+ python -m lidar_slam --result /working/result.json --no-model /working/3ccff880-fefc-452c-b418-efcd68683228 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/3ccff880-fefc-452c-b418-efcd68683228 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: True The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.002791605 Adjusted end_distance from 9.223372036854776e+18 to 42.492791605 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002791605 meters Centerline goodness : 0.981592 with order 1 Centerline is valid? [0, True] SLAMing on 0.062791605 meters Centerline goodness : 0.987738 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:0.01 [[ 0.99960636 0.0280558 0. 0.05927615] [-0.0280558 0.99960636 0. 0.00659542] [ 0. 0. 1. 0.01116163] [ 0. 0. 0. 1. ]] SLAMing on 0.122791605 meters Centerline goodness : 0.989470 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:0.02 [[ 0.99842223 0.05615204 0. 0.1184519 ] [-0.05615204 0.99842223 0. 0.00549675] [ 0. 0. 1. 0.02319788] [ 0. 0. 0. 1. ]] SLAMing on 0.182791605 meters Centerline goodness : 0.993856 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:0.00, Z:0.01 [[ 0.99757486 0.06960175 0. 0.17832495] [-0.06960175 0.99757486 0. 0.00435968] [ 0. 0. 1. 0.01298341] [ 0. 0. 0. 1. ]] SLAMing on 0.242791605 meters Centerline goodness : 0.997953 with order 1 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:0.01 [[ 0.9999995 0.00100178 0. 0.23871759] [-0.00100178 0.9999995 0. -0.00597781] [ 0. 0. 1. 0.00976768] [ 0. 0. 0. 1. ]] SLAMing on 0.30279160499999996 meters Centerline goodness : 0.997774 with order 1 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.02 [[ 0.9994675 0.03262996 0. 0.29815757] [-0.03262996 0.9994675 0. -0.00745532] [ 0. 0. 1. 0.0235782 ] [ 0. 0. 0. 1. ]] SLAMing on 0.36279160499999996 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.01, Z:0.00 [[ 0.99981857 -0.01904814 0. 0.35733305] [ 0.01904814 0.99981857 0. -0.01246988] [ 0. 0. 1. 0.00447676] [ 0. 0. 0. 1. ]] SLAMing on 0.42279160499999996 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.02, Z:-0.00 [[ 9.99999981e-01 1.93945951e-04 0.00000000e+00 4.17619936e-01] [-1.93945951e-04 9.99999981e-01 0.00000000e+00 -1.63114669e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72920998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48279160499999996 meters Centerline goodness : 0.995498 with order 1 Centerline is valid? [True, True] Translation: X:0.48, Y:0.00, Z:-0.01 [[ 0.99949322 0.03183237 0. 0.47733221] [-0.03183237 0.99949322 0. 0.00471156] [ 0. 0. 1. -0.01174084] [ 0. 0. 0. 1. ]] SLAMing on 0.542791605 meters Centerline goodness : 0.995416 with order 1 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.01, Z:-0.00 [[ 0.99991638 0.01293169 0. 0.53629667] [-0.01293169 0.99991638 0. -0.00853378] [ 0. 0. 1. -0.00101976] [ 0. 0. 0. 1. ]] SLAMing on 0.602791605 meters Centerline goodness : 0.993931 with order 1 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.01, Z:0.00 [[ 0.99995839 0.0091222 0. 0.59653627] [-0.0091222 0.99995839 0. -0.01325956] [ 0. 0. 1. 0.0046624 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6627916049999999 meters Centerline goodness : 0.992436 with order 1 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.01, Z:0.00 [[ 0.99998611 0.00527047 0. 0.65597486] [-0.00527047 0.99998611 0. -0.01030817] [ 0. 0. 1. 0.00194244] [ 0. 0. 0. 1. ]] SLAMing on 0.722791605 meters Centerline goodness : 0.988542 with order 1 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.01, Z:-0.00 [[ 0.99999893 -0.00146617 0. 0.7152307 ] [ 0.00146617 0.99999893 0. -0.01034803] [ 0. 0. 1. -0.00216737] [ 0. 0. 0. 1. ]] SLAMing on 0.782791605 meters Centerline goodness : 0.990174 with order 1 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.01, Z:-0.01 [[ 0.99998753 0.00499305 0. 0.77615377] [-0.00499305 0.99998753 0. -0.00636138] [ 0. 0. 1. -0.00796923] [ 0. 0. 0. 1. ]] SLAMing on 0.8427916049999999 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:0.84, Y:0.00, Z:0.00 [[ 0.9979465 0.06405295 0. 0.83537909] [-0.06405295 0.9979465 0. 0.00265171] [ 0. 0. 1. 0.00317067] [ 0. 0. 0. 1. ]] SLAMing on 0.9027916049999999 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.00, Z:0.02 [[ 0.99907435 0.04301674 0. 0.89565861] [-0.04301674 0.99907435 0. -0.00206751] [ 0. 0. 1. 0.01994887] [ 0. 0. 0. 1. ]] SLAMing on 0.9627916049999999 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.01, Z:0.02 [[ 0.99953507 0.03049011 0. 0.95510418] [-0.03049011 0.99953507 0. -0.00591544] [ 0. 0. 1. 0.02363636] [ 0. 0. 0. 1. ]] SLAMing on 1.022791605 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.01, Z:0.02 [[ 0.99981964 0.0189918 0. 1.01573174] [-0.0189918 0.99981964 0. -0.00900444] [ 0. 0. 1. 0.0179479 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0827916050000002 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.01, Z:0.02 [[ 0.99987886 0.01556506 0. 1.07611109] [-0.01556506 0.99987886 0. -0.00918062] [ 0. 0. 1. 0.01638182] [ 0. 0. 0. 1. ]] SLAMing on 1.142791605 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.01, Z:0.02 [[ 0.99990781 0.01357842 0. 1.13670452] [-0.01357842 0.99990781 0. -0.00982307] [ 0. 0. 1. 0.01521606] [ 0. 0. 0. 1. ]] SLAMing on 1.202791605 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.01, Z:0.01 [[ 0.99994641 0.01035228 0. 1.19676981] [-0.01035228 0.99994641 0. -0.01129475] [ 0. 0. 1. 0.01327357] [ 0. 0. 0. 1. ]] SLAMing on 1.262791605 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.01, Z:0.01 [[ 0.99996935 0.00782996 0. 1.25737599] [-0.00782996 0.99996935 0. -0.01272579] [ 0. 0. 1. 0.01335474] [ 0. 0. 0. 1. ]] SLAMing on 1.322791605 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.01, Z:0.02 [[ 0.99964045 0.02681381 0. 1.31772689] [-0.02681381 0.99964045 0. -0.00695685] [ 0. 0. 1. 0.01685504] [ 0. 0. 0. 1. ]] SLAMing on 1.382791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.02, Z:0.02 [[ 0.99992771 0.01202414 0. 1.37676174] [-0.01202414 0.99992771 0. -0.01672192] [ 0. 0. 1. 0.01698426] [ 0. 0. 0. 1. ]] SLAMing on 1.442791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.02, Z:0.01 [[ 0.99999301 0.00373789 0. 1.43739318] [-0.00373789 0.99999301 0. -0.02350985] [ 0. 0. 1. 0.00882567] [ 0. 0. 0. 1. ]] SLAMing on 1.502791605 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.03, Z:0.01 [[ 0.99999079 0.00429126 0. 1.49753925] [-0.00429126 0.99999079 0. -0.02829903] [ 0. 0. 1. 0.00652948] [ 0. 0. 0. 1. ]] SLAMing on 1.5627916050000001 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.02, Z:-0.00 [[ 0.99911196 0.0421343 0. 1.55754151] [-0.0421343 0.99911196 0. -0.02076582] [ 0. 0. 1. -0.00386346] [ 0. 0. 0. 1. ]] SLAMing on 1.622791605 meters Centerline goodness : 0.998168 with order 1 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.03, Z:0.00 [[ 0.99790337 0.06472146 0. 1.6158578 ] [-0.06472146 0.99790337 0. -0.02519698] [ 0. 0. 1. 0.0028203 ] [ 0. 0. 0. 1. ]] SLAMing on 1.682791605 meters Centerline goodness : 0.997684 with order 1 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.03, Z:0.00 [[ 0.99896127 0.04556734 0. 1.67598605] [-0.04556734 0.99896127 0. -0.02716278] [ 0. 0. 1. 0.00230075] [ 0. 0. 0. 1. ]] SLAMing on 1.742791605 meters Centerline goodness : 0.998420 with order 1 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.03, Z:0.02 [[ 0.99942781 0.03382376 0. 1.73553735] [-0.03382376 0.99942781 0. -0.03395769] [ 0. 0. 1. 0.0187677 ] [ 0. 0. 0. 1. ]] SLAMing on 1.802791605 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.04, Z:0.01 [[ 0.99995787 0.00917943 0. 1.79532618] [-0.00917943 0.99995787 0. -0.04092519] [ 0. 0. 1. 0.00977088] [ 0. 0. 0. 1. ]] SLAMing on 1.862791605 meters Centerline goodness : 0.992040 with order 1 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.06, Z:0.01 [[ 0.99963829 -0.02689403 0. 1.85566353] [ 0.02689403 0.99963829 0. -0.0619691 ] [ 0. 0. 1. 0.01292497] [ 0. 0. 0. 1. ]] SLAMing on 1.922791605 meters Centerline goodness : 0.990321 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.06, Z:-0.02 [[ 0.99950677 -0.03140408 0. 1.9163654 ] [ 0.03140408 0.99950677 0. -0.05582546] [ 0. 0. 1. -0.02385938] [ 0. 0. 0. 1. ]] SLAMing on 1.982791605 meters Centerline goodness : 0.997025 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.05, Z:-0.03 [[ 0.99998464 -0.00554231 0. 1.97598282] [ 0.00554231 0.99998464 0. -0.04600027] [ 0. 0. 1. -0.02599838] [ 0. 0. 0. 1. ]] SLAMing on 2.042791605 meters Centerline goodness : 0.995786 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.04, Z:-0.02 [[ 0.99924102 0.03895367 0. 2.03495966] [-0.03895367 0.99924102 0. -0.0362322 ] [ 0. 0. 1. -0.0202814 ] [ 0. 0. 0. 1. ]] SLAMing on 2.102791605 meters Centerline goodness : 0.996715 with order 1 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.05, Z:-0.00 [[ 9.99859595e-01 -1.67567826e-02 0.00000000e+00 2.09525430e+00] [ 1.67567826e-02 9.99859595e-01 0.00000000e+00 -5.15244011e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04117349e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1627916050000002 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.05, Z:0.01 [[ 0.99997705 -0.00677548 0. 2.15620359] [ 0.00677548 0.99997705 0. -0.05290027] [ 0. 0. 1. 0.01174166] [ 0. 0. 0. 1. ]] SLAMing on 2.222791605 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.05, Z:0.02 [[ 0.99998768 0.00496304 0. 2.21721675] [-0.00496304 0.99998768 0. -0.05036725] [ 0. 0. 1. 0.0179933 ] [ 0. 0. 0. 1. ]] SLAMing on 2.282791605 meters Centerline goodness : 0.997327 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.03, Z:0.00 [[ 0.99807321 0.06204731 0. 2.27647829] [-0.06204731 0.99807321 0. -0.02670649] [ 0. 0. 1. 0.00450534] [ 0. 0. 0. 1. ]] SLAMing on 2.342791605 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.05, Z:0.02 [[ 0.99993937 0.01101165 0. 2.33577574] [-0.01101165 0.99993937 0. -0.051006 ] [ 0. 0. 1. 0.0202295 ] [ 0. 0. 0. 1. ]] SLAMing on 2.402791605 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.05, Z:0.01 [[ 0.99986069 0.01669123 0. 2.39673159] [-0.01669123 0.99986069 0. -0.04967876] [ 0. 0. 1. 0.01048615] [ 0. 0. 0. 1. ]] SLAMing on 2.462791605 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.06, Z:0.01 [[ 0.99985908 -0.01678758 0. 2.45675069] [ 0.01678758 0.99985908 0. -0.06305981] [ 0. 0. 1. 0.00505868] [ 0. 0. 0. 1. ]] SLAMing on 2.522791605 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.05, Z:0.01 [[ 0.99983091 0.01838901 0. 2.51785647] [-0.01838901 0.99983091 0. -0.05046566] [ 0. 0. 1. 0.00941872] [ 0. 0. 0. 1. ]] SLAMing on 2.582791605 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.05, Z:0.01 [[ 0.99978959 0.02051279 0. 2.57833593] [-0.02051279 0.99978959 0. -0.04777857] [ 0. 0. 1. 0.01004163] [ 0. 0. 0. 1. ]] SLAMing on 2.6427916049999998 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.05, Z:0.01 [[ 0.99969587 0.0246611 0. 2.63834572] [-0.0246611 0.99969587 0. -0.04508326] [ 0. 0. 1. 0.00631314] [ 0. 0. 0. 1. ]] SLAMing on 2.702791605 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.05, Z:0.01 [[ 0.99997544 0.00700796 0. 2.69853092] [-0.00700796 0.99997544 0. -0.05122126] [ 0. 0. 1. 0.01155019] [ 0. 0. 0. 1. ]] SLAMing on 2.762791605 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.04, Z:0.00 [[ 9.99908994e-01 1.34908991e-02 0.00000000e+00 2.75889050e+00] [-1.34908991e-02 9.99908994e-01 0.00000000e+00 -3.99444246e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82543666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.822791605 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.03, Z:0.00 [[ 9.99382342e-01 3.51416398e-02 0.00000000e+00 2.81824301e+00] [-3.51416398e-02 9.99382342e-01 0.00000000e+00 -3.35575225e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01989689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.882791605 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.04, Z:0.01 [[ 9.99999353e-01 1.13711575e-03 0.00000000e+00 2.87829024e+00] [-1.13711575e-03 9.99999353e-01 0.00000000e+00 -4.03345142e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27428437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942791605 meters Centerline goodness : 0.998568 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.05, Z:-0.01 [[ 0.99918638 -0.04033085 0. 2.9387955 ] [ 0.04033085 0.99918638 0. -0.04803165] [ 0. 0. 1. -0.01114974] [ 0. 0. 0. 1. ]] SLAMing on 3.002791605 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.05, Z:-0.01 [[ 0.99879063 -0.04916572 0. 2.99911707] [ 0.04916572 0.99879063 0. -0.04577964] [ 0. 0. 1. -0.00517927] [ 0. 0. 0. 1. ]] SLAMing on 3.062791605 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.04, Z:0.00 [[ 9.99493932e-01 -3.18100627e-02 0.00000000e+00 3.06003973e+00] [ 3.18100627e-02 9.99493932e-01 0.00000000e+00 -4.11240898e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93693282e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122791605 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.04, Z:-0.00 [[ 9.99964052e-01 -8.47902628e-03 0.00000000e+00 3.12064094e+00] [ 8.47902628e-03 9.99964052e-01 0.00000000e+00 -4.01172119e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99932572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.182791605 meters Centerline goodness : 0.998420 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.04, Z:-0.01 [[ 0.99995966 0.00898238 0. 3.18045448] [-0.00898238 0.99995966 0. -0.04007158] [ 0. 0. 1. -0.00826202] [ 0. 0. 0. 1. ]] SLAMing on 3.242791605 meters Centerline goodness : 0.989481 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.05, Z:-0.02 [[ 0.9991496 -0.04123193 0. 3.24105282] [ 0.04123193 0.9991496 0. -0.04662015] [ 0. 0. 1. -0.01863129] [ 0. 0. 0. 1. ]] SLAMing on 3.302791605 meters Centerline goodness : 0.981428 with order 1 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.04, Z:-0.03 [[ 0.99821571 -0.05971094 0. 3.30187728] [ 0.05971094 0.99821571 0. -0.04387573] [ 0. 0. 1. -0.02506475] [ 0. 0. 0. 1. ]] SLAMing on 3.362791605 meters Centerline goodness : 0.986404 with order 1 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.04, Z:-0.02 [[ 0.99942297 -0.03396649 0. 3.36329367] [ 0.03396649 0.99942297 0. -0.04483965] [ 0. 0. 1. -0.01870207] [ 0. 0. 0. 1. ]] SLAMing on 3.422791605 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.04, Z:-0.00 [[ 9.99819142e-01 1.90179771e-02 0.00000000e+00 3.42341450e+00] [-1.90179771e-02 9.99819142e-01 0.00000000e+00 -3.69003360e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32446200e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482791605 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.03, Z:-0.00 [[ 9.99040210e-01 4.38024962e-02 0.00000000e+00 3.48184389e+00] [-4.38024962e-02 9.99040210e-01 0.00000000e+00 -2.93746661e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02712377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542791605 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.03, Z:0.00 [[ 9.98820915e-01 4.85466683e-02 0.00000000e+00 3.54229254e+00] [-4.85466683e-02 9.98820915e-01 0.00000000e+00 -2.66582495e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57824875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6027916049999997 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.03, Z:0.01 [[ 0.99956029 0.02965172 0. 3.60240718] [-0.02965172 0.99956029 0. -0.02968874] [ 0. 0. 1. 0.00805785] [ 0. 0. 0. 1. ]] SLAMing on 3.662791605 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.03, Z:-0.00 [[ 9.99458338e-01 3.29094271e-02 0.00000000e+00 3.66234055e+00] [-3.29094271e-02 9.99458338e-01 0.00000000e+00 -2.90716389e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58049344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.722791605 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.03, Z:0.01 [[ 0.99949059 0.03191501 0. 3.72267273] [-0.03191501 0.99949059 0. -0.02784765] [ 0. 0. 1. 0.00737973] [ 0. 0. 0. 1. ]] SLAMing on 3.782791605 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.03, Z:0.02 [[ 0.99945361 0.03305258 0. 3.78314021] [-0.03305258 0.99945361 0. -0.02733489] [ 0. 0. 1. 0.02134756] [ 0. 0. 0. 1. ]] SLAMing on 3.842791605 meters Centerline goodness : 0.998618 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.02, Z:0.01 [[ 0.99929217 0.03761852 0. 3.84360396] [-0.03761852 0.99929217 0. -0.02263805] [ 0. 0. 1. 0.00650248] [ 0. 0. 0. 1. ]] SLAMing on 3.902791605 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.02, Z:0.01 [[ 0.99916982 0.04073907 0. 3.90218284] [-0.04073907 0.99916982 0. -0.01891657] [ 0. 0. 1. 0.00515171] [ 0. 0. 0. 1. ]] SLAMing on 3.962791605 meters Centerline goodness : 0.998568 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.02, Z:0.02 [[ 0.99922323 0.03940736 0. 3.9613964 ] [-0.03940736 0.99922323 0. -0.01624794] [ 0. 0. 1. 0.02031227] [ 0. 0. 0. 1. ]] SLAMing on 4.022791604999999 meters Centerline goodness : 0.995993 with order 1 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.04, Z:-0.01 [[ 0.99956956 -0.02933775 0. 4.02039079] [ 0.02933775 0.99956956 0. -0.04038227] [ 0. 0. 1. -0.01440294] [ 0. 0. 0. 1. ]] SLAMing on 4.082791605 meters Centerline goodness : 0.998175 with order 1 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.01, Z:0.01 [[ 0.9996796 0.02531212 0. 4.08199139] [-0.02531212 0.9996796 0. -0.0121701 ] [ 0. 0. 1. 0.0070465 ] [ 0. 0. 0. 1. ]] SLAMing on 4.142791604999999 meters Centerline goodness : 0.998371 with order 1 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.01, Z:0.02 [[ 0.99971356 0.02393336 0. 4.14083693] [-0.02393336 0.99971356 0. -0.00820082] [ 0. 0. 1. 0.01636568] [ 0. 0. 0. 1. ]] SLAMing on 4.202791605 meters Centerline goodness : 0.995706 with order 1 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.02, Z:-0.00 [[ 9.99843371e-01 -1.76983822e-02 0.00000000e+00 4.20060151e+00] [ 1.76983822e-02 9.99843371e-01 0.00000000e+00 -2.37712107e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38326071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262791604999999 meters Centerline goodness : 0.992638 with order 1 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.03, Z:-0.01 [[ 0.99784094 -0.06567698 0. 4.26060853] [ 0.06567698 0.99784094 0. -0.02822663] [ 0. 0. 1. -0.00704637] [ 0. 0. 0. 1. ]] SLAMing on 4.322791605 meters Centerline goodness : 0.993387 with order 1 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.03, Z:-0.01 [[ 0.99977044 -0.02142606 0. 4.32307074] [ 0.02142606 0.99977044 0. -0.02875502] [ 0. 0. 1. -0.00714875] [ 0. 0. 0. 1. ]] SLAMing on 4.3827916049999995 meters Centerline goodness : 0.997629 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.02, Z:0.00 [[ 9.99990980e-01 -4.24735443e-03 0.00000000e+00 4.38421621e+00] [ 4.24735443e-03 9.99990980e-01 0.00000000e+00 -1.84259054e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57034400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442791604999999 meters Centerline goodness : 0.989328 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:0.01, Z:-0.02 [[ 0.99882746 0.04841173 0. 4.44383545] [-0.04841173 0.99882746 0. 0.01386837] [ 0. 0. 1. -0.01972814] [ 0. 0. 0. 1. ]] SLAMing on 4.502791605 meters Centerline goodness : 0.994016 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.02, Z:-0.00 [[ 9.99925930e-01 -1.21710549e-02 0.00000000e+00 4.50065315e+00] [ 1.21710549e-02 9.99925930e-01 0.00000000e+00 -2.14683392e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29144406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562791604999999 meters Centerline goodness : 0.997334 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.03, Z:0.00 [[ 1.00000000e+00 1.81764426e-05 0.00000000e+00 4.56188967e+00] [-1.81764426e-05 1.00000000e+00 0.00000000e+00 -2.80498380e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41390968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622791605 meters Centerline goodness : 0.997924 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.02, Z:-0.02 [[ 0.99979694 0.02015142 0. 4.62188945] [-0.02015142 0.99979694 0. -0.01634261] [ 0. 0. 1. -0.01645313] [ 0. 0. 0. 1. ]] SLAMing on 4.682791604999999 meters Centerline goodness : 0.997825 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.03, Z:0.00 [[ 9.99808726e-01 1.95579141e-02 0.00000000e+00 4.68235168e+00] [-1.95579141e-02 9.99808726e-01 0.00000000e+00 -2.73545832e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62978876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742791605 meters Centerline goodness : 0.990799 with order 1 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.04, Z:-0.00 [[ 9.99963604e-01 -8.53179656e-03 0.00000000e+00 4.74109981e+00] [ 8.53179656e-03 9.99963604e-01 0.00000000e+00 -3.56005676e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10930206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8027916049999995 meters Centerline goodness : 0.997822 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.03, Z:0.00 [[ 9.99891751e-01 1.47135025e-02 0.00000000e+00 4.80141354e+00] [-1.47135025e-02 9.99891751e-01 0.00000000e+00 -2.95579830e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47193215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862791604999999 meters Centerline goodness : 0.997219 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.03, Z:-0.00 [[ 9.99960390e-01 8.90046689e-03 0.00000000e+00 4.86048363e+00] [-8.90046689e-03 9.99960390e-01 0.00000000e+00 -2.62733216e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03990811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922791605 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.04, Z:-0.01 [[ 9.99997098e-01 -2.40908705e-03 0.00000000e+00 4.91993480e+00] [ 2.40908705e-03 9.99997098e-01 0.00000000e+00 -3.91709855e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08002532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982791604999999 meters Centerline goodness : 0.997712 with order 1 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.03, Z:0.01 [[ 0.99986022 0.01671944 0. 4.98047433] [-0.01671944 0.99986022 0. -0.03082812] [ 0. 0. 1. 0.00567859] [ 0. 0. 0. 1. ]] SLAMing on 5.042791605 meters Centerline goodness : 0.997177 with order 1 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.00, Z:0.00 [[ 9.97418795e-01 7.18035343e-02 0.00000000e+00 5.03926995e+00] [-7.18035343e-02 9.97418795e-01 0.00000000e+00 -3.90076684e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79399602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102791604999999 meters Centerline goodness : 0.987173 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:0.00, Z:-0.01 [[ 9.95026555e-01 9.96100138e-02 0.00000000e+00 5.09850645e+00] [-9.96100138e-02 9.95026555e-01 0.00000000e+00 6.44519099e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42472624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162791605 meters Centerline goodness : 0.998563 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.04, Z:0.01 [[ 0.99988905 0.01489566 0. 5.15750614] [-0.01489566 0.99988905 0. -0.03826696] [ 0. 0. 1. 0.005239 ] [ 0. 0. 0. 1. ]] SLAMing on 5.222791604999999 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.04, Z:0.01 [[ 9.99894099e-01 1.45530268e-02 0.00000000e+00 5.21734430e+00] [-1.45530268e-02 9.99894099e-01 0.00000000e+00 -4.01004205e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15225089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282791604999999 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.04, Z:0.00 [[ 9.99905795e-01 1.37259569e-02 0.00000000e+00 5.27709006e+00] [-1.37259569e-02 9.99905795e-01 0.00000000e+00 -4.19103841e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43000409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3427916049999995 meters Centerline goodness : 0.997830 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.04, Z:0.01 [[ 0.9999199 0.01265666 0. 5.33685376] [-0.01265666 0.9999199 0. -0.04273999] [ 0. 0. 1. 0.00579924] [ 0. 0. 0. 1. ]] SLAMing on 5.402791604999999 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.04, Z:0.01 [[ 0.99993328 0.01155129 0. 5.39649584] [-0.01155129 0.99993328 0. -0.0424736 ] [ 0. 0. 1. 0.00579707] [ 0. 0. 0. 1. ]] SLAMing on 5.462791605 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.04, Z:0.00 [[ 9.99937408e-01 1.11884022e-02 0.00000000e+00 5.45641553e+00] [-1.11884022e-02 9.99937408e-01 0.00000000e+00 -4.23387047e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56872848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522791604999999 meters Centerline goodness : 0.998618 with order 1 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.04, Z:0.00 [[ 9.99930108e-01 1.18227931e-02 0.00000000e+00 5.51571706e+00] [-1.18227931e-02 9.99930108e-01 0.00000000e+00 -4.26743932e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64088904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582791605 meters Centerline goodness : 0.998270 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.03, Z:-0.01 [[ 0.99991491 0.01304468 0. 5.57548118] [-0.01304468 0.99991491 0. -0.03290362] [ 0. 0. 1. -0.01143653] [ 0. 0. 0. 1. ]] SLAMing on 5.642791604999999 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.04, Z:-0.00 [[ 9.99895150e-01 1.44806727e-02 0.00000000e+00 5.63525012e+00] [-1.44806727e-02 9.99895150e-01 0.00000000e+00 -3.66359075e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49152171e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702791605 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.05, Z:-0.01 [[ 0.9995639 -0.02952969 0. 5.69397378] [ 0.02952969 0.9995639 0. -0.0488015 ] [ 0. 0. 1. -0.00777868] [ 0. 0. 0. 1. ]] SLAMing on 5.762791604999999 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.03, Z:0.00 [[ 9.99602950e-01 2.81769787e-02 0.00000000e+00 5.75396971e+00] [-2.81769787e-02 9.99602950e-01 0.00000000e+00 -2.70339889e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23485462e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822791604999999 meters Centerline goodness : 0.992208 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.02, Z:-0.01 [[ 0.99815982 0.06063803 0. 5.811824 ] [-0.06063803 0.99815982 0. -0.01593522] [ 0. 0. 1. -0.00719886] [ 0. 0. 0. 1. ]] SLAMing on 5.8827916049999995 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.03, Z:-0.01 [[ 9.99993186e-01 3.69148922e-03 0.00000000e+00 5.87007106e+00] [-3.69148922e-03 9.99993186e-01 0.00000000e+00 -2.55616368e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89234005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942791604999999 meters Centerline goodness : 0.998077 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.03, Z:-0.00 [[ 9.99951561e-01 -9.84253168e-03 0.00000000e+00 5.93010245e+00] [ 9.84253168e-03 9.99951561e-01 0.00000000e+00 -2.87769357e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76795933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002791605 meters Centerline goodness : 0.998521 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.03, Z:-0.00 [[ 9.99968189e-01 -7.97631613e-03 0.00000000e+00 5.99016889e+00] [ 7.97631613e-03 9.99968189e-01 0.00000000e+00 -2.88622108e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56702325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062791604999999 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.03, Z:-0.00 [[ 9.99957858e-01 9.18053907e-03 0.00000000e+00 6.04952930e+00] [-9.18053907e-03 9.99957858e-01 0.00000000e+00 -2.69317367e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28008944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122791605 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.03, Z:0.02 [[ 0.9999703 0.0077073 0. 6.11000314] [-0.0077073 0.9999703 0. -0.0256007 ] [ 0. 0. 1. 0.01945321] [ 0. 0. 0. 1. ]] SLAMing on 6.182791604999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.03, Z:0.02 [[ 0.99988989 0.01483941 0. 6.16949084] [-0.01483941 0.99988989 0. -0.02579708] [ 0. 0. 1. 0.01615901] [ 0. 0. 0. 1. ]] SLAMing on 6.242791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.03, Z:0.01 [[ 0.99984661 0.01751457 0. 6.22946899] [-0.01751457 0.99984661 0. -0.0266359 ] [ 0. 0. 1. 0.01349264] [ 0. 0. 0. 1. ]] SLAMing on 6.3027916049999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.03, Z:0.01 [[ 0.99988152 0.01539275 0. 6.28904004] [-0.01539275 0.99988152 0. -0.02927334] [ 0. 0. 1. 0.01145696] [ 0. 0. 0. 1. ]] SLAMing on 6.362791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.03, Z:0.01 [[ 0.99985811 0.01684544 0. 6.34861827] [-0.01684544 0.99985811 0. -0.03160947] [ 0. 0. 1. 0.00910732] [ 0. 0. 0. 1. ]] SLAMing on 6.422791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.03, Z:0.02 [[ 0.99982295 0.0188169 0. 6.40926452] [-0.0188169 0.99982295 0. -0.02911095] [ 0. 0. 1. 0.02150453] [ 0. 0. 0. 1. ]] SLAMing on 6.482791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.03, Z:0.01 [[ 0.99979783 0.02010724 0. 6.46929343] [-0.02010724 0.99979783 0. -0.02998439] [ 0. 0. 1. 0.00794221] [ 0. 0. 0. 1. ]] SLAMing on 6.542791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.03, Z:0.01 [[ 0.99975348 0.02220308 0. 6.52760004] [-0.02220308 0.99975348 0. -0.03036217] [ 0. 0. 1. 0.00873808] [ 0. 0. 0. 1. ]] SLAMing on 6.602791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.03, Z:0.01 [[ 0.99967635 0.02543986 0. 6.58633224] [-0.02543986 0.99967635 0. -0.02749476] [ 0. 0. 1. 0.00869214] [ 0. 0. 0. 1. ]] SLAMing on 6.662791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.02, Z:0.01 [[ 0.99954728 0.03008713 0. 6.6447763 ] [-0.03008713 0.99954728 0. -0.02301012] [ 0. 0. 1. 0.00806065] [ 0. 0. 0. 1. ]] SLAMing on 6.722791604999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.02, Z:0.01 [[ 0.99950352 0.03150731 0. 6.70300412] [-0.03150731 0.99950352 0. -0.02215043] [ 0. 0. 1. 0.0089232 ] [ 0. 0. 0. 1. ]] SLAMing on 6.782791604999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.02, Z:0.01 [[ 0.99949942 0.03163711 0. 6.76177533] [-0.03163711 0.99949942 0. -0.01517896] [ 0. 0. 1. 0.01024483] [ 0. 0. 0. 1. ]] SLAMing on 6.8427916049999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.01, Z:0.01 [[ 0.99962307 0.02745392 0. 6.82091194] [-0.02745392 0.99962307 0. -0.0095659 ] [ 0. 0. 1. 0.00995885] [ 0. 0. 0. 1. ]] SLAMing on 6.902791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.01, Z:0.01 [[ 0.99976649 0.02160946 0. 6.87923879] [-0.02160946 0.99976649 0. -0.0072264 ] [ 0. 0. 1. 0.00944971] [ 0. 0. 0. 1. ]] SLAMing on 6.962791605 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:6.94, Y:0.01, Z:-0.01 [[ 0.99620439 0.08704495 0. 6.93723489] [-0.08704495 0.99620439 0. 0.01288307] [ 0. 0. 1. -0.01242011] [ 0. 0. 0. 1. ]] SLAMing on 7.022791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.00, Z:0.01 [[ 9.99956020e-01 9.37862007e-03 0.00000000e+00 6.99592336e+00] [-9.37862007e-03 9.99956020e-01 0.00000000e+00 -3.06055667e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20300461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082791605 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.01, Z:0.01 [[ 9.99980655e-01 -6.22011023e-03 0.00000000e+00 7.05513761e+00] [ 6.22011023e-03 9.99980655e-01 0.00000000e+00 -1.37907934e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41179229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142791604999999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.00, Z:0.00 [[ 9.99626617e-01 2.73244644e-02 0.00000000e+00 7.11520497e+00] [-2.73244644e-02 9.99626617e-01 0.00000000e+00 -4.40326099e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35956116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202791604999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.00, Z:0.01 [[ 9.99915866e-01 1.29715209e-02 0.00000000e+00 7.17345103e+00] [-1.29715209e-02 9.99915866e-01 0.00000000e+00 -4.41627816e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15366444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262791604999999 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.01, Z:-0.00 [[ 9.99555338e-01 2.98182168e-02 0.00000000e+00 7.23268798e+00] [-2.98182168e-02 9.99555338e-01 0.00000000e+00 -6.24703586e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18416555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322791604999999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.01, Z:0.01 [[ 9.99653477e-01 2.63234928e-02 0.00000000e+00 7.29163555e+00] [-2.63234928e-02 9.99653477e-01 0.00000000e+00 -6.40889954e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56908880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3827916049999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.00, Z:0.02 [[ 9.99705098e-01 2.42841019e-02 0.00000000e+00 7.34953464e+00] [-2.42841019e-02 9.99705098e-01 0.00000000e+00 -4.60875154e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56874068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442791604999999 meters Centerline goodness : 0.996345 with order 1 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.00, Z:0.00 [[ 9.98983333e-01 4.50810534e-02 0.00000000e+00 7.40721568e+00] [-4.50810534e-02 9.98983333e-01 0.00000000e+00 -3.09652805e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69464441e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.01, Z:0.00 [[ 9.99944432e-01 1.05419722e-02 0.00000000e+00 7.46625398e+00] [-1.05419722e-02 9.99944432e-01 0.00000000e+00 -1.16124372e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66760826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562791604999999 meters Centerline goodness : 0.998418 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.01, Z:-0.00 [[ 9.99568417e-01 2.93765321e-02 0.00000000e+00 7.52448194e+00] [-2.93765321e-02 9.99568417e-01 0.00000000e+00 -6.43101900e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84555769e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.01, Z:0.01 [[ 9.99982624e-01 -5.89510620e-03 0.00000000e+00 7.58341761e+00] [ 5.89510620e-03 9.99982624e-01 0.00000000e+00 -1.39777141e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12830698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.01, Z:0.02 [[ 9.99997289e-01 -2.32855164e-03 0.00000000e+00 7.64493333e+00] [ 2.32855164e-03 9.99997289e-01 0.00000000e+00 -1.34852837e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92549096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742791604999999 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.01, Z:0.01 [[ 9.99999995e-01 9.76939407e-05 0.00000000e+00 7.70615896e+00] [-9.76939407e-05 9.99999995e-01 0.00000000e+00 -1.27013367e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91541142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8027916049999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.01, Z:0.01 [[ 9.99999878e-01 4.94119413e-04 0.00000000e+00 7.76684431e+00] [-4.94119413e-04 9.99999878e-01 0.00000000e+00 -1.29053888e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53522465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.01, Z:0.01 [[ 9.99999996e-01 -9.12414587e-05 0.00000000e+00 7.82759559e+00] [ 9.12414587e-05 9.99999996e-01 0.00000000e+00 -1.29164431e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62427680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.01, Z:0.02 [[ 9.99998897e-01 -1.48515752e-03 0.00000000e+00 7.88818775e+00] [ 1.48515752e-03 9.99998897e-01 0.00000000e+00 -1.37514898e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98434738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982791604999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.02, Z:0.02 [[ 9.99994229e-01 -3.39727581e-03 0.00000000e+00 7.94897011e+00] [ 3.39727581e-03 9.99994229e-01 0.00000000e+00 -1.60461078e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91994953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.02, Z:0.01 [[ 9.99988798e-01 -4.73334114e-03 0.00000000e+00 8.00978547e+00] [ 4.73334114e-03 9.99988798e-01 0.00000000e+00 -1.57108765e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94105102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.02, Z:0.01 [[ 9.99976937e-01 -6.79162778e-03 0.00000000e+00 8.07118552e+00] [ 6.79162778e-03 9.99976937e-01 0.00000000e+00 -1.79257347e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90025840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.02, Z:0.02 [[ 0.99996613 -0.00823001 0. 8.13256366] [ 0.00823001 0.99996613 0. -0.01979357] [ 0. 0. 1. 0.01592628] [ 0. 0. 0. 1. ]] SLAMing on 8.222791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.02, Z:0.01 [[ 9.99989952e-01 -4.48280759e-03 0.00000000e+00 8.19327689e+00] [ 4.48280759e-03 9.99989952e-01 0.00000000e+00 -1.99416387e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49417003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.02, Z:0.01 [[ 9.99980888e-01 -6.18246759e-03 0.00000000e+00 8.25410905e+00] [ 6.18246759e-03 9.99980888e-01 0.00000000e+00 -1.98406726e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00023709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342791605 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.03, Z:-0.00 [[ 9.98897634e-01 -4.69416392e-02 0.00000000e+00 8.31535346e+00] [ 4.69416392e-02 9.98897634e-01 0.00000000e+00 -3.32906958e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40196491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.02, Z:0.01 [[ 9.99983181e-01 -5.79985378e-03 0.00000000e+00 8.37806140e+00] [ 5.79985378e-03 9.99983181e-01 0.00000000e+00 -2.15594697e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82166386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.03, Z:0.00 [[ 9.99863662e-01 -1.65123541e-02 0.00000000e+00 8.43900451e+00] [ 1.65123541e-02 9.99863662e-01 0.00000000e+00 -2.59226316e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44400914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522791605 meters Centerline goodness : 0.996005 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.01, Z:-0.00 [[ 9.99158860e-01 4.10069789e-02 0.00000000e+00 8.49896651e+00] [-4.10069789e-02 9.99158860e-01 0.00000000e+00 -1.15218532e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72762242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582791605 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.03, Z:-0.00 [[ 9.99279620e-01 -3.79504985e-02 0.00000000e+00 8.55703898e+00] [ 3.79504985e-02 9.99279620e-01 0.00000000e+00 -2.76570712e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35963690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642791605000001 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.03, Z:0.00 [[ 9.99999926e-01 -3.84126510e-04 0.00000000e+00 8.61709933e+00] [ 3.84126510e-04 9.99999926e-01 0.00000000e+00 -2.91962356e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51973626e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702791605 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.03, Z:-0.01 [[ 9.99481243e-01 -3.22063011e-02 0.00000000e+00 8.67748404e+00] [ 3.22063011e-02 9.99481243e-01 0.00000000e+00 -3.21440670e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82320092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762791605 meters Centerline goodness : 0.993137 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.04, Z:-0.02 [[ 0.99732934 -0.0730355 0. 8.73775917] [ 0.0730355 0.99732934 0. -0.04420563] [ 0. 0. 1. -0.01928247] [ 0. 0. 0. 1. ]] SLAMing on 8.822791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.04, Z:0.02 [[ 0.99978159 -0.02089933 0. 8.79903727] [ 0.02089933 0.99978159 0. -0.04106598] [ 0. 0. 1. 0.0178992 ] [ 0. 0. 0. 1. ]] SLAMing on 8.882791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.04, Z:0.02 [[ 0.99988842 -0.01493828 0. 8.8609439 ] [ 0.01493828 0.99988842 0. -0.04333979] [ 0. 0. 1. 0.01861386] [ 0. 0. 0. 1. ]] SLAMing on 8.942791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.05, Z:0.02 [[ 9.99966373e-01 -8.20072971e-03 0.00000000e+00 8.92336314e+00] [ 8.20072971e-03 9.99966373e-01 0.00000000e+00 -5.06631719e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56548986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.06, Z:0.01 [[ 9.99980244e-01 -6.28587859e-03 0.00000000e+00 8.98417725e+00] [ 6.28587859e-03 9.99980244e-01 0.00000000e+00 -5.63927380e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23197305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062791605000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.06, Z:0.01 [[ 9.99998724e-01 -1.59772280e-03 0.00000000e+00 9.04575518e+00] [ 1.59772280e-03 9.99998724e-01 0.00000000e+00 -6.06762423e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05168278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.07, Z:0.01 [[ 9.99999512e-01 9.87425926e-04 0.00000000e+00 9.10627450e+00] [-9.87425926e-04 9.99999512e-01 0.00000000e+00 -6.58962724e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88898685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.07, Z:0.02 [[ 9.99994451e-01 3.33124357e-03 0.00000000e+00 9.16691557e+00] [-3.33124357e-03 9.99994451e-01 0.00000000e+00 -6.85254972e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33478641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.07, Z:0.01 [[ 9.99993287e-01 3.66412252e-03 0.00000000e+00 9.22725170e+00] [-3.66412252e-03 9.99993287e-01 0.00000000e+00 -7.25784475e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34416116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.08, Z:0.01 [[ 9.99996752e-01 2.54856632e-03 0.00000000e+00 9.28814475e+00] [-2.54856632e-03 9.99996752e-01 0.00000000e+00 -7.60752527e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96850930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.08, Z:0.01 [[ 9.99999658e-01 8.26867078e-04 0.00000000e+00 9.34851536e+00] [-8.26867078e-04 9.99999658e-01 0.00000000e+00 -8.26652469e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16766366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.09, Z:0.01 [[ 9.99999848e-01 5.50543919e-04 0.00000000e+00 9.40925910e+00] [-5.50543919e-04 9.99999848e-01 0.00000000e+00 -8.63734697e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73284163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482791605000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.10, Z:0.02 [[ 0.99993068 -0.01177397 0. 9.46946171] [ 0.01177397 0.99993068 0. -0.09698573] [ 0. 0. 1. 0.02105555] [ 0. 0. 0. 1. ]] SLAMing on 9.542791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.09, Z:0.02 [[ 9.99987578e-01 4.98439380e-03 0.00000000e+00 9.53126180e+00] [-4.98439380e-03 9.99987578e-01 0.00000000e+00 -9.31259672e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91697287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.09, Z:0.02 [[ 0.9999484 0.01015866 0. 9.59182298] [-0.01015866 0.9999484 0. -0.0942728 ] [ 0. 0. 1. 0.01692248] [ 0. 0. 0. 1. ]] SLAMing on 9.662791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.10, Z:0.01 [[ 9.99917653e-01 1.28330825e-02 0.00000000e+00 9.65155318e+00] [-1.28330825e-02 9.99917653e-01 0.00000000e+00 -9.62785997e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04958993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.10, Z:0.02 [[ 0.9998665 0.01633974 0. 9.71146221] [-0.01633974 0.9998665 0. -0.09703208] [ 0. 0. 1. 0.0151147 ] [ 0. 0. 0. 1. ]] SLAMing on 9.782791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.10, Z:0.01 [[ 0.99975824 0.0219877 0. 9.77129414] [-0.0219877 0.99975824 0. -0.09698563] [ 0. 0. 1. 0.01110939] [ 0. 0. 0. 1. ]] SLAMing on 9.842791605 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.10, Z:0.01 [[ 9.99959323e-01 9.01959302e-03 0.00000000e+00 9.83016505e+00] [-9.01959302e-03 9.99959323e-01 0.00000000e+00 -1.01301699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11963008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902791605 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.09, Z:0.01 [[ 0.99920091 0.03996938 0. 9.88945514] [-0.03996938 0.99920091 0. -0.09499037] [ 0. 0. 1. 0.01438136] [ 0. 0. 0. 1. ]] SLAMing on 9.962791605 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.10, Z:0.01 [[ 9.99720150e-01 2.36563069e-02 0.00000000e+00 9.94769777e+00] [-2.36563069e-02 9.99720150e-01 0.00000000e+00 -9.89562364e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30830614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022791605 meters Centerline goodness : 0.998666 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.09, Z:0.01 [[ 0.99902719 0.04409845 0. 10.00672444] [-0.04409845 0.99902719 0. -0.09225646] [ 0. 0. 1. 0.01144857] [ 0. 0. 0. 1. ]] SLAMing on 10.082791605 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.09, Z:0.01 [[ 0.99935616 0.03587862 0. 10.06590603] [-0.03587862 0.99935616 0. -0.09169088] [ 0. 0. 1. 0.01413994] [ 0. 0. 0. 1. ]] SLAMing on 10.142791605 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.08, Z:0.01 [[ 9.98558746e-01 5.36696508e-02 0.00000000e+00 1.01239515e+01] [-5.36696508e-02 9.98558746e-01 0.00000000e+00 -8.08516020e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32886458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.08, Z:0.01 [[ 9.99051421e-01 4.35460444e-02 0.00000000e+00 1.01823513e+01] [-4.35460444e-02 9.99051421e-01 0.00000000e+00 -7.74338238e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42507930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262791605 meters Centerline goodness : 0.970629 with order 1 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.11, Z:-0.01 [[ 0.99914866 -0.04125473 0. 10.24207868] [ 0.04125473 0.99914866 0. -0.10726479] [ 0. 0. 1. -0.01256344] [ 0. 0. 0. 1. ]] SLAMing on 10.322791605 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.08, Z:0.02 [[ 0.99975609 0.02208529 0. 10.30287912] [-0.02208529 0.99975609 0. -0.07636382] [ 0. 0. 1. 0.01590753] [ 0. 0. 0. 1. ]] SLAMing on 10.382791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.07, Z:0.01 [[ 0.99967692 0.02541763 0. 10.36220761] [-0.02541763 0.99967692 0. -0.07363368] [ 0. 0. 1. 0.0148647 ] [ 0. 0. 0. 1. ]] SLAMing on 10.442791605 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.07, Z:0.01 [[ 0.99976783 0.02154736 0. 10.42254663] [-0.02154736 0.99976783 0. -0.06922616] [ 0. 0. 1. 0.01275185] [ 0. 0. 0. 1. ]] SLAMing on 10.502791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.07, Z:0.01 [[ 0.99990675 0.01365606 0. 10.48151877] [-0.01365606 0.99990675 0. -0.07009211] [ 0. 0. 1. 0.01291526] [ 0. 0. 0. 1. ]] SLAMing on 10.562791605 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.07, Z:0.02 [[ 9.99961676e-01 8.75479218e-03 0.00000000e+00 1.05415328e+01] [-8.75479218e-03 9.99961676e-01 0.00000000e+00 -7.07564291e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27347258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622791605 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.07, Z:0.02 [[ 9.99975177e-01 7.04593506e-03 0.00000000e+00 1.06011158e+01] [-7.04593506e-03 9.99975177e-01 0.00000000e+00 -7.19157578e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06073059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682791605 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.08, Z:0.01 [[ 9.99999367e-01 1.12544392e-03 0.00000000e+00 1.06615144e+01] [-1.12544392e-03 9.99999367e-01 0.00000000e+00 -7.64306672e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84830075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742791605 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.08, Z:0.01 [[ 9.99999153e-01 -1.30179918e-03 0.00000000e+00 1.07217756e+01] [ 1.30179918e-03 9.99999153e-01 0.00000000e+00 -7.68744433e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82405032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802791605 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.08, Z:0.01 [[ 9.99998337e-01 -1.82380597e-03 0.00000000e+00 1.07820598e+01] [ 1.82380597e-03 9.99998337e-01 0.00000000e+00 -7.94952039e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42445054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862791605 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.09, Z:0.01 [[ 9.99982075e-01 -5.98739691e-03 0.00000000e+00 1.08425475e+01] [ 5.98739691e-03 9.99982075e-01 0.00000000e+00 -8.51422481e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95433416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.09, Z:0.00 [[ 9.99956836e-01 -9.29113803e-03 0.00000000e+00 1.09038552e+01] [ 9.29113803e-03 9.99956836e-01 0.00000000e+00 -8.85115279e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83945638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982791605000001 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.09, Z:0.01 [[ 9.99962998e-01 -8.60242221e-03 0.00000000e+00 1.09654511e+01] [ 8.60242221e-03 9.99962998e-01 0.00000000e+00 -9.41400442e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47173494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042791605 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.08, Z:0.00 [[ 9.99553367e-01 2.98842337e-02 0.00000000e+00 1.10258271e+01] [-2.98842337e-02 9.99553367e-01 0.00000000e+00 -7.76571210e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62530453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102791605 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.10, Z:0.01 [[ 9.99959720e-01 -8.97538832e-03 0.00000000e+00 1.10844613e+01] [ 8.97538832e-03 9.99959720e-01 0.00000000e+00 -9.78196025e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21619849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162791605 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.10, Z:0.00 [[ 9.99942555e-01 -1.07185460e-02 0.00000000e+00 1.11454549e+01] [ 1.07185460e-02 9.99942555e-01 0.00000000e+00 -1.00503688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92024507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222791605 meters Centerline goodness : 0.990863 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.09, Z:-0.01 [[ 9.98878264e-01 4.73520188e-02 0.00000000e+00 1.12050516e+01] [-4.73520188e-02 9.98878264e-01 0.00000000e+00 -8.93111656e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04624585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282791605 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.11, Z:0.00 [[ 9.99632388e-01 -2.71125283e-02 0.00000000e+00 1.12629730e+01] [ 2.71125283e-02 9.99632388e-01 0.00000000e+00 -1.05205985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67723727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342791605 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.11, Z:-0.01 [[ 9.99859159e-01 -1.67827796e-02 0.00000000e+00 1.13247132e+01] [ 1.67827796e-02 9.99859159e-01 0.00000000e+00 -1.07554168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16202770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402791605 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.11, Z:-0.01 [[ 9.99999989e-01 1.48365782e-04 0.00000000e+00 1.13845747e+01] [-1.48365782e-04 9.99999989e-01 0.00000000e+00 -1.14635781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04204128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462791605 meters Centerline goodness : 0.994337 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.11, Z:-0.01 [[ 9.99635019e-01 2.70153261e-02 0.00000000e+00 1.14453064e+01] [-2.70153261e-02 9.99635019e-01 0.00000000e+00 -1.05804314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76164328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522791605 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.12, Z:0.00 [[ 9.99990801e-01 -4.28935332e-03 0.00000000e+00 1.15045468e+01] [ 4.28935332e-03 9.99990801e-01 0.00000000e+00 -1.16693152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76091359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582791605 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.12, Z:-0.01 [[ 9.99983074e-01 5.81825635e-03 0.00000000e+00 1.15642036e+01] [-5.81825635e-03 9.99983074e-01 0.00000000e+00 -1.15370035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96856859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.11, Z:-0.01 [[ 9.99688492e-01 2.49583277e-02 0.00000000e+00 1.16232079e+01] [-2.49583277e-02 9.99688492e-01 0.00000000e+00 -1.11228262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46128860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.11, Z:0.00 [[ 9.99534379e-01 3.05127054e-02 0.00000000e+00 1.16819042e+01] [-3.05127054e-02 9.99534379e-01 0.00000000e+00 -1.06066787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89660769e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.10, Z:0.00 [[ 9.99477562e-01 3.23203287e-02 0.00000000e+00 1.17410190e+01] [-3.23203287e-02 9.99477562e-01 0.00000000e+00 -1.03491766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18299001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822791605 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.10, Z:-0.00 [[ 9.99539980e-01 3.03286649e-02 0.00000000e+00 1.18003882e+01] [-3.03286649e-02 9.99539980e-01 0.00000000e+00 -1.01913017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52618609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882791605 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.10, Z:-0.00 [[ 9.99652314e-01 2.63676293e-02 0.00000000e+00 1.18595518e+01] [-2.63676293e-02 9.99652314e-01 0.00000000e+00 -1.00185539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48331719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.10, Z:-0.00 [[ 9.99788873e-01 2.05477186e-02 0.00000000e+00 1.19179159e+01] [-2.05477186e-02 9.99788873e-01 0.00000000e+00 -9.87346118e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75676916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002791605 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.10, Z:0.01 [[ 0.99989172 0.01471582 0. 11.97787844] [-0.01471582 0.99989172 0. -0.09667244] [ 0. 0. 1. 0.01234226] [ 0. 0. 0. 1. ]] SLAMing on 12.062791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.10, Z:0.01 [[ 9.99943770e-01 1.06045239e-02 0.00000000e+00 1.20379328e+01] [-1.06045239e-02 9.99943770e-01 0.00000000e+00 -9.56353111e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00738757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122791605 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.10, Z:-0.01 [[ 9.99974698e-01 7.11358157e-03 0.00000000e+00 1.20979374e+01] [-7.11358157e-03 9.99974698e-01 0.00000000e+00 -9.68313293e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08974782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.10, Z:0.01 [[ 9.99999387e-01 1.10753104e-03 0.00000000e+00 1.21587919e+01] [-1.10753104e-03 9.99999387e-01 0.00000000e+00 -9.68075226e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74053804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.10, Z:0.01 [[ 9.99988469e-01 -4.80235790e-03 0.00000000e+00 1.22193338e+01] [ 4.80235790e-03 9.99988469e-01 0.00000000e+00 -9.92830505e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07334674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302791605 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.10, Z:-0.01 [[ 9.99977383e-01 -6.72557756e-03 0.00000000e+00 1.22802415e+01] [ 6.72557756e-03 9.99977383e-01 0.00000000e+00 -1.01877325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05086958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362791605 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.10, Z:0.01 [[ 9.99958556e-01 -9.10414698e-03 0.00000000e+00 1.23408569e+01] [ 9.10414698e-03 9.99958556e-01 0.00000000e+00 -1.03967096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02353891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.11, Z:-0.01 [[ 9.99996206e-01 -2.75453233e-03 0.00000000e+00 1.24017139e+01] [ 2.75453233e-03 9.99996206e-01 0.00000000e+00 -1.07500397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12675715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482791605000001 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.10, Z:-0.01 [[ 9.99944832e-01 1.05039571e-02 0.00000000e+00 1.24624363e+01] [-1.05039571e-02 9.99944832e-01 0.00000000e+00 -1.04884742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25884144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.11, Z:-0.01 [[ 9.99967955e-01 8.00561255e-03 0.00000000e+00 1.25217826e+01] [-8.00561255e-03 9.99967955e-01 0.00000000e+00 -1.08977419e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00491387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602791605 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.10, Z:-0.00 [[ 9.99754900e-01 2.21390920e-02 0.00000000e+00 1.25813875e+01] [-2.21390920e-02 9.99754900e-01 0.00000000e+00 -1.02477203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26850547e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662791605 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.10, Z:-0.00 [[ 9.99985553e-01 5.37526718e-03 0.00000000e+00 1.26404128e+01] [-5.37526718e-03 9.99985553e-01 0.00000000e+00 -1.02777192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67329724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722791605 meters Centerline goodness : 0.998216 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.10, Z:-0.01 [[ 9.99999935e-01 -3.60145234e-04 0.00000000e+00 1.26997708e+01] [ 3.60145234e-04 9.99999935e-01 0.00000000e+00 -9.54753995e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97529115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782791605 meters Centerline goodness : 0.992970 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.09, Z:-0.02 [[ 0.99799544 0.06328585 0. 12.75849884] [-0.06328585 0.99799544 0. -0.08875774] [ 0. 0. 1. -0.01609905] [ 0. 0. 0. 1. ]] SLAMing on 12.842791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.09, Z:0.00 [[ 9.99878840e-01 1.55661779e-02 0.00000000e+00 1.28177986e+01] [-1.55661779e-02 9.99878840e-01 0.00000000e+00 -9.10856572e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80005039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902791605 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.09, Z:0.00 [[ 9.99967318e-01 8.08474853e-03 0.00000000e+00 1.28771251e+01] [-8.08474853e-03 9.99967318e-01 0.00000000e+00 -9.13364572e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78414802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.09, Z:-0.01 [[ 9.99999103e-01 -1.33928391e-03 0.00000000e+00 1.29362348e+01] [ 1.33928391e-03 9.99999103e-01 0.00000000e+00 -9.22646618e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00712707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.09, Z:0.01 [[ 9.99997276e-01 -2.33396952e-03 0.00000000e+00 1.29965393e+01] [ 2.33396952e-03 9.99997276e-01 0.00000000e+00 -9.11064171e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71307902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.09, Z:0.01 [[ 9.99965111e-01 -8.35328783e-03 0.00000000e+00 1.30570606e+01] [ 8.35328783e-03 9.99965111e-01 0.00000000e+00 -9.14755114e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11318677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142791605 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.09, Z:-0.01 [[ 9.99942172e-01 -1.07541632e-02 0.00000000e+00 1.31181011e+01] [ 1.07541632e-02 9.99942172e-01 0.00000000e+00 -9.37552553e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94370897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.09, Z:-0.01 [[ 9.99956759e-01 -9.29952278e-03 0.00000000e+00 1.31791613e+01] [ 9.29952278e-03 9.99956759e-01 0.00000000e+00 -9.34789431e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63705452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262791605 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.10, Z:-0.01 [[ 9.99981860e-01 -6.02325759e-03 0.00000000e+00 1.32401340e+01] [ 6.02325759e-03 9.99981860e-01 0.00000000e+00 -9.62823243e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02263025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322791605 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.10, Z:-0.01 [[ 9.99986188e-01 -5.25589716e-03 0.00000000e+00 1.33015948e+01] [ 5.25589716e-03 9.99986188e-01 0.00000000e+00 -9.91891851e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02719946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.10, Z:-0.01 [[ 9.99979831e-01 -6.35112104e-03 0.00000000e+00 1.33618735e+01] [ 6.35112104e-03 9.99979831e-01 0.00000000e+00 -1.00015297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06397752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.10, Z:-0.01 [[ 9.99984730e-01 -5.52630646e-03 0.00000000e+00 1.34235349e+01] [ 5.52630646e-03 9.99984730e-01 0.00000000e+00 -1.00529806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05813394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.10, Z:-0.01 [[ 9.99999720e-01 -7.47690878e-04 0.00000000e+00 1.34836444e+01] [ 7.47690878e-04 9.99999720e-01 0.00000000e+00 -1.02199699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86737641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.12, Z:-0.02 [[ 0.99910006 -0.04241546 0. 13.54480164] [ 0.04241546 0.99910006 0. -0.1197817 ] [ 0. 0. 1. -0.01781719] [ 0. 0. 0. 1. ]] SLAMing on 13.622791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.11, Z:-0.01 [[ 9.99995489e-01 3.00356458e-03 0.00000000e+00 1.36061066e+01] [-3.00356458e-03 9.99995489e-01 0.00000000e+00 -1.05210575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17437484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.11, Z:-0.01 [[ 9.99999586e-01 9.10316105e-04 0.00000000e+00 1.36668591e+01] [-9.10316105e-04 9.99999586e-01 0.00000000e+00 -1.06057952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13110127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742791605 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.11, Z:-0.00 [[ 9.99997313e-01 -2.31800695e-03 0.00000000e+00 1.37275182e+01] [ 2.31800695e-03 9.99997313e-01 0.00000000e+00 -1.08718818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66428342e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.11, Z:-0.01 [[ 9.99970041e-01 -7.74065002e-03 0.00000000e+00 1.37882949e+01] [ 7.74065002e-03 9.99970041e-01 0.00000000e+00 -1.11737496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07972020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.11, Z:-0.02 [[ 0.9998148 0.01924479 0. 13.84750864] [-0.01924479 0.9998148 0. -0.10752041] [ 0. 0. 1. -0.0186079 ] [ 0. 0. 0. 1. ]] SLAMing on 13.922791605 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.10, Z:-0.02 [[ 0.99953112 0.03061933 0. 13.90626267] [-0.03061933 0.99953112 0. -0.10294138] [ 0. 0. 1. -0.01972364] [ 0. 0. 0. 1. ]] SLAMing on 13.982791605 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.12, Z:-0.02 [[ 0.99966266 -0.02597257 0. 13.96622773] [ 0.02597257 0.99966266 0. -0.11635168] [ 0. 0. 1. -0.01883383] [ 0. 0. 0. 1. ]] SLAMing on 14.042791605 meters Centerline goodness : 0.994216 with order 1 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.11, Z:-0.03 [[ 0.99803714 -0.06262484 0. 14.02602197] [ 0.06262484 0.99803714 0. -0.114674 ] [ 0. 0. 1. -0.02741683] [ 0. 0. 0. 1. ]] SLAMing on 14.102791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.10, Z:-0.01 [[ 9.99959492e-01 -9.00076560e-03 0.00000000e+00 1.40862275e+01] [ 9.00076560e-03 9.99959492e-01 0.00000000e+00 -1.01510846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.45019541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162791605 meters Centerline goodness : 0.998020 with order 1 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.10, Z:-0.03 [[ 0.99934796 -0.03610621 0. 14.14620586] [ 0.03610621 0.99934796 0. -0.10482635] [ 0. 0. 1. -0.02760064] [ 0. 0. 0. 1. ]] SLAMing on 14.222791605 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.10, Z:-0.01 [[ 0.99965029 -0.02644407 0. 14.20798558] [ 0.02644407 0.99965029 0. -0.09809839] [ 0. 0. 1. -0.01447259] [ 0. 0. 0. 1. ]] SLAMing on 14.282791605 meters Centerline goodness : 0.989437 with order 1 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.10, Z:-0.03 [[ 0.99847985 -0.05511791 0. 14.26853269] [ 0.05511791 0.99847985 0. -0.09621461] [ 0. 0. 1. -0.03228395] [ 0. 0. 0. 1. ]] SLAMing on 14.342791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.09, Z:-0.01 [[ 9.99985046e-01 5.46883794e-03 0.00000000e+00 1.43291273e+01] [-5.46883794e-03 9.99985046e-01 0.00000000e+00 -8.60816182e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29880093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.09, Z:-0.01 [[ 9.99934172e-01 -1.14739808e-02 0.00000000e+00 1.43893070e+01] [ 1.14739808e-02 9.99934172e-01 0.00000000e+00 -8.78900539e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10057315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462791605 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.09, Z:-0.01 [[ 9.99843002e-01 -1.77192336e-02 0.00000000e+00 1.44500370e+01] [ 1.77192336e-02 9.99843002e-01 0.00000000e+00 -9.23387511e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17122671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522791605 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.09, Z:-0.01 [[ 9.99814963e-01 -1.92364082e-02 0.00000000e+00 1.45120435e+01] [ 1.92364082e-02 9.99814963e-01 0.00000000e+00 -9.36717371e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15040725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.10, Z:0.00 [[ 9.99786833e-01 -2.06467403e-02 0.00000000e+00 1.45724769e+01] [ 2.06467403e-02 9.99786833e-01 0.00000000e+00 -9.70400696e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29052364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.11, Z:0.00 [[ 9.99710436e-01 -2.40633215e-02 0.00000000e+00 1.46350747e+01] [ 2.40633215e-02 9.99710436e-01 0.00000000e+00 -1.05651413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76164087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702791605 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.11, Z:-0.02 [[ 0.99963038 -0.0271863 0. 14.6958229 ] [ 0.0271863 0.99963038 0. -0.11023935] [ 0. 0. 1. -0.01507059] [ 0. 0. 0. 1. ]] SLAMing on 14.762791605 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.11, Z:-0.00 [[ 9.99652585e-01 -2.63573558e-02 0.00000000e+00 1.47564240e+01] [ 2.63573558e-02 9.99652585e-01 0.00000000e+00 -1.14479269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43982473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.12, Z:0.01 [[ 9.99596485e-01 -2.84054089e-02 0.00000000e+00 1.48175457e+01] [ 2.84054089e-02 9.99596485e-01 0.00000000e+00 -1.20344790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99660948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882791605 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.12, Z:0.01 [[ 9.99761872e-01 -2.18219800e-02 0.00000000e+00 1.48797933e+01] [ 2.18219800e-02 9.99761872e-01 0.00000000e+00 -1.24505974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32202208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.13, Z:-0.02 [[ 0.99986978 -0.01613792 0. 14.94045483] [ 0.01613792 0.99986978 0. -0.12609223] [ 0. 0. 1. -0.01766388] [ 0. 0. 0. 1. ]] SLAMing on 15.002791605 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.16, Z:-0.02 [[ 0.99727534 -0.07376922 0. 15.00103175] [ 0.07376922 0.99727534 0. -0.15611499] [ 0. 0. 1. -0.0162644 ] [ 0. 0. 0. 1. ]] SLAMing on 15.062791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.13, Z:-0.02 [[ 9.99994031e-01 -3.45518298e-03 0.00000000e+00 1.50616094e+01] [ 3.45518298e-03 9.99994031e-01 0.00000000e+00 -1.27758655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12603452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.13, Z:-0.00 [[ 9.99999763e-01 6.88963637e-04 0.00000000e+00 1.51225050e+01] [-6.88963637e-04 9.99999763e-01 0.00000000e+00 -1.25617969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41706098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.13, Z:-0.01 [[ 9.99986838e-01 5.13062908e-03 0.00000000e+00 1.51823365e+01] [-5.13062908e-03 9.99986838e-01 0.00000000e+00 -1.25362179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57499960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.12, Z:-0.02 [[ 0.99919609 0.04008946 0. 15.24059353] [-0.04008946 0.99919609 0. -0.1205789 ] [ 0. 0. 1. -0.02236306] [ 0. 0. 0. 1. ]] SLAMing on 15.302791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.12, Z:0.00 [[ 9.99925403e-01 1.22142661e-02 0.00000000e+00 1.52992061e+01] [-1.22142661e-02 9.99925403e-01 0.00000000e+00 -1.19293411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26225115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.12, Z:-0.01 [[ 9.99842745e-01 1.77337129e-02 0.00000000e+00 1.53584483e+01] [-1.77337129e-02 9.99842745e-01 0.00000000e+00 -1.17723267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28375276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.11, Z:0.00 [[ 9.99835182e-01 1.81551316e-02 0.00000000e+00 1.54182956e+01] [-1.81551316e-02 9.99835182e-01 0.00000000e+00 -1.14006926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06279777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482791605 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.11, Z:-0.00 [[ 9.99951027e-01 9.89659875e-03 0.00000000e+00 1.54781877e+01] [-9.89659875e-03 9.99951027e-01 0.00000000e+00 -1.14081821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48643192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.11, Z:-0.01 [[ 9.99971357e-01 7.56864570e-03 0.00000000e+00 1.55380900e+01] [-7.56864570e-03 9.99971357e-01 0.00000000e+00 -1.10462135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72571896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.11, Z:0.00 [[ 9.99995639e-01 -2.95330114e-03 0.00000000e+00 1.55973815e+01] [ 2.95330114e-03 9.99995639e-01 0.00000000e+00 -1.14344614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47843382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.11, Z:-0.01 [[ 9.99948378e-01 -1.01607470e-02 0.00000000e+00 1.56581952e+01] [ 1.01607470e-02 9.99948378e-01 0.00000000e+00 -1.14697366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42003642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.12, Z:-0.01 [[ 9.99872895e-01 -1.59434639e-02 0.00000000e+00 1.57194791e+01] [ 1.59434639e-02 9.99872895e-01 0.00000000e+00 -1.17306857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55985799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.12, Z:-0.01 [[ 9.99829633e-01 -1.84582058e-02 0.00000000e+00 1.57808507e+01] [ 1.84582058e-02 9.99829633e-01 0.00000000e+00 -1.18096724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66422889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.12, Z:-0.01 [[ 9.99859814e-01 -1.67437380e-02 0.00000000e+00 1.58421611e+01] [ 1.67437380e-02 9.99859814e-01 0.00000000e+00 -1.20816695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39104186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902791604999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.12, Z:-0.01 [[ 9.99888007e-01 -1.49657454e-02 0.00000000e+00 1.59035466e+01] [ 1.49657454e-02 9.99888007e-01 0.00000000e+00 -1.20386235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07375078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.12, Z:-0.01 [[ 9.99923407e-01 -1.23765672e-02 0.00000000e+00 1.59652869e+01] [ 1.23765672e-02 9.99923407e-01 0.00000000e+00 -1.23861294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33799494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.12, Z:-0.00 [[ 9.99898860e-01 -1.42221795e-02 0.00000000e+00 1.60259098e+01] [ 1.42221795e-02 9.99898860e-01 0.00000000e+00 -1.24680893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75666270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.13, Z:-0.01 [[ 9.99945123e-01 -1.04762023e-02 0.00000000e+00 1.60866544e+01] [ 1.04762023e-02 9.99945123e-01 0.00000000e+00 -1.27601837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45221780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.13, Z:-0.01 [[ 9.99976067e-01 -6.91848867e-03 0.00000000e+00 1.61480645e+01] [ 6.91848867e-03 9.99976067e-01 0.00000000e+00 -1.28467501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47747879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.13, Z:-0.00 [[ 9.99971173e-01 -7.59291566e-03 0.00000000e+00 1.62085739e+01] [ 7.59291566e-03 9.99971173e-01 0.00000000e+00 -1.32719894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76165418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.14, Z:-0.00 [[ 9.99999734e-01 7.29171714e-04 0.00000000e+00 1.62694784e+01] [-7.29171714e-04 9.99999734e-01 0.00000000e+00 -1.35138761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72865791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.14, Z:-0.02 [[ 9.99981745e-01 6.04233583e-03 0.00000000e+00 1.63295649e+01] [-6.04233583e-03 9.99981745e-01 0.00000000e+00 -1.36617694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68878700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.14, Z:-0.02 [[ 9.99908966e-01 1.34929623e-02 0.00000000e+00 1.63904855e+01] [-1.34929623e-02 9.99908966e-01 0.00000000e+00 -1.38942771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74268328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.14, Z:-0.02 [[ 9.99808790e-01 1.95546394e-02 0.00000000e+00 1.64504105e+01] [-1.95546394e-02 9.99808790e-01 0.00000000e+00 -1.36128339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59490892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.13, Z:-0.01 [[ 9.99804067e-01 1.97946176e-02 0.00000000e+00 1.65100619e+01] [-1.97946176e-02 9.99804067e-01 0.00000000e+00 -1.33070332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48599115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.13, Z:-0.02 [[ 0.99983361 0.01824129 0. 16.57037308] [-0.01824129 0.99983361 0. -0.13339862] [ 0. 0. 1. -0.01834897] [ 0. 0. 0. 1. ]] SLAMing on 16.622791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.13, Z:-0.02 [[ 9.99907780e-01 1.35805270e-02 0.00000000e+00 1.66296808e+01] [-1.35805270e-02 9.99907780e-01 0.00000000e+00 -1.34519990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87347104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.14, Z:-0.02 [[ 9.99960747e-01 8.86031864e-03 0.00000000e+00 1.66897605e+01] [-8.86031864e-03 9.99960747e-01 0.00000000e+00 -1.36559997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18329683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.14, Z:-0.02 [[ 9.99998550e-01 1.70280910e-03 0.00000000e+00 1.67494552e+01] [-1.70280910e-03 9.99998550e-01 0.00000000e+00 -1.41784553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95823800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.15, Z:-0.02 [[ 9.99990129e-01 -4.44310722e-03 0.00000000e+00 1.68096063e+01] [ 4.44310722e-03 9.99990129e-01 0.00000000e+00 -1.46010621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97794645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.15, Z:-0.02 [[ 9.99964972e-01 -8.36985392e-03 0.00000000e+00 1.68698884e+01] [ 8.36985392e-03 9.99964972e-01 0.00000000e+00 -1.50002647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17399411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.15, Z:-0.02 [[ 9.99947726e-01 -1.02247543e-02 0.00000000e+00 1.69304872e+01] [ 1.02247543e-02 9.99947726e-01 0.00000000e+00 -1.52340810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93324404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.16, Z:-0.02 [[ 9.99941920e-01 -1.07775735e-02 0.00000000e+00 1.69910907e+01] [ 1.07775735e-02 9.99941920e-01 0.00000000e+00 -1.58279159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13275468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.16, Z:-0.02 [[ 9.99941339e-01 -1.08313516e-02 0.00000000e+00 1.70514098e+01] [ 1.08313516e-02 9.99941339e-01 0.00000000e+00 -1.59551438e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11003745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.16, Z:-0.02 [[ 9.99957304e-01 -9.24070472e-03 0.00000000e+00 1.71117676e+01] [ 9.24070472e-03 9.99957304e-01 0.00000000e+00 -1.63335618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18140115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.17, Z:-0.02 [[ 9.99996548e-01 -2.62757333e-03 0.00000000e+00 1.71720765e+01] [ 2.62757333e-03 9.99996548e-01 0.00000000e+00 -1.65393136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04653418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.17, Z:-0.02 [[ 9.99993714e-01 3.54560021e-03 0.00000000e+00 1.72325333e+01] [-3.54560021e-03 9.99993714e-01 0.00000000e+00 -1.67397756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10201631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.17, Z:-0.02 [[ 9.99957115e-01 9.26110197e-03 0.00000000e+00 1.72930540e+01] [-9.26110197e-03 9.99957115e-01 0.00000000e+00 -1.67398924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16206494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.17, Z:-0.02 [[ 9.99890267e-01 1.48139781e-02 0.00000000e+00 1.73536170e+01] [-1.48139781e-02 9.99890267e-01 0.00000000e+00 -1.69304608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16381856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.17, Z:-0.02 [[ 9.99885264e-01 1.51479251e-02 0.00000000e+00 1.74139714e+01] [-1.51479251e-02 9.99885264e-01 0.00000000e+00 -1.68083707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14458428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.17, Z:-0.02 [[ 9.99886633e-01 1.50572497e-02 0.00000000e+00 1.74741747e+01] [-1.50572497e-02 9.99886633e-01 0.00000000e+00 -1.67702372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16513155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.17, Z:-0.01 [[ 9.99912787e-01 1.32067663e-02 0.00000000e+00 1.75348607e+01] [-1.32067663e-02 9.99912787e-01 0.00000000e+00 -1.67608592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41156357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.17, Z:-0.02 [[ 9.99941479e-01 1.08184495e-02 0.00000000e+00 1.75949220e+01] [-1.08184495e-02 9.99941479e-01 0.00000000e+00 -1.69153207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31937447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.17, Z:-0.02 [[ 9.99992358e-01 3.90939978e-03 0.00000000e+00 1.76553703e+01] [-3.90939978e-03 9.99992358e-01 0.00000000e+00 -1.71920315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25764280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.18, Z:-0.02 [[ 9.99999199e-01 -1.26550774e-03 0.00000000e+00 1.77157760e+01] [ 1.26550774e-03 9.99999199e-01 0.00000000e+00 -1.75057262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25270644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.18, Z:-0.02 [[ 9.99983035e-01 -5.82487221e-03 0.00000000e+00 1.77766370e+01] [ 5.82487221e-03 9.99983035e-01 0.00000000e+00 -1.80221139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31249053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.19, Z:-0.02 [[ 9.99970587e-01 -7.66972986e-03 0.00000000e+00 1.78369995e+01] [ 7.66972986e-03 9.99970587e-01 0.00000000e+00 -1.85443998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31144023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.19, Z:-0.02 [[ 9.99976984e-01 -6.78466277e-03 0.00000000e+00 1.78978004e+01] [ 6.78466277e-03 9.99976984e-01 0.00000000e+00 -1.87232800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29271466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.19, Z:-0.02 [[ 9.99991010e-01 -4.24038349e-03 0.00000000e+00 1.79581206e+01] [ 4.24038349e-03 9.99991010e-01 0.00000000e+00 -1.90452993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36082098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.19, Z:-0.01 [[ 9.99997503e-01 -2.23488080e-03 0.00000000e+00 1.80188346e+01] [ 2.23488080e-03 9.99997503e-01 0.00000000e+00 -1.93184242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14300157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.20, Z:-0.02 [[ 9.99999410e-01 -1.08641324e-03 0.00000000e+00 1.80791182e+01] [ 1.08641324e-03 9.99999410e-01 0.00000000e+00 -1.97203976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39391425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.20, Z:-0.02 [[ 9.99989502e-01 -4.58221234e-03 0.00000000e+00 1.81397007e+01] [ 4.58221234e-03 9.99989502e-01 0.00000000e+00 -2.00520461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49433055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.21, Z:-0.03 [[ 9.99962323e-01 -8.68057254e-03 0.00000000e+00 1.82000209e+01] [ 8.68057254e-03 9.99962323e-01 0.00000000e+00 -2.05895915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56786441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.21, Z:-0.02 [[ 9.99961816e-01 -8.73875131e-03 0.00000000e+00 1.82597266e+01] [ 8.73875131e-03 9.99961816e-01 0.00000000e+00 -2.10190136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67609121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.21, Z:-0.03 [[ 9.99998177e-01 -1.90971034e-03 0.00000000e+00 1.83202230e+01] [ 1.90971034e-03 9.99998177e-01 0.00000000e+00 -2.11528351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87015141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.21, Z:-0.03 [[ 9.99998874e-01 1.50098692e-03 0.00000000e+00 1.83808183e+01] [-1.50098692e-03 9.99998874e-01 0.00000000e+00 -2.11959680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90355494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.21, Z:-0.03 [[ 9.99996181e-01 2.76377371e-03 0.00000000e+00 1.84410643e+01] [-2.76377371e-03 9.99996181e-01 0.00000000e+00 -2.09575216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12473001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.21, Z:-0.03 [[ 9.99996782e-01 2.53709734e-03 0.00000000e+00 1.85010592e+01] [-2.53709734e-03 9.99996782e-01 0.00000000e+00 -2.09359170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22754525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.21, Z:-0.03 [[ 9.99999933e-01 3.65273344e-04 0.00000000e+00 1.85613283e+01] [-3.65273344e-04 9.99999933e-01 0.00000000e+00 -2.06080315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10161612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.21, Z:-0.03 [[ 9.99997113e-01 -2.40299232e-03 0.00000000e+00 1.86214314e+01] [ 2.40299232e-03 9.99997113e-01 0.00000000e+00 -2.06823753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28666844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.21, Z:-0.03 [[ 9.99968207e-01 -7.97401295e-03 0.00000000e+00 1.86816429e+01] [ 7.97401295e-03 9.99968207e-01 0.00000000e+00 -2.09589338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34080475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.22, Z:-0.02 [[ 9.99891229e-01 -1.47488863e-02 0.00000000e+00 1.87423236e+01] [ 1.47488863e-02 9.99891229e-01 0.00000000e+00 -2.15421251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96511059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.22, Z:-0.03 [[ 9.99870486e-01 -1.60938267e-02 0.00000000e+00 1.88031560e+01] [ 1.60938267e-02 9.99870486e-01 0.00000000e+00 -2.19485809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31546221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.23, Z:-0.03 [[ 9.99850602e-01 -1.72850424e-02 0.00000000e+00 1.88638670e+01] [ 1.72850424e-02 9.99850602e-01 0.00000000e+00 -2.25407319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39546270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.23, Z:-0.03 [[ 9.99882913e-01 -1.53022789e-02 0.00000000e+00 1.89245505e+01] [ 1.53022789e-02 9.99882913e-01 0.00000000e+00 -2.30941050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39801924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.23, Z:-0.03 [[ 9.99944491e-01 -1.05363995e-02 0.00000000e+00 1.89852522e+01] [ 1.05363995e-02 9.99944491e-01 0.00000000e+00 -2.34695764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35774866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.23, Z:-0.04 [[ 9.99991387e-01 -4.15039311e-03 0.00000000e+00 1.90455300e+01] [ 4.15039311e-03 9.99991387e-01 0.00000000e+00 -2.32927556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60988910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.23, Z:-0.04 [[ 9.99998159e-01 -1.91906862e-03 0.00000000e+00 1.91062120e+01] [ 1.91906862e-03 9.99998159e-01 0.00000000e+00 -2.31881623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62198783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.23, Z:-0.03 [[ 9.99999315e-01 -1.17057931e-03 0.00000000e+00 1.91662514e+01] [ 1.17057931e-03 9.99999315e-01 0.00000000e+00 -2.28506011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43028477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.22, Z:-0.03 [[ 9.99998966e-01 1.43834317e-03 0.00000000e+00 1.92265221e+01] [-1.43834317e-03 9.99998966e-01 0.00000000e+00 -2.20495590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47215044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.21, Z:-0.03 [[ 9.99997778e-01 2.10810303e-03 0.00000000e+00 1.92876041e+01] [-2.10810303e-03 9.99997778e-01 0.00000000e+00 -2.11469167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41027489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.21, Z:-0.03 [[ 9.99999850e-01 5.48075428e-04 0.00000000e+00 1.93485798e+01] [-5.48075428e-04 9.99999850e-01 0.00000000e+00 -2.05659334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40083031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.20, Z:-0.04 [[ 9.99999717e-01 7.52830968e-04 0.00000000e+00 1.94092927e+01] [-7.52830968e-04 9.99999717e-01 0.00000000e+00 -1.95924027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51454217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.19, Z:-0.04 [[ 9.99999295e-01 1.18701422e-03 0.00000000e+00 1.94701298e+01] [-1.18701422e-03 9.99999295e-01 0.00000000e+00 -1.90510715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59385751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.19, Z:-0.04 [[ 9.99996770e-01 2.54158538e-03 0.00000000e+00 1.95306868e+01] [-2.54158538e-03 9.99996770e-01 0.00000000e+00 -1.86962493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64997687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.19, Z:-0.04 [[ 9.99998758e-01 1.57607851e-03 0.00000000e+00 1.95909939e+01] [-1.57607851e-03 9.99998758e-01 0.00000000e+00 -1.87381636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78704045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.19, Z:-0.04 [[ 9.99999963e-01 2.71684509e-04 0.00000000e+00 1.96514843e+01] [-2.71684509e-04 9.99999963e-01 0.00000000e+00 -1.86146766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97366911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.18, Z:-0.04 [[ 9.99999265e-01 1.21216572e-03 0.00000000e+00 1.97123705e+01] [-1.21216572e-03 9.99999265e-01 0.00000000e+00 -1.83722558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04595066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.18, Z:-0.04 [[ 9.99998616e-01 1.66358549e-03 0.00000000e+00 1.97724413e+01] [-1.66358549e-03 9.99998616e-01 0.00000000e+00 -1.80938526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10975232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.18, Z:-0.02 [[ 9.99982215e-01 -5.96407961e-03 0.00000000e+00 1.98323069e+01] [ 5.96407961e-03 9.99982215e-01 0.00000000e+00 -1.83362171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05696201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.18, Z:-0.03 [[ 9.99995717e-01 -2.92680954e-03 0.00000000e+00 1.98931351e+01] [ 2.92680954e-03 9.99995717e-01 0.00000000e+00 -1.80832809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62920905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.18, Z:-0.04 [[ 9.99962770e-01 -8.62891983e-03 0.00000000e+00 1.99537945e+01] [ 8.62891983e-03 9.99962770e-01 0.00000000e+00 -1.77167434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10185828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.18, Z:-0.04 [[ 9.99930859e-01 -1.17591344e-02 0.00000000e+00 2.00139518e+01] [ 1.17591344e-02 9.99930859e-01 0.00000000e+00 -1.78442683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12860467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.18, Z:-0.04 [[ 9.99918809e-01 -1.27426522e-02 0.00000000e+00 2.00749614e+01] [ 1.27426522e-02 9.99918809e-01 0.00000000e+00 -1.79932511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09854624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.18, Z:-0.03 [[ 9.99898252e-01 -1.42648442e-02 0.00000000e+00 2.01356009e+01] [ 1.42648442e-02 9.99898252e-01 0.00000000e+00 -1.82825513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78280051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.18, Z:-0.04 [[ 9.99950256e-01 -9.97426287e-03 0.00000000e+00 2.01959247e+01] [ 9.97426287e-03 9.99950256e-01 0.00000000e+00 -1.83793138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40774024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.18, Z:-0.04 [[ 9.99971347e-01 -7.57002518e-03 0.00000000e+00 2.02568004e+01] [ 7.57002518e-03 9.99971347e-01 0.00000000e+00 -1.84598341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39051427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.18, Z:-0.04 [[ 9.99971542e-01 -7.54425391e-03 0.00000000e+00 2.03176695e+01] [ 7.54425391e-03 9.99971542e-01 0.00000000e+00 -1.84983317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42813791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.19, Z:-0.05 [[ 9.99972789e-01 -7.37711664e-03 0.00000000e+00 2.03782594e+01] [ 7.37711664e-03 9.99972789e-01 0.00000000e+00 -1.85398255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55474905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.19, Z:-0.05 [[ 9.99969456e-01 -7.81582831e-03 0.00000000e+00 2.04383306e+01] [ 7.81582831e-03 9.99969456e-01 0.00000000e+00 -1.89198764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61872231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.19, Z:-0.05 [[ 9.99938805e-01 -1.10628211e-02 0.00000000e+00 2.04992833e+01] [ 1.10628211e-02 9.99938805e-01 0.00000000e+00 -1.93353975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60773638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.19, Z:-0.03 [[ 9.99934217e-01 -1.14700525e-02 0.00000000e+00 2.05597006e+01] [ 1.14700525e-02 9.99934217e-01 0.00000000e+00 -1.93674727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63091613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.20, Z:-0.05 [[ 9.99918160e-01 -1.27934496e-02 0.00000000e+00 2.06200337e+01] [ 1.27934496e-02 9.99918160e-01 0.00000000e+00 -1.95065576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07832163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.20, Z:-0.05 [[ 9.99878917e-01 -1.55612255e-02 0.00000000e+00 2.06803590e+01] [ 1.55612255e-02 9.99878917e-01 0.00000000e+00 -2.01407716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18420940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.20, Z:-0.05 [[ 9.99875282e-01 -1.57930272e-02 0.00000000e+00 2.07410468e+01] [ 1.57930272e-02 9.99875282e-01 0.00000000e+00 -2.01243271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14500383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.20, Z:-0.03 [[ 9.99875453e-01 -1.57822517e-02 0.00000000e+00 2.08018063e+01] [ 1.57822517e-02 9.99875453e-01 0.00000000e+00 -2.02087936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74667177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.20, Z:-0.05 [[ 9.99920755e-01 -1.25889934e-02 0.00000000e+00 2.08627789e+01] [ 1.25889934e-02 9.99920755e-01 0.00000000e+00 -2.03332140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18509848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.20, Z:-0.05 [[ 9.99893072e-01 -1.46234197e-02 0.00000000e+00 2.09236070e+01] [ 1.46234197e-02 9.99893072e-01 0.00000000e+00 -2.03678071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07042669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942791604999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.21, Z:-0.05 [[ 9.99833560e-01 -1.82442136e-02 0.00000000e+00 2.09844477e+01] [ 1.82442136e-02 9.99833560e-01 0.00000000e+00 -2.08526291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02808898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.21, Z:-0.03 [[ 0.99975236 -0.02225358 0. 21.04498614] [ 0.02225358 0.99975236 0. -0.21265905] [ 0. 0. 1. -0.03207497] [ 0. 0. 0. 1. ]] SLAMing on 21.062791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.22, Z:-0.05 [[ 9.99778372e-01 -2.10524960e-02 0.00000000e+00 2.11056846e+01] [ 2.10524960e-02 9.99778372e-01 0.00000000e+00 -2.15796809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04399897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.22, Z:-0.05 [[ 9.99853433e-01 -1.71205299e-02 0.00000000e+00 2.11658791e+01] [ 1.71205299e-02 9.99853433e-01 0.00000000e+00 -2.18411816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01184140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.22, Z:-0.04 [[ 9.99888218e-01 -1.49516541e-02 0.00000000e+00 2.12268001e+01] [ 1.49516541e-02 9.99888218e-01 0.00000000e+00 -2.17416756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69549193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.22, Z:-0.05 [[ 9.99880676e-01 -1.54477473e-02 0.00000000e+00 2.12878804e+01] [ 1.54477473e-02 9.99880676e-01 0.00000000e+00 -2.17976870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27119877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.22, Z:-0.04 [[ 9.99878322e-01 -1.55993695e-02 0.00000000e+00 2.13483561e+01] [ 1.55993695e-02 9.99878322e-01 0.00000000e+00 -2.15882263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78823587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.22, Z:-0.05 [[ 9.99801062e-01 -1.99458357e-02 0.00000000e+00 2.14088655e+01] [ 1.99458357e-02 9.99801062e-01 0.00000000e+00 -2.17035681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27819207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.22, Z:-0.05 [[ 0.99970234 -0.02439726 0. 21.46931525] [ 0.02439726 0.99970234 0. -0.21760697] [ 0. 0. 1. -0.05345975] [ 0. 0. 0. 1. ]] SLAMing on 21.482791605 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.22, Z:-0.04 [[ 0.99971113 -0.02403463 0. 21.53017451] [ 0.02403463 0.99971113 0. -0.21629294] [ 0. 0. 1. -0.03683619] [ 0. 0. 0. 1. ]] SLAMing on 21.542791604999998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.21, Z:-0.04 [[ 0.99973849 -0.02286803 0. 21.59029685] [ 0.02286803 0.99973849 0. -0.21391577] [ 0. 0. 1. -0.03830183] [ 0. 0. 0. 1. ]] SLAMing on 21.602791604999997 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.21, Z:-0.06 [[ 0.99973765 -0.02290491 0. 21.65105405] [ 0.02290491 0.99973765 0. -0.21460773] [ 0. 0. 1. -0.05606366] [ 0. 0. 0. 1. ]] SLAMing on 21.662791605 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.21, Z:-0.06 [[ 0.99969312 -0.02477229 0. 21.71123194] [ 0.02477229 0.99969312 0. -0.21496248] [ 0. 0. 1. -0.05526013] [ 0. 0. 0. 1. ]] SLAMing on 21.722791604999998 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.22, Z:-0.06 [[ 0.99961457 -0.02776169 0. 21.77197201] [ 0.02776169 0.99961457 0. -0.21748857] [ 0. 0. 1. -0.05681215] [ 0. 0. 0. 1. ]] SLAMing on 21.782791604999996 meters Centerline goodness : 0.997412 with order 1 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.22, Z:-0.04 [[ 0.99961327 -0.02780838 0. 21.83266514] [ 0.02780838 0.99961327 0. -0.21836639] [ 0. 0. 1. -0.03935877] [ 0. 0. 0. 1. ]] SLAMing on 21.842791605 meters Centerline goodness : 0.997405 with order 1 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.22, Z:-0.04 [[ 0.99962044 -0.02754969 0. 21.89297904] [ 0.02754969 0.99962044 0. -0.22387504] [ 0. 0. 1. -0.04098029] [ 0. 0. 0. 1. ]] SLAMing on 21.902791604999997 meters Centerline goodness : 0.998162 with order 1 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.23, Z:-0.06 [[ 0.99962555 -0.0273634 0. 21.95400493] [ 0.0273634 0.99962555 0. -0.22980311] [ 0. 0. 1. -0.05676418] [ 0. 0. 0. 1. ]] SLAMing on 21.962791605 meters Centerline goodness : 0.998159 with order 1 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.24, Z:-0.06 [[ 0.99961909 -0.02759837 0. 22.01493762] [ 0.02759837 0.99961909 0. -0.23669426] [ 0. 0. 1. -0.05810795] [ 0. 0. 0. 1. ]] SLAMing on 22.022791605 meters Centerline goodness : 0.997563 with order 1 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.25, Z:-0.04 [[ 0.99964689 -0.02657256 0. 22.07539183] [ 0.02657256 0.99964689 0. -0.2452563 ] [ 0. 0. 1. -0.04030569] [ 0. 0. 0. 1. ]] SLAMing on 22.082791604999997 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.25, Z:-0.06 [[ 0.99968949 -0.0249183 0. 22.13545236] [ 0.0249183 0.99968949 0. -0.25102877] [ 0. 0. 1. -0.05936516] [ 0. 0. 0. 1. ]] SLAMing on 22.142791605 meters Centerline goodness : 0.997611 with order 1 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.26, Z:-0.04 [[ 9.99776852e-01 -2.11245491e-02 0.00000000e+00 2.21957747e+01] [ 2.11245491e-02 9.99776852e-01 0.00000000e+00 -2.56790618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28664848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202791604999998 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.26, Z:-0.06 [[ 9.99872766e-01 -1.59515201e-02 0.00000000e+00 2.22552964e+01] [ 1.59515201e-02 9.99872766e-01 0.00000000e+00 -2.58458018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73448396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262791604999997 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.26, Z:-0.04 [[ 9.99851889e-01 -1.72104459e-02 0.00000000e+00 2.23154462e+01] [ 1.72104459e-02 9.99851889e-01 0.00000000e+00 -2.61407138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34424072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322791605 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.26, Z:-0.06 [[ 9.99843676e-01 -1.76811573e-02 0.00000000e+00 2.23756991e+01] [ 1.76811573e-02 9.99843676e-01 0.00000000e+00 -2.62176460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79820662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382791604999998 meters Centerline goodness : 0.998409 with order 1 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.27, Z:-0.06 [[ 9.99825815e-01 -1.86638349e-02 0.00000000e+00 2.24350961e+01] [ 1.86638349e-02 9.99825815e-01 0.00000000e+00 -2.65603345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70652510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442791604999996 meters Centerline goodness : 0.997216 with order 1 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.27, Z:-0.03 [[ 9.99804559e-01 -1.97697715e-02 0.00000000e+00 2.24954382e+01] [ 1.97697715e-02 9.99804559e-01 0.00000000e+00 -2.66887619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41235731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502791605 meters Centerline goodness : 0.998011 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.27, Z:-0.06 [[ 9.99879093e-01 -1.55498872e-02 0.00000000e+00 2.25560560e+01] [ 1.55498872e-02 9.99879093e-01 0.00000000e+00 -2.69053988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73461815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562791604999997 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.27, Z:-0.06 [[ 9.99899786e-01 -1.41569380e-02 0.00000000e+00 2.26156727e+01] [ 1.41569380e-02 9.99899786e-01 0.00000000e+00 -2.68479354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71809531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622791604999996 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.27, Z:-0.04 [[ 9.99882643e-01 -1.53199041e-02 0.00000000e+00 2.26762987e+01] [ 1.53199041e-02 9.99882643e-01 0.00000000e+00 -2.68443306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02488777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682791605 meters Centerline goodness : 0.997319 with order 1 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.27, Z:-0.04 [[ 0.99971916 -0.02369815 0. 22.73638577] [ 0.02369815 0.99971916 0. -0.26787567] [ 0. 0. 1. -0.0398158 ] [ 0. 0. 0. 1. ]] SLAMing on 22.742791604999997 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.27, Z:-0.06 [[ 0.99956824 -0.02938267 0. 22.79630193] [ 0.02938267 0.99956824 0. -0.27199705] [ 0. 0. 1. -0.05884138] [ 0. 0. 0. 1. ]] SLAMing on 22.802791605 meters Centerline goodness : 0.985527 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.24, Z:-0.06 [[ 0.99919696 0.04006795 0. 22.85680825] [-0.04006795 0.99919696 0. -0.23856426] [ 0. 0. 1. -0.05949878] [ 0. 0. 0. 1. ]] SLAMing on 22.862791604999998 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.28, Z:-0.06 [[ 0.99899402 -0.04484369 0. 22.91847893] [ 0.04484369 0.99899402 0. -0.28064825] [ 0. 0. 1. -0.05783455] [ 0. 0. 0. 1. ]] SLAMing on 22.922791604999997 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.29, Z:-0.04 [[ 0.99879842 -0.04900732 0. 22.97785526] [ 0.04900732 0.99879842 0. -0.28742336] [ 0. 0. 1. -0.03640977] [ 0. 0. 0. 1. ]] SLAMing on 22.982791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.29, Z:-0.06 [[ 0.99875529 -0.04987858 0. 23.03661324] [ 0.04987858 0.99875529 0. -0.29463857] [ 0. 0. 1. -0.05841142] [ 0. 0. 0. 1. ]] SLAMing on 23.042791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.30, Z:-0.06 [[ 0.99875515 -0.0498813 0. 23.09494101] [ 0.0498813 0.99875515 0. -0.30194354] [ 0. 0. 1. -0.05724968] [ 0. 0. 0. 1. ]] SLAMing on 23.102791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.32, Z:-0.06 [[ 0.99882696 -0.04842209 0. 23.15339629] [ 0.04842209 0.99882696 0. -0.3156122 ] [ 0. 0. 1. -0.05790791] [ 0. 0. 0. 1. ]] SLAMing on 23.162791605 meters Centerline goodness : 0.987067 with order 1 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.28, Z:-0.05 [[ 0.99959508 0.02845489 0. 23.21175057] [-0.02845489 0.99959508 0. -0.28387289] [ 0. 0. 1. -0.05446932] [ 0. 0. 0. 1. ]] SLAMing on 23.222791604999998 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.32, Z:-0.04 [[ 0.9992973 -0.03748201 0. 23.27340131] [ 0.03748201 0.9992973 0. -0.32277298] [ 0. 0. 1. -0.04422023] [ 0. 0. 0. 1. ]] SLAMing on 23.282791604999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.33, Z:-0.06 [[ 0.9995527 -0.0299066 0. 23.33210694] [ 0.0299066 0.9995527 0. -0.3327891 ] [ 0. 0. 1. -0.06166443] [ 0. 0. 0. 1. ]] SLAMing on 23.342791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.34, Z:-0.06 [[ 0.99961921 -0.02759405 0. 23.39110027] [ 0.02759405 0.99961921 0. -0.33517734] [ 0. 0. 1. -0.06176963] [ 0. 0. 0. 1. ]] SLAMing on 23.402791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.33, Z:-0.06 [[ 9.99782456e-01 -2.08576078e-02 0.00000000e+00 2.34501962e+01] [ 2.08576078e-02 9.99782456e-01 0.00000000e+00 -3.33284062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.98535220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.33, Z:-0.06 [[ 9.99886427e-01 -1.50709336e-02 0.00000000e+00 2.35094483e+01] [ 1.50709336e-02 9.99886427e-01 0.00000000e+00 -3.32741303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02749242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522791605 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.33, Z:-0.06 [[ 9.99827315e-01 -1.85833504e-02 0.00000000e+00 2.35690193e+01] [ 1.85833504e-02 9.99827315e-01 0.00000000e+00 -3.31343281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05973624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582791604999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.33, Z:-0.06 [[ 0.99971001 -0.02408102 0. 23.62905435] [ 0.02408102 0.99971001 0. -0.33223574] [ 0. 0. 1. -0.06157999] [ 0. 0. 0. 1. ]] SLAMing on 23.642791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.33, Z:-0.06 [[ 0.99968935 -0.02492394 0. 23.68819148] [ 0.02492394 0.99968935 0. -0.33199911] [ 0. 0. 1. -0.06175234] [ 0. 0. 0. 1. ]] SLAMing on 23.702791604999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.33, Z:-0.06 [[ 0.99966646 -0.0258257 0. 23.74665338] [ 0.0258257 0.99966646 0. -0.32929256] [ 0. 0. 1. -0.06237426] [ 0. 0. 0. 1. ]] SLAMing on 23.762791604999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.33, Z:-0.06 [[ 0.99967141 -0.02563347 0. 23.80579651] [ 0.02563347 0.99967141 0. -0.33191154] [ 0. 0. 1. -0.06142881] [ 0. 0. 0. 1. ]] SLAMing on 23.822791605 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.33, Z:-0.06 [[ 9.99716910e-01 -2.37928621e-02 0.00000000e+00 2.38647132e+01] [ 2.37928621e-02 9.99716910e-01 0.00000000e+00 -3.27441497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11166206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.33, Z:-0.06 [[ 9.99715671e-01 -2.38448653e-02 0.00000000e+00 2.39237329e+01] [ 2.38448653e-02 9.99715671e-01 0.00000000e+00 -3.26492593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18657724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942791604999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.32, Z:-0.06 [[ 0.99964136 -0.02677967 0. 23.982357 ] [ 0.02677967 0.99964136 0. -0.3247218 ] [ 0. 0. 1. -0.0616013 ] [ 0. 0. 0. 1. ]] SLAMing on 24.002791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.32, Z:-0.06 [[ 0.99960898 -0.02796234 0. 24.04107113] [ 0.02796234 0.99960898 0. -0.32266762] [ 0. 0. 1. -0.06048465] [ 0. 0. 0. 1. ]] SLAMing on 24.062791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.32, Z:-0.06 [[ 0.9996258 -0.02735428 0. 24.09946024] [ 0.02735428 0.9996258 0. -0.32050265] [ 0. 0. 1. -0.06174176] [ 0. 0. 0. 1. ]] SLAMing on 24.122791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.32, Z:-0.04 [[ 9.99792112e-01 -2.03895506e-02 0.00000000e+00 2.41580727e+01] [ 2.03895506e-02 9.99792112e-01 0.00000000e+00 -3.15125699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23006258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.31, Z:-0.06 [[ 9.99835641e-01 -1.81298526e-02 0.00000000e+00 2.42172043e+01] [ 1.81298526e-02 9.99835641e-01 0.00000000e+00 -3.14396475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00762049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.31, Z:-0.05 [[ 9.99944961e-01 -1.04916376e-02 0.00000000e+00 2.42766833e+01] [ 1.04916376e-02 9.99944961e-01 0.00000000e+00 -3.05767432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60134537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.31, Z:-0.06 [[ 9.99911344e-01 -1.33155675e-02 0.00000000e+00 2.43362572e+01] [ 1.33155675e-02 9.99911344e-01 0.00000000e+00 -3.05089496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27368727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362791604999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.30, Z:-0.04 [[ 9.99848946e-01 -1.73806075e-02 0.00000000e+00 2.43958086e+01] [ 1.73806075e-02 9.99848946e-01 0.00000000e+00 -2.98084417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49337124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.30, Z:-0.05 [[ 9.99721675e-01 -2.35917837e-02 0.00000000e+00 2.44550875e+01] [ 2.35917837e-02 9.99721675e-01 0.00000000e+00 -2.97297155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72221052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.29, Z:-0.06 [[ 0.9996093 -0.0279507 0. 24.51452784] [ 0.0279507 0.9996093 0. -0.29088412] [ 0. 0. 1. -0.06441212] [ 0. 0. 0. 1. ]] SLAMing on 24.542791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.29, Z:-0.06 [[ 0.99958236 -0.02889804 0. 24.574405 ] [ 0.02889804 0.99958236 0. -0.28669293] [ 0. 0. 1. -0.06321851] [ 0. 0. 0. 1. ]] SLAMing on 24.602791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.28, Z:-0.06 [[ 0.9996864 -0.02504207 0. 24.63386415] [ 0.02504207 0.9996864 0. -0.27716782] [ 0. 0. 1. -0.0624213 ] [ 0. 0. 0. 1. ]] SLAMing on 24.662791605 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.28, Z:-0.05 [[ 0.99930422 -0.03729723 0. 24.69434081] [ 0.03729723 0.99930422 0. -0.2760801 ] [ 0. 0. 1. -0.04672895] [ 0. 0. 0. 1. ]] SLAMing on 24.722791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.26, Z:-0.06 [[ 9.99757411e-01 -2.20254188e-02 0.00000000e+00 2.47541716e+01] [ 2.20254188e-02 9.99757411e-01 0.00000000e+00 -2.60571476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39062509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.25, Z:-0.05 [[ 9.99769009e-01 -2.14925442e-02 0.00000000e+00 2.48148222e+01] [ 2.14925442e-02 9.99769009e-01 0.00000000e+00 -2.52755430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72244771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.24, Z:-0.06 [[ 9.99756176e-01 -2.20813875e-02 0.00000000e+00 2.48752762e+01] [ 2.20813875e-02 9.99756176e-01 0.00000000e+00 -2.44110605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15284253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902791604999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.23, Z:-0.05 [[ 9.99761858e-01 -2.18226234e-02 0.00000000e+00 2.49363107e+01] [ 2.18226234e-02 9.99761858e-01 0.00000000e+00 -2.34772398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59377868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.23, Z:-0.05 [[ 9.99798865e-01 -2.00556506e-02 0.00000000e+00 2.49965900e+01] [ 2.00556506e-02 9.99798865e-01 0.00000000e+00 -2.25067665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55908562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.22, Z:-0.06 [[ 9.99742866e-01 -2.26760073e-02 0.00000000e+00 2.50576999e+01] [ 2.26760073e-02 9.99742866e-01 0.00000000e+00 -2.17987764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22436262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.21, Z:-0.06 [[ 0.99963848 -0.02688689 0. 25.11868363] [ 0.02688689 0.99963848 0. -0.21114567] [ 0. 0. 1. -0.06399195] [ 0. 0. 0. 1. ]] SLAMing on 25.142791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.21, Z:-0.06 [[ 0.99950734 -0.03138581 0. 25.17958913] [ 0.03138581 0.99950734 0. -0.20898864] [ 0. 0. 1. -0.06322128] [ 0. 0. 0. 1. ]] SLAMing on 25.202791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.21, Z:-0.06 [[ 0.99915372 -0.04113207 0. 25.24072426] [ 0.04113207 0.99915372 0. -0.20806592] [ 0. 0. 1. -0.06354905] [ 0. 0. 0. 1. ]] SLAMing on 25.262791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.21, Z:-0.06 [[ 0.9987891 -0.04919694 0. 25.3029003 ] [ 0.04919694 0.9987891 0. -0.2068878 ] [ 0. 0. 1. -0.06408898] [ 0. 0. 0. 1. ]] SLAMing on 25.322791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.21, Z:-0.05 [[ 0.99872196 -0.05054147 0. 25.36451421] [ 0.05054147 0.99872196 0. -0.20630353] [ 0. 0. 1. -0.04517231] [ 0. 0. 0. 1. ]] SLAMing on 25.382791604999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.21, Z:-0.05 [[ 0.99857661 -0.05333632 0. 25.42699501] [ 0.05333632 0.99857661 0. -0.2064342 ] [ 0. 0. 1. -0.04784297] [ 0. 0. 0. 1. ]] SLAMing on 25.442791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.20, Z:-0.06 [[ 0.99869998 -0.05097396 0. 25.48894879] [ 0.05097396 0.99869998 0. -0.1995379 ] [ 0. 0. 1. -0.06282442] [ 0. 0. 0. 1. ]] SLAMing on 25.502791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.20, Z:-0.06 [[ 0.99862394 -0.05244267 0. 25.55183748] [ 0.05244267 0.99862394 0. -0.19790606] [ 0. 0. 1. -0.06284548] [ 0. 0. 0. 1. ]] SLAMing on 25.562791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.20, Z:-0.06 [[ 0.99851281 -0.05451762 0. 25.61434163] [ 0.05451762 0.99851281 0. -0.19651782] [ 0. 0. 1. -0.06260371] [ 0. 0. 0. 1. ]] SLAMing on 25.622791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.19, Z:-0.06 [[ 0.99860074 -0.05288249 0. 25.67636172] [ 0.05288249 0.99860074 0. -0.19342675] [ 0. 0. 1. -0.06212302] [ 0. 0. 0. 1. ]] SLAMing on 25.682791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.19, Z:-0.06 [[ 0.99854472 -0.05392996 0. 25.73969027] [ 0.05392996 0.99854472 0. -0.19116724] [ 0. 0. 1. -0.06232783] [ 0. 0. 0. 1. ]] SLAMing on 25.742791604999997 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.19, Z:-0.06 [[ 0.99836854 -0.05709872 0. 25.80200303] [ 0.05709872 0.99836854 0. -0.19233745] [ 0. 0. 1. -0.06160282] [ 0. 0. 0. 1. ]] SLAMing on 25.802791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.20, Z:-0.06 [[ 0.9982439 -0.05923778 0. 25.86489382] [ 0.05923778 0.9982439 0. -0.19590733] [ 0. 0. 1. -0.06164875] [ 0. 0. 0. 1. ]] SLAMing on 25.862791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.20, Z:-0.06 [[ 0.99802858 -0.0627611 0. 25.92812215] [ 0.0627611 0.99802858 0. -0.19816735] [ 0. 0. 1. -0.0618476 ] [ 0. 0. 0. 1. ]] SLAMing on 25.922791604999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.20, Z:-0.04 [[ 0.99849158 -0.05490513 0. 25.99050602] [ 0.05490513 0.99849158 0. -0.20358961] [ 0. 0. 1. -0.04339377] [ 0. 0. 0. 1. ]] SLAMing on 25.982791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.20, Z:-0.06 [[ 0.99885268 -0.0478887 0. 26.05278996] [ 0.0478887 0.99885268 0. -0.20351062] [ 0. 0. 1. -0.06350891] [ 0. 0. 0. 1. ]] SLAMing on 26.042791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.20, Z:-0.05 [[ 0.99917041 -0.04072451 0. 26.11497464] [ 0.04072451 0.99917041 0. -0.20476811] [ 0. 0. 1. -0.05064006] [ 0. 0. 0. 1. ]] SLAMing on 26.102791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.20, Z:-0.06 [[ 0.99903583 -0.04390227 0. 26.17723082] [ 0.04390227 0.99903583 0. -0.19980212] [ 0. 0. 1. -0.06167214] [ 0. 0. 0. 1. ]] SLAMing on 26.162791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.19, Z:-0.05 [[ 9.99864782e-01 -1.64444089e-02 0.00000000e+00 2.62387214e+01] [ 1.64444089e-02 9.99864782e-01 0.00000000e+00 -1.88111135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18216595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.19, Z:-0.06 [[ 0.99915379 -0.04113024 0. 26.3005142 ] [ 0.04113024 0.99915379 0. -0.19457862] [ 0. 0. 1. -0.06273029] [ 0. 0. 0. 1. ]] SLAMing on 26.282791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.19, Z:-0.06 [[ 0.9990938 -0.04256255 0. 26.362769 ] [ 0.04256255 0.9990938 0. -0.19173154] [ 0. 0. 1. -0.06372582] [ 0. 0. 0. 1. ]] SLAMing on 26.342791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.19, Z:-0.06 [[ 0.99923281 -0.03916377 0. 26.4253354 ] [ 0.03916377 0.99923281 0. -0.18868875] [ 0. 0. 1. -0.06198028] [ 0. 0. 0. 1. ]] SLAMing on 26.402791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.19, Z:-0.06 [[ 0.9993623 -0.03570717 0. 26.48762468] [ 0.03570717 0.9993623 0. -0.18615645] [ 0. 0. 1. -0.06276102] [ 0. 0. 0. 1. ]] SLAMing on 26.462791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.18, Z:-0.06 [[ 0.99949467 -0.03178676 0. 26.55114394] [ 0.03178676 0.99949467 0. -0.17790417] [ 0. 0. 1. -0.06427532] [ 0. 0. 0. 1. ]] SLAMing on 26.522791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.17, Z:-0.06 [[ 0.99956859 -0.02937068 0. 26.61309991] [ 0.02937068 0.99956859 0. -0.17474218] [ 0. 0. 1. -0.06362928] [ 0. 0. 0. 1. ]] SLAMing on 26.582791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.17, Z:-0.06 [[ 0.99952982 -0.03066159 0. 26.6751432 ] [ 0.03066159 0.99952982 0. -0.17063572] [ 0. 0. 1. -0.0615432 ] [ 0. 0. 0. 1. ]] SLAMing on 26.642791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.17, Z:-0.05 [[ 9.99789279e-01 -2.05279873e-02 0.00000000e+00 2.67376721e+01] [ 2.05279873e-02 9.99789279e-01 0.00000000e+00 -1.65188936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36277952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.16, Z:-0.06 [[ 9.99842040e-01 -1.77734408e-02 0.00000000e+00 2.68002242e+01] [ 1.77734408e-02 9.99842040e-01 0.00000000e+00 -1.59317964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54431517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.15, Z:-0.06 [[ 9.99764131e-01 -2.17182531e-02 0.00000000e+00 2.68626215e+01] [ 2.17182531e-02 9.99764131e-01 0.00000000e+00 -1.52691187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24791606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.14, Z:-0.06 [[ 9.99843771e-01 -1.76757709e-02 0.00000000e+00 2.69251487e+01] [ 1.76757709e-02 9.99843771e-01 0.00000000e+00 -1.44881820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08353236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.13, Z:-0.06 [[ 9.99976205e-01 -6.89856426e-03 0.00000000e+00 2.69877757e+01] [ 6.89856426e-03 9.99976205e-01 0.00000000e+00 -1.27005837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95628388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.12, Z:-0.06 [[ 9.99994082e-01 -3.44044663e-03 0.00000000e+00 2.70490536e+01] [ 3.44044663e-03 9.99994082e-01 0.00000000e+00 -1.18285840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87230433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.11, Z:-0.06 [[ 9.99997976e-01 2.01207542e-03 0.00000000e+00 2.71102267e+01] [-2.01207542e-03 9.99997976e-01 0.00000000e+00 -1.05413265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86923284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.09, Z:-0.06 [[ 9.99980917e-01 6.17783618e-03 0.00000000e+00 2.71711835e+01] [-6.17783618e-03 9.99980917e-01 0.00000000e+00 -8.85430183e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.89895516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.07, Z:-0.06 [[ 9.99985514e-01 5.38258145e-03 0.00000000e+00 2.72309432e+01] [-5.38258145e-03 9.99985514e-01 0.00000000e+00 -7.19485512e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90082854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.06, Z:-0.06 [[ 9.99999821e-01 5.99022705e-04 0.00000000e+00 2.72903178e+01] [-5.99022705e-04 9.99999821e-01 0.00000000e+00 -6.21515300e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99339951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.06, Z:-0.06 [[ 9.99999668e-01 -8.14443065e-04 0.00000000e+00 2.73505508e+01] [ 8.14443065e-04 9.99999668e-01 0.00000000e+00 -5.56316459e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06991706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.04, Z:-0.06 [[ 9.99959435e-01 9.00715990e-03 0.00000000e+00 2.74112122e+01] [-9.00715990e-03 9.99959435e-01 0.00000000e+00 -4.25277275e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81428298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.03, Z:-0.06 [[ 9.99998154e-01 1.92168513e-03 0.00000000e+00 2.74700021e+01] [-1.92168513e-03 9.99998154e-01 0.00000000e+00 -3.07075166e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11566253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:-0.02, Z:-0.06 [[ 9.99996328e-01 2.71010665e-03 0.00000000e+00 2.75308240e+01] [-2.71010665e-03 9.99996328e-01 0.00000000e+00 -2.34469342e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14929100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.02, Z:-0.06 [[ 9.99992766e-01 3.80370476e-03 0.00000000e+00 2.75910384e+01] [-3.80370476e-03 9.99992766e-01 0.00000000e+00 -1.60347579e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07435748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.00, Z:-0.06 [[ 9.99977434e-01 6.71804657e-03 0.00000000e+00 2.76505154e+01] [-6.71804657e-03 9.99977434e-01 0.00000000e+00 -5.21253764e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.12097003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:0.01, Z:-0.07 [[ 9.99965240e-01 8.33776815e-03 0.00000000e+00 2.77096349e+01] [-8.33776815e-03 9.99965240e-01 0.00000000e+00 8.17061355e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52708690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.77, Y:0.02, Z:-0.06 [[ 9.99953846e-01 9.60757115e-03 0.00000000e+00 2.77683557e+01] [-9.60757115e-03 9.99953846e-01 0.00000000e+00 1.76485511e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04696841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:0.03, Z:-0.05 [[ 9.99977778e-01 6.66661821e-03 0.00000000e+00 2.78267438e+01] [-6.66661821e-03 9.99977778e-01 0.00000000e+00 2.72105272e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03758487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.89, Y:0.04, Z:-0.07 [[ 9.99983143e-01 5.80643741e-03 0.00000000e+00 2.78856554e+01] [-5.80643741e-03 9.99983143e-01 0.00000000e+00 3.56129445e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80077398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:0.04, Z:-0.05 [[ 9.99962969e-01 8.60584131e-03 0.00000000e+00 2.79442145e+01] [-8.60584131e-03 9.99962969e-01 0.00000000e+00 4.46413747e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97670533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:0.06, Z:-0.05 [[ 9.99973929e-01 7.22083337e-03 0.00000000e+00 2.80026444e+01] [-7.22083337e-03 9.99973929e-01 0.00000000e+00 5.69389333e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58711780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.06, Y:0.07, Z:-0.06 [[ 9.99980240e-01 6.28652611e-03 0.00000000e+00 2.80615075e+01] [-6.28652611e-03 9.99980240e-01 0.00000000e+00 7.00044424e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53812345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:0.08, Z:-0.06 [[ 9.99990799e-01 4.28972619e-03 0.00000000e+00 2.81207947e+01] [-4.28972619e-03 9.99990799e-01 0.00000000e+00 8.33063701e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11617627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:0.09, Z:-0.04 [[ 9.99993454e-01 -3.61835186e-03 0.00000000e+00 2.81807216e+01] [ 3.61835186e-03 9.99993454e-01 0.00000000e+00 9.42785423e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29146478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.24, Y:0.10, Z:-0.04 [[ 9.99978581e-01 -6.54503654e-03 0.00000000e+00 2.82425798e+01] [ 6.54503654e-03 9.99978581e-01 0.00000000e+00 1.01197351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97088068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:0.11, Z:-0.05 [[ 9.99924525e-01 -1.22859409e-02 0.00000000e+00 2.83035238e+01] [ 1.22859409e-02 9.99924525e-01 0.00000000e+00 1.13897467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86490872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.37, Y:0.12, Z:-0.04 [[ 9.99912657e-01 -1.32166063e-02 0.00000000e+00 2.83654598e+01] [ 1.32166063e-02 9.99912657e-01 0.00000000e+00 1.16105513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37949373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322791605 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.43, Y:0.12, Z:-0.05 [[ 9.99952066e-01 -9.79110959e-03 0.00000000e+00 2.84282329e+01] [ 9.79110959e-03 9.99952066e-01 0.00000000e+00 1.18376398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63026121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.49, Y:0.13, Z:-0.05 [[ 9.99994897e-01 -3.19466290e-03 0.00000000e+00 2.84902892e+01] [ 3.19466290e-03 9.99994897e-01 0.00000000e+00 1.26727643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80463474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.55, Y:0.13, Z:-0.05 [[ 9.99991265e-01 4.17959206e-03 0.00000000e+00 2.85518244e+01] [-4.17959206e-03 9.99991265e-01 0.00000000e+00 1.34905514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51061120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.61, Y:0.15, Z:-0.05 [[ 9.99952116e-01 9.78598889e-03 0.00000000e+00 2.86100916e+01] [-9.78598889e-03 9.99952116e-01 0.00000000e+00 1.45477808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88534165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.67, Y:0.15, Z:-0.05 [[ 9.99877779e-01 1.56341651e-02 0.00000000e+00 2.86684009e+01] [-1.56341651e-02 9.99877779e-01 0.00000000e+00 1.54076684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06013852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622791604999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.73, Y:0.16, Z:-0.05 [[ 9.99856207e-01 1.69577307e-02 0.00000000e+00 2.87264372e+01] [-1.69577307e-02 9.99856207e-01 0.00000000e+00 1.62171066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77563123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.78, Y:0.17, Z:-0.05 [[ 9.99876616e-01 1.57083586e-02 0.00000000e+00 2.87843675e+01] [-1.57083586e-02 9.99876616e-01 0.00000000e+00 1.70872623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90386536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.84, Y:0.18, Z:-0.05 [[ 9.99816330e-01 1.91652293e-02 0.00000000e+00 2.88419907e+01] [-1.91652293e-02 9.99816330e-01 0.00000000e+00 1.80607798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04483510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802791604999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.90, Y:0.19, Z:-0.05 [[ 9.99999807e-01 -6.21252478e-04 0.00000000e+00 2.89010267e+01] [ 6.21252478e-04 9.99999807e-01 0.00000000e+00 1.88437440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26451040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.96, Y:0.20, Z:-0.05 [[ 9.99786335e-01 2.06708527e-02 0.00000000e+00 2.89612068e+01] [-2.06708527e-02 9.99786335e-01 0.00000000e+00 2.01309287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77356145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922791604999997 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:29.02, Y:0.19, Z:-0.07 [[ 0.99915135 -0.0411896 0. 29.01944001] [ 0.0411896 0.99915135 0. 0.19318455] [ 0. 0. 1. -0.0724318 ] [ 0. 0. 0. 1. ]] SLAMing on 28.982791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.08, Y:0.21, Z:-0.07 [[ 9.99816095e-01 -1.91774657e-02 0.00000000e+00 2.90830387e+01] [ 1.91774657e-02 9.99816095e-01 0.00000000e+00 2.11100077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63725874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:0.23, Z:-0.06 [[ 9.99867361e-01 1.62868324e-02 0.00000000e+00 2.91451242e+01] [-1.62868324e-02 9.99867361e-01 0.00000000e+00 2.26141102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68491300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102791604999997 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:29.20, Y:0.23, Z:-0.07 [[ 0.99954072 -0.03030437 0. 29.20298089] [ 0.03030437 0.99954072 0. 0.22893978] [ 0. 0. 1. -0.07442957] [ 0. 0. 0. 1. ]] SLAMing on 29.162791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.27, Y:0.25, Z:-0.06 [[ 9.99960031e-01 8.94075447e-03 0.00000000e+00 2.92656374e+01] [-8.94075447e-03 9.99960031e-01 0.00000000e+00 2.52062924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71537185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222791604999998 meters Centerline goodness : 0.996773 with order 1 Centerline is valid? [True, True] Translation: X:29.32, Y:0.28, Z:-0.07 [[ 9.99972458e-01 -7.42180062e-03 0.00000000e+00 2.93249157e+01] [ 7.42180062e-03 9.99972458e-01 0.00000000e+00 2.77386479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86148861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282791604999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:29.39, Y:0.30, Z:-0.06 [[ 0.9994324 0.03368806 0. 29.38725192] [-0.03368806 0.9994324 0. 0.2969836 ] [ 0. 0. 1. -0.06299381] [ 0. 0. 0. 1. ]] SLAMing on 29.342791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.45, Y:0.31, Z:-0.06 [[ 0.99794107 0.0641375 0. 29.44559635] [-0.0641375 0.99794107 0. 0.30938433] [ 0. 0. 1. -0.05518903] [ 0. 0. 0. 1. ]] SLAMing on 29.402791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:0.34, Z:-0.05 [[ 0.99683244 0.07953036 0. 29.50380613] [-0.07953036 0.99683244 0. 0.33841386] [ 0. 0. 1. -0.0503217 ] [ 0. 0. 0. 1. ]] SLAMing on 29.462791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.56, Y:0.36, Z:-0.06 [[ 0.99696506 0.07785035 0. 29.56334714] [-0.07785035 0.99696506 0. 0.36427217] [ 0. 0. 1. -0.0623613 ] [ 0. 0. 0. 1. ]] SLAMing on 29.522791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.62, Y:0.39, Z:-0.06 [[ 0.99640995 0.08465936 0. 29.62180468] [-0.08465936 0.99640995 0. 0.39402814] [ 0. 0. 1. -0.06166995] [ 0. 0. 0. 1. ]] SLAMing on 29.582791604999997 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:0.42, Z:-0.06 [[ 0.99864597 0.05202148 0. 29.68039335] [-0.05202148 0.99864597 0. 0.42290999] [ 0. 0. 1. -0.05973859] [ 0. 0. 0. 1. ]] SLAMing on 29.642791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.74, Y:0.44, Z:-0.07 [[ 0.99780858 0.0661668 0. 29.73946499] [-0.0661668 0.99780858 0. 0.44304647] [ 0. 0. 1. -0.0677267 ] [ 0. 0. 0. 1. ]] SLAMing on 29.702791604999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.80, Y:0.46, Z:-0.08 [[ 9.99631243e-01 2.71547162e-02 0.00000000e+00 2.97990071e+01] [-2.71547162e-02 9.99631243e-01 0.00000000e+00 4.63717185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55535010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762791604999997 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:29.86, Y:0.49, Z:-0.09 [[ 0.99580786 0.09146967 0. 29.85718445] [-0.09146967 0.99580786 0. 0.4886411 ] [ 0. 0. 1. -0.08938453] [ 0. 0. 0. 1. ]] SLAMing on 29.822791605 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:0.49, Z:-0.08 [[ 9.99999982e-01 -1.87351378e-04 0.00000000e+00 2.99157072e+01] [ 1.87351378e-04 9.99999982e-01 0.00000000e+00 4.88752261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34311290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882791604999998 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:0.51, Z:-0.08 [[ 0.99953316 0.03055265 0. 29.97570843] [-0.03055265 0.99953316 0. 0.51390016] [ 0. 0. 1. -0.07622039] [ 0. 0. 0. 1. ]] SLAMing on 29.942791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:0.53, Z:-0.07 [[ 9.99705950e-01 2.42490033e-02 0.00000000e+00 3.00346105e+01] [-2.42490033e-02 9.99705950e-01 0.00000000e+00 5.32685995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43375329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:0.55, Z:-0.07 [[ 9.99975670e-01 6.97564365e-03 0.00000000e+00 3.00931499e+01] [-6.97564365e-03 9.99975670e-01 0.00000000e+00 5.45397559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17739616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:0.56, Z:-0.07 [[ 9.99938462e-01 -1.10937665e-02 0.00000000e+00 3.01522863e+01] [ 1.10937665e-02 9.99938462e-01 0.00000000e+00 5.55704229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69690217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.21, Y:0.56, Z:-0.07 [[ 9.99770755e-01 -2.14111484e-02 0.00000000e+00 3.02149144e+01] [ 2.14111484e-02 9.99770755e-01 0.00000000e+00 5.62682171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50390305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:30.28, Y:0.56, Z:-0.06 [[ 9.99599551e-01 -2.82972929e-02 0.00000000e+00 3.02780345e+01] [ 2.82972929e-02 9.99599551e-01 0.00000000e+00 5.64146819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17772976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:0.56, Z:-0.06 [[ 0.9992272 -0.03930645 0. 30.34157433] [ 0.03930645 0.9992272 0. 0.55522316] [ 0. 0. 1. -0.06016832] [ 0. 0. 0. 1. ]] SLAMing on 30.302791604999996 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:0.55, Z:-0.06 [[ 0.99898084 -0.04513633 0. 30.40460563] [ 0.04513633 0.99898084 0. 0.55106526] [ 0. 0. 1. -0.05855432] [ 0. 0. 0. 1. ]] SLAMing on 30.362791604999998 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:0.54, Z:-0.06 [[ 0.99875155 -0.04995337 0. 30.46811171] [ 0.04995337 0.99875155 0. 0.54409167] [ 0. 0. 1. -0.05857507] [ 0. 0. 0. 1. ]] SLAMing on 30.422791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:0.54, Z:-0.05 [[ 0.99876963 -0.04959053 0. 30.53149377] [ 0.04959053 0.99876963 0. 0.53955962] [ 0. 0. 1. -0.05446356] [ 0. 0. 0. 1. ]] SLAMing on 30.482791605 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:0.53, Z:-0.06 [[ 0.99868392 -0.05128771 0. 30.59427621] [ 0.05128771 0.99868392 0. 0.53143401] [ 0. 0. 1. -0.05754788] [ 0. 0. 0. 1. ]] SLAMing on 30.542791604999998 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:0.53, Z:-0.06 [[ 0.99848877 -0.05495616 0. 30.65707764] [ 0.05495616 0.99848877 0. 0.52738457] [ 0. 0. 1. -0.05661072] [ 0. 0. 0. 1. ]] SLAMing on 30.602791604999997 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:0.52, Z:-0.06 [[ 0.9984507 -0.05564354 0. 30.7200917 ] [ 0.05564354 0.9984507 0. 0.51901049] [ 0. 0. 1. -0.05749417] [ 0. 0. 0. 1. ]] SLAMing on 30.662791605 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:30.78, Y:0.51, Z:-0.06 [[ 0.99913976 -0.04146976 0. 30.78143967] [ 0.04146976 0.99913976 0. 0.50753171] [ 0. 0. 1. -0.06022215] [ 0. 0. 0. 1. ]] SLAMing on 30.722791604999998 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:30.84, Y:0.50, Z:-0.06 [[ 0.9989003 -0.04688479 0. 30.84409044] [ 0.04688479 0.9989003 0. 0.49785757] [ 0. 0. 1. -0.0583776 ] [ 0. 0. 0. 1. ]] SLAMing on 30.782791604999996 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:30.91, Y:0.49, Z:-0.06 [[ 0.99943185 -0.03370428 0. 30.90688898] [ 0.03370428 0.99943185 0. 0.49028714] [ 0. 0. 1. -0.0581288 ] [ 0. 0. 0. 1. ]] SLAMing on 30.842791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.97, Y:0.48, Z:-0.06 [[ 0.998755 -0.04988444 0. 30.96698533] [ 0.04988444 0.998755 0. 0.4801632 ] [ 0. 0. 1. -0.06078539] [ 0. 0. 0. 1. ]] SLAMing on 30.902791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.03, Y:0.48, Z:-0.07 [[ 0.99936215 -0.03571126 0. 31.02802453] [ 0.03571126 0.99936215 0. 0.47582128] [ 0. 0. 1. -0.06648863] [ 0. 0. 0. 1. ]] SLAMing on 30.962791604999996 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:0.48, Z:-0.08 [[ 0.99778905 -0.06646063 0. 31.08933556] [ 0.06646063 0.99778905 0. 0.47685864] [ 0. 0. 1. -0.08247859] [ 0. 0. 0. 1. ]] SLAMing on 31.022791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.15, Y:0.50, Z:-0.06 [[ 9.99924613e-01 -1.22787978e-02 0.00000000e+00 3.11504716e+01] [ 1.22787978e-02 9.99924613e-01 0.00000000e+00 5.01879990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07883044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082791604999997 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:0.50, Z:-0.08 [[ 0.99903052 -0.04402302 0. 31.21033877] [ 0.04402302 0.99903052 0. 0.4986725 ] [ 0. 0. 1. -0.07739225] [ 0. 0. 0. 1. ]] SLAMing on 31.142791605 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:31.27, Y:0.53, Z:-0.05 [[ 9.99854019e-01 1.70862457e-02 0.00000000e+00 3.12719488e+01] [-1.70862457e-02 9.99854019e-01 0.00000000e+00 5.26372368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77120943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202791604999998 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:31.33, Y:0.52, Z:-0.07 [[ 9.99882976e-01 -1.52981920e-02 0.00000000e+00 3.13315035e+01] [ 1.52981920e-02 9.99882976e-01 0.00000000e+00 5.20969407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86817258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262791604999997 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:31.39, Y:0.54, Z:-0.05 [[ 9.99719170e-01 2.36976995e-02 0.00000000e+00 3.13920828e+01] [-2.36976995e-02 9.99719170e-01 0.00000000e+00 5.41643629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78741661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322791605 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:31.45, Y:0.54, Z:-0.07 [[ 9.99946528e-01 -1.03412053e-02 0.00000000e+00 3.14513239e+01] [ 1.03412053e-02 9.99946528e-01 0.00000000e+00 5.40678522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11236923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382791604999998 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:31.51, Y:0.56, Z:-0.05 [[ 9.99585200e-01 2.87998061e-02 0.00000000e+00 3.15128398e+01] [-2.87998061e-02 9.99585200e-01 0.00000000e+00 5.62844313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88025347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:0.57, Z:-0.05 [[ 9.99789978e-01 2.04938955e-02 0.00000000e+00 3.15704668e+01] [-2.04938955e-02 9.99789978e-01 0.00000000e+00 5.72775018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97284744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502791605 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:31.63, Y:0.58, Z:-0.04 [[ 9.99881696e-01 1.53816057e-02 0.00000000e+00 3.16290105e+01] [-1.53816057e-02 9.99881696e-01 0.00000000e+00 5.79888595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29767338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.69, Y:0.58, Z:-0.06 [[ 9.99993441e-01 3.62192468e-03 0.00000000e+00 3.16895521e+01] [-3.62192468e-03 9.99993441e-01 0.00000000e+00 5.82500618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40947865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622791604999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.75, Y:0.58, Z:-0.06 [[ 9.99999451e-01 -1.04798384e-03 0.00000000e+00 3.17483000e+01] [ 1.04798384e-03 9.99999451e-01 0.00000000e+00 5.84731057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11336020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:31.81, Y:0.58, Z:-0.06 [[ 9.99992973e-01 -3.74875478e-03 0.00000000e+00 3.18092701e+01] [ 3.74875478e-03 9.99992973e-01 0.00000000e+00 5.84999915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06198511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742791604999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:0.59, Z:-0.06 [[ 9.99996969e-01 -2.46207144e-03 0.00000000e+00 3.18723388e+01] [ 2.46207144e-03 9.99996969e-01 0.00000000e+00 5.90613553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72804849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802791604999996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:31.94, Y:0.59, Z:-0.06 [[ 9.99981992e-01 -6.00127487e-03 0.00000000e+00 3.19350167e+01] [ 6.00127487e-03 9.99981992e-01 0.00000000e+00 5.90830265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50445756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862791604999998 meters Centerline goodness : 0.995287 with order 1 Centerline is valid? [True, True] Translation: X:32.00, Y:0.60, Z:-0.03 [[ 9.99969115e-01 7.85931489e-03 0.00000000e+00 3.19955576e+01] [-7.85931489e-03 9.99969115e-01 0.00000000e+00 6.01226921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88830678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922791604999997 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:32.06, Y:0.59, Z:-0.05 [[ 9.99757200e-01 -2.20350167e-02 0.00000000e+00 3.20562350e+01] [ 2.20350167e-02 9.99757200e-01 0.00000000e+00 5.86475220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81556024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982791605 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:32.12, Y:0.58, Z:-0.04 [[ 9.99581995e-01 -2.89108134e-02 0.00000000e+00 3.21183625e+01] [ 2.89108134e-02 9.99581995e-01 0.00000000e+00 5.80064139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41340327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042791605 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:32.18, Y:0.57, Z:-0.05 [[ 9.99532669e-01 -3.05686582e-02 0.00000000e+00 3.21813561e+01] [ 3.05686582e-02 9.99532669e-01 0.00000000e+00 5.73052055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51354852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102791605 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:32.24, Y:0.56, Z:-0.05 [[ 9.99523911e-01 -3.08537172e-02 0.00000000e+00 3.22446421e+01] [ 3.08537172e-02 9.99523911e-01 0.00000000e+00 5.63467024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54075931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162791604999995 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:0.56, Z:-0.04 [[ 9.99549167e-01 -3.00243756e-02 0.00000000e+00 3.23073278e+01] [ 3.00243756e-02 9.99549167e-01 0.00000000e+00 5.56605835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46345493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222791605 meters Centerline goodness : 0.996881 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:0.56, Z:-0.04 [[ 9.99990633e-01 4.32825626e-03 0.00000000e+00 3.23683734e+01] [-4.32825626e-03 9.99990633e-01 0.00000000e+00 5.58556509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51596326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282791605 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:0.55, Z:-0.04 [[ 9.99795067e-01 -2.02441107e-02 0.00000000e+00 3.24286792e+01] [ 2.02441107e-02 9.99795067e-01 0.00000000e+00 5.48636091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32541186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342791604999995 meters Centerline goodness : 0.995737 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:0.56, Z:-0.03 [[ 9.99712370e-01 2.39828356e-02 0.00000000e+00 3.24891450e+01] [-2.39828356e-02 9.99712370e-01 0.00000000e+00 5.55399728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34831344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402791605 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:0.55, Z:-0.04 [[ 9.99953135e-01 9.68131422e-03 0.00000000e+00 3.25488467e+01] [-9.68131422e-03 9.99953135e-01 0.00000000e+00 5.52411170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15168107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462791605 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:32.61, Y:0.56, Z:-0.05 [[ 9.99812781e-01 1.93494777e-02 0.00000000e+00 3.26070099e+01] [-1.93494777e-02 9.99812781e-01 0.00000000e+00 5.56409611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50984568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522791604999995 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:32.67, Y:0.56, Z:-0.05 [[ 9.99660974e-01 2.60372283e-02 0.00000000e+00 3.26654056e+01] [-2.60372283e-02 9.99660974e-01 0.00000000e+00 5.59424947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74398872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582791605 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:32.72, Y:0.57, Z:-0.04 [[ 0.99944251 0.03338668 0. 32.72333003] [-0.03338668 0.99944251 0. 0.57010072] [ 0. 0. 1. -0.04383709] [ 0. 0. 0. 1. ]] SLAMing on 32.642791605 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:32.78, Y:0.58, Z:-0.05 [[ 0.9992468 0.03880503 0. 32.78118166] [-0.03880503 0.9992468 0. 0.57619708] [ 0. 0. 1. -0.04666197] [ 0. 0. 0. 1. ]] SLAMing on 32.702791604999994 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:32.84, Y:0.58, Z:-0.05 [[ 0.99940077 0.03461358 0. 32.83857553] [-0.03461358 0.99940077 0. 0.58051361] [ 0. 0. 1. -0.04580419] [ 0. 0. 0. 1. ]] SLAMing on 32.762791605 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:32.90, Y:0.58, Z:-0.04 [[ 9.99623864e-01 2.74250054e-02 0.00000000e+00 3.28962601e+01] [-2.74250054e-02 9.99623864e-01 0.00000000e+00 5.81612812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24741633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822791605 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:0.58, Z:-0.02 [[ 9.99501294e-01 3.15778986e-02 0.00000000e+00 3.29565721e+01] [-3.15778986e-02 9.99501294e-01 0.00000000e+00 5.80665457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30087567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882791604999994 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:0.58, Z:-0.04 [[ 9.99733726e-01 2.30754624e-02 0.00000000e+00 3.30165307e+01] [-2.30754624e-02 9.99733726e-01 0.00000000e+00 5.77213470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16262312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942791605 meters Centerline goodness : 0.997139 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:0.57, Z:-0.02 [[ 9.99657758e-01 2.61604116e-02 0.00000000e+00 3.30772877e+01] [-2.61604116e-02 9.99657758e-01 0.00000000e+00 5.73255807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09358689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002791605 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:0.57, Z:-0.04 [[ 9.99708804e-01 2.41310386e-02 0.00000000e+00 3.31371497e+01] [-2.41310386e-02 9.99708804e-01 0.00000000e+00 5.69504044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38028828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062791605 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:33.20, Y:0.57, Z:-0.04 [[ 9.99687287e-01 2.50065468e-02 0.00000000e+00 3.31953958e+01] [-2.50065468e-02 9.99687287e-01 0.00000000e+00 5.65167041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42648142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122791604999996 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:0.57, Z:-0.04 [[ 9.99708990e-01 2.41233444e-02 0.00000000e+00 3.32534860e+01] [-2.41233444e-02 9.99708990e-01 0.00000000e+00 5.65127730e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29489504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182791605 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:0.56, Z:-0.04 [[ 9.99702987e-01 2.43708186e-02 0.00000000e+00 3.33106047e+01] [-2.43708186e-02 9.99702987e-01 0.00000000e+00 5.63057582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40601585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242791605 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:0.56, Z:-0.05 [[ 9.99716837e-01 2.37959171e-02 0.00000000e+00 3.33688899e+01] [-2.37959171e-02 9.99716837e-01 0.00000000e+00 5.58374292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69284995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302791604999996 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:0.55, Z:-0.05 [[ 9.99733257e-01 2.30957609e-02 0.00000000e+00 3.34263149e+01] [-2.30957609e-02 9.99733257e-01 0.00000000e+00 5.53620997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83380977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362791605 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:0.55, Z:-0.05 [[ 9.99705600e-01 2.42633971e-02 0.00000000e+00 3.34841369e+01] [-2.42633971e-02 9.99705600e-01 0.00000000e+00 5.52712225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60367652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422791605 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:33.54, Y:0.55, Z:-0.05 [[ 9.99682143e-01 2.52113523e-02 0.00000000e+00 3.35421100e+01] [-2.52113523e-02 9.99682143e-01 0.00000000e+00 5.45795863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77262240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482791604999996 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:0.54, Z:-0.05 [[ 9.99628944e-01 2.72392165e-02 0.00000000e+00 3.35995207e+01] [-2.72392165e-02 9.99628944e-01 0.00000000e+00 5.43338873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53654137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542791605 meters Centerline goodness : 0.998420 with order 1 Centerline is valid? [True, True] Translation: X:33.66, Y:0.53, Z:-0.04 [[ 9.99687973e-01 2.49791191e-02 0.00000000e+00 3.36578461e+01] [-2.49791191e-02 9.99687973e-01 0.00000000e+00 5.34437008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39928391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602791605 meters Centerline goodness : 0.998429 with order 1 Centerline is valid? [True, True] Translation: X:33.72, Y:0.53, Z:-0.04 [[ 9.99808067e-01 1.95915825e-02 0.00000000e+00 3.37159494e+01] [-1.95915825e-02 9.99808067e-01 0.00000000e+00 5.25005401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19490353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662791604999995 meters Centerline goodness : 0.989493 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:0.52, Z:-0.03 [[ 9.98788789e-01 4.92031998e-02 0.00000000e+00 3.37756345e+01] [-4.92031998e-02 9.98788789e-01 0.00000000e+00 5.22029871e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68178850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722791605 meters Centerline goodness : 0.988481 with order 1 Centerline is valid? [True, True] Translation: X:33.83, Y:0.51, Z:-0.02 [[ 9.98691740e-01 5.11351888e-02 0.00000000e+00 3.38341603e+01] [-5.11351888e-02 9.98691740e-01 0.00000000e+00 5.12036142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22324137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782791605 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:33.89, Y:0.50, Z:-0.04 [[ 9.99745665e-01 2.25522826e-02 0.00000000e+00 3.38947114e+01] [-2.25522826e-02 9.99745665e-01 0.00000000e+00 5.00825794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50840824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842791604999995 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:33.95, Y:0.50, Z:-0.03 [[ 9.99513325e-01 3.11947497e-02 0.00000000e+00 3.39528502e+01] [-3.11947497e-02 9.99513325e-01 0.00000000e+00 4.97557420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44485749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902791605 meters Centerline goodness : 0.997112 with order 1 Centerline is valid? [True, True] Translation: X:34.01, Y:0.49, Z:-0.04 [[ 0.9993089 0.03717153 0. 34.0109643 ] [-0.03717153 0.9993089 0. 0.49447534] [ 0. 0. 1. -0.03508166] [ 0. 0. 0. 1. ]] SLAMing on 33.962791605 meters Centerline goodness : 0.997042 with order 1 Centerline is valid? [True, True] Translation: X:34.07, Y:0.50, Z:-0.03 [[ 9.98964491e-01 4.54966623e-02 0.00000000e+00 3.40690308e+01] [-4.54966623e-02 9.98964491e-01 0.00000000e+00 4.96085230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36577656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022791604999995 meters Centerline goodness : 0.996325 with order 1 Centerline is valid? [True, True] Translation: X:34.13, Y:0.50, Z:-0.03 [[ 9.98833777e-01 4.82813118e-02 0.00000000e+00 3.41270433e+01] [-4.82813118e-02 9.98833777e-01 0.00000000e+00 4.95269018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28622392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082791605 meters Centerline goodness : 0.996610 with order 1 Centerline is valid? [True, True] Translation: X:34.18, Y:0.50, Z:-0.03 [[ 9.98811291e-01 4.87442806e-02 0.00000000e+00 3.41847489e+01] [-4.87442806e-02 9.98811291e-01 0.00000000e+00 4.97411218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16604287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142791605 meters Centerline goodness : 0.996566 with order 1 Centerline is valid? [True, True] Translation: X:34.24, Y:0.50, Z:-0.03 [[ 9.98741285e-01 5.01582152e-02 0.00000000e+00 3.42428124e+01] [-5.01582152e-02 9.98741285e-01 0.00000000e+00 4.96003143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37675427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202791604999994 meters Centerline goodness : 0.996405 with order 1 Centerline is valid? [True, True] Translation: X:34.30, Y:0.50, Z:-0.03 [[ 9.98661838e-01 5.17158947e-02 0.00000000e+00 3.43001429e+01] [-5.17158947e-02 9.98661838e-01 0.00000000e+00 4.95461729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17426981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262791605 meters Centerline goodness : 0.996372 with order 1 Centerline is valid? [True, True] Translation: X:34.36, Y:0.49, Z:-0.03 [[ 9.98515978e-01 5.44595409e-02 0.00000000e+00 3.43573613e+01] [-5.44595409e-02 9.98515978e-01 0.00000000e+00 4.94984239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75300331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322791605 meters Centerline goodness : 0.996787 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:0.49, Z:-0.03 [[ 9.98415156e-01 5.62776758e-02 0.00000000e+00 3.44149187e+01] [-5.62776758e-02 9.98415156e-01 0.00000000e+00 4.92132214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72498513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382791604999994 meters Centerline goodness : 0.996976 with order 1 Centerline is valid? [True, True] Translation: X:34.47, Y:0.49, Z:-0.03 [[ 9.98225826e-01 5.95415815e-02 0.00000000e+00 3.44727901e+01] [-5.95415815e-02 9.98225826e-01 0.00000000e+00 4.87094345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61405247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442791605 meters Centerline goodness : 0.997220 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:0.49, Z:-0.02 [[ 9.97958750e-01 6.38618347e-02 0.00000000e+00 3.45307937e+01] [-6.38618347e-02 9.97958750e-01 0.00000000e+00 4.85002921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35565930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502791605 meters Centerline goodness : 0.997794 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:0.48, Z:-0.02 [[ 9.97833454e-01 6.57905552e-02 0.00000000e+00 3.45881831e+01] [-6.57905552e-02 9.97833454e-01 0.00000000e+00 4.81171084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33947765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562791605 meters Centerline goodness : 0.997798 with order 1 Centerline is valid? [True, True] Translation: X:34.65, Y:0.48, Z:-0.02 [[ 9.97272261e-01 7.38108280e-02 0.00000000e+00 3.46470261e+01] [-7.38108280e-02 9.97272261e-01 0.00000000e+00 4.77192315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38180227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622791604999996 meters Centerline goodness : 0.997604 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:0.48, Z:-0.02 [[ 9.96356901e-01 8.52814530e-02 0.00000000e+00 3.47047862e+01] [-8.52814530e-02 9.96356901e-01 0.00000000e+00 4.79417123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13628243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682791605 meters Centerline goodness : 0.997557 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:0.49, Z:-0.02 [[ 9.95067653e-01 9.91986164e-02 0.00000000e+00 3.47632957e+01] [-9.91986164e-02 9.95067653e-01 0.00000000e+00 4.87055141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85253275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742791605 meters Centerline goodness : 0.997334 with order 1 Centerline is valid? [True, True] Translation: X:34.82, Y:0.50, Z:-0.02 [[ 9.93789828e-01 1.11273439e-01 0.00000000e+00 3.48205898e+01] [-1.11273439e-01 9.93789828e-01 0.00000000e+00 4.98954976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93386957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802791604999996 meters Centerline goodness : 0.998052 with order 1 Centerline is valid? [True, True] Translation: X:34.88, Y:0.51, Z:-0.02 [[ 9.92876287e-01 1.19149812e-01 0.00000000e+00 3.48777904e+01] [-1.19149812e-01 9.92876287e-01 0.00000000e+00 5.11994091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01436184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862791605 meters Centerline goodness : 0.997475 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:0.52, Z:-0.02 [[ 9.92757394e-01 1.20136404e-01 0.00000000e+00 3.49364454e+01] [-1.20136404e-01 9.92757394e-01 0.00000000e+00 5.20120453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15663646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922791605 meters Centerline goodness : 0.998390 with order 1 Centerline is valid? [True, True] Translation: X:34.99, Y:0.54, Z:-0.02 [[ 9.93471619e-01 1.14079546e-01 0.00000000e+00 3.49941962e+01] [-1.14079546e-01 9.93471619e-01 0.00000000e+00 5.36714590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07857718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982791604999996 meters Centerline goodness : 0.998393 with order 1 Centerline is valid? [True, True] Translation: X:35.05, Y:0.54, Z:-0.02 [[ 9.94140581e-01 1.08094889e-01 0.00000000e+00 3.50522186e+01] [-1.08094889e-01 9.94140581e-01 0.00000000e+00 5.41872818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96162799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042791605 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:35.11, Y:0.55, Z:-0.02 [[ 9.94863492e-01 1.01225654e-01 0.00000000e+00 3.51104370e+01] [-1.01225654e-01 9.94863492e-01 0.00000000e+00 5.47415145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06554634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102791605 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:35.17, Y:0.55, Z:-0.02 [[ 9.95571751e-01 9.40047228e-02 0.00000000e+00 3.51678596e+01] [-9.40047228e-02 9.95571751e-01 0.00000000e+00 5.53722197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17124071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162791604999995 meters Centerline goodness : 0.998348 with order 1 Centerline is valid? [True, True] Translation: X:35.23, Y:0.56, Z:-0.02 [[ 9.96076891e-01 8.84919592e-02 0.00000000e+00 3.52258514e+01] [-8.84919592e-02 9.96076891e-01 0.00000000e+00 5.59102922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93607935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222791605 meters Centerline goodness : 0.998301 with order 1 Centerline is valid? [True, True] Translation: X:35.28, Y:0.56, Z:-0.02 [[ 9.96693592e-01 8.12519753e-02 0.00000000e+00 3.52840731e+01] [-8.12519753e-02 9.96693592e-01 0.00000000e+00 5.64808288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79753401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282791605 meters Centerline goodness : 0.997409 with order 1 Centerline is valid? [True, True] Translation: X:35.34, Y:0.57, Z:-0.02 [[ 9.97526113e-01 7.02969030e-02 0.00000000e+00 3.53426723e+01] [-7.02969030e-02 9.97526113e-01 0.00000000e+00 5.69860040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58125459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342791604999995 meters Centerline goodness : 0.997425 with order 1 Centerline is valid? [True, True] Translation: X:35.40, Y:0.57, Z:-0.02 [[ 9.97966452e-01 6.37413618e-02 0.00000000e+00 3.54013103e+01] [-6.37413618e-02 9.97966452e-01 0.00000000e+00 5.71731809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59604820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402791605 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:35.46, Y:0.58, Z:-0.01 [[ 9.98457039e-01 5.55296423e-02 0.00000000e+00 3.54585469e+01] [-5.55296423e-02 9.98457039e-01 0.00000000e+00 5.77438234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42109845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462791605 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:35.52, Y:0.58, Z:-0.02 [[ 9.98744500e-01 5.00941425e-02 0.00000000e+00 3.55156841e+01] [-5.00941425e-02 9.98744500e-01 0.00000000e+00 5.75411819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53896494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522791604999995 meters Centerline goodness : 0.997306 with order 1 Centerline is valid? [True, True] Translation: X:35.57, Y:0.58, Z:-0.01 [[ 9.99134565e-01 4.15947267e-02 0.00000000e+00 3.55733907e+01] [-4.15947267e-02 9.99134565e-01 0.00000000e+00 5.75457658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24341217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582791605 meters Centerline goodness : 0.997871 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:0.57, Z:-0.01 [[ 9.99237031e-01 3.90558002e-02 0.00000000e+00 3.56305910e+01] [-3.90558002e-02 9.99237031e-01 0.00000000e+00 5.74639985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10484169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642791605 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:0.58, Z:-0.01 [[ 9.98967456e-01 4.54314979e-02 0.00000000e+00 3.56883118e+01] [-4.54314979e-02 9.98967456e-01 0.00000000e+00 5.76938430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27361282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702791604999994 meters Centerline goodness : 0.997358 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:0.58, Z:-0.01 [[ 9.98669865e-01 5.15606476e-02 0.00000000e+00 3.57457492e+01] [-5.15606476e-02 9.98669865e-01 0.00000000e+00 5.81928996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14468848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762791605 meters Centerline goodness : 0.997833 with order 1 Centerline is valid? [True, True] Translation: X:35.80, Y:0.58, Z:-0.01 [[ 9.98739391e-01 5.01959138e-02 0.00000000e+00 3.58044765e+01] [-5.01959138e-02 9.98739391e-01 0.00000000e+00 5.82810357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30895879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822791605 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:35.86, Y:0.58, Z:-0.01 [[ 9.99230284e-01 3.92280542e-02 0.00000000e+00 3.58624843e+01] [-3.92280542e-02 9.99230284e-01 0.00000000e+00 5.83378137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11233899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882791604999994 meters Centerline goodness : 0.992643 with order 1 Centerline is valid? [True, True] Translation: X:35.92, Y:0.58, Z:0.01 [[ 9.98778322e-01 4.94152106e-02 0.00000000e+00 3.59231970e+01] [-4.94152106e-02 9.98778322e-01 0.00000000e+00 5.78959666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13747533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942791605 meters Centerline goodness : 0.998332 with order 1 Centerline is valid? [True, True] Translation: X:35.98, Y:0.57, Z:-0.01 [[ 9.99841005e-01 1.78315749e-02 0.00000000e+00 3.59835537e+01] [-1.78315749e-02 9.99841005e-01 0.00000000e+00 5.71643216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03592126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002791605 meters Centerline goodness : 0.998287 with order 1 Centerline is valid? [True, True] Translation: X:36.04, Y:0.56, Z:-0.01 [[ 9.99947217e-01 1.02744119e-02 0.00000000e+00 3.60411963e+01] [-1.02744119e-02 9.99947217e-01 0.00000000e+00 5.64124492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25222588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062791604999994 meters Centerline goodness : 0.995984 with order 1 Centerline is valid? [True, True] Translation: X:36.10, Y:0.56, Z:0.00 [[ 9.99915093e-01 1.30309556e-02 0.00000000e+00 3.61006410e+01] [-1.30309556e-02 9.99915093e-01 0.00000000e+00 5.56038674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09291874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122791604999996 meters Centerline goodness : 0.996953 with order 1 Centerline is valid? [True, True] Translation: X:36.16, Y:0.54, Z:-0.00 [[ 9.99999449e-01 1.04965217e-03 0.00000000e+00 3.61596917e+01] [-1.04965217e-03 9.99999449e-01 0.00000000e+00 5.39263203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57349192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182791605 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:36.22, Y:0.53, Z:-0.01 [[ 9.99889886e-01 -1.48396745e-02 0.00000000e+00 3.62196899e+01] [ 1.48396745e-02 9.99889886e-01 0.00000000e+00 5.25804921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09219165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242791605 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:36.28, Y:0.51, Z:-0.01 [[ 9.99852107e-01 -1.71978150e-02 0.00000000e+00 3.62825149e+01] [ 1.71978150e-02 9.99852107e-01 0.00000000e+00 5.11849169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39441140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302791604999996 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:36.35, Y:0.50, Z:-0.02 [[ 9.99811461e-01 -1.94176031e-02 0.00000000e+00 3.63451104e+01] [ 1.94176031e-02 9.99811461e-01 0.00000000e+00 4.96901675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73081346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362791605 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:36.41, Y:0.48, Z:-0.01 [[ 9.99888038e-01 -1.49636842e-02 0.00000000e+00 3.64080351e+01] [ 1.49636842e-02 9.99888038e-01 0.00000000e+00 4.83212978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70398971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422791605 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:36.47, Y:0.47, Z:-0.01 [[ 9.99865257e-01 -1.64154921e-02 0.00000000e+00 3.64706456e+01] [ 1.64154921e-02 9.99865257e-01 0.00000000e+00 4.67082954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06066910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482791604999996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:36.53, Y:0.45, Z:-0.02 [[ 9.99953979e-01 -9.59370815e-03 0.00000000e+00 3.65340308e+01] [ 9.59370815e-03 9.99953979e-01 0.00000000e+00 4.54029750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36433162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542791605 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:36.60, Y:0.44, Z:-0.01 [[ 9.99999718e-01 -7.50680542e-04 0.00000000e+00 3.65962717e+01] [ 7.50680542e-04 9.99999718e-01 0.00000000e+00 4.40446628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26928616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:36.66, Y:0.43, Z:-0.03 [[ 9.99976591e-01 6.84235308e-03 0.00000000e+00 3.66574035e+01] [-6.84235308e-03 9.99976591e-01 0.00000000e+00 4.30548736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51984135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662791604999995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:36.72, Y:0.41, Z:-0.01 [[ 9.99912149e-01 1.32550092e-02 0.00000000e+00 3.67162630e+01] [-1.32550092e-02 9.99912149e-01 0.00000000e+00 4.10603193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17092543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722791605 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.78, Y:0.40, Z:-0.03 [[ 9.99547036e-01 3.00952451e-02 0.00000000e+00 3.67753312e+01] [-3.00952451e-02 9.99547036e-01 0.00000000e+00 3.95481847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85713505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:36.83, Y:0.39, Z:-0.03 [[ 9.99377703e-01 3.52733242e-02 0.00000000e+00 3.68339267e+01] [-3.52733242e-02 9.99377703e-01 0.00000000e+00 3.85115104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91728998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842791604999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.89, Y:0.37, Z:-0.03 [[ 9.99081527e-01 4.28497593e-02 0.00000000e+00 3.68918213e+01] [-4.28497593e-02 9.99081527e-01 0.00000000e+00 3.74649606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82338562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902791605 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:36.95, Y:0.36, Z:-0.03 [[ 9.98646505e-01 5.20111421e-02 0.00000000e+00 3.69510094e+01] [-5.20111421e-02 9.98646505e-01 0.00000000e+00 3.62317425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07029137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962791605 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:37.01, Y:0.36, Z:-0.03 [[ 9.98253186e-01 5.90810955e-02 0.00000000e+00 3.70102722e+01] [-5.90810955e-02 9.98253186e-01 0.00000000e+00 3.58170290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06429132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022791604999995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:0.35, Z:-0.03 [[ 9.97647158e-01 6.85576309e-02 0.00000000e+00 3.70691566e+01] [-6.85576309e-02 9.97647158e-01 0.00000000e+00 3.49875817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94578011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:37.13, Y:0.35, Z:-0.03 [[ 9.97103232e-01 7.60601345e-02 0.00000000e+00 3.71281362e+01] [-7.60601345e-02 9.97103232e-01 0.00000000e+00 3.47198430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98822585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:37.19, Y:0.35, Z:-0.03 [[ 9.96684514e-01 8.13632558e-02 0.00000000e+00 3.71866230e+01] [-8.13632558e-02 9.96684514e-01 0.00000000e+00 3.45585962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91518042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202791604999994 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:0.35, Z:-0.03 [[ 9.95903963e-01 9.04173430e-02 0.00000000e+00 3.72456783e+01] [-9.04173430e-02 9.95903963e-01 0.00000000e+00 3.45117110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91735645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:37.30, Y:0.35, Z:-0.03 [[ 9.95164602e-01 9.82212577e-02 0.00000000e+00 3.73041195e+01] [-9.82212577e-02 9.95164602e-01 0.00000000e+00 3.49882343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73189781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322791605 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:0.36, Z:-0.03 [[ 9.94535980e-01 1.04394372e-01 0.00000000e+00 3.73626853e+01] [-1.04394372e-01 9.94535980e-01 0.00000000e+00 3.58165169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87822656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382791604999994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:0.37, Z:-0.03 [[ 9.93816701e-01 1.11033168e-01 0.00000000e+00 3.74215276e+01] [-1.11033168e-01 9.93816701e-01 0.00000000e+00 3.69828320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85228503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442791605 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:0.39, Z:-0.03 [[ 9.93407361e-01 1.14637758e-01 0.00000000e+00 3.74796119e+01] [-1.14637758e-01 9.93407361e-01 0.00000000e+00 3.86519151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74881144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502791605 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:0.40, Z:-0.03 [[ 9.93079648e-01 1.17442809e-01 0.00000000e+00 3.75379572e+01] [-1.17442809e-01 9.93079648e-01 0.00000000e+00 4.04622645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88249528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562791604999994 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:0.43, Z:-0.03 [[ 9.92853809e-01 1.19336973e-01 0.00000000e+00 3.75965262e+01] [-1.19336973e-01 9.92853809e-01 0.00000000e+00 4.27000716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84980848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622791604999996 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:0.45, Z:-0.03 [[ 9.93418630e-01 1.14540058e-01 0.00000000e+00 3.76545865e+01] [-1.14540058e-01 9.93418630e-01 0.00000000e+00 4.45848972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08015576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682791605 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:0.46, Z:-0.03 [[ 9.93969462e-01 1.09657229e-01 0.00000000e+00 3.77130573e+01] [-1.09657229e-01 9.93969462e-01 0.00000000e+00 4.64506809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14311692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742791605 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:37.77, Y:0.48, Z:-0.03 [[ 9.94505308e-01 1.04686166e-01 0.00000000e+00 3.77717793e+01] [-1.04686166e-01 9.94505308e-01 0.00000000e+00 4.75381906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02372596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802791604999996 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:37.83, Y:0.49, Z:-0.03 [[ 9.95271288e-01 9.71342585e-02 0.00000000e+00 3.78297499e+01] [-9.71342585e-02 9.95271288e-01 0.00000000e+00 4.89064927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08215949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862791605 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:37.89, Y:0.50, Z:-0.03 [[ 9.96173497e-01 8.73977320e-02 0.00000000e+00 3.78882191e+01] [-8.73977320e-02 9.96173497e-01 0.00000000e+00 4.97940704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08303940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922791605 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:37.95, Y:0.50, Z:-0.03 [[ 9.96998843e-01 7.74164545e-02 0.00000000e+00 3.79465983e+01] [-7.74164545e-02 9.96998843e-01 0.00000000e+00 4.99778950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21069788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982791604999996 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:0.50, Z:-0.03 [[ 9.97865827e-01 6.52977151e-02 0.00000000e+00 3.80052138e+01] [-6.52977151e-02 9.97865827e-01 0.00000000e+00 4.97096504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09174055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042791605 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:38.06, Y:0.49, Z:-0.03 [[ 9.98421978e-01 5.61565139e-02 0.00000000e+00 3.80636956e+01] [-5.61565139e-02 9.98421978e-01 0.00000000e+00 4.88738137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85978662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102791605 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:38.12, Y:0.48, Z:-0.03 [[ 9.98700009e-01 5.09734523e-02 0.00000000e+00 3.81220898e+01] [-5.09734523e-02 9.98700009e-01 0.00000000e+00 4.77588666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85428793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162791604999995 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:38.18, Y:0.47, Z:-0.03 [[ 9.98835883e-01 4.82377400e-02 0.00000000e+00 3.81794287e+01] [-4.82377400e-02 9.98835883e-01 0.00000000e+00 4.65593367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65898948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222791605 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:38.24, Y:0.45, Z:-0.03 [[ 9.98739657e-01 5.01906218e-02 0.00000000e+00 3.82379465e+01] [-5.01906218e-02 9.98739657e-01 0.00000000e+00 4.51846527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68306647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282791605 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:38.30, Y:0.44, Z:-0.03 [[ 9.98757672e-01 4.98308321e-02 0.00000000e+00 3.82970002e+01] [-4.98308321e-02 9.98757672e-01 0.00000000e+00 4.43541972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60235729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342791604999995 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:38.36, Y:0.42, Z:-0.03 [[ 9.98812714e-01 4.87151137e-02 0.00000000e+00 3.83559455e+01] [-4.87151137e-02 9.98812714e-01 0.00000000e+00 4.17333607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23445118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402791605 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:38.41, Y:0.40, Z:-0.03 [[ 9.98841971e-01 4.81115147e-02 0.00000000e+00 3.84148272e+01] [-4.81115147e-02 9.98841971e-01 0.00000000e+00 4.04643608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12059003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462791605 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:38.48, Y:0.38, Z:-0.04 [[ 9.98926500e-01 4.63233035e-02 0.00000000e+00 3.84756751e+01] [-4.63233035e-02 9.98926500e-01 0.00000000e+00 3.82657563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73676296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522791604999995 meters Centerline goodness : 0.997809 with order 1 Centerline is valid? [True, True] Translation: X:38.54, Y:0.36, Z:-0.06 [[ 0.9978142 0.06608194 0. 38.53654602] [-0.06608194 0.9978142 0. 0.36335629] [ 0. 0. 1. -0.0563927 ] [ 0. 0. 0. 1. ]] SLAMing on 38.582791605 meters Centerline goodness : 0.305572 with order 1 Centerline is valid? [True, False] Translation: X:38.51, Y:0.34, Z:-0.06 [[ 9.97887818e-01 6.15158748e-02 2.08734132e-02 3.85109678e+01] [-6.15336624e-02 9.98104987e-01 2.10352200e-04 3.38571054e-01] [-2.08209178e-02 -1.49432546e-03 9.99782104e-01 -5.90486865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642791605 meters Centerline goodness : 0.238870 with order 1 Centerline is valid? [False, False] Translation: X:38.49, Y:0.30, Z:-0.06 [[ 9.97589690e-01 6.32045058e-02 2.86356703e-02 3.84859238e+01] [-6.33967284e-02 9.97971233e-01 5.85437841e-03 3.04352464e-01] [-2.82075521e-02 -7.65567536e-03 9.99572771e-01 -6.08931129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702791604999994 meters Centerline goodness : 0.305683 with order 1 Centerline is valid? [False, False] Translation: X:38.46, Y:0.28, Z:-0.06 [[ 9.97396223e-01 6.27621247e-02 3.55202828e-02 3.84622058e+01] [-6.30660700e-02 9.97981164e-01 7.50111577e-03 2.76238575e-01] [-3.49777872e-02 -9.72170917e-03 9.99340804e-01 -5.93201879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762791605 meters Centerline goodness : 0.415055 with order 1 Centerline is valid? [False, False] Translation: X:38.43, Y:0.25, Z:-0.06 [[ 9.96818998e-01 6.58679067e-02 4.48698678e-02 3.84322907e+01] [-6.64538983e-02 9.97720966e-01 1.16941917e-02 2.45463968e-01] [-4.39973359e-02 -1.46387701e-02 9.98924392e-01 -6.24492501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822791605 meters Centerline goodness : 0.988717 with order 1 Centerline is valid? [False, True] Translation: X:38.40, Y:0.22, Z:-0.06 [[ 9.95920730e-01 7.10021771e-02 5.56829529e-02 3.83977801e+01] [-7.19528962e-02 9.97291342e-01 1.52564527e-02 2.18969276e-01] [-5.44488855e-02 -1.92007673e-02 9.98331933e-01 -6.25290265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882791604999994 meters Centerline goodness : 0.317983 with order 1 Centerline is valid? [True, False] Translation: X:38.43, Y:0.22, Z:-0.06 [[ 9.96952768e-01 6.37247907e-02 4.49925424e-02 3.84255387e+01] [-6.41855754e-02 9.97898554e-01 8.87059241e-03 2.15543052e-01] [-4.43327163e-02 -1.17314339e-02 9.98947938e-01 -6.09000324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942791605 meters Centerline goodness : 0.234872 with order 1 Centerline is valid? [False, False] Translation: X:38.39, Y:0.19, Z:-0.07 [[ 9.96208624e-01 6.75570634e-02 5.48126010e-02 3.83945329e+01] [-6.82720196e-02 9.97603024e-01 1.12755814e-02 1.89450392e-01] [-5.39194713e-02 -1.49749984e-02 9.98432992e-01 -6.54024885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002791605 meters Centerline goodness : 0.400895 with order 1 Centerline is valid? [False, False] Translation: X:38.39, Y:0.18, Z:-0.07 [[ 9.95107080e-01 7.70798010e-02 6.18110363e-02 3.83876009e+01] [-7.74943119e-02 9.96983376e-01 4.33350065e-03 1.75032538e-01] [-6.12905503e-02 -9.10230090e-03 9.98078462e-01 -6.72841173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062791604999994 meters Centerline goodness : 0.140538 with order 1 Centerline is valid? [False, False] Translation: X:38.36, Y:0.15, Z:-0.08 [[ 9.94176312e-01 8.01005510e-02 7.20927315e-02 3.83568716e+01] [-8.04732504e-02 9.96754172e-01 2.27541546e-03 1.54996340e-01] [-7.16764688e-02 -8.06370059e-03 9.97395338e-01 -7.63960873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122791604999996 meters Centerline goodness : 0.235761 with order 2 Centerline is valid? [False, False] Translation: X:38.35, Y:0.15, Z:-0.08 [[ 9.92761513e-01 8.76935779e-02 8.20634748e-02 3.83485098e+01] [-8.72714850e-02 9.96146370e-01 -8.72334290e-03 1.45072546e-01] [-8.25122138e-02 1.49839779e-03 9.96588927e-01 -8.28182695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182791605 meters Centerline goodness : 0.148176 with order 1 Centerline is valid? [False, False] Translation: X:38.33, Y:0.14, Z:-0.09 [[ 9.90796666e-01 9.42327104e-02 9.71707902e-02 3.83320689e+01] [-9.25370429e-02 9.95470090e-01 -2.18218983e-02 1.41458870e-01] [-9.87869519e-02 1.26291665e-02 9.95028463e-01 -8.56138336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242791605 meters Centerline goodness : 0.147884 with order 2 Centerline is valid? [False, False] Translation: X:38.33, Y:0.14, Z:-0.09 [[ 9.89309197e-01 1.00204403e-01 1.05954659e-01 3.83337363e+01] [-9.73447750e-02 9.94741343e-01 -3.18379675e-02 1.44004863e-01] [-1.08587785e-01 2.11834616e-02 9.93861134e-01 -8.74044592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302791604999996 meters Centerline goodness : 0.106350 with order 1 Centerline is valid? [False, False] Translation: X:38.36, Y:0.14, Z:-0.10 [[ 9.88783854e-01 9.96107224e-02 1.11284294e-01 3.83620221e+01] [-9.59381345e-02 9.94665637e-01 -3.78964911e-02 1.44425327e-01] [-1.14465560e-01 2.67950310e-02 9.93065789e-01 -9.77525077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362791605 meters Centerline goodness : 0.088246 with order 1 Centerline is valid? [False, False] Translation: X:38.40, Y:0.15, Z:-0.11 [[ 9.88128560e-01 1.01478243e-01 1.15343468e-01 3.83950019e+01] [-9.74655034e-02 9.94437678e-01 -3.99271940e-02 1.45924647e-01] [-1.18753632e-01 2.82111915e-02 9.92522898e-01 -1.09553756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422791605 meters Centerline goodness : 0.107814 with order 3 Centerline is valid? [False, False] Translation: X:38.45, Y:0.15, Z:-0.11 [[ 9.87928680e-01 9.34471899e-02 1.23549769e-01 3.84512797e+01] [-8.81051906e-02 9.94952642e-01 -4.80282867e-02 1.51431973e-01] [-1.27414277e-01 3.65631460e-02 9.91175433e-01 -1.05310547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482791604999996 meters Centerline goodness : 0.124330 with order 3 Centerline is valid? [False, False] Translation: X:38.46, Y:0.16, Z:-0.13 [[ 0.98526498 0.09887617 0.13955797 38.45623632] [-0.09210003 0.99427245 -0.05422057 0.16473575] [-0.14411977 0.04056834 0.98872833 -0.12899924] [ 0. 0. 0. 1. ]] SLAMing on 39.542791605 meters Centerline goodness : 0.126084 with order 3 Centerline is valid? [False, False] Translation: X:38.53, Y:0.18, Z:-0.15 [[ 0.98655795 0.0982586 0.13057048 38.52973318] [-0.09171493 0.99425235 -0.05523257 0.17844714] [-0.13524708 0.04251487 0.98989934 -0.15293896] [ 0. 0. 0. 1. ]] SLAMing on 39.602791605 meters Centerline goodness : 0.125804 with order 3 Centerline is valid? [False, False] Translation: X:38.60, Y:0.19, Z:-0.17 [[ 0.98788234 0.0953799 0.12243835 38.60004472] [-0.0887713 0.99434131 -0.05835245 0.19278283] [-0.12731116 0.04677635 0.99075922 -0.16851122] [ 0. 0. 0. 1. ]] SLAMing on 39.662791604999995 meters Centerline goodness : 0.094604 with order 1 Centerline is valid? [False, False] Translation: X:38.67, Y:0.21, Z:-0.18 [[ 0.98980293 0.08632144 0.11330828 38.67088194] [-0.07986914 0.99497936 -0.06030753 0.2105919 ] [-0.11794523 0.05064274 0.9917279 -0.18214806] [ 0. 0. 0. 1. ]] SLAMing on 39.722791605 meters Centerline goodness : 0.136305 with order 3 Centerline is valid? [False, False] Translation: X:38.71, Y:0.21, Z:-0.19 [[ 0.99067285 0.07816358 0.11161435 38.70615693] [-0.07217964 0.99577934 -0.05668869 0.21295082] [-0.11557425 0.04810366 0.99213337 -0.19389613] [ 0. 0. 0. 1. ]] SLAMing on 39.782791605 meters Centerline goodness : 0.184170 with order 2 Centerline is valid? [False, False] Translation: X:38.81, Y:0.24, Z:-0.21 [[ 0.99282031 0.06842901 0.09810867 38.80960743] [-0.06283258 0.99627601 -0.05904386 0.23602477] [-0.10178363 0.05245552 0.99342262 -0.2082796 ] [ 0. 0. 0. 1. ]] SLAMing on 39.842791604999995 meters Centerline goodness : 0.110802 with order 1 Centerline is valid? [False, False] Translation: X:38.86, Y:0.25, Z:-0.21 [[ 0.99368813 0.06576584 0.09087766 38.86217723] [-0.06000036 0.99609394 -0.0647829 0.25205448] [-0.09478319 0.0589213 0.9937527 -0.2050647 ] [ 0. 0. 0. 1. ]] SLAMing on 39.902791605 meters Centerline goodness : 0.111181 with order 1 Centerline is valid? [False, False] Translation: X:38.91, Y:0.25, Z:-0.23 [[ 0.99474958 0.05477132 0.08644868 38.91362187] [-0.04958541 0.99690304 -0.06103777 0.25473141] [-0.08952407 0.0564307 0.99438474 -0.22579803] [ 0. 0. 0. 1. ]] SLAMing on 39.962791605 meters Centerline goodness : 0.203722 with order 2 Centerline is valid? [False, False] Translation: X:38.98, Y:0.27, Z:-0.23 [[ 0.99535537 0.0556744 0.07853688 38.97790959] [-0.05110778 0.99694852 -0.05900551 0.2664956 ] [-0.08158232 0.05471761 0.99516346 -0.23276866] [ 0. 0. 0. 1. ]] SLAMing on 40.022791604999995 meters Centerline goodness : 0.143077 with order 1 Centerline is valid? [False, False] Translation: X:39.04, Y:0.28, Z:-0.23 [[ 0.99622325 0.0514085 0.06997429 39.03594244] [-0.04688807 0.99679745 -0.06477923 0.28356281] [-0.0730804 0.06125362 0.99544324 -0.23065071] [ 0. 0. 0. 1. ]] SLAMing on 40.082791605 meters Centerline goodness : 0.128498 with order 1 Centerline is valid? [False, False] Translation: X:39.08, Y:0.28, Z:-0.25 [[ 9.97056874e-01 4.12354842e-02 6.46314586e-02 3.90835893e+01] [-3.73872410e-02 9.97518330e-01 -5.96605084e-02 2.81519996e-01] [-6.69311946e-02 5.70685280e-02 9.96124188e-01 -2.48656731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142791605 meters Centerline goodness : 0.131447 with order 1 Centerline is valid? [False, False] Translation: X:39.13, Y:0.28, Z:-0.26 [[ 9.97854529e-01 2.93460837e-02 5.85247557e-02 3.91312554e+01] [-2.62634556e-02 9.98261620e-01 -5.27633288e-02 2.77804509e-01] [-5.99714145e-02 5.11130643e-02 9.96890608e-01 -2.56405284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202791604999994 meters Centerline goodness : 0.137960 with order 2 Centerline is valid? [False, False] Translation: X:39.16, Y:0.28, Z:-0.26 [[ 9.98126984e-01 1.98881162e-02 5.78531509e-02 3.91575776e+01] [-1.69271206e-02 9.98543493e-01 -5.12285517e-02 2.76256468e-01] [-5.87877268e-02 5.01533125e-02 9.97009854e-01 -2.62418637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262791605 meters Centerline goodness : 0.125438 with order 2 Centerline is valid? [False, False] Translation: X:39.19, Y:0.28, Z:-0.27 [[ 9.98403657e-01 1.29060749e-02 5.49870031e-02 3.91904242e+01] [-1.03203577e-02 9.98839159e-01 -4.70513033e-02 2.76382133e-01] [-5.55304195e-02 4.64087078e-02 9.97377864e-01 -2.74172539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322791605 meters Centerline goodness : 0.131037 with order 1 Centerline is valid? [False, False] Translation: X:39.21, Y:0.27, Z:-0.28 [[ 9.98442936e-01 7.28606116e-03 5.53047649e-02 3.92141202e+01] [-5.03323409e-03 9.99156072e-01 -4.07652983e-02 2.69869220e-01] [-5.55551101e-02 4.04234623e-02 9.97636995e-01 -2.78780221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382791604999994 meters Centerline goodness : 0.142365 with order 3 Centerline is valid? [False, False] Translation: X:39.24, Y:0.26, Z:-0.28 [[ 9.98584311e-01 3.84371099e-03 5.30528066e-02 3.92353259e+01] [-2.14837353e-03 9.99486335e-01 -3.19757732e-02 2.60775296e-01] [-5.31484609e-02 3.18165282e-02 9.98079631e-01 -2.78655424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442791605 meters Centerline goodness : 0.166292 with order 2 Centerline is valid? [False, False] Translation: X:39.27, Y:0.26, Z:-0.29 [[ 9.98800725e-01 -1.29311118e-03 4.89432363e-02 3.92725229e+01] [ 2.56169406e-03 9.99662146e-01 -2.58656288e-02 2.59602394e-01] [-4.88932535e-02 2.59599864e-02 9.98466589e-01 -2.93841358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502791605 meters Centerline goodness : 0.131685 with order 1 Centerline is valid? [False, False] Translation: X:39.30, Y:0.25, Z:-0.30 [[ 9.98910958e-01 -6.65610944e-03 4.61800118e-02 3.92995854e+01] [ 7.53729723e-03 9.99792329e-01 -1.89337681e-02 2.52432912e-01] [-4.60443963e-02 1.92612209e-02 9.98753683e-01 -2.99514834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562791604999994 meters Centerline goodness : 0.136902 with order 1 Centerline is valid? [False, False] Translation: X:39.35, Y:0.25, Z:-0.30 [[ 9.99097467e-01 -5.76761698e-03 4.20830846e-02 3.93482747e+01] [ 6.36641116e-03 9.99880199e-01 -1.41087387e-02 2.51120815e-01] [-4.19966692e-02 1.43639233e-02 9.99014493e-01 -3.02550564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622791604999996 meters Centerline goodness : 0.142647 with order 1 Centerline is valid? [False, False] Translation: X:39.38, Y:0.24, Z:-0.31 [[ 9.99153924e-01 -8.51684050e-03 4.02355557e-02 3.93766342e+01] [ 8.66612240e-03 9.99956192e-01 -3.53723974e-03 2.40256960e-01] [-4.02036670e-02 3.88293322e-03 9.99183961e-01 -3.10723381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682791605 meters Centerline goodness : 0.287037 with order 2 Centerline is valid? [False, False] Translation: X:39.41, Y:0.24, Z:-0.31 [[ 9.98915050e-01 -9.70450991e-03 4.55471862e-02 3.94089041e+01] [ 9.74531327e-03 9.99952286e-01 -6.73877319e-04 2.37442295e-01] [-4.55384733e-02 1.11701779e-03 9.98961961e-01 -3.06558283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742791605 meters Centerline goodness : 0.027758 with order 1 Centerline is valid? [False, False] Translation: X:39.42, Y:0.24, Z:-0.30 [[ 9.98672050e-01 -5.13144790e-03 5.12621098e-02 3.94212555e+01] [ 5.30475432e-03 9.99980664e-01 -3.24530524e-03 2.37197096e-01] [-5.12444654e-02 3.51292853e-03 9.98679961e-01 -2.99509626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802791604999996 meters Centerline goodness : 0.118978 with order 3 Centerline is valid? [False, False] Translation: X:39.43, Y:0.23, Z:-0.30 [[ 9.98689689e-01 -4.07624760e-03 5.10126393e-02 3.94259992e+01] [ 4.12925620e-03 9.99991039e-01 -9.33778807e-04 2.32490966e-01] [-5.10083758e-02 1.14319952e-03 9.98697571e-01 -3.04697908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862791605 meters Centerline goodness : 0.165040 with order 1 Centerline is valid? [False, False] Translation: X:39.44, Y:0.23, Z:-0.30 [[ 9.98534573e-01 -1.65992248e-03 5.40920556e-02 3.94443386e+01] [ 1.94021674e-03 9.99984961e-01 -5.12969932e-03 2.27295579e-01] [-5.40827272e-02 5.22713244e-03 9.98522777e-01 -3.02953153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922791605 meters Centerline goodness : 0.114160 with order 1 Centerline is valid? [False, False] Translation: X:39.46, Y:0.21, Z:-0.31 [[ 9.98171475e-01 -9.47352295e-03 5.96989100e-02 3.94617033e+01] [ 9.38244960e-03 9.99954354e-01 1.80567735e-03 2.06456778e-01] [-5.97132911e-02 -1.24225361e-03 9.98214796e-01 -3.05818332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982791604999996 meters Centerline goodness : 0.915784 with order 1 Centerline is valid? [False, False] Translation: X:39.48, Y:0.20, Z:-0.31 [[ 9.97982697e-01 -6.21579230e-03 6.31814905e-02 3.94812395e+01] [ 6.26921591e-03 9.99980139e-01 -6.47343949e-04 1.96365627e-01] [-6.31762119e-02 1.04213646e-03 9.98001844e-01 -3.06918711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042791605 meters Centerline goodness : 0.878786 with order 2 Centerline is valid? [False, False] Translation: X:39.50, Y:0.18, Z:-0.31 [[ 9.97726190e-01 -2.40766368e-04 6.73972660e-02 3.94983121e+01] [ 2.37524298e-04 9.99999970e-01 5.61172192e-05 1.84599651e-01] [-6.73972775e-02 -3.99811310e-05 9.97726218e-01 -3.06004294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102791605 meters Centerline goodness : 0.839805 with order 2 Centerline is valid? [False, False] Translation: X:39.51, Y:0.17, Z:-0.31 [[ 9.97389239e-01 6.13060975e-03 7.19522232e-02 3.95147568e+01] [-6.22277370e-03 9.99980080e-01 1.05681099e-03 1.72210592e-01] [-7.19443110e-02 -1.50179431e-03 9.97407520e-01 -3.06246883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162791604999995 meters Centerline goodness : 0.862342 with order 3 Centerline is valid? [False, False] Translation: X:39.53, Y:0.17, Z:-0.30 [[ 9.97131363e-01 1.28178955e-02 7.45972253e-02 3.95317800e+01] [-1.28252094e-02 9.99917681e-01 -3.81004028e-04 1.70030816e-01] [-7.45959682e-02 -5.76813966e-04 9.97213673e-01 -3.04197325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222791605 meters Centerline goodness : 0.860987 with order 2 Centerline is valid? [False, False] Translation: X:39.55, Y:0.17, Z:-0.30 [[ 9.96564105e-01 1.98394606e-02 8.04138110e-02 3.95471138e+01] [-1.98418413e-02 9.99802835e-01 -7.69547046e-04 1.66490693e-01] [-8.04132236e-02 -8.28655113e-04 9.96761269e-01 -3.04340684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282791605 meters Centerline goodness : 0.185717 with order 3 Centerline is valid? [False, False] Translation: X:39.59, Y:0.17, Z:-0.30 [[ 9.97618612e-01 1.70813937e-02 6.68231372e-02 3.95862360e+01] [-1.70912343e-02 9.99853844e-01 -4.24459458e-04 1.65440179e-01] [-6.68206209e-02 -7.18641237e-04 9.97764746e-01 -3.04615308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342791604999995 meters Centerline goodness : 0.447175 with order 2 Centerline is valid? [False, False] Translation: X:39.61, Y:0.16, Z:-0.31 [[ 9.97736579e-01 6.99977456e-03 6.68784093e-02 3.96059594e+01] [-7.08461842e-03 9.99974372e-01 1.03154046e-03 1.61601968e-01] [-6.68694748e-02 -1.50301366e-03 9.97760600e-01 -3.06959890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402791605 meters Centerline goodness : 0.225036 with order 1 Centerline is valid? [False, False] Translation: X:39.65, Y:0.16, Z:-0.31 [[ 9.98584748e-01 3.60018878e-03 5.30616658e-02 3.96473079e+01] [-3.68013151e-03 9.99992236e-01 1.40897131e-03 1.61186224e-01] [-5.30561812e-02 -1.60225117e-03 9.98590244e-01 -3.07423911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462791605 meters Centerline goodness : 0.148989 with order 1 Centerline is valid? [False, False] Translation: X:39.69, Y:0.16, Z:-0.31 [[ 9.99235491e-01 2.84198519e-04 3.90941480e-02 3.96884887e+01] [-3.20865456e-04 9.99999515e-01 9.31642512e-04 1.59395196e-01] [-3.90938643e-02 -9.43474225e-04 9.99235097e-01 -3.09050561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522791604999995 meters Centerline goodness : 0.904349 with order 1 Centerline is valid? [False, False] Translation: X:39.71, Y:0.16, Z:-0.30 [[ 9.99356588e-01 1.68119376e-03 3.58271311e-02 3.97077281e+01] [-1.47385893e-03 9.99982020e-01 -5.81271477e-03 1.64551768e-01] [-3.58362593e-02 5.75617066e-03 9.99341097e-01 -3.03710402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582791605 meters Centerline goodness : 0.302183 with order 1 Centerline is valid? [False, False] Translation: X:39.72, Y:0.15, Z:-0.30 [[ 9.99082734e-01 -8.21892789e-03 4.20254664e-02 3.97239671e+01] [ 8.40626428e-03 9.99955495e-01 -4.28291245e-03 1.54988398e-01] [-4.19883951e-02 4.63226105e-03 9.99107360e-01 -3.04840866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642791605 meters Centerline goodness : 0.327299 with order 1 Centerline is valid? [False, False] Translation: X:39.75, Y:0.15, Z:-0.31 [[ 9.98918521e-01 -1.71071523e-02 4.32334874e-02 3.97475917e+01] [ 1.71436616e-02 9.99852924e-01 -4.73818246e-04 1.46996814e-01] [-4.32190231e-02 1.21448610e-03 9.99064883e-01 -3.10945434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702791604999994 meters Centerline goodness : 0.388707 with order 3 Centerline is valid? [False, False] Translation: X:39.75, Y:0.14, Z:-0.31 [[ 9.98908614e-01 -1.71929163e-02 4.34279208e-02 3.97478782e+01] [ 1.71753999e-02 9.99852190e-01 7.76462031e-04 1.40978843e-01] [-4.34348514e-02 -2.97227066e-05 9.99056261e-01 -3.11077817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762791605 meters Centerline goodness : 0.145943 with order 1 Centerline is valid? [False, False] Translation: X:39.77, Y:0.13, Z:-0.31 [[ 9.99146073e-01 -1.05363537e-02 3.99513451e-02 3.97710259e+01] [ 1.05060026e-02 9.99944340e-01 9.69580315e-04 1.34617477e-01] [-3.99593372e-02 -5.49023431e-04 9.99201156e-01 -3.10257366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822791605 meters Centerline goodness : 0.143939 with order 1 Centerline is valid? [False, False] Translation: X:39.79, Y:0.13, Z:-0.31 [[ 9.99306295e-01 -2.95682857e-03 3.71239383e-02 3.97947954e+01] [ 2.91898294e-03 9.99995163e-01 1.07359960e-03 1.30496624e-01] [-3.71269332e-02 -9.64490693e-04 9.99310092e-01 -3.10035508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882791604999994 meters Centerline goodness : 0.144200 with order 1 Centerline is valid? [False, False] Translation: X:39.82, Y:0.13, Z:-0.31 [[ 9.99289427e-01 6.05073311e-03 3.72025382e-02 3.98175262e+01] [-6.12052531e-03 9.99979716e-01 1.76240259e-03 1.27984342e-01] [-3.71911198e-02 -1.98884935e-03 9.99306192e-01 -3.12049948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942791605 meters Centerline goodness : 0.304140 with order 2 Centerline is valid? [False, False] Translation: X:39.84, Y:0.13, Z:-0.32 [[ 9.99176391e-01 1.24534459e-02 3.86193175e-02 3.98414039e+01] [-1.24022533e-02 9.99921865e-01 -1.56487030e-03 1.31122076e-01] [-3.86357880e-02 1.08461490e-03 9.99252771e-01 -3.16104118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002791605 meters Centerline goodness : 0.309861 with order 2 Centerline is valid? [False, False] Translation: X:39.85, Y:0.13, Z:-0.32 [[ 9.99203474e-01 1.07239036e-02 3.84371665e-02 3.98459216e+01] [-1.05986868e-02 9.99937846e-01 -3.45999376e-03 1.29140228e-01] [-3.84718821e-02 3.04985429e-03 9.99255029e-01 -3.23145889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062791604999994 meters Centerline goodness : 0.178055 with order 3 Centerline is valid? [False, False] Translation: X:39.85, Y:0.13, Z:-0.33 [[ 9.99192538e-01 1.28085235e-02 3.80816725e-02 3.98516628e+01] [-1.27640638e-02 9.99917541e-01 -1.41039013e-03 1.27358007e-01] [-3.80965974e-02 9.23174393e-04 9.99273635e-01 -3.30970471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122791604999996 meters Centerline goodness : 0.109846 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:0.13, Z:-0.34 [[ 9.99227658e-01 1.29197172e-02 3.71102185e-02 3.98614557e+01] [-1.28586066e-02 9.99915548e-01 -1.88494544e-03 1.28076013e-01] [-3.71314374e-02 1.40630392e-03 9.99309401e-01 -3.42486591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182791605 meters Centerline goodness : 0.101282 with order 1 Centerline is valid? [False, False] Translation: X:39.87, Y:0.13, Z:-0.35 [[ 9.99267305e-01 1.27364825e-02 3.60920402e-02 3.98722744e+01] [-1.26635175e-02 9.99917284e-01 -2.24952819e-03 1.27061810e-01] [-3.61177059e-02 1.79082779e-03 9.99345938e-01 -3.54532017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242791604999994 meters Centerline goodness : 0.106726 with order 1 Centerline is valid? [False, False] Translation: X:39.90, Y:0.13, Z:-0.36 [[ 9.99386037e-01 1.60143414e-02 3.11623209e-02 3.98997604e+01] [-1.58139086e-02 9.99852720e-01 -6.66777762e-03 1.31182737e-01] [-3.12645113e-02 6.17088576e-03 9.99492096e-01 -3.57841766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302791604999996 meters Centerline goodness : 0.202777 with order 3 Centerline is valid? [False, False] Translation: X:39.91, Y:0.13, Z:-0.37 [[ 9.99413255e-01 1.54602065e-02 3.05634919e-02 3.99093710e+01] [-1.52672695e-02 9.99862086e-01 -6.53599291e-03 1.27426421e-01] [-3.06603246e-02 6.06553688e-03 9.99511458e-01 -3.68592589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362791605 meters Centerline goodness : 0.173703 with order 3 Centerline is valid? [False, False] Translation: X:39.96, Y:0.13, Z:-0.37 [[ 9.99515459e-01 1.30358330e-02 2.82650694e-02 3.99587609e+01] [-1.28469109e-02 9.99893975e-01 -6.85527697e-03 1.26218138e-01] [-2.83514368e-02 6.48883648e-03 9.99576956e-01 -3.71920061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422791605 meters Centerline goodness : 0.102000 with order 1 Centerline is valid? [False, False] Translation: X:39.97, Y:0.12, Z:-0.38 [[ 9.99535561e-01 1.20433120e-02 2.79932373e-02 3.99686147e+01] [-1.18765840e-02 9.99910775e-01 -6.11467101e-03 1.16529328e-01] [-2.80643805e-02 5.77936709e-03 9.99589410e-01 -3.84375228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482791604999996 meters Centerline goodness : 0.102211 with order 1 Centerline is valid? [False, False] Translation: X:39.98, Y:0.11, Z:-0.40 [[ 9.99575591e-01 1.10331625e-02 2.69612127e-02 3.99786834e+01] [-1.08830181e-02 9.99924479e-01 -5.70931265e-03 1.09445342e-01] [-2.70221683e-02 5.41347020e-03 9.99620176e-01 -3.96471755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 499.93 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 ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/1418 [00:00