 8.02346856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572260614999998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:11.46, Y:2.00, Z:0.09 [[ 9.96550653e-01 -8.25830327e-02 -8.17548416e-03 1.14564924e+01] [ 8.25767717e-02 9.96584098e-01 -1.10101824e-03 2.00182716e+00] [ 8.23848293e-03 4.22115358e-04 9.99965974e-01 8.62297250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602260614999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:11.49, Y:2.01, Z:0.09 [[ 9.96858293e-01 -7.87826132e-02 -8.17581075e-03 1.14896794e+01] [ 7.87762446e-02 9.96891717e-01 -1.09858771e-03 2.00637035e+00] [ 8.23694763e-03 4.51076603e-04 9.99965974e-01 8.76797875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632260614999998 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:11.52, Y:2.00, Z:0.08 [[ 9.97272531e-01 -7.33529318e-02 -8.17595898e-03 1.15230826e+01] [ 7.33463904e-02 9.97305922e-01 -1.09748340e-03 1.99727621e+00] [ 8.23443594e-03 4.94812969e-04 9.99965974e-01 8.48171208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662260614999997 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:11.55, Y:1.99, Z:0.08 [[ 9.97442902e-01 -7.09986397e-02 -8.17620218e-03 1.15547233e+01] [ 7.09920342e-02 9.97476281e-01 -1.09566856e-03 1.98986640e+00] [ 8.23335872e-03 5.12421600e-04 9.99965974e-01 7.91634626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692260614999999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:11.59, Y:1.98, Z:0.07 [[ 9.97543271e-01 -6.95754512e-02 -8.16567401e-03 1.15902570e+01] [ 6.95681578e-02 9.97576510e-01 -1.17419981e-03 1.97708393e+00] [ 8.22758005e-03 6.03244218e-04 9.99965971e-01 7.46932322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722260614999998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:11.62, Y:1.97, Z:0.08 [[ 9.97583232e-01 -6.89996216e-02 -8.16988896e-03 1.16244395e+01] [ 6.89925660e-02 9.97616520e-01 -1.14265337e-03 1.97392966e+00] [ 8.22925883e-03 5.76230238e-04 9.99965973e-01 7.88595588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.752260614999997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:11.66, Y:1.97, Z:0.08 [[ 9.97764033e-01 -6.63335502e-02 -8.17278986e-03 1.16565604e+01] [ 6.63265831e-02 9.97797338e-01 -1.12089051e-03 1.97342908e+00] [ 8.22914061e-03 5.76311006e-04 9.99965974e-01 7.95888896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782260614999998 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:11.69, Y:1.97, Z:0.08 [[ 9.98004936e-01 -6.26048427e-02 -8.17197135e-03 1.16886321e+01] [ 6.25977010e-02 9.98038204e-01 -1.12705066e-03 1.97036413e+00] [ 8.22649844e-03 6.13255504e-04 9.99965974e-01 7.79508351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812260614999998 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:11.72, Y:1.96, Z:0.07 [[ 9.98067726e-01 -6.15964161e-02 -8.16679956e-03 1.17225872e+01] [ 6.15889239e-02 9.98100919e-01 -1.16597959e-03 1.95634444e+00] [ 8.22311031e-03 6.60742198e-04 9.99965971e-01 7.19464297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842260614999999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:11.76, Y:1.95, Z:0.07 [[ 9.98072132e-01 -6.15244128e-02 -8.17101859e-03 1.17556940e+01] [ 6.15171766e-02 9.98105380e-01 -1.13422512e-03 1.95061307e+00] [ 8.22532016e-03 6.29380486e-04 9.99965973e-01 6.93128849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872260614999998 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:11.79, Y:1.94, Z:0.07 [[ 9.98042597e-01 -6.20014167e-02 -8.17309620e-03 1.17886664e+01] [ 6.19943244e-02 9.98075875e-01 -1.11852338e-03 1.93883635e+00] [ 8.22672018e-03 6.09648400e-04 9.99965974e-01 6.97301852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902260614999998 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:11.82, Y:1.93, Z:0.07 [[ 9.98179122e-01 -5.97640248e-02 -8.16714369e-03 1.18219248e+01] [ 5.97564906e-02 9.98212306e-01 -1.16365164e-03 1.93465895e+00] [ 8.22208784e-03 6.73492922e-04 9.99965971e-01 7.05682558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932260614999999 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:11.85, Y:1.94, Z:0.07 [[ 9.98237282e-01 -5.87845752e-02 -8.16715165e-03 1.18543329e+01] [ 5.87770089e-02 9.98270459e-01 -1.16359113e-03 1.93588621e+00] [ 8.22142744e-03 6.81499298e-04 9.99965971e-01 6.89287617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962260614999998 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:11.89, Y:1.94, Z:0.06 [[ 9.98231797e-01 -5.88777738e-02 -8.16617689e-03 1.18878123e+01] [ 5.88701503e-02 9.98264962e-01 -1.17100965e-03 1.93565376e+00] [ 8.22095470e-03 6.88195004e-04 9.99965971e-01 6.47991944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992260614999998 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:11.92, Y:1.93, Z:0.07 [[ 9.98071172e-01 -6.15403182e-02 -8.16853581e-03 1.19202054e+01] [ 6.15329299e-02 9.98104388e-01 -1.15298918e-03 1.92684111e+00] [ 8.22400676e-03 6.48131324e-04 9.99965972e-01 6.54270247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022260614999999 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:11.95, Y:1.92, Z:0.07 [[ 9.98054808e-01 -6.18052273e-02 -8.16784445e-03 1.19530200e+01] [ 6.17978048e-02 9.98088017e-01 -1.15826964e-03 1.92264377e+00] [ 8.22381479e-03 6.51261723e-04 9.99965972e-01 6.60295460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.052260614999998 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:11.99, Y:1.91, Z:0.07 [[ 9.98221461e-01 -5.90526373e-02 -8.16699673e-03 1.19871530e+01] [ 5.90450705e-02 9.98254638e-01 -1.16474951e-03 1.91328090e+00] [ 8.22152389e-03 6.80457058e-04 9.99965971e-01 7.01243957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082260614999997 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:12.02, Y:1.91, Z:0.07 [[ 9.98443390e-01 -5.51732763e-02 -8.16742141e-03 1.20201355e+01] [ 5.51656070e-02 9.98476543e-01 -1.16149713e-03 1.91041158e+00] [ 8.21906230e-03 7.09128367e-04 9.99965971e-01 7.47873373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112260614999999 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:12.05, Y:1.91, Z:0.07 [[ 9.98560352e-01 -5.30137013e-02 -8.17133699e-03 1.20506925e+01] [ 5.30062045e-02 9.98593542e-01 -1.13145579e-03 1.90965471e+00] [ 8.21982701e-03 6.96695332e-04 9.99965974e-01 7.39484924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142260614999998 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:12.08, Y:1.90, Z:0.07 [[ 9.98616737e-01 -5.19409379e-02 -8.17012736e-03 1.20832335e+01] [ 5.19333301e-02 9.98649903e-01 -1.14073224e-03 1.90218056e+00] [ 8.21834760e-03 7.14852382e-04 9.99965973e-01 7.08026234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.172260614999997 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:12.11, Y:1.90, Z:0.07 [[ 9.98654110e-01 -5.12176969e-02 -8.16799360e-03 1.21141713e+01] [ 5.12099320e-02 9.98687240e-01 -1.15711603e-03 1.90134660e+00] [ 8.21653580e-03 7.37276281e-04 9.99965972e-01 6.80988148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202260614999998 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:12.15, Y:1.89, Z:0.07 [[ 9.98570006e-01 -5.28319685e-02 -8.16858842e-03 1.21464609e+01] [ 5.28242943e-02 9.98603157e-01 -1.15254210e-03 1.89482077e+00] [ 8.21806925e-03 7.19394048e-04 9.99965972e-01 6.53281003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.232260614999998 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:12.18, Y:1.89, Z:0.07 [[ 9.98440971e-01 -5.52165165e-02 -8.17085349e-03 1.21784726e+01] [ 5.52090646e-02 9.98474171e-01 -1.13495155e-03 1.89154646e+00] [ 8.22105424e-03 6.82076950e-04 9.99965974e-01 6.65219751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262260614999999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:12.21, Y:1.88, Z:0.06 [[ 9.97976538e-01 -6.30560559e-02 -8.17089628e-03 1.22110641e+01] [ 6.30488676e-02 9.98009796e-01 -1.13461907e-03 1.88077207e+00] [ 8.22617914e-03 6.17157452e-04 9.99965974e-01 6.38045493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292260614999998 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:12.24, Y:1.88, Z:0.06 [[ 9.97923200e-01 -6.38932718e-02 -8.18149109e-03 1.22412085e+01] [ 6.38867834e-02 9.97956598e-01 -1.05224150e-03 1.87849669e+00] [ 8.23200417e-03 5.27367059e-04 9.99965977e-01 6.45237535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322260614999998 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:12.27, Y:1.88, Z:0.07 [[ 9.98071926e-01 -6.15263682e-02 -8.18149132e-03 1.22699506e+01] [ 6.15198005e-02 9.98105309e-01 -1.05223971e-03 1.87745949e+00] [ 8.23073041e-03 5.46887201e-04 9.99965977e-01 6.77988648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.352260614999999 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:12.30, Y:1.88, Z:0.07 [[ 9.98108064e-01 -6.09381231e-02 -8.17542833e-03 1.23003329e+01] [ 6.09311505e-02 9.98141366e-01 -1.09948417e-03 1.87900841e+00] [ 8.22723370e-03 5.99265759e-04 9.99965976e-01 6.91891629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382260614999998 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:12.33, Y:1.87, Z:0.07 [[ 9.98065039e-01 -6.16381016e-02 -8.18059305e-03 1.23307330e+01] [ 6.16314806e-02 9.98098411e-01 -1.05922664e-03 1.87376036e+00] [ 8.23032565e-03 5.52995012e-04 9.99965977e-01 6.83326711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412260614999997 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:12.36, Y:1.87, Z:0.07 [[ 9.98067587e-01 -6.15966798e-02 -8.18169158e-03 1.23611931e+01] [ 6.15901273e-02 9.98100973e-01 -1.05067229e-03 1.87143019e+00] [ 8.23087225e-03 5.44730530e-04 9.99965977e-01 6.84187786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442260614999999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:12.39, Y:1.86, Z:0.07 [[ 9.98125769e-01 -6.06466063e-02 -8.18164583e-03 1.23908733e+01] [ 6.06400191e-02 9.98159147e-01 -1.05102844e-03 1.86393441e+00] [ 8.23032593e-03 5.52923409e-04 9.99965977e-01 7.05364502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472260614999998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:12.42, Y:1.86, Z:0.07 [[ 9.98217112e-01 -5.91240955e-02 -8.18157781e-03 1.24204849e+01] [ 5.91174531e-02 9.98250480e-01 -1.05155764e-03 1.85598660e+00] [ 8.22943637e-03 5.66008790e-04 9.99965977e-01 7.05693843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502260614999997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:12.45, Y:1.85, Z:0.07 [[ 9.98255507e-01 -5.84723096e-02 -8.18124167e-03 1.24501393e+01] [ 5.84656241e-02 9.98288866e-01 -1.05416635e-03 1.85259706e+00] [ 8.22888201e-03 5.74005959e-04 9.99965977e-01 7.09919153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.532260614999998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:12.48, Y:1.85, Z:0.07 [[ 9.98212307e-01 -5.92048692e-02 -8.18369088e-03 1.24798778e+01] [ 5.91983632e-02 9.98245702e-01 -1.03517618e-03 1.85024566e+00] [ 8.23062172e-03 5.48864497e-04 9.99965977e-01 6.59816181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562260614999998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:12.51, Y:1.84, Z:0.06 [[ 9.98072996e-01 -6.15087929e-02 -8.18308228e-03 1.25084354e+01] [ 6.15023255e-02 9.98106398e-01 -1.03988034e-03 1.84472195e+00] [ 8.23154856e-03 5.34597893e-04 9.99965977e-01 6.23110217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592260614999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.54, Y:1.84, Z:0.06 [[ 9.97930561e-01 -6.37777925e-02 -8.18463282e-03 1.25355003e+01] [ 6.37714988e-02 9.97963997e-01 -1.02791584e-03 1.84274178e+00] [ 8.23352708e-03 5.03842328e-04 9.99965977e-01 5.99093252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.57, Y:1.84, Z:0.05 [[ 9.97259005e-01 -7.35361274e-02 -8.18012857e-03 1.25650596e+01] [ 7.35298775e-02 9.97292449e-01 -1.06259086e-03 1.83528946e+00] [ 8.23611927e-03 4.58194456e-04 9.99965978e-01 5.34624736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:1.83, Z:0.05 [[ 9.96798971e-01 -7.95292599e-02 -8.17975235e-03 1.25929711e+01] [ 7.95231874e-02 9.96832447e-01 -1.06547913e-03 1.83415476e+00] [ 8.23857932e-03 4.11588519e-04 9.99965978e-01 5.23955379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682260614999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.62, Y:1.83, Z:0.05 [[ 9.96055234e-01 -8.83576144e-02 -8.17936838e-03 1.26210335e+01] [ 8.83518147e-02 9.96088759e-01 -1.06841863e-03 1.83017040e+00] [ 8.24177982e-03 3.41541932e-04 9.99965978e-01 5.48264951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712260614999998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.65, Y:1.83, Z:0.05 [[ 9.95832579e-01 -9.08326813e-02 -8.17920131e-03 1.26489046e+01] [ 9.08269544e-02 9.95866116e-01 -1.06969608e-03 1.83100409e+00] [ 8.24255281e-03 3.22346264e-04 9.99965978e-01 5.42822564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742260614999998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:12.68, Y:1.83, Z:0.05 [[ 9.95912763e-01 -8.99492944e-02 -8.17882627e-03 1.26770429e+01] [ 8.99435143e-02 9.95946291e-01 -1.07255597e-03 1.83165460e+00] [ 8.24214734e-03 3.32539806e-04 9.99965978e-01 5.08458650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772260614999999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.70, Y:1.84, Z:0.05 [[ 9.96047074e-01 -8.84496489e-02 -8.17844013e-03 1.27047366e+01] [ 8.84437943e-02 9.96080588e-01 -1.07549238e-03 1.83565892e+00] [ 8.24151238e-03 3.47908757e-04 9.99965978e-01 5.05890078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802260614999998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:12.73, Y:1.84, Z:0.05 [[ 9.96352761e-01 -8.49370108e-02 -8.17804114e-03 1.27324339e+01] [ 8.49310133e-02 9.96386250e-01 -1.07851776e-03 1.83785021e+00] [ 8.24009382e-03 3.80014823e-04 9.99965978e-01 5.04126940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832260614999997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:12.76, Y:1.84, Z:0.05 [[ 9.96543872e-01 -8.26646023e-02 -8.17764637e-03 1.27592109e+01] [ 8.26585040e-02 9.96577344e-01 -1.08150274e-03 1.83941272e+00] [ 8.23905910e-03 4.01812912e-04 9.99965978e-01 4.99931713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862260614999999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:12.79, Y:1.84, Z:0.05 [[ 9.96986274e-01 -7.71459600e-02 -8.17747462e-03 1.27872117e+01] [ 7.71396659e-02 9.97019709e-01 -1.08279982e-03 1.84037762e+00] [ 8.23663700e-03 4.48728897e-04 9.99965978e-01 5.09668548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892260614999998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:12.82, Y:1.84, Z:0.05 [[ 9.97187815e-01 -7.44956145e-02 -8.17708049e-03 1.28152503e+01] [ 7.44892072e-02 9.97221229e-01 -1.08576813e-03 1.84355164e+00] [ 8.23524321e-03 4.73610506e-04 9.99965978e-01 5.23343087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922260614999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.84, Y:1.85, Z:0.05 [[ 9.97300051e-01 -7.29777083e-02 -8.17695968e-03 1.28419599e+01] [ 7.29712428e-02 9.97333453e-01 -1.08667720e-03 1.84574490e+00] [ 8.23445864e-03 4.87060318e-04 9.99965978e-01 5.36271299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952260614999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.87, Y:1.85, Z:0.06 [[ 9.97442068e-01 -7.10102901e-02 -8.17679139e-03 1.28711722e+01] [ 7.10037483e-02 9.97475455e-01 -1.08794201e-03 1.84583105e+00] [ 8.23340379e-03 5.04576286e-04 9.99965978e-01 5.72559726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982260614999998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:12.90, Y:1.85, Z:0.06 [[ 9.97504110e-01 -7.01330739e-02 -8.17942474e-03 1.29000084e+01] [ 7.01266644e-02 9.97537523e-01 -1.06816416e-03 1.84739641e+00] [ 8.23419673e-03 4.91902363e-04 9.99965977e-01 5.92764588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.012260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.93, Y:1.85, Z:0.06 [[ 9.97539092e-01 -6.96336430e-02 -8.18020493e-03 1.29281875e+01] [ 6.96272645e-02 9.97572511e-01 -1.06231913e-03 1.84786222e+00] [ 8.23432073e-03 4.90139565e-04 9.99965977e-01 5.54980510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042260614999996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:12.96, Y:1.85, Z:0.05 [[ 9.97854813e-01 -6.49528770e-02 -8.17902405e-03 1.29560142e+01] [ 6.49462698e-02 9.97888187e-01 -1.07114026e-03 1.85181833e+00] [ 8.23132513e-03 5.37645359e-04 9.99965978e-01 4.53358172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072260614999998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:12.98, Y:1.86, Z:0.04 [[ 9.97944260e-01 -6.35642601e-02 -8.17552831e-03 1.29833624e+01] [ 6.35573940e-02 9.97977582e-01 -1.09718822e-03 1.85642056e+00] [ 8.22873594e-03 5.75317417e-04 9.99965978e-01 4.14805517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.01, Y:1.86, Z:0.03 [[ 9.97973345e-01 -6.31057519e-02 -8.17723839e-03 1.30113720e+01] [ 6.30989742e-02 9.98006685e-01 -1.08446215e-03 1.85917697e+00] [ 8.22937438e-03 5.66288967e-04 9.99965978e-01 3.37770889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:1.86, Z:0.03 [[ 9.97863668e-01 -6.48172432e-02 -8.17461280e-03 1.30400722e+01] [ 6.48103638e-02 9.97896988e-01 -1.10395064e-03 1.86097596e+00] [ 8.22897652e-03 5.71792608e-04 9.99965978e-01 3.06495404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:1.86, Z:0.02 [[ 9.97767040e-01 -6.62880247e-02 -8.17506635e-03 1.30691833e+01] [ 6.62812218e-02 9.97800375e-01 -1.10058775e-03 1.86110098e+00] [ 8.23004006e-03 5.56276797e-04 9.99965978e-01 2.16663493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:1.86, Z:0.02 [[ 9.97794004e-01 -6.58809802e-02 -8.17448457e-03 1.30969035e+01] [ 6.58741287e-02 9.97827329e-01 -1.10489203e-03 1.86344277e+00] [ 8.22951547e-03 5.63967595e-04 9.99965978e-01 2.29758304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222260615 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.13, Y:1.86, Z:0.03 [[ 9.97987630e-01 -6.28799031e-02 -8.17357748e-03 1.31259980e+01] [ 6.28728967e-02 9.98020923e-01 -1.11159037e-03 1.86452416e+00] [ 8.22729804e-03 5.95456946e-04 9.99965978e-01 3.14391550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252260614999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.15, Y:1.87, Z:0.04 [[ 9.98122016e-01 -6.07092663e-02 -8.17477872e-03 1.31540708e+01] [ 6.07022597e-02 9.98155308e-01 -1.10273716e-03 1.86625127e+00] [ 8.22664514e-03 6.04438695e-04 9.99965978e-01 3.81924610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:1.87, Z:0.04 [[ 9.98260787e-01 -5.83831574e-02 -8.17362206e-03 1.31819045e+01] [ 5.83760040e-02 9.98294049e-01 -1.11124360e-03 1.86568869e+00] [ 8.22455617e-03 6.32167520e-04 9.99965978e-01 4.33636598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:1.87, Z:0.05 [[ 9.98288149e-01 -5.79132402e-02 -8.17487094e-03 1.32095364e+01] [ 5.79061457e-02 9.98321423e-01 -1.10207812e-03 1.86997593e+00] [ 8.22497371e-03 6.26816260e-04 9.99965978e-01 4.54059357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:1.87, Z:0.05 [[ 9.98267465e-01 -5.82689385e-02 -8.17301541e-03 1.32377403e+01] [ 5.82617452e-02 9.98300718e-01 -1.11567108e-03 1.87403819e+00] [ 8.22413613e-03 6.37564002e-04 9.99965978e-01 4.56405509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:1.88, Z:0.05 [[ 9.98083122e-01 -6.13456598e-02 -8.17261696e-03 1.32639460e+01] [ 6.13385454e-02 9.98116392e-01 -1.11858227e-03 1.87803995e+00] [ 8.22584312e-03 6.15141646e-04 9.99965978e-01 5.24071353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:1.88, Z:0.05 [[ 9.97926218e-01 -6.38472808e-02 -8.17244462e-03 1.32918016e+01] [ 6.38402396e-02 9.97959503e-01 -1.11984003e-03 1.87816278e+00] [ 8.22726751e-03 5.95786904e-04 9.99965978e-01 5.28069597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.432260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:1.87, Z:0.06 [[ 9.97963535e-01 -6.32616491e-02 -8.16991765e-03 1.33222241e+01] [ 6.32544386e-02 9.97996784e-01 -1.13822840e-03 1.86761106e+00] [ 8.22555774e-03 6.19126887e-04 9.99965978e-01 5.55370961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:1.87, Z:0.06 [[ 9.98120889e-01 -6.07283948e-02 -8.17026290e-03 1.33506274e+01] [ 6.07211203e-02 9.98154124e-01 -1.13571835e-03 1.86597515e+00] [ 8.22415196e-03 6.37476692e-04 9.99965978e-01 5.77192543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.38, Y:1.86, Z:0.06 [[ 9.98434407e-01 -5.53351390e-02 -8.17054831e-03 1.33775108e+01] [ 5.53277019e-02 9.98467606e-01 -1.13364521e-03 1.86282018e+00] [ 8.22075822e-03 6.79812721e-04 9.99965978e-01 5.85420811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:1.86, Z:0.06 [[ 9.98319763e-01 -5.73677825e-02 -8.16022144e-03 1.34085902e+01] [ 5.73598042e-02 9.98352840e-01 -1.20860137e-03 1.86436888e+00] [ 8.21611503e-03 7.38501933e-04 9.99965974e-01 5.77713906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.552260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:1.85, Z:0.05 [[ 9.98239147e-01 -5.87524269e-02 -8.17052424e-03 1.34362772e+01] [ 5.87451023e-02 9.98272371e-01 -1.13379541e-03 1.85388346e+00] [ 8.22302184e-03 6.51820678e-04 9.99965978e-01 4.94749382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582260615 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.47, Y:1.85, Z:0.05 [[ 9.98033614e-01 -6.21469588e-02 -8.16464195e-03 1.34672079e+01] [ 6.21394005e-02 9.98066787e-01 -1.17641946e-03 1.85173303e+00] [ 8.22196885e-03 6.66760207e-04 9.99965977e-01 4.76949412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:1.85, Z:0.04 [[ 9.97698566e-01 -6.73112365e-02 -8.17120923e-03 1.34959487e+01] [ 6.73042371e-02 9.97731860e-01 -1.12888357e-03 1.84594598e+00] [ 8.22866233e-03 5.76328515e-04 9.99965978e-01 4.47704583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:1.85, Z:0.04 [[ 9.97319255e-01 -7.27157742e-02 -8.16824797e-03 1.35237627e+01] [ 7.27087808e-02 9.97352551e-01 -1.15028169e-03 1.84663905e+00] [ 8.23026657e-03 5.53294724e-04 9.99965978e-01 4.37184531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.672260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:1.85, Z:0.04 [[ 9.96515166e-01 -8.30106126e-02 -8.17083081e-03 1.35518518e+01] [ 8.30041158e-02 9.96548562e-01 -1.13163258e-03 1.84723030e+00] [ 8.23656721e-03 4.49476444e-04 9.99965978e-01 4.22496594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:1.85, Z:0.05 [[ 9.96060205e-01 -8.83023850e-02 -8.17043777e-03 1.35794852e+01] [ 8.82960425e-02 9.96093631e-01 -1.13446331e-03 1.85116371e+00] [ 8.23869684e-03 4.08576440e-04 9.99965978e-01 4.68296235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:1.85, Z:0.06 [[ 9.95613903e-01 -9.31997948e-02 -8.17031623e-03 1.36070041e+01] [ 9.31936096e-02 9.95647358e-01 -1.13533793e-03 1.85497910e+00] [ 8.24056703e-03 3.68936970e-04 9.99965978e-01 5.68223731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:1.86, Z:0.07 [[ 9.94858344e-01 -1.00946572e-01 -8.16491169e-03 1.36369080e+01] [ 1.00940329e-01 9.94891789e-01 -1.17411214e-03 1.85781236e+00] [ 8.24172619e-03 3.43906381e-04 9.99965977e-01 6.66336579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:1.86, Z:0.07 [[ 9.94635468e-01 -1.03119053e-01 -8.16989346e-03 1.36654863e+01] [ 1.03113177e-01 9.94668979e-01 -1.13835843e-03 1.86176256e+00] [ 8.24372603e-03 2.89827998e-04 9.99965978e-01 6.60247800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822260614999998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:13.69, Y:1.87, Z:0.07 [[ 9.94666580e-01 -1.02818541e-01 -8.16954983e-03 1.36927519e+01] [ 1.02812634e-01 9.94700086e-01 -1.14081924e-03 1.86806203e+00] [ 8.24354928e-03 2.94801832e-04 9.99965978e-01 6.65498371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852260615 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.72, Y:1.88, Z:0.07 [[ 9.94770128e-01 -1.01811876e-01 -8.16915520e-03 1.37185873e+01] [ 1.01805912e-01 9.94803623e-01 -1.14363810e-03 1.87646562e+00] [ 8.24314113e-03 3.05988718e-04 9.99965978e-01 6.82252844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:1.89, Z:0.06 [[ 9.95103091e-01 -9.85050271e-02 -8.16079762e-03 1.37474348e+01] [ 9.84984649e-02 9.95136475e-01 -1.20315000e-03 1.88886860e+00] [ 8.23962370e-03 3.93432243e-04 9.99965976e-01 5.77182376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:1.89, Z:0.05 [[ 9.95731974e-01 -9.19299127e-02 -8.16868780e-03 1.37739612e+01] [ 9.19235897e-02 9.95765403e-01 -1.14695574e-03 1.89273489e+00] [ 8.23953624e-03 3.91165395e-04 9.99965978e-01 5.38825806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:1.90, Z:0.05 [[ 9.97160403e-01 -7.48631077e-02 -8.16371982e-03 1.38023255e+01] [ 7.48559254e-02 9.97193659e-01 -1.18224380e-03 1.89926805e+00] [ 8.22931608e-03 5.67783904e-04 9.99965977e-01 4.69378883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:1.91, Z:0.05 [[ 9.97726258e-01 -6.68998889e-02 -8.16820963e-03 1.38288052e+01] [ 6.68927008e-02 9.97759512e-01 -1.15036375e-03 1.90721379e+00] [ 8.22686805e-03 6.01354513e-04 9.99965978e-01 4.56612052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002260614999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.86, Y:1.91, Z:0.05 [[ 9.98100234e-01 -6.10677908e-02 -8.16380351e-03 1.38576054e+01] [ 6.10601548e-02 9.98133389e-01 -1.18158660e-03 1.91298345e+00] [ 8.22072175e-03 6.80858755e-04 9.99965978e-01 4.50957078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:1.92, Z:0.05 [[ 9.97847246e-01 -6.50704419e-02 -8.16770501e-03 1.38856029e+01] [ 6.50631636e-02 9.97880480e-01 -1.15397220e-03 1.91555700e+00] [ 8.22548288e-03 6.20071250e-04 9.99965978e-01 4.86064257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:1.92, Z:0.05 [[ 9.97442919e-01 -7.09994284e-02 -8.16730674e-03 1.39132838e+01] [ 7.09923247e-02 9.97476191e-01 -1.15678409e-03 1.91766805e+00] [ 8.22882503e-03 5.74010003e-04 9.99965978e-01 5.33019035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:1.92, Z:0.06 [[ 9.96725718e-01 -8.04434241e-02 -8.16690014e-03 1.39415188e+01] [ 8.04366126e-02 9.96759051e-01 -1.15964762e-03 1.91872556e+00] [ 8.23371766e-03 4.98932822e-04 9.99965978e-01 6.41144465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.97, Y:1.92, Z:0.07 [[ 9.96685943e-01 -8.09347612e-02 -8.16677418e-03 1.39702550e+01] [ 8.09279588e-02 9.96719278e-01 -1.16053401e-03 1.92216942e+00] [ 8.23390881e-03 4.95767571e-04 9.99965978e-01 7.01632882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:1.92, Z:0.08 [[ 9.96964991e-01 -7.74216724e-02 -8.16641814e-03 1.39973785e+01] [ 7.74147321e-02 9.96998298e-01 -1.16303399e-03 1.92380214e+00] [ 8.23194903e-03 5.27303095e-04 9.99965978e-01 7.53015493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182260614999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.03, Y:1.92, Z:0.08 [[ 9.97262098e-01 -7.34960246e-02 -8.16345707e-03 1.40254771e+01] [ 7.34887844e-02 9.97295341e-01 -1.18376913e-03 1.92393127e+00] [ 8.22838003e-03 5.80605546e-04 9.99965978e-01 7.70175749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.212260614999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:14.06, Y:1.92, Z:0.07 [[ 9.97406797e-01 -7.15059541e-02 -8.15966515e-03 1.40570962e+01] [ 7.14984315e-02 9.97439978e-01 -1.21030811e-03 1.92121316e+00] [ 8.22532046e-03 6.23766275e-04 9.99965977e-01 7.21876718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:1.93, Z:0.07 [[ 9.97260425e-01 -7.35184583e-02 -8.16585704e-03 1.40851348e+01] [ 7.35113556e-02 9.97293697e-01 -1.16698094e-03 1.92793848e+00] [ 8.22955239e-03 5.63500687e-04 9.99965978e-01 6.65585015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272260614999997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:14.11, Y:1.93, Z:0.07 [[ 9.97029384e-01 -7.65880729e-02 -8.16549565e-03 1.41120817e+01] [ 7.65810521e-02 9.97062673e-01 -1.16950414e-03 1.93385904e+00] [ 8.23108099e-03 5.40707745e-04 9.99965978e-01 6.69916790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:1.94, Z:0.06 [[ 9.96991206e-01 -7.70835112e-02 -8.16504188e-03 1.41418537e+01] [ 7.70764811e-02 9.97024494e-01 -1.17266535e-03 1.93581367e+00] [ 8.23113991e-03 5.39804345e-04 9.99965978e-01 5.84654398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:1.93, Z:0.06 [[ 9.97040933e-01 -7.64376150e-02 -8.16508263e-03 1.41691793e+01] [ 7.64305656e-02 9.97074217e-01 -1.17238155e-03 1.93274733e+00] [ 8.23080742e-03 5.44850513e-04 9.99965978e-01 6.02263297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:1.93, Z:0.06 [[ 9.96907028e-01 -7.81651763e-02 -8.15985211e-03 1.41977598e+01] [ 7.81578886e-02 9.96940261e-01 -1.20869575e-03 1.93449846e+00] [ 8.22936300e-03 5.67200473e-04 9.99965977e-01 6.25136866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:1.94, Z:0.07 [[ 9.96122592e-01 -8.75967226e-02 -8.16065822e-03 1.42259765e+01] [ 8.75897955e-02 9.96155902e-01 -1.20310422e-03 1.93784525e+00] [ 8.23467583e-03 4.83648911e-04 9.99965978e-01 6.75518609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:1.94, Z:0.07 [[ 9.95560373e-01 -9.37705530e-02 -8.16254065e-03 1.42553235e+01] [ 9.37639391e-02 9.95593746e-01 -1.19006271e-03 1.94477838e+00] [ 8.23816726e-03 4.19427311e-04 9.99965978e-01 6.84267192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:1.96, Z:0.07 [[ 9.94154572e-01 -1.07657025e-01 -8.16402217e-03 1.42824338e+01] [ 1.07650962e-01 9.94188050e-01 -1.17981092e-03 1.95735082e+00] [ 8.24358822e-03 2.94049576e-04 9.99965978e-01 7.48363307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:1.96, Z:0.08 [[ 9.93387893e-01 -1.14515589e-01 -8.16536933e-03 1.43077963e+01] [ 1.14509833e-01 9.93421425e-01 -1.17050141e-03 1.96253033e+00] [ 8.24569350e-03 2.27746845e-04 9.99965978e-01 7.83216612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.34, Y:1.97, Z:0.08 [[ 9.90902830e-01 -1.34331598e-01 -8.16114722e-03 1.43367967e+01] [ 1.34326273e-01 9.90936433e-01 -1.19964277e-03 1.96636002e+00] [ 8.24832804e-03 9.24729262e-05 9.99965978e-01 7.79832392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.36, Y:1.97, Z:0.08 [[ 9.89861295e-01 -1.41802668e-01 -8.16210886e-03 1.43640612e+01] [ 1.41797652e-01 9.89894945e-01 -1.19301292e-03 1.97144274e+00] [ 8.24880272e-03 2.35494503e-05 9.99965978e-01 8.05062006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.39, Y:1.99, Z:0.08 [[ 9.88746208e-01 -1.49379794e-01 -8.16174205e-03 1.43915708e+01] [ 1.49375014e-01 9.88779893e-01 -1.19553918e-03 1.98508999e+00] [ 8.24875583e-03 -3.70755092e-05 9.99965978e-01 7.67647495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.42, Y:1.99, Z:0.08 [[ 9.88975282e-01 -1.47855527e-01 -8.16299676e-03 1.44172468e+01] [ 1.47850767e-01 9.89008970e-01 -1.18690990e-03 1.99342347e+00] [ 8.24876820e-03 -3.30807751e-05 9.99965978e-01 7.67504388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:2.01, Z:0.08 [[ 9.89517673e-01 -1.44181252e-01 -8.15734597e-03 1.44431037e+01] [ 1.44176047e-01 9.89551295e-01 -1.22564496e-03 2.01140032e+00] [ 8.24882730e-03 3.67034468e-05 9.99965977e-01 7.95200198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:2.02, Z:0.08 [[ 9.90043043e-01 -1.40528311e-01 -8.15886223e-03 1.44709652e+01] [ 1.40523067e-01 9.90076659e-01 -1.21525308e-03 2.02397565e+00] [ 8.24867652e-03 5.66445144e-05 9.99965977e-01 8.03147213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:2.04, Z:0.09 [[ 9.90565785e-01 -1.36794855e-01 -8.16046714e-03 1.44960059e+01] [ 1.36789576e-01 9.90599395e-01 -1.20426832e-03 2.04433304e+00] [ 8.24849152e-03 7.66401576e-05 9.99965978e-01 8.51219093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.52, Y:2.05, Z:0.09 [[ 9.91001743e-01 -1.33599978e-01 -8.16028775e-03 1.45169850e+01] [ 1.33594580e-01 9.91035335e-01 -1.20549466e-03 2.05375293e+00] [ 8.24818756e-03 1.04477100e-04 9.99965978e-01 8.99725604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.55, Y:2.07, Z:0.09 [[ 9.90836982e-01 -1.34817553e-01 -8.14267493e-03 1.45495954e+01] [ 1.34811204e-01 9.90870416e-01 -1.32611548e-03 2.06818913e+00] [ 8.24711934e-03 2.16240450e-04 9.99965969e-01 8.79324681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:2.09, Z:0.09 [[ 9.90529993e-01 -1.37053646e-01 -8.16283944e-03 1.45736544e+01] [ 1.37048513e-01 9.90563625e-01 -1.18750662e-03 2.08587324e+00] [ 8.24856393e-03 5.75559188e-05 9.99965978e-01 9.02305294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812260614999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:2.10, Z:0.08 [[ 9.89391782e-01 -1.45042515e-01 -8.15906255e-03 1.46022372e+01] [ 1.45037441e-01 9.89425423e-01 -1.21340725e-03 2.09988874e+00] [ 8.24877956e-03 1.71656071e-05 9.99965978e-01 8.44854060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:2.11, Z:0.08 [[ 9.88827326e-01 -1.48841845e-01 -8.16238499e-03 1.46303019e+01] [ 1.48837088e-01 9.88861013e-01 -1.19063023e-03 2.10957400e+00] [ 8.24867989e-03 -3.75379079e-05 9.99965978e-01 8.10175427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:2.13, Z:0.08 [[ 9.87697388e-01 -1.56164181e-01 -8.16200517e-03 1.46565303e+01] [ 1.56159652e-01 9.87731107e-01 -1.19322828e-03 2.12701133e+00] [ 8.24820592e-03 -9.60274340e-05 9.99965978e-01 8.23638034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902260615 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:2.14, Z:0.08 [[ 9.87074740e-01 -1.60052633e-01 -8.16160786e-03 1.46841659e+01] [ 1.60048214e-01 9.87108474e-01 -1.19593974e-03 2.13822193e+00] [ 8.24780558e-03 -1.25768856e-04 9.99965978e-01 8.02353238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:2.15, Z:0.09 [[ 9.86059411e-01 -1.66193357e-01 -8.16122176e-03 1.47115258e+01] [ 1.66189127e-01 9.86093169e-01 -1.19856875e-03 2.15177809e+00] [ 8.24691919e-03 -1.74446323e-04 9.99965978e-01 8.50042101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962260614999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:2.17, Z:0.09 [[ 9.85405632e-01 -1.70026632e-01 -8.16606203e-03 1.47371661e+01] [ 1.70022805e-01 9.85439439e-01 -1.16562198e-03 2.17264144e+00] [ 8.24534636e-03 -2.39806308e-04 9.99965978e-01 9.19969064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992260615 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.76, Y:2.19, Z:0.09 [[ 9.85473562e-01 -1.69632714e-01 -8.16094969e-03 1.47640986e+01] [ 1.69628586e-01 9.85507332e-01 -1.20037900e-03 2.18620422e+00] [ 8.24629931e-03 -2.01388585e-04 9.99965978e-01 9.28440900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022260614999997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:14.79, Y:2.21, Z:0.10 [[ 9.86123543e-01 -1.65812358e-01 -8.16208064e-03 1.47883526e+01] [ 1.65808163e-01 9.86157305e-01 -1.19269905e-03 2.21350449e+00] [ 8.24685969e-03 -1.77190991e-04 9.99965978e-01 1.00580240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052260614999998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:14.81, Y:2.24, Z:0.10 [[ 9.86980188e-01 -1.60634729e-01 -8.16043513e-03 1.48141799e+01] [ 1.60630265e-01 9.87013915e-01 -1.20385334e-03 2.24445327e+00] [ 8.24784368e-03 -1.22633464e-04 9.99965978e-01 1.02909223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082260615 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:14.84, Y:2.26, Z:0.11 [[ 9.87485681e-01 -1.57497422e-01 -8.16040835e-03 1.48409932e+01] [ 1.57492849e-01 9.87519394e-01 -1.20403479e-03 2.25901179e+00] [ 8.24819388e-03 -9.62388438e-05 9.99965978e-01 1.05066853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112260614999997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:14.87, Y:2.27, Z:0.11 [[ 9.88195615e-01 -1.52979855e-01 -8.16030157e-03 1.48697019e+01] [ 1.52975122e-01 9.88229306e-01 -1.20475804e-03 2.27412475e+00] [ 8.24855287e-03 -5.77865129e-05 9.99965978e-01 1.07031206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142260614999998 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:14.90, Y:2.30, Z:0.11 [[ 9.89869650e-01 -1.41744441e-01 -8.16030157e-03 1.48987847e+01] [ 1.41739325e-01 9.89903284e-01 -1.20475804e-03 2.30288201e+00] [ 8.24867708e-03 3.59177812e-05 9.99965978e-01 1.07439499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172260615 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:14.93, Y:2.32, Z:0.09 [[ 9.91260580e-01 -1.31665299e-01 -8.16776469e-03 1.49250953e+01] [ 1.31660258e-01 9.91294227e-01 -1.15423660e-03 2.32294166e+00] [ 8.24863089e-03 6.87792301e-05 9.99965977e-01 9.41724960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202260614999997 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:14.96, Y:2.33, Z:0.10 [[ 9.91816070e-01 -1.27413886e-01 -8.15998269e-03 1.49553647e+01] [ 1.27408268e-01 9.91849624e-01 -1.20685366e-03 2.33287765e+00] [ 8.24724568e-03 1.57327597e-04 9.99965979e-01 9.73655115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232260614999998 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:14.99, Y:2.34, Z:0.10 [[ 9.91827335e-01 -1.27326161e-01 -8.16006567e-03 1.49876970e+01] [ 1.27320544e-01 9.91860889e-01 -1.20629233e-03 2.33756072e+00] [ 8.24724257e-03 1.57489700e-04 9.99965979e-01 9.76349058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262260615 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:15.02, Y:2.36, Z:0.10 [[ 9.92344308e-01 -1.23232247e-01 -8.16017230e-03 1.50173339e+01] [ 1.23226498e-01 9.92377840e-01 -1.20557059e-03 2.35639050e+00] [ 8.24653933e-03 1.90791655e-04 9.99965979e-01 1.00904176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292260614999996 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:15.05, Y:2.37, Z:0.10 [[ 9.92496618e-01 -1.21999212e-01 -8.16425079e-03 1.50463656e+01] [ 1.21993648e-01 9.92530182e-01 -1.17795153e-03 2.36651974e+00] [ 8.24697449e-03 1.73126165e-04 9.99965978e-01 1.00468535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322260614999998 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:15.08, Y:2.37, Z:0.10 [[ 9.92384227e-01 -1.22910355e-01 -8.16035046e-03 1.50788008e+01] [ 1.22904604e-01 9.92417759e-01 -1.20437853e-03 2.37365783e+00] [ 8.24650731e-03 1.92261612e-04 9.99965978e-01 9.68195371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352260615 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:15.11, Y:2.38, Z:0.10 [[ 9.91402683e-01 -1.30591156e-01 -8.16520750e-03 1.51088879e+01] [ 1.30585937e-01 9.91436302e-01 -1.17139957e-03 2.37810549e+00] [ 8.24825755e-03 9.50674049e-05 9.99965978e-01 9.96587716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382260614999996 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:15.14, Y:2.38, Z:0.11 [[ 9.90226523e-01 -1.39229288e-01 -8.16318760e-03 1.51404170e+01] [ 1.39224249e-01 9.90260170e-01 -1.18510757e-03 2.38335315e+00] [ 8.24868122e-03 3.70112910e-05 9.99965978e-01 1.07526789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412260614999997 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:15.17, Y:2.39, Z:0.11 [[ 9.87581483e-01 -1.56895220e-01 -8.16725507e-03 1.51691211e+01] [ 1.56891011e-01 9.87615244e-01 -1.15747117e-03 2.38857035e+00] [ 8.24770730e-03 -1.38271809e-04 9.99965978e-01 1.14180656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442260615 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:15.20, Y:2.40, Z:0.11 [[ 9.86390851e-01 -1.64214797e-01 -8.16024069e-03 1.52009342e+01] [ 1.64210445e-01 9.86424593e-01 -1.20505763e-03 2.39597359e+00] [ 8.24735039e-03 -1.51338936e-04 9.99965979e-01 1.10109432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472260614999996 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:15.23, Y:2.41, Z:0.11 [[ 9.85097213e-01 -1.71804786e-01 -8.16064341e-03 1.52289411e+01] [ 1.71800717e-01 9.85130990e-01 -1.20232418e-03 2.41374187e+00] [ 8.24586777e-03 -2.17598194e-04 9.99965979e-01 1.12012434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502260614999997 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:15.26, Y:2.43, Z:0.11 [[ 9.84890603e-01 -1.72985301e-01 -8.15997416e-03 1.52597555e+01] [ 1.72981234e-01 9.84924381e-01 -1.20686920e-03 2.42849172e+00] [ 8.24572813e-03 -2.22888266e-04 9.99965979e-01 1.10257952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532260615 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:15.29, Y:2.44, Z:0.11 [[ 9.85352381e-01 -1.70335070e-01 -8.16389054e-03 1.52893798e+01] [ 1.70331133e-01 9.85386174e-01 -1.18024330e-03 2.44363469e+00] [ 8.24562169e-03 -2.27609182e-04 9.99965978e-01 1.06495271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562260614999996 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:15.32, Y:2.47, Z:0.10 [[ 9.87585830e-01 -1.56868134e-01 -8.16186837e-03 1.53176037e+01] [ 1.56863622e-01 9.87619551e-01 -1.19398730e-03 2.46649132e+00] [ 8.24811934e-03 -1.01135297e-04 9.99965979e-01 1.01558271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592260614999997 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:15.35, Y:2.49, Z:0.10 [[ 9.90098198e-01 -1.40139055e-01 -8.16107812e-03 1.53451960e+01] [ 1.40133930e-01 9.90131831e-01 -1.19936454e-03 2.49027636e+00] [ 8.24862104e-03 4.38447180e-05 9.99965979e-01 1.01951426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622260615 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:15.37, Y:2.51, Z:0.10 [[ 9.91023220e-01 -1.33440337e-01 -8.16418174e-03 1.53738155e+01] [ 1.33435158e-01 9.91056845e-01 -1.17822385e-03 2.50570021e+00] [ 8.24839079e-03 7.82583178e-05 9.99965978e-01 1.03578448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652260614999996 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:15.40, Y:2.53, Z:0.10 [[ 9.91431446e-01 -1.30372971e-01 -8.15947161e-03 1.54030324e+01] [ 1.30367424e-01 9.91465012e-01 -1.21031064e-03 2.53291754e+00] [ 8.24762241e-03 1.36210727e-04 9.99965979e-01 1.00899017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682260614999997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:15.43, Y:2.55, Z:0.10 [[ 9.91465553e-01 -1.30113207e-01 -8.16155014e-03 1.54340399e+01] [ 1.30107768e-01 9.91499137e-01 -1.19612813e-03 2.54705048e+00] [ 8.24780199e-03 1.24038771e-04 9.99965979e-01 1.00273146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712260614999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:15.46, Y:2.56, Z:0.10 [[ 9.90856148e-01 -1.34675468e-01 -8.16168076e-03 1.54630206e+01] [ 1.34670191e-01 9.90889757e-01 -1.19523624e-03 2.56441345e+00] [ 8.24829487e-03 8.51720761e-05 9.99965979e-01 1.03155057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742260615 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:15.49, Y:2.57, Z:0.11 [[ 9.90139144e-01 -1.39849428e-01 -8.16173135e-03 1.54935142e+01] [ 1.39844330e-01 9.90172781e-01 -1.19489066e-03 2.57089147e+00] [ 8.24862900e-03 4.17361696e-05 9.99965979e-01 1.07855654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.772260614999997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:15.52, Y:2.58, Z:0.11 [[ 9.88288081e-01 -1.52381224e-01 -8.16282643e-03 1.55238713e+01] [ 1.52376614e-01 9.88321789e-01 -1.18740628e-03 2.58018692e+00] [ 8.24843764e-03 -7.03243770e-05 9.99965979e-01 1.05020403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802260614999998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.55, Y:2.59, Z:0.11 [[ 9.87425416e-01 -1.57874584e-01 -8.16471321e-03 1.55532765e+01] [ 1.57870268e-01 9.87459163e-01 -1.17450058e-03 2.58865975e+00] [ 8.24774466e-03 -1.29233744e-04 9.99965978e-01 1.10857695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832260615 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:15.58, Y:2.60, Z:0.11 [[ 9.86900588e-01 -1.61122824e-01 -8.16482469e-03 1.55833409e+01] [ 1.61118625e-01 9.86934350e-01 -1.17373781e-03 2.59992185e+00] [ 8.24726190e-03 -1.57142795e-04 9.99965978e-01 1.12547507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862260614999997 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:15.61, Y:2.62, Z:0.11 [[ 9.86134165e-01 -1.65749088e-01 -8.16384848e-03 1.56117348e+01] [ 1.65744992e-01 9.86167939e-01 -1.18041997e-03 2.62308929e+00] [ 8.24657917e-03 -1.89064546e-04 9.99965979e-01 1.13432436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892260614999998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:15.64, Y:2.64, Z:0.11 [[ 9.85573463e-01 -1.69051236e-01 -8.16268833e-03 1.56392202e+01] [ 1.69047188e-01 9.85607242e-01 -1.18836899e-03 2.64449164e+00] [ 8.24609998e-03 -2.08654576e-04 9.99965979e-01 1.12609451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922260615 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:15.67, Y:2.66, Z:0.11 [[ 9.85425245e-01 -1.69913144e-01 -8.16150512e-03 1.56695920e+01] [ 1.69909058e-01 9.85459020e-01 -1.19648364e-03 2.65714544e+00] [ 8.24612713e-03 -2.07668469e-04 9.99965979e-01 1.13723396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952260614999997 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:15.70, Y:2.67, Z:0.11 [[ 9.86153704e-01 -1.65632951e-01 -8.16076258e-03 1.56993118e+01] [ 1.65628676e-01 9.86187456e-01 -1.20158210e-03 2.67240815e+00] [ 8.24706327e-03 -1.66711670e-04 9.99965978e-01 1.08115109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982260614999998 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:15.73, Y:2.68, Z:0.10 [[ 9.86684116e-01 -1.62443294e-01 -8.16279251e-03 1.57293005e+01] [ 1.62439026e-01 9.86717869e-01 -1.18763007e-03 2.67981610e+00] [ 8.24729576e-03 -1.54140336e-04 9.99965979e-01 1.02247019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012260615 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:15.76, Y:2.69, Z:0.10 [[ 9.87890908e-01 -1.54935384e-01 -8.15964990e-03 1.57597641e+01] [ 1.54930680e-01 9.87924603e-01 -1.20927575e-03 2.69261746e+00] [ 8.24847850e-03 -6.95475923e-05 9.99965978e-01 9.84919674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042260614999996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:15.79, Y:2.70, Z:0.10 [[ 9.88139390e-01 -1.53342682e-01 -8.15886470e-03 1.57897374e+01] [ 1.53337880e-01 9.88173071e-01 -1.21469101e-03 2.70236340e+00] [ 8.24863437e-03 -5.07789796e-05 9.99965978e-01 1.04005840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072260614999998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:15.82, Y:2.71, Z:0.11 [[ 9.88590015e-01 -1.50410336e-01 -8.15555702e-03 1.58232996e+01] [ 1.50405246e-01 9.88623655e-01 -1.23746987e-03 2.70941312e+00] [ 8.24890485e-03 -3.28819952e-06 9.99965977e-01 1.05499422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102260615 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:15.85, Y:2.72, Z:0.11 [[ 9.89102389e-01 -1.47002788e-01 -8.16362689e-03 1.58531429e+01] [ 1.46998042e-01 9.89136077e-01 -1.18172126e-03 2.71875997e+00] [ 8.24865420e-03 -3.11938425e-05 9.99965979e-01 1.09779462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132260614999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:15.88, Y:2.72, Z:0.10 [[ 9.88812768e-01 -1.48938444e-01 -8.16394528e-03 1.58831054e+01] [ 1.48933781e-01 9.88846468e-01 -1.17951756e-03 2.71923251e+00] [ 8.24856397e-03 -4.95652189e-05 9.99965979e-01 1.00590917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162260614999997 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:15.92, Y:2.72, Z:0.10 [[ 9.88395630e-01 -1.51682408e-01 -8.15629670e-03 1.59151744e+01] [ 1.51677402e-01 9.88429283e-01 -1.23245161e-03 2.71896481e+00] [ 8.24886372e-03 -1.89761055e-05 9.99965977e-01 9.76521402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192260615 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:15.95, Y:2.72, Z:0.09 [[ 9.87027558e-01 -1.60343572e-01 -8.15715605e-03 1.59494859e+01] [ 1.60338911e-01 9.87061259e-01 -1.22649690e-03 2.71598023e+00] [ 8.24827362e-03 -9.73232760e-05 9.99965978e-01 9.22549151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222260614999996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:15.98, Y:2.72, Z:0.09 [[ 9.86329924e-01 -1.64580130e-01 -8.16466426e-03 1.59812975e+01] [ 1.64576045e-01 9.86363699e-01 -1.17429365e-03 2.71857091e+00] [ 8.24659384e-03 -1.85467191e-04 9.99965979e-01 8.88987901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252260614999997 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:16.01, Y:2.72, Z:0.08 [[ 9.85877257e-01 -1.67270339e-01 -8.16497579e-03 1.60111173e+01] [ 1.67266364e-01 9.85911045e-01 -1.17212356e-03 2.72163288e+00] [ 8.24600132e-03 -2.10155860e-04 9.99965979e-01 8.27835367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282260615 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:16.04, Y:2.73, Z:0.08 [[ 9.85367614e-01 -1.70247303e-01 -8.15604471e-03 1.60438088e+01] [ 1.70242915e-01 9.85401353e-01 -1.23437058e-03 2.72619358e+00] [ 8.24712576e-03 -1.72200033e-04 9.99965977e-01 8.00585005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312260614999996 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:16.07, Y:2.73, Z:0.08 [[ 9.85782535e-01 -1.67827647e-01 -8.16542513e-03 1.60744624e+01] [ 1.67823718e-01 9.85816328e-01 -1.16883984e-03 2.73491033e+00] [ 8.24577306e-03 -2.18130108e-04 9.99965979e-01 7.98684077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342260614999997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:16.10, Y:2.74, Z:0.08 [[ 9.86167222e-01 -1.65552198e-01 -8.16573124e-03 1.61029735e+01] [ 1.65548209e-01 9.86201009e-01 -1.16669735e-03 2.74196785e+00] [ 8.24620170e-03 -2.01263498e-04 9.99965979e-01 7.67190270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372260615 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:16.14, Y:2.75, Z:0.08 [[ 9.86188201e-01 -1.65427692e-01 -8.15542895e-03 1.61366231e+01] [ 1.65423102e-01 9.86221913e-01 -1.23879095e-03 2.74822636e+00] [ 8.24799307e-03 -1.27415344e-04 9.99965977e-01 7.56917643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402260614999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:16.17, Y:2.75, Z:0.07 [[ 9.86108055e-01 -1.65904242e-01 -8.16621440e-03 1.61684879e+01] [ 1.65900295e-01 9.86141845e-01 -1.16306321e-03 2.75384937e+00] [ 8.24600286e-03 -2.07871380e-04 9.99965980e-01 6.79255655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432260614999997 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:16.20, Y:2.76, Z:0.07 [[ 9.86011200e-01 -1.66478888e-01 -8.16654879e-03 1.61995003e+01] [ 1.66474981e-01 9.86044996e-01 -1.16071054e-03 2.75809090e+00] [ 8.24581836e-03 -2.15052457e-04 9.99965980e-01 6.53799402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462260614999998 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:16.23, Y:2.76, Z:0.06 [[ 9.85823201e-01 -1.67588538e-01 -8.16685575e-03 1.62313652e+01] [ 1.67584686e-01 9.85857003e-01 -1.15854671e-03 2.76477294e+00] [ 8.24551108e-03 -2.26517730e-04 9.99965980e-01 6.36898169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492260614999996 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:16.26, Y:2.77, Z:0.07 [[ 9.85808838e-01 -1.67672994e-01 -8.16718100e-03 1.62636555e+01] [ 1.67669165e-01 9.85842642e-01 -1.15624926e-03 2.76968976e+00] [ 8.24542707e-03 -2.29543680e-04 9.99965980e-01 6.65474047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522260614999997 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:16.30, Y:2.77, Z:0.07 [[ 9.85900404e-01 -1.67133734e-01 -8.16756277e-03 1.62950681e+01] [ 1.67129909e-01 9.85934208e-01 -1.15354619e-03 2.77163383e+00] [ 8.24547602e-03 -2.27762367e-04 9.99965980e-01 6.86398632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552260614999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.33, Y:2.77, Z:0.07 [[ 9.86041069e-01 -1.66301820e-01 -8.16786904e-03 1.63275221e+01] [ 1.66297984e-01 9.86074873e-01 -1.15137351e-03 2.77224395e+00] [ 8.24560593e-03 -2.22998589e-04 9.99965980e-01 6.95689786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582260615 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:16.36, Y:2.77, Z:0.07 [[ 9.85590507e-01 -1.68951569e-01 -8.16819859e-03 1.63615364e+01] [ 1.68947843e-01 9.85624323e-01 -1.14903081e-03 2.76539972e+00] [ 8.24490576e-03 -2.47525676e-04 9.99965980e-01 6.72484240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612260614999997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:16.39, Y:2.76, Z:0.07 [[ 9.85283767e-01 -1.70731301e-01 -8.16831762e-03 1.63936195e+01] [ 1.70727644e-01 9.85317590e-01 -1.14818398e-03 2.76406640e+00] [ 8.24441798e-03 -2.63270581e-04 9.99965980e-01 6.76861009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642260614999998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:16.43, Y:2.76, Z:0.07 [[ 9.84933852e-01 -1.72738480e-01 -8.16850680e-03 1.64256080e+01] [ 1.72734903e-01 9.84967684e-01 -1.14683657e-03 2.76378425e+00] [ 8.24381803e-03 -2.81428063e-04 9.99965980e-01 7.21808355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672260615 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:16.46, Y:2.77, Z:0.08 [[ 9.84918246e-01 -1.72827436e-01 -8.16857683e-03 1.64578814e+01] [ 1.72823865e-01 9.84952079e-01 -1.14633755e-03 2.76925877e+00] [ 8.24377531e-03 -2.82676254e-04 9.99965980e-01 7.65264669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702260614999997 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:16.49, Y:2.77, Z:0.08 [[ 9.84869271e-01 -1.73106298e-01 -8.16875662e-03 1.64879997e+01] [ 1.73102748e-01 9.84903106e-01 -1.14505489e-03 2.77371587e+00] [ 8.24364998e-03 -2.86304841e-04 9.99965980e-01 8.20523752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732260614999998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:16.52, Y:2.78, Z:0.08 [[ 9.84921571e-01 -1.72808478e-01 -8.16875662e-03 1.65191763e+01] [ 1.72804917e-01 9.84955405e-01 -1.14505489e-03 2.77583495e+00] [ 8.24373618e-03 -2.83812047e-04 9.99965980e-01 8.27409870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762260615 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:16.55, Y:2.78, Z:0.08 [[ 9.84667105e-01 -1.74252570e-01 -8.16906254e-03 1.65507336e+01] [ 1.74249078e-01 9.84700946e-01 -1.14286823e-03 2.77517076e+00] [ 8.24323134e-03 -2.98106865e-04 9.99965980e-01 8.06419175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792260614999996 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:16.58, Y:2.78, Z:0.08 [[ 9.84568883e-01 -1.74806696e-01 -8.16911119e-03 1.65814879e+01] [ 1.74803225e-01 9.84602726e-01 -1.14252043e-03 2.77782865e+00] [ 8.24304936e-03 -3.03096923e-04 9.99965980e-01 8.40069643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822260614999998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:16.61, Y:2.78, Z:0.08 [[ 9.84346733e-01 -1.76053313e-01 -8.16942195e-03 1.66137184e+01] [ 1.76049904e-01 9.84380582e-01 -1.14029405e-03 2.78133709e+00] [ 8.24257288e-03 -3.15781220e-04 9.99965980e-01 8.41561521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852260615 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:16.65, Y:2.79, Z:0.09 [[ 9.84265806e-01 -1.76505181e-01 -8.16975526e-03 1.66456002e+01] [ 1.76501807e-01 9.84299658e-01 -1.13790097e-03 2.78531003e+00] [ 8.24233273e-03 -3.21979546e-04 9.99965980e-01 8.55029740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882260614999996 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:16.68, Y:2.79, Z:0.09 [[ 9.84448133e-01 -1.75485391e-01 -8.17008681e-03 1.66763096e+01] [ 1.75482002e-01 9.84481984e-01 -1.13551542e-03 2.78880193e+00] [ 8.24256965e-03 -3.15847155e-04 9.99965980e-01 8.67130500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912260614999997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:16.71, Y:2.79, Z:0.08 [[ 9.84647843e-01 -1.74361318e-01 -8.17039066e-03 1.67084269e+01] [ 1.74357907e-01 9.84681693e-01 -1.13332495e-03 2.78944329e+00] [ 8.24284213e-03 -3.08646251e-04 9.99965980e-01 7.91949162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942260615 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:16.74, Y:2.79, Z:0.08 [[ 9.84801822e-01 -1.73489512e-01 -8.17069169e-03 1.67409136e+01] [ 1.73486090e-01 9.84835670e-01 -1.13115047e-03 2.79325124e+00] [ 8.24303137e-03 -3.03542309e-04 9.99965980e-01 7.69421539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972260614999996 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:16.77, Y:2.80, Z:0.08 [[ 9.84938957e-01 -1.72709253e-01 -8.17101435e-03 1.67712144e+01] [ 1.72705824e-01 9.84972804e-01 -1.12881487e-03 2.80149187e+00] [ 8.24318369e-03 -2.99368021e-04 9.99965980e-01 7.61275437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002260614999997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:16.80, Y:2.81, Z:0.07 [[ 9.85065040e-01 -1.71988651e-01 -8.17131010e-03 1.68027044e+01] [ 1.71985215e-01 9.85098887e-01 -1.12666990e-03 2.80961004e+00] [ 8.24332292e-03 -2.95501389e-04 9.99965980e-01 7.40460568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032260615 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:16.83, Y:2.82, Z:0.07 [[ 9.85302597e-01 -1.70622437e-01 -8.17163307e-03 1.68328144e+01] [ 1.70618973e-01 9.85336441e-01 -1.12432254e-03 2.82094830e+00] [ 8.24364250e-03 -2.86437725e-04 9.99965980e-01 6.98899649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062260614999996 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:16.86, Y:2.83, Z:0.07 [[ 9.85773409e-01 -1.67880941e-01 -8.17167936e-03 1.68614324e+01] [ 1.67877386e-01 9.85807243e-01 -1.12398603e-03 2.82761218e+00] [ 8.24439653e-03 -2.63844624e-04 9.99965980e-01 6.96085341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092260614999997 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:16.90, Y:2.84, Z:0.07 [[ 9.86104667e-01 -1.65924477e-01 -8.16420300e-03 1.68953376e+01] [ 1.65920404e-01 9.86138444e-01 -1.17834997e-03 2.83847573e+00] [ 8.24655154e-03 -1.92631461e-04 9.99965978e-01 6.81394269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122260615 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:16.93, Y:2.84, Z:0.07 [[ 9.86431554e-01 -1.63969526e-01 -8.17215837e-03 1.69276621e+01] [ 1.63965867e-01 9.86465377e-01 -1.12031970e-03 2.84406548e+00] [ 8.24524958e-03 -2.34836329e-04 9.99965980e-01 6.65076460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152260614999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:16.96, Y:2.85, Z:0.07 [[ 9.86485134e-01 -1.63646844e-01 -8.17252375e-03 1.69610164e+01] [ 1.63643196e-01 9.86518958e-01 -1.11764800e-03 2.84845467e+00] [ 8.24524918e-03 -2.34834768e-04 9.99965980e-01 6.67840580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182260614999997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:16.99, Y:2.85, Z:0.06 [[ 9.86944208e-01 -1.60855008e-01 -8.17288845e-03 1.69944635e+01] [ 1.60851287e-01 9.86978024e-01 -1.11497464e-03 2.85101238e+00] [ 8.24581055e-03 -2.14201860e-04 9.99965980e-01 6.44545431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212260614999998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:17.03, Y:2.85, Z:0.06 [[ 9.86932598e-01 -1.60926209e-01 -8.17325141e-03 1.70275996e+01] [ 1.60922512e-01 9.86966417e-01 -1.11230762e-03 2.85282048e+00] [ 8.24572411e-03 -2.17487495e-04 9.99965980e-01 6.31560002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242260614999996 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:17.06, Y:2.85, Z:0.06 [[ 9.86616230e-01 -1.62854557e-01 -8.17361838e-03 1.70592964e+01] [ 1.62850948e-01 9.86650058e-01 -1.10960447e-03 2.85246983e+00] [ 8.24520519e-03 -2.36327719e-04 9.99965980e-01 6.43911377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272260614999997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:17.09, Y:2.86, Z:0.06 [[ 9.86396163e-01 -1.64182209e-01 -8.17378859e-03 1.70917927e+01] [ 1.64178657e-01 9.86429998e-01 -1.10834920e-03 2.85523155e+00] [ 8.24484148e-03 -2.48690233e-04 9.99965980e-01 6.46948096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302260614999998 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:17.12, Y:2.86, Z:0.07 [[ 9.86538926e-01 -1.63322174e-01 -8.17410358e-03 1.71226554e+01] [ 1.63318611e-01 9.86572759e-01 -1.10602121e-03 2.85599915e+00] [ 8.24498571e-03 -2.43850269e-04 9.99965980e-01 6.53153076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332260614999996 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:17.16, Y:2.85, Z:0.06 [[ 9.86037350e-01 -1.66323910e-01 -8.16715528e-03 1.71582274e+01] [ 1.66320023e-01 9.86071149e-01 -1.15750848e-03 2.85126632e+00] [ 8.24591752e-03 -2.17014865e-04 9.99965978e-01 6.06759167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362260614999997 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:17.19, Y:2.85, Z:0.06 [[ 9.85609070e-01 -1.68842921e-01 -8.17491233e-03 1.71915557e+01] [ 1.68839599e-01 9.85642927e-01 -1.09985252e-03 2.84643559e+00] [ 8.24324683e-03 -2.96224299e-04 9.99965980e-01 5.64292359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392260614999998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:17.22, Y:2.85, Z:0.06 [[ 9.85179553e-01 -1.71331298e-01 -8.17523008e-03 1.72245382e+01] [ 1.71328081e-01 9.85213421e-01 -1.09748557e-03 2.84914403e+00] [ 8.24238002e-03 -3.19426133e-04 9.99965980e-01 5.54120995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422260615 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.25, Y:2.87, Z:0.05 [[ 9.83354749e-01 -1.81511975e-01 -8.17559261e-03 1.72469806e+01] [ 1.81509130e-01 9.83388650e-01 -1.09477828e-03 2.86605020e+00] [ 8.23850035e-03 -4.07389283e-04 9.99965980e-01 5.23160220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452260614999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:17.28, Y:2.87, Z:0.06 [[ 9.84007686e-01 -1.77939488e-01 -8.14943467e-03 1.72826977e+01] [ 1.77934908e-01 9.84041415e-01 -1.28954246e-03 2.87120471e+00] [ 8.24884174e-03 -1.81149217e-04 9.99965961e-01 5.86732160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482260614999998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:17.31, Y:2.89, Z:0.06 [[ 9.83218455e-01 -1.82249124e-01 -8.16861063e-03 1.73096687e+01] [ 1.82245880e-01 9.83252321e-01 -1.14598979e-03 2.88806738e+00] [ 8.24066099e-03 -3.61937322e-04 9.99965980e-01 5.94019426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512260615 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:17.34, Y:2.90, Z:0.06 [[ 9.84606781e-01 -1.74593888e-01 -8.15235747e-03 1.73405961e+01] [ 1.74589372e-01 9.84640515e-01 -1.26787570e-03 2.89885383e+00] [ 8.24850480e-03 -1.74955960e-04 9.99965965e-01 5.95823802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542260614999996 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:17.37, Y:2.90, Z:0.05 [[ 9.85743710e-01 -1.68055901e-01 -8.15801884e-03 1.73734847e+01] [ 1.68051517e-01 9.85777453e-01 -1.22480906e-03 2.89942369e+00] [ 8.24782743e-03 -1.63619621e-04 9.99965973e-01 5.28008993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.572260614999998 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:17.41, Y:2.89, Z:0.05 [[ 9.86564111e-01 -1.63170995e-01 -8.15358053e-03 1.74118915e+01] [ 1.63166165e-01 9.86597800e-01 -1.25862999e-03 2.89394482e+00] [ 8.24967652e-03 -8.86692863e-05 9.99965967e-01 5.13039952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602260615 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:17.44, Y:2.89, Z:0.05 [[ 9.86632902e-01 -1.62753315e-01 -8.17773998e-03 1.74446295e+01] [ 1.62750003e-01 9.86666754e-01 -1.07340746e-03 2.89207271e+00] [ 8.24340479e-03 -2.71868083e-04 9.99965986e-01 4.97594932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632260614999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.47, Y:2.89, Z:0.05 [[ 9.85830476e-01 -1.67545242e-01 -8.17706431e-03 1.74743912e+01] [ 1.67542051e-01 9.85864341e-01 -1.07859463e-03 2.88605044e+00] [ 8.24218951e-03 -3.06690667e-04 9.99965986e-01 4.56236779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662260614999997 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:17.50, Y:2.88, Z:0.05 [[ 9.85286843e-01 -1.70713567e-01 -8.16795761e-03 1.75045678e+01] [ 1.70709901e-01 9.85320663e-01 -1.14906596e-03 2.88185782e+00] [ 8.24421856e-03 -2.62191660e-04 9.99965981e-01 4.60090832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692260615 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:17.54, Y:2.88, Z:0.05 [[ 9.85745436e-01 -1.68045853e-01 -8.15634167e-03 1.75378900e+01] [ 1.68041351e-01 9.85779168e-01 -1.23902934e-03 2.87962870e+00] [ 8.24856545e-03 -1.49235162e-04 9.99965969e-01 4.80303167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722260614999996 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:17.58, Y:2.88, Z:0.05 [[ 9.85902082e-01 -1.67124016e-01 -8.16385783e-03 1.75754443e+01] [ 1.67119962e-01 9.85935862e-01 -1.18102486e-03 2.87987595e+00] [ 8.24641782e-03 -1.99968745e-04 9.99965978e-01 5.15720258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752260614999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.60, Y:2.89, Z:0.05 [[ 9.85745581e-01 -1.68043842e-01 -8.18028245e-03 1.76014284e+01] [ 1.68040876e-01 9.85779465e-01 -1.05348917e-03 2.88770347e+00] [ 8.24098683e-03 -3.36149535e-04 9.99965986e-01 5.15994595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782260615 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:17.63, Y:2.89, Z:0.06 [[ 9.87024380e-01 -1.60363040e-01 -8.15899343e-03 1.76342237e+01] [ 1.60358445e-01 9.87058096e-01 -1.21861408e-03 2.89076117e+00] [ 8.24882118e-03 -1.05561696e-04 9.99965972e-01 5.93497930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812260614999996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:17.67, Y:2.89, Z:0.06 [[ 9.88211695e-01 -1.52875691e-01 -8.16515597e-03 1.76679961e+01] [ 1.52871235e-01 9.88245422e-01 -1.17085674e-03 2.89244500e+00] [ 8.24817355e-03 -9.11631490e-05 9.99965979e-01 6.46074995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842260614999997 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:17.70, Y:2.90, Z:0.07 [[ 9.88349965e-01 -1.51978712e-01 -8.17424232e-03 1.77020717e+01] [ 1.51974810e-01 9.88383755e-01 -1.10004635e-03 2.89724573e+00] [ 8.24647195e-03 -1.55048151e-04 9.99965985e-01 6.54957033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872260615 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:17.73, Y:2.90, Z:0.07 [[ 9.88924796e-01 -1.48191826e-01 -8.18113598e-03 1.77316540e+01] [ 1.48188240e-01 9.88958620e-01 -1.04613572e-03 2.90207706e+00] [ 8.24583371e-03 -1.77798588e-04 9.99965987e-01 6.83211456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902260614999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:17.76, Y:2.91, Z:0.08 [[ 9.90123341e-01 -1.39960490e-01 -8.17496752e-03 1.77631417e+01] [ 1.39956224e-01 9.90157087e-01 -1.09436784e-03 2.90935711e+00] [ 8.24767029e-03 -6.05784456e-05 9.99965986e-01 7.52640440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932260614999997 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:17.80, Y:2.91, Z:0.08 [[ 9.90504573e-01 -1.37236413e-01 -8.17668821e-03 1.77973757e+01] [ 1.37232166e-01 9.90538320e-01 -1.08085890e-03 2.91421058e+00] [ 8.24765621e-03 -5.15089579e-05 9.99965986e-01 7.61540248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962260614999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:17.83, Y:2.92, Z:0.08 [[ 9.91355363e-01 -1.30948844e-01 -8.18199846e-03 1.78267028e+01] [ 1.30944728e-01 9.91389126e-01 -1.03904312e-03 2.91801088e+00] [ 8.24760580e-03 -4.13285962e-05 9.99965987e-01 7.93458199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992260614999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.86, Y:2.92, Z:0.08 [[ 9.91505709e-01 -1.29805887e-01 -8.17688680e-03 1.78603499e+01] [ 1.29801400e-01 9.91539425e-01 -1.07929919e-03 2.92355073e+00] [ 8.24780503e-03 8.75995079e-06 9.99965986e-01 8.08753365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022260614999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:2.93, Z:0.09 [[ 9.92059186e-01 -1.25505462e-01 -8.18236045e-03 1.78909289e+01] [ 1.25501186e-01 9.92092929e-01 -1.03607121e-03 2.93218795e+00] [ 8.24769453e-03 9.48023555e-07 9.99965987e-01 8.87983087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052260614999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:17.92, Y:2.94, Z:0.09 [[ 9.92350579e-01 -1.23180264e-01 -8.18240366e-03 1.79221653e+01] [ 1.23175911e-01 9.92384312e-01 -1.03572985e-03 2.93866113e+00] [ 8.24767050e-03 1.99320839e-05 9.99965987e-01 9.35567784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082260614999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:17.95, Y:2.94, Z:0.10 [[ 9.92635507e-01 -1.20862722e-01 -8.18246814e-03 1.79517052e+01] [ 1.20858295e-01 9.92669230e-01 -1.03522015e-03 2.94195957e+00] [ 8.24760388e-03 3.86771333e-05 9.99965987e-01 1.02941226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112260614999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:17.98, Y:2.94, Z:0.11 [[ 9.92697255e-01 -1.20354507e-01 -8.18246731e-03 1.79839191e+01] [ 1.20350062e-01 9.92730976e-01 -1.03522674e-03 2.94340586e+00] [ 8.24758296e-03 4.29062970e-05 9.99965987e-01 1.05493519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142260614999998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:18.02, Y:2.94, Z:0.10 [[ 9.92986116e-01 -1.17947512e-01 -8.18275966e-03 1.80176505e+01] [ 1.17943005e-01 9.93019829e-01 -1.03291069e-03 2.94024845e+00] [ 8.24747185e-03 6.05667109e-05 9.99965987e-01 1.01989796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172260614999995 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:18.05, Y:2.94, Z:0.10 [[ 9.93265032e-01 -1.15575143e-01 -8.18310376e-03 1.80498729e+01] [ 1.15570578e-01 9.93298737e-01 -1.03017735e-03 2.94208513e+00] [ 8.24732953e-03 7.75131067e-05 9.99965987e-01 1.01866016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202260614999997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:18.08, Y:2.95, Z:0.11 [[ 9.93501780e-01 -1.13521998e-01 -8.18340896e-03 1.80797423e+01] [ 1.13517383e-01 9.93535479e-01 -1.02774724e-03 2.94597285e+00] [ 8.24717906e-03 9.21095423e-05 9.99965987e-01 1.11184275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.232260614999998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:18.11, Y:2.95, Z:0.11 [[ 9.93681750e-01 -1.11936036e-01 -8.17948624e-03 1.81111958e+01] [ 1.11931110e-01 9.93715405e-01 -1.05896352e-03 2.94941095e+00] [ 8.24661766e-03 1.36733755e-04 9.99965987e-01 1.14907157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262260615 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:18.14, Y:2.95, Z:0.12 [[ 9.93976776e-01 -1.09284934e-01 -8.18360093e-03 1.81428875e+01] [ 1.09280188e-01 9.94010456e-01 -1.02614860e-03 2.95432763e+00] [ 8.24672748e-03 1.25662426e-04 9.99965987e-01 1.22235184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292260614999996 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:18.17, Y:2.96, Z:0.12 [[ 9.93995787e-01 -1.09111861e-01 -8.18389946e-03 1.81739074e+01] [ 1.09107129e-01 9.94029469e-01 -1.02376219e-03 2.95847087e+00] [ 8.24674184e-03 1.24693523e-04 9.99965987e-01 1.24633917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322260614999998 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:18.21, Y:2.96, Z:0.13 [[ 9.93898461e-01 -1.09994878e-01 -8.18394306e-03 1.82054110e+01] [ 1.09990179e-01 9.93932147e-01 -1.02341358e-03 2.96089238e+00] [ 8.24685435e-03 1.17015822e-04 9.99965987e-01 1.27372404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352260615 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:18.24, Y:2.96, Z:0.14 [[ 9.93834924e-01 -1.10567295e-01 -8.18643253e-03 1.82358799e+01] [ 1.10562779e-01 9.93868636e-01 -1.00349249e-03 2.95979568e+00] [ 8.24719198e-03 9.21911441e-05 9.99965987e-01 1.36152945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382260614999996 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:18.27, Y:2.96, Z:0.14 [[ 9.93651973e-01 -1.12199726e-01 -8.18402534e-03 1.82672123e+01] [ 1.12195108e-01 9.93685671e-01 -1.02275476e-03 2.96151218e+00] [ 8.24710151e-03 9.80546782e-05 9.99965987e-01 1.42516434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412260614999997 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:18.30, Y:2.96, Z:0.14 [[ 9.93188112e-01 -1.16234073e-01 -8.18629755e-03 1.82990629e+01] [ 1.16229741e-01 9.93221847e-01 -1.00455283e-03 2.96268283e+00] [ 8.24757284e-03 4.62186904e-05 9.99965987e-01 1.42169600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442260615 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:18.33, Y:2.97, Z:0.15 [[ 9.92895838e-01 -1.18704917e-01 -8.18523572e-03 1.83286169e+01] [ 1.18700599e-01 9.92929575e-01 -1.01306562e-03 2.96557942e+00] [ 8.24761850e-03 3.42762487e-05 9.99965987e-01 1.45266269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472260614999996 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:18.36, Y:2.97, Z:0.15 [[ 9.92302665e-01 -1.23565528e-01 -8.18427649e-03 1.83605495e+01] [ 1.23561311e-01 9.92336415e-01 -1.02075658e-03 2.96988105e+00] [ 8.24768592e-03 1.63953755e-06 9.99965987e-01 1.45667625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502260614999997 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:18.39, Y:2.98, Z:0.15 [[ 9.92233684e-01 -1.24118208e-01 -8.18456699e-03 1.83914850e+01] [ 1.24114030e-01 9.92267439e-01 -1.01842198e-03 2.97502631e+00] [ 8.24768404e-03 -5.30699755e-06 9.99965987e-01 1.49100133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532260615 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:18.42, Y:2.98, Z:0.16 [[ 9.91901539e-01 -1.26745215e-01 -8.18460869e-03 1.84219042e+01] [ 1.26741129e-01 9.91935305e-01 -1.01808677e-03 2.98278670e+00] [ 8.24763995e-03 -2.74847106e-05 9.99965987e-01 1.64620723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562260614999996 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:18.45, Y:2.99, Z:0.16 [[ 9.91540030e-01 -1.29542885e-01 -8.18595979e-03 1.84519605e+01] [ 1.29538984e-01 9.91573818e-01 -1.00722711e-03 2.98664073e+00] [ 8.24746251e-03 -6.16949142e-05 9.99965987e-01 1.63004551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592260614999997 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:18.48, Y:2.99, Z:0.16 [[ 9.89794208e-01 -1.42268870e-01 -8.18505089e-03 1.84818240e+01] [ 1.42265343e-01 9.89828037e-01 -1.01453762e-03 2.98733176e+00] [ 8.24612998e-03 -1.60265610e-04 9.99965987e-01 1.57029635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622260615 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:18.51, Y:2.99, Z:0.15 [[ 9.88655671e-01 -1.49976583e-01 -8.18463215e-03 1.85126366e+01] [ 1.49973291e-01 9.88689524e-01 -1.01790679e-03 2.99156352e+00] [ 8.24472225e-03 -2.21116906e-04 9.99965987e-01 1.53877081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652260614999996 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:18.54, Y:3.00, Z:0.15 [[ 9.87905590e-01 -1.54840187e-01 -8.18909525e-03 1.85410840e+01] [ 1.54837360e-01 9.87939486e-01 -9.81976310e-04 2.99781366e+00] [ 8.24237995e-03 -2.97878004e-04 9.99965987e-01 1.46230230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682260614999997 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:18.57, Y:3.01, Z:0.14 [[ 9.88160130e-01 -1.53207599e-01 -8.18465100e-03 1.85698266e+01] [ 1.53204420e-01 9.88193994e-01 -1.01771777e-03 3.00720027e+00] [ 8.24394506e-03 -2.48256583e-04 9.99965987e-01 1.42620154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712260614999998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:18.60, Y:3.01, Z:0.15 [[ 9.88551889e-01 -1.50659131e-01 -8.18464240e-03 1.86023338e+01] [ 1.50655864e-01 9.88585745e-01 -1.01778693e-03 3.01434535e+00] [ 8.24455970e-03 -2.26929177e-04 9.99965987e-01 1.47872701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742260614999996 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:18.63, Y:3.03, Z:0.14 [[ 9.89369870e-01 -1.45190125e-01 -8.19071869e-03 1.86322745e+01] [ 1.45187075e-01 9.89403747e-01 -9.68845133e-04 3.02605011e+00] [ 8.24459451e-03 -2.30640309e-04 9.99965986e-01 1.43521723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772260614999997 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:18.66, Y:3.03, Z:0.15 [[ 9.89742307e-01 -1.42629238e-01 -8.18934865e-03 1.86594899e+01] [ 1.42626010e-01 9.89776167e-01 -9.79890837e-04 3.03438145e+00] [ 8.24538320e-03 -1.98174702e-04 9.99965987e-01 1.50698618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802260614999998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:18.69, Y:3.04, Z:0.14 [[ 9.89862533e-01 -1.41792809e-01 -8.18318832e-03 1.86894863e+01] [ 1.41789141e-01 9.89896348e-01 -1.02952880e-03 3.04175332e+00] [ 8.24648801e-03 -1.41195257e-04 9.99965987e-01 1.43870208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832260614999996 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:18.72, Y:3.05, Z:0.14 [[ 9.89879476e-01 -1.41674508e-01 -8.18270122e-03 1.87190236e+01] [ 1.41670804e-01 9.89913287e-01 -1.03345590e-03 3.04637524e+00] [ 8.24657902e-03 -1.36253080e-04 9.99965987e-01 1.38156073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862260614999997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:18.75, Y:3.05, Z:0.14 [[ 9.90424953e-01 -1.37809570e-01 -8.18141477e-03 1.87519913e+01] [ 1.37805649e-01 9.90458739e-01 -1.04384087e-03 3.04765948e+00] [ 8.24720502e-03 -9.35991300e-05 9.99965987e-01 1.36220111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892260614999998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:18.78, Y:3.05, Z:0.14 [[ 9.90590891e-01 -1.36611432e-01 -8.18553170e-03 1.87826782e+01] [ 1.36607745e-01 9.90624703e-01 -1.01049160e-03 3.05135110e+00] [ 8.24683461e-03 -1.17223255e-04 9.99965987e-01 1.41031680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922260614999995 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:18.81, Y:3.06, Z:0.14 [[ 9.90856463e-01 -1.34671540e-01 -8.18811658e-03 1.88125273e+01] [ 1.34667960e-01 9.90890287e-01 -9.89530707e-04 3.05608344e+00] [ 8.24678681e-03 -1.22194062e-04 9.99965987e-01 1.43041447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952260614999997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:18.84, Y:3.06, Z:0.15 [[ 9.90694348e-01 -1.35859130e-01 -8.18566545e-03 1.88429140e+01] [ 1.35855426e-01 9.90728159e-01 -1.00940781e-03 3.06292187e+00] [ 8.24690653e-03 -1.12052454e-04 9.99965987e-01 1.50468869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982260614999998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:18.88, Y:3.07, Z:0.14 [[ 9.90467798e-01 -1.37501023e-01 -8.18593428e-03 1.88750745e+01] [ 1.37497393e-01 9.90501617e-01 -1.00722297e-03 3.06768789e+00] [ 8.24667533e-03 -1.27922708e-04 9.99965987e-01 1.44176084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012260614999995 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:18.90, Y:3.07, Z:0.14 [[ 9.90359500e-01 -1.38278824e-01 -8.18709364e-03 1.89045641e+01] [ 1.38275299e-01 9.90393329e-01 -9.97784156e-04 3.07165715e+00] [ 8.24641535e-03 -1.43907801e-04 9.99965987e-01 1.43247478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042260614999996 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:18.94, Y:3.08, Z:0.14 [[ 9.90405570e-01 -1.37948514e-01 -8.18622188e-03 1.89379239e+01] [ 1.37944919e-01 9.90439392e-01 -1.00488588e-03 3.07558788e+00] [ 8.24657914e-03 -1.34003149e-04 9.99965987e-01 1.43527307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072260614999998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:18.97, Y:3.08, Z:0.14 [[ 9.90209860e-01 -1.39346378e-01 -8.18655619e-03 1.89676326e+01] [ 1.39342853e-01 9.90243690e-01 -1.00215494e-03 3.07716862e+00] [ 8.24633227e-03 -1.48394390e-04 9.99965987e-01 1.37386876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102260615 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:19.00, Y:3.08, Z:0.13 [[ 9.90674358e-01 -1.36004767e-01 -8.18655619e-03 1.89988287e+01] [ 1.36001128e-01 9.90708175e-01 -1.00215494e-03 3.08059449e+00] [ 8.24678599e-03 -1.20571671e-04 9.99965987e-01 1.32687265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132260614999996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:19.03, Y:3.08, Z:0.13 [[ 9.91326621e-01 -1.31166262e-01 -8.18180440e-03 1.90321257e+01] [ 1.31162137e-01 9.91360383e-01 -1.04106056e-03 3.08499642e+00] [ 8.24766877e-03 -4.11119094e-05 9.99965987e-01 1.30577622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162260614999997 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:19.06, Y:3.09, Z:0.14 [[ 9.91853303e-01 -1.27121973e-01 -8.18713123e-03 1.90608149e+01] [ 1.27118072e-01 9.91887091e-01 -9.97332552e-04 3.09004122e+00] [ 8.24749266e-03 -5.15247476e-05 9.99965988e-01 1.35481014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192260615 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:19.09, Y:3.10, Z:0.14 [[ 9.91927606e-01 -1.26541269e-01 -8.18123607e-03 1.90927040e+01] [ 1.26536949e-01 9.91961344e-01 -1.04566762e-03 3.09864608e+00] [ 8.24779003e-03 1.99792718e-06 9.99965986e-01 1.42401354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222260614999996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:19.12, Y:3.10, Z:0.14 [[ 9.92045324e-01 -1.25614730e-01 -8.18625771e-03 1.91222202e+01] [ 1.25610719e-01 9.92079099e-01 -1.00439166e-03 3.10429205e+00] [ 8.24758156e-03 -3.18796696e-05 9.99965988e-01 1.40612109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252260614999997 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:19.15, Y:3.11, Z:0.14 [[ 9.92064839e-01 -1.25460801e-01 -8.18186001e-03 1.91513083e+01] [ 1.25456486e-01 9.92098578e-01 -1.04053413e-03 3.11071775e+00] [ 8.24775792e-03 5.80992422e-06 9.99965987e-01 1.44449491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282260615 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:19.18, Y:3.11, Z:0.14 [[ 9.92060320e-01 -1.25496626e-01 -8.18041513e-03 1.91848380e+01] [ 1.25492215e-01 9.92094046e-01 -1.05243944e-03 3.11443404e+00] [ 8.24781875e-03 1.75049997e-05 9.99965986e-01 1.39179802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312260614999996 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:19.21, Y:3.11, Z:0.14 [[ 9.92156422e-01 -1.24734407e-01 -8.18300175e-03 1.92142574e+01] [ 1.24730146e-01 9.92190167e-01 -1.03106635e-03 3.11156671e+00] [ 8.24770333e-03 2.31209344e-06 9.99965987e-01 1.41775407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342260614999997 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:19.25, Y:3.11, Z:0.15 [[ 9.92074203e-01 -1.25386886e-01 -8.17949094e-03 1.92450929e+01] [ 1.25382407e-01 9.92107922e-01 -1.06004924e-03 3.11252153e+00] [ 8.24785403e-03 2.60832432e-05 9.99965986e-01 1.47721248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372260615 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:19.28, Y:3.11, Z:0.15 [[ 9.91972040e-01 -1.26192436e-01 -8.18170160e-03 1.92773930e+01] [ 1.26188136e-01 9.92005781e-01 -1.04176609e-03 3.11268746e+00] [ 8.24775829e-03 9.69154757e-07 9.99965987e-01 1.48622484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402260614999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.30, Y:3.12, Z:0.14 [[ 9.91466833e-01 -1.30102085e-01 -8.18334066e-03 1.93033574e+01] [ 1.30098030e-01 9.91500603e-01 -1.02817650e-03 3.11841266e+00] [ 8.24755510e-03 -4.52335995e-05 9.99965987e-01 1.41596743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432260614999997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:19.34, Y:3.12, Z:0.14 [[ 9.91673339e-01 -1.28519527e-01 -8.16821304e-03 1.93401600e+01] [ 1.28514378e-01 9.91706974e-01 -1.15439557e-03 3.11688064e+00] [ 8.24883621e-03 9.50504996e-05 9.99965973e-01 1.42839586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462260614999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.37, Y:3.12, Z:0.15 [[ 9.92053067e-01 -1.25553752e-01 -8.18339834e-03 1.93704318e+01] [ 1.25549553e-01 9.92086818e-01 -1.02692486e-03 3.12097140e+00] [ 8.24757590e-03 -8.65804794e-06 9.99965988e-01 1.49649996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492260614999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:19.40, Y:3.13, Z:0.15 [[ 9.92030975e-01 -1.25728076e-01 -8.18506243e-03 1.93968345e+01] [ 1.25723999e-01 9.92064741e-01 -1.01288059e-03 3.13303284e+00] [ 8.24745937e-03 -2.42498618e-05 9.99965989e-01 1.48541438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522260614999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:19.43, Y:3.13, Z:0.15 [[ 9.92371792e-01 -1.23010020e-01 -8.17072754e-03 1.94313988e+01] [ 1.23004850e-01 9.92405421e-01 -1.13420380e-03 3.13119186e+00] [ 8.24819274e-03 1.20512746e-04 9.99965976e-01 1.50967846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552260614999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:19.46, Y:3.14, Z:0.15 [[ 9.91848073e-01 -1.27162992e-01 -8.18369818e-03 1.94601090e+01] [ 1.27158872e-01 9.91881834e-01 -1.02393966e-03 3.13613455e+00] [ 8.24746879e-03 -2.50372440e-05 9.99965989e-01 1.47966748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582260614999996 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.50, Y:3.13, Z:0.15 [[ 9.92004364e-01 -1.25938690e-01 -8.17235278e-03 1.94961127e+01] [ 1.25933732e-01 9.92038023e-01 -1.12048263e-03 3.13149616e+00] [ 8.24839681e-03 8.23487776e-05 9.99965978e-01 1.48213205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612260614999997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:19.53, Y:3.13, Z:0.17 [[ 9.91959388e-01 -1.26291639e-01 -8.18506880e-03 1.95252554e+01] [ 1.26287583e-01 9.91993156e-01 -1.01256848e-03 3.13366390e+00] [ 8.24741117e-03 -2.92457463e-05 9.99965989e-01 1.72756844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642260614999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:19.56, Y:3.14, Z:0.15 [[ 9.91845714e-01 -1.27181289e-01 -8.18531504e-03 1.95572327e+01] [ 1.27177281e-01 9.91879488e-01 -1.01047721e-03 3.13745452e+00] [ 8.24735988e-03 -3.87486216e-05 9.99965989e-01 1.53715414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672260614999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.59, Y:3.14, Z:0.16 [[ 9.91750651e-01 -1.27920500e-01 -8.18484006e-03 1.95891761e+01] [ 1.27916483e-01 9.91784424e-01 -1.01454869e-03 3.14088369e+00] [ 8.24737846e-03 -4.07966365e-05 9.99965989e-01 1.59221226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702260614999997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.62, Y:3.14, Z:0.16 [[ 9.91687802e-01 -1.28406758e-01 -8.18582719e-03 1.96203164e+01] [ 1.28402827e-01 9.91721585e-01 -1.00606929e-03 3.14424697e+00] [ 8.24724761e-03 -5.33767156e-05 9.99965989e-01 1.58616930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732260614999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.65, Y:3.15, Z:0.16 [[ 9.91681455e-01 -1.28455781e-01 -8.18557313e-03 1.96521256e+01] [ 1.28451834e-01 9.91715236e-01 -1.00825792e-03 3.14783080e+00] [ 8.24727414e-03 -5.15811984e-05 9.99965989e-01 1.57483855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762260614999995 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:19.68, Y:3.16, Z:0.16 [[ 9.91668468e-01 -1.28555938e-01 -8.18655178e-03 1.96815917e+01] [ 1.28552065e-01 9.91702257e-01 -9.99772008e-04 3.15562192e+00] [ 8.24714851e-03 -6.09557569e-05 9.99965990e-01 1.62466522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792260614999996 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:19.71, Y:3.16, Z:0.17 [[ 9.91814111e-01 -1.27427563e-01 -8.18450299e-03 1.97127632e+01] [ 1.27423504e-01 9.91847879e-01 -1.01753342e-03 3.16047631e+00] [ 8.24744373e-03 -3.36940478e-05 9.99965989e-01 1.73872816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822260614999998 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:19.74, Y:3.17, Z:0.18 [[ 9.92235124e-01 -1.24106397e-01 -8.18906817e-03 1.97433983e+01] [ 1.24102553e-01 9.92268915e-01 -9.77851970e-04 3.16771081e+00] [ 8.24711547e-03 -4.60251927e-05 9.99965991e-01 1.78437439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852260614999995 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:19.77, Y:3.17, Z:0.18 [[ 9.92551295e-01 -1.21551875e-01 -8.18957031e-03 1.97746267e+01] [ 1.21547980e-01 9.92585080e-01 -9.73479241e-04 3.17374854e+00] [ 8.24717353e-03 -2.91976474e-05 9.99965991e-01 1.83461889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882260614999996 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:19.80, Y:3.18, Z:0.19 [[ 9.93281051e-01 -1.15436830e-01 -8.19102608e-03 1.98042329e+01] [ 1.15432832e-01 9.93314823e-01 -9.60774527e-04 3.18364158e+00] [ 8.24717639e-03 8.80579572e-06 9.99965991e-01 1.91646324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912260614999997 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:19.84, Y:3.19, Z:0.20 [[ 9.93668944e-01 -1.12048945e-01 -8.18918853e-03 1.98351581e+01] [ 1.12044700e-01 9.93702687e-01 -9.76807099e-04 3.19058315e+00] [ 8.24706886e-03 5.30677071e-05 9.99965991e-01 1.95177065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942260615 meters Centerline goodness : 0.987669 Centerline is valid? [True, True] Translation: X:19.86, Y:3.20, Z:0.20 [[ 9.93868607e-01 -1.10263898e-01 -8.18935760e-03 1.98640520e+01] [ 1.10259604e-01 9.93902344e-01 -9.75327888e-04 3.19933724e+00] [ 8.24696517e-03 6.63924422e-05 9.99965991e-01 2.01832038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972260614999996 meters Centerline goodness : 0.987019 Centerline is valid? [True, True] Translation: X:19.90, Y:3.21, Z:0.21 [[ 9.93678660e-01 -1.11962775e-01 -8.18886577e-03 1.98965218e+01] [ 1.11958503e-01 9.93712400e-01 -9.79633442e-04 3.20576878e+00] [ 8.24705993e-03 5.66276925e-05 9.99965991e-01 2.05280617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 888.27 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/766 [00:00