+ python -m lidar_slam --result /working/result.json --no-model /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.00432 Adjusted end_distance from 9.223372036854776e+18 to 48.62432 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00432 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [0, True] SLAMing on 0.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.00 [[ 9.99998364e-01 1.80900122e-03 0.00000000e+00 6.06840850e-02] [-1.80900122e-03 9.99998364e-01 0.00000000e+00 7.15088811e-05] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84904626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12432000000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:0.01 [[ 0.99997386 0.00723104 0. 0.12229201] [-0.00723104 0.99997386 0. -0.00149028] [ 0. 0. 1. 0.00784674] [ 0. 0. 0. 1. ]] SLAMing on 0.18432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.00, Z:0.01 [[ 9.99946977e-01 1.02976793e-02 0.00000000e+00 1.83251499e-01] [-1.02976793e-02 9.99946977e-01 0.00000000e+00 -7.04916814e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32381327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.25, Y:0.00, Z:0.01 [[ 9.99938692e-01 1.10730271e-02 0.00000000e+00 2.46679170e-01] [-1.10730271e-02 9.99938692e-01 0.00000000e+00 7.38949204e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29308845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30432000000000003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:0.31, Y:0.00, Z:0.01 [[ 0.99993926 0.01102168 0. 0.30847755] [-0.01102168 0.99993926 0. 0.00135739] [ 0. 0. 1. 0.00994919] [ 0. 0. 0. 1. ]] SLAMing on 0.36432000000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.00, Z:0.01 [[ 9.99979905e-01 6.33947085e-03 0.00000000e+00 3.70851704e-01] [-6.33947085e-03 9.99979905e-01 0.00000000e+00 -2.70001033e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04114773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42432000000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.00, Z:0.01 [[ 9.99995312e-01 3.06191595e-03 0.00000000e+00 4.32506634e-01] [-3.06191595e-03 9.99995312e-01 0.00000000e+00 -9.87410935e-05] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28738975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48432000000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.49, Y:0.00, Z:0.01 [[ 9.99999949e-01 -3.20790445e-04 0.00000000e+00 4.93357556e-01] [ 3.20790445e-04 9.99999949e-01 0.00000000e+00 2.16968930e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18354701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.55, Y:0.00, Z:0.01 [[ 0.99999836 -0.00181052 0. 0.55411719] [ 0.00181052 0.99999836 0. 0.00373229] [ 0. 0. 1. 0.01493507] [ 0. 0. 0. 1. ]] SLAMing on 0.6043200000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.61, Y:0.01, Z:0.01 [[ 0.99999779 -0.00210065 0. 0.61338981] [ 0.00210065 0.99999779 0. 0.00501645] [ 0. 0. 1. 0.01313032] [ 0. 0. 0. 1. ]] SLAMing on 0.66432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.67, Y:0.01, Z:0.01 [[ 9.99999744e-01 7.14890701e-04 0.00000000e+00 6.72648547e-01] [-7.14890701e-04 9.99999744e-01 0.00000000e+00 8.09080433e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49220691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7243200000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:0.01, Z:0.01 [[ 0.99998624 0.00524513 0. 0.73309634] [-0.00524513 0.99998624 0. 0.01467588] [ 0. 0. 1. 0.01376087] [ 0. 0. 0. 1. ]] SLAMing on 0.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.79, Y:0.02, Z:0.02 [[ 0.99997426 0.00717423 0. 0.79483319] [-0.00717423 0.99997426 0. 0.0158879 ] [ 0. 0. 1. 0.01855323] [ 0. 0. 0. 1. ]] SLAMing on 0.8443200000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.86, Y:0.02, Z:0.02 [[ 0.99997122 0.00758739 0. 0.85708286] [-0.00758739 0.99997122 0. 0.01829032] [ 0. 0. 1. 0.019731 ] [ 0. 0. 0. 1. ]] SLAMing on 0.90432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.92, Y:0.02, Z:0.02 [[ 0.9999741 0.00719709 0. 0.91845427] [-0.00719709 0.9999741 0. 0.02184579] [ 0. 0. 1. 0.01866456] [ 0. 0. 0. 1. ]] SLAMing on 0.9643200000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.98, Y:0.02, Z:0.02 [[ 0.99996836 0.00795455 0. 0.98020757] [-0.00795455 0.99996836 0. 0.02373968] [ 0. 0. 1. 0.01623752] [ 0. 0. 0. 1. ]] SLAMing on 1.0243200000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.04, Y:0.03, Z:0.02 [[ 0.99998291 0.00584703 0. 1.04200414] [-0.00584703 0.99998291 0. 0.02742547] [ 0. 0. 1. 0.01647612] [ 0. 0. 0. 1. ]] SLAMing on 1.0843200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.10, Y:0.03, Z:0.02 [[ 0.99998624 0.00524646 0. 1.10312102] [-0.00524646 0.99998624 0. 0.02943057] [ 0. 0. 1. 0.01798193] [ 0. 0. 0. 1. ]] SLAMing on 1.1443200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.16, Y:0.03, Z:0.02 [[ 0.9999848 0.00551351 0. 1.16479568] [-0.00551351 0.9999848 0. 0.03488157] [ 0. 0. 1. 0.0166123 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2043200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:0.04, Z:0.02 [[ 0.99999539 0.00303793 0. 1.2257641 ] [-0.00303793 0.99999539 0. 0.03818152] [ 0. 0. 1. 0.01669556] [ 0. 0. 0. 1. ]] SLAMing on 1.26432 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:0.04, Z:0.02 [[ 9.99999998e-01 6.40895026e-05 0.00000000e+00 1.28743459e+00] [-6.40895026e-05 9.99999998e-01 0.00000000e+00 4.01843557e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70368953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3243200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:0.04, Z:0.02 [[ 9.99999169e-01 -1.28931287e-03 0.00000000e+00 1.34842047e+00] [ 1.28931287e-03 9.99999169e-01 0.00000000e+00 4.13638425e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88705554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3843200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:0.05, Z:0.02 [[ 0.99999881 0.00154388 0. 1.40867867] [-0.00154388 0.99999881 0. 0.04527012] [ 0. 0. 1. 0.02030889] [ 0. 0. 0. 1. ]] SLAMing on 1.4443200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.47, Y:0.05, Z:0.02 [[ 0.99998339 0.00576353 0. 1.46869051] [-0.00576353 0.99998339 0. 0.04723094] [ 0. 0. 1. 0.01955616] [ 0. 0. 0. 1. ]] SLAMing on 1.5043200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:0.05, Z:0.02 [[ 0.99993304 0.01157194 0. 1.52991993] [-0.01157194 0.99993304 0. 0.04737059] [ 0. 0. 1. 0.02171396] [ 0. 0. 0. 1. ]] SLAMing on 1.5643200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.59, Y:0.05, Z:0.02 [[ 0.99985949 0.01676282 0. 1.59208544] [-0.01676282 0.99985949 0. 0.04914258] [ 0. 0. 1. 0.02032926] [ 0. 0. 0. 1. ]] SLAMing on 1.6243200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.65, Y:0.05, Z:0.02 [[ 0.99982436 0.01874154 0. 1.65472401] [-0.01874154 0.99982436 0. 0.04974915] [ 0. 0. 1. 0.02053794] [ 0. 0. 0. 1. ]] SLAMing on 1.6843200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:0.04, Z:0.02 [[ 0.99983176 0.01834283 0. 1.71747178] [-0.01834283 0.99983176 0. 0.04477947] [ 0. 0. 1. 0.02328129] [ 0. 0. 0. 1. ]] SLAMing on 1.7443200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:0.04, Z:0.02 [[ 0.99987579 0.01576081 0. 1.7801133 ] [-0.01576081 0.99987579 0. 0.04191411] [ 0. 0. 1. 0.02422826] [ 0. 0. 0. 1. ]] SLAMing on 1.8043200000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.84, Y:0.04, Z:0.02 [[ 0.99993462 0.01143488 0. 1.84158347] [-0.01143488 0.99993462 0. 0.04044345] [ 0. 0. 1. 0.0221327 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8643200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.90, Y:0.03, Z:0.02 [[ 0.99998265 0.00589034 0. 1.90350227] [-0.00589034 0.99998265 0. 0.03365728] [ 0. 0. 1. 0.02298725] [ 0. 0. 0. 1. ]] SLAMing on 1.9243200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.96, Y:0.03, Z:0.02 [[ 0.99999459 0.00328891 0. 1.96437339] [-0.00328891 0.99999459 0. 0.03017971] [ 0. 0. 1. 0.02293291] [ 0. 0. 0. 1. ]] SLAMing on 1.9843200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:0.03, Z:0.02 [[ 0.99999768 0.00215322 0. 2.02609407] [-0.00215322 0.99999768 0. 0.02834134] [ 0. 0. 1. 0.02222708] [ 0. 0. 0. 1. ]] SLAMing on 2.04432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:0.03, Z:0.02 [[ 0.99999721 0.00236421 0. 2.08675905] [-0.00236421 0.99999721 0. 0.02595471] [ 0. 0. 1. 0.02107258] [ 0. 0. 0. 1. ]] SLAMing on 2.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:0.02, Z:0.02 [[ 0.99999097 0.00424897 0. 2.14739284] [-0.00424897 0.99999097 0. 0.02180554] [ 0. 0. 1. 0.0202535 ] [ 0. 0. 0. 1. ]] SLAMing on 2.16432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:0.02, Z:0.02 [[ 0.99995393 0.00959894 0. 2.20905841] [-0.00959894 0.99995393 0. 0.02084159] [ 0. 0. 1. 0.02091964] [ 0. 0. 0. 1. ]] SLAMing on 2.22432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.27, Y:0.02, Z:0.02 [[ 0.99985682 0.01692183 0. 2.27145651] [-0.01692183 0.99985682 0. 0.01836013] [ 0. 0. 1. 0.02036512] [ 0. 0. 0. 1. ]] SLAMing on 2.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.33, Y:0.01, Z:0.02 [[ 0.99978213 0.02087324 0. 2.33405391] [-0.02087324 0.99978213 0. 0.01279171] [ 0. 0. 1. 0.0219769 ] [ 0. 0. 0. 1. ]] SLAMing on 2.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:0.01, Z:0.02 [[ 0.99971043 0.0240637 0. 2.39554158] [-0.0240637 0.99971043 0. 0.01000962] [ 0. 0. 1. 0.01999698] [ 0. 0. 0. 1. ]] SLAMing on 2.4043200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:0.00, Z:0.02 [[ 0.99969267 0.02479044 0. 2.45735518] [-0.02479044 0.99969267 0. 0.00320017] [ 0. 0. 1. 0.02382792] [ 0. 0. 0. 1. ]] SLAMing on 2.4643200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.00, Z:0.02 [[ 0.99974229 0.02270145 0. 2.52000851] [-0.02270145 0.99974229 0. -0.0037222 ] [ 0. 0. 1. 0.02390882] [ 0. 0. 0. 1. ]] SLAMing on 2.52432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.01, Z:0.02 [[ 0.99977676 0.02112881 0. 2.58252839] [-0.02112881 0.99977676 0. -0.00880747] [ 0. 0. 1. 0.02451627] [ 0. 0. 0. 1. ]] SLAMing on 2.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.02, Z:0.03 [[ 0.999853 0.01714573 0. 2.64531325] [-0.01714573 0.999853 0. -0.01551626] [ 0. 0. 1. 0.02549653] [ 0. 0. 0. 1. ]] SLAMing on 2.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.02, Z:0.03 [[ 0.99992292 0.012416 0. 2.70759508] [-0.012416 0.99992292 0. -0.02247717] [ 0. 0. 1. 0.02534176] [ 0. 0. 0. 1. ]] SLAMing on 2.70432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.03, Z:0.02 [[ 0.9999428 0.01069589 0. 2.77005219] [-0.01069589 0.9999428 0. -0.02765312] [ 0. 0. 1. 0.02128544] [ 0. 0. 0. 1. ]] SLAMing on 2.76432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.03, Z:0.02 [[ 0.99993524 0.01138083 0. 2.8317772 ] [-0.01138083 0.99993524 0. -0.03272029] [ 0. 0. 1. 0.02009125] [ 0. 0. 0. 1. ]] SLAMing on 2.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.04, Z:0.02 [[ 0.99993726 0.01120185 0. 2.8936357 ] [-0.01120185 0.99993726 0. -0.03682389] [ 0. 0. 1. 0.02254623] [ 0. 0. 0. 1. ]] SLAMing on 2.88432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.04, Z:0.02 [[ 0.99989183 0.01470807 0. 2.95615605] [-0.01470807 0.99989183 0. -0.04086389] [ 0. 0. 1. 0.02036051] [ 0. 0. 0. 1. ]] SLAMing on 2.9443200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.05, Z:0.02 [[ 0.99987566 0.01576919 0. 3.01919991] [-0.01576919 0.99987566 0. -0.0485733 ] [ 0. 0. 1. 0.02258862] [ 0. 0. 0. 1. ]] SLAMing on 3.0043200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:0.02 [[ 0.99988928 0.01488022 0. 3.08192478] [-0.01488022 0.99988928 0. -0.05312519] [ 0. 0. 1. 0.02215947] [ 0. 0. 0. 1. ]] SLAMing on 3.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.06, Z:0.02 [[ 0.9999046 0.01381245 0. 3.14378121] [-0.01381245 0.9999046 0. -0.05977714] [ 0. 0. 1. 0.02263917] [ 0. 0. 0. 1. ]] SLAMing on 3.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.06, Z:0.02 [[ 0.99991092 0.01334763 0. 3.20707452] [-0.01334763 0.99991092 0. -0.06411543] [ 0. 0. 1. 0.0243084 ] [ 0. 0. 0. 1. ]] SLAMing on 3.18432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.07, Z:0.03 [[ 0.99990474 0.01380266 0. 3.27033567] [-0.01380266 0.99990474 0. -0.0685192 ] [ 0. 0. 1. 0.02526856] [ 0. 0. 0. 1. ]] SLAMing on 3.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.07, Z:0.03 [[ 0.99989065 0.01478821 0. 3.33223188] [-0.01478821 0.99989065 0. -0.07317717] [ 0. 0. 1. 0.0256052 ] [ 0. 0. 0. 1. ]] SLAMing on 3.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.08, Z:0.03 [[ 0.99990727 0.01361833 0. 3.39494948] [-0.01361833 0.99990727 0. -0.07738564] [ 0. 0. 1. 0.02557999] [ 0. 0. 0. 1. ]] SLAMing on 3.36432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.08, Z:0.03 [[ 0.99995146 0.00985313 0. 3.45733049] [-0.00985313 0.99995146 0. -0.08446987] [ 0. 0. 1. 0.02635286] [ 0. 0. 0. 1. ]] SLAMing on 3.4243200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.09, Z:0.02 [[ 0.99996929 0.00783762 0. 3.51847767] [-0.00783762 0.99996929 0. -0.089388 ] [ 0. 0. 1. 0.02490273] [ 0. 0. 0. 1. ]] SLAMing on 3.4843200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.09, Z:0.03 [[ 0.99996086 0.00884711 0. 3.58053456] [-0.00884711 0.99996086 0. -0.09330626] [ 0. 0. 1. 0.02769131] [ 0. 0. 0. 1. ]] SLAMing on 3.5443200000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.10, Z:0.03 [[ 0.99990459 0.01381314 0. 3.64273917] [-0.01381314 0.99990459 0. -0.09876974] [ 0. 0. 1. 0.02733651] [ 0. 0. 0. 1. ]] SLAMing on 3.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.10, Z:0.03 [[ 0.99983922 0.0179315 0. 3.70447338] [-0.0179315 0.99983922 0. -0.10339839] [ 0. 0. 1. 0.02622176] [ 0. 0. 0. 1. ]] SLAMing on 3.66432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.11, Z:0.03 [[ 0.99973684 0.02294024 0. 3.76720799] [-0.02294024 0.99973684 0. -0.10812228] [ 0. 0. 1. 0.02590453] [ 0. 0. 0. 1. ]] SLAMing on 3.72432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.11, Z:0.03 [[ 0.99968903 0.02493683 0. 3.82972589] [-0.02493683 0.99968903 0. -0.11288674] [ 0. 0. 1. 0.02643445] [ 0. 0. 0. 1. ]] SLAMing on 3.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.12, Z:0.03 [[ 0.99966832 0.02575358 0. 3.89177908] [-0.02575358 0.99966832 0. -0.11967618] [ 0. 0. 1. 0.02850202] [ 0. 0. 0. 1. ]] SLAMing on 3.84432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.13, Z:0.03 [[ 0.99970846 0.02414537 0. 3.95443118] [-0.02414537 0.99970846 0. -0.12615414] [ 0. 0. 1. 0.02834567] [ 0. 0. 0. 1. ]] SLAMing on 3.9043200000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.13, Z:0.03 [[ 0.99973926 0.02283432 0. 4.01768101] [-0.02283432 0.99973926 0. -0.1314127 ] [ 0. 0. 1. 0.02936411] [ 0. 0. 0. 1. ]] SLAMing on 3.9643200000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.14, Z:0.03 [[ 0.99978313 0.02082519 0. 4.07948585] [-0.02082519 0.99978313 0. -0.13760487] [ 0. 0. 1. 0.02864623] [ 0. 0. 0. 1. ]] SLAMing on 4.02432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.15, Z:0.03 [[ 0.99980852 0.01956818 0. 4.14216168] [-0.01956818 0.99980852 0. -0.14523847] [ 0. 0. 1. 0.02601987] [ 0. 0. 0. 1. ]] SLAMing on 4.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.15, Z:0.03 [[ 0.9998477 0.0174522 0. 4.2044168 ] [-0.0174522 0.9998477 0. -0.14957359] [ 0. 0. 1. 0.02659399] [ 0. 0. 0. 1. ]] SLAMing on 4.1443200000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.15, Z:0.03 [[ 0.999813 0.01933795 0. 4.26751911] [-0.01933795 0.999813 0. -0.15387303] [ 0. 0. 1. 0.02767449] [ 0. 0. 0. 1. ]] SLAMing on 4.20432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.16, Z:0.03 [[ 0.9997388 0.02285445 0. 4.33030995] [-0.02285445 0.9997388 0. -0.15875341] [ 0. 0. 1. 0.02667042] [ 0. 0. 0. 1. ]] SLAMing on 4.2643200000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.16, Z:0.03 [[ 0.99968098 0.02525762 0. 4.39292861] [-0.02525762 0.99968098 0. -0.1626952 ] [ 0. 0. 1. 0.02605605] [ 0. 0. 0. 1. ]] SLAMing on 4.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.17, Z:0.03 [[ 0.99962265 0.02746939 0. 4.45462608] [-0.02746939 0.99962265 0. -0.16737334] [ 0. 0. 1. 0.02584474] [ 0. 0. 0. 1. ]] SLAMing on 4.384320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.17, Z:0.03 [[ 0.99961666 0.02768633 0. 4.51683863] [-0.02768633 0.99961666 0. -0.17395692] [ 0. 0. 1. 0.02693816] [ 0. 0. 0. 1. ]] SLAMing on 4.44432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.18, Z:0.02 [[ 0.99961345 0.02780203 0. 4.57979807] [-0.02780203 0.99961345 0. -0.18046388] [ 0. 0. 1. 0.02476456] [ 0. 0. 0. 1. ]] SLAMing on 4.50432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.18, Z:0.03 [[ 0.99968924 0.02492818 0. 4.64178045] [-0.02492818 0.99968924 0. -0.18421032] [ 0. 0. 1. 0.0277128 ] [ 0. 0. 0. 1. ]] SLAMing on 4.56432 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.19, Z:0.03 [[ 0.99979762 0.02011781 0. 4.70423807] [-0.02011781 0.99979762 0. -0.19132012] [ 0. 0. 1. 0.0294371 ] [ 0. 0. 0. 1. ]] SLAMing on 4.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.20, Z:0.03 [[ 0.99983224 0.01831669 0. 4.76738976] [-0.01831669 0.99983224 0. -0.197827 ] [ 0. 0. 1. 0.02790173] [ 0. 0. 0. 1. ]] SLAMing on 4.6843200000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.20, Z:0.03 [[ 0.99983038 0.0184177 0. 4.82893481] [-0.0184177 0.99983038 0. -0.19970244] [ 0. 0. 1. 0.02887822] [ 0. 0. 0. 1. ]] SLAMing on 4.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.20, Z:0.03 [[ 0.99981619 0.01917245 0. 4.89172117] [-0.01917245 0.99981619 0. -0.20229312] [ 0. 0. 1. 0.02838446] [ 0. 0. 0. 1. ]] SLAMing on 4.804320000000001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.21, Z:0.03 [[ 0.99981117 0.01943275 0. 4.95412225] [-0.01943275 0.99981117 0. -0.20769077] [ 0. 0. 1. 0.02747958] [ 0. 0. 0. 1. ]] SLAMing on 4.86432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.21, Z:0.02 [[ 0.99978632 0.02067143 0. 5.01635936] [-0.02067143 0.99978632 0. -0.21341796] [ 0. 0. 1. 0.02171955] [ 0. 0. 0. 1. ]] SLAMing on 4.924320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.22, Z:0.02 [[ 0.99971574 0.02384195 0. 5.07811347] [-0.02384195 0.99971574 0. -0.21596928] [ 0. 0. 1. 0.02198641] [ 0. 0. 0. 1. ]] SLAMing on 4.98432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.22, Z:0.02 [[ 0.99965275 0.02635117 0. 5.13980441] [-0.02635117 0.99965275 0. -0.21634146] [ 0. 0. 1. 0.02479204] [ 0. 0. 0. 1. ]] SLAMing on 5.04432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.22, Z:0.02 [[ 0.99960975 0.0279346 0. 5.20264856] [-0.0279346 0.99960975 0. -0.22334214] [ 0. 0. 1. 0.02255877] [ 0. 0. 0. 1. ]] SLAMing on 5.10432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.23, Z:0.03 [[ 0.99961775 0.02764711 0. 5.2644794 ] [-0.02764711 0.99961775 0. -0.2265412 ] [ 0. 0. 1. 0.02681586] [ 0. 0. 0. 1. ]] SLAMing on 5.16432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.23, Z:0.03 [[ 0.99963796 0.02690639 0. 5.32665913] [-0.02690639 0.99963796 0. -0.23110164] [ 0. 0. 1. 0.02877334] [ 0. 0. 0. 1. ]] SLAMing on 5.2243200000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.23, Z:0.03 [[ 0.9996294 0.02722252 0. 5.38991466] [-0.02722252 0.9996294 0. -0.23452412] [ 0. 0. 1. 0.02903729] [ 0. 0. 0. 1. ]] SLAMing on 5.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.24, Z:0.03 [[ 0.99962484 0.02738944 0. 5.45312142] [-0.02738944 0.99962484 0. -0.23751438] [ 0. 0. 1. 0.02777654] [ 0. 0. 0. 1. ]] SLAMing on 5.344320000000001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.24, Z:0.03 [[ 0.99963827 0.02689478 0. 5.5156461 ] [-0.02689478 0.99963827 0. -0.24060857] [ 0. 0. 1. 0.02705543] [ 0. 0. 0. 1. ]] SLAMing on 5.40432 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.24, Z:0.03 [[ 0.99968728 0.0250067 0. 5.57828269] [-0.0250067 0.99968728 0. -0.24389755] [ 0. 0. 1. 0.02613497] [ 0. 0. 0. 1. ]] SLAMing on 5.464320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.25, Z:0.03 [[ 0.99975233 0.02225473 0. 5.64050339] [-0.02225473 0.99975233 0. -0.24606568] [ 0. 0. 1. 0.02514719] [ 0. 0. 0. 1. ]] SLAMing on 5.52432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.25, Z:0.02 [[ 0.99975017 0.0223517 0. 5.70236803] [-0.0223517 0.99975017 0. -0.25052509] [ 0. 0. 1. 0.02330162] [ 0. 0. 0. 1. ]] SLAMing on 5.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.25, Z:0.02 [[ 0.99972268 0.02354908 0. 5.76550038] [-0.02354908 0.99972268 0. -0.25327994] [ 0. 0. 1. 0.02345041] [ 0. 0. 0. 1. ]] SLAMing on 5.6443200000000004 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.26, Z:0.02 [[ 0.99962655 0.02732694 0. 5.82709817] [-0.02732694 0.99962655 0. -0.255085 ] [ 0. 0. 1. 0.02144347] [ 0. 0. 0. 1. ]] SLAMing on 5.70432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.26, Z:0.02 [[ 0.99955716 0.0297572 0. 5.88948187] [-0.0297572 0.99955716 0. -0.25957144] [ 0. 0. 1. 0.02184767] [ 0. 0. 0. 1. ]] SLAMing on 5.7643200000000006 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.27, Z:0.02 [[ 0.999479 0.03227571 0. 5.95262672] [-0.03227571 0.999479 0. -0.26562411] [ 0. 0. 1. 0.0238962 ] [ 0. 0. 0. 1. ]] SLAMing on 5.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.27, Z:0.02 [[ 0.99944041 0.03344946 0. 6.01449044] [-0.03344946 0.99944041 0. -0.26822453] [ 0. 0. 1. 0.02130121] [ 0. 0. 0. 1. ]] SLAMing on 5.884320000000001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.27, Z:0.02 [[ 0.99947051 0.03253775 0. 6.07729358] [-0.03253775 0.99947051 0. -0.27487932] [ 0. 0. 1. 0.02278054] [ 0. 0. 0. 1. ]] SLAMing on 5.94432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.28, Z:0.02 [[ 0.99946109 0.0328256 0. 6.14029041] [-0.0328256 0.99946109 0. -0.28274254] [ 0. 0. 1. 0.02354589] [ 0. 0. 0. 1. ]] SLAMing on 6.004320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.28, Z:0.02 [[ 0.99961429 0.02777177 0. 6.20207846] [-0.02777177 0.99961429 0. -0.28320925] [ 0. 0. 1. 0.02382462] [ 0. 0. 0. 1. ]] SLAMing on 6.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.29, Z:0.02 [[ 0.99963378 0.02706111 0. 6.26341864] [-0.02706111 0.99963378 0. -0.29075551] [ 0. 0. 1. 0.02445099] [ 0. 0. 0. 1. ]] SLAMing on 6.12432 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.29, Z:0.03 [[ 0.99970968 0.02409464 0. 6.32594702] [-0.02409464 0.99970968 0. -0.29252619] [ 0. 0. 1. 0.02516911] [ 0. 0. 0. 1. ]] SLAMing on 6.1843200000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.30, Z:0.02 [[ 0.99970649 0.0242266 0. 6.3867934 ] [-0.0242266 0.99970649 0. -0.29577415] [ 0. 0. 1. 0.01847071] [ 0. 0. 0. 1. ]] SLAMing on 6.24432 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.30, Z:0.02 [[ 0.99947836 0.03229571 0. 6.44903939] [-0.03229571 0.99947836 0. -0.29832317] [ 0. 0. 1. 0.02193785] [ 0. 0. 0. 1. ]] SLAMing on 6.304320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.30, Z:0.02 [[ 0.99942157 0.03400778 0. 6.51201363] [-0.03400778 0.99942157 0. -0.29921839] [ 0. 0. 1. 0.0207944 ] [ 0. 0. 0. 1. ]] SLAMing on 6.36432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.30, Z:0.02 [[ 0.99929874 0.03744376 0. 6.57290336] [-0.03744376 0.99929874 0. -0.29991894] [ 0. 0. 1. 0.01711336] [ 0. 0. 0. 1. ]] SLAMing on 6.424320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.31, Z:0.02 [[ 0.99916543 0.04084657 0. 6.63532352] [-0.04084657 0.99916543 0. -0.30608227] [ 0. 0. 1. 0.01912977] [ 0. 0. 0. 1. ]] SLAMing on 6.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.31, Z:0.02 [[ 0.99925683 0.03854591 0. 6.69675228] [-0.03854591 0.99925683 0. -0.3072192 ] [ 0. 0. 1. 0.02006631] [ 0. 0. 0. 1. ]] SLAMing on 6.544320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.31, Z:0.02 [[ 0.99935513 0.03590713 0. 6.75902391] [-0.03590713 0.99935513 0. -0.31168932] [ 0. 0. 1. 0.02233067] [ 0. 0. 0. 1. ]] SLAMing on 6.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.32, Z:0.02 [[ 0.99933167 0.03655432 0. 6.8218582 ] [-0.03655432 0.99933167 0. -0.31819766] [ 0. 0. 1. 0.02318725] [ 0. 0. 0. 1. ]] SLAMing on 6.66432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.32, Z:0.02 [[ 0.99953655 0.03044167 0. 6.88370685] [-0.03044167 0.99953655 0. -0.32006582] [ 0. 0. 1. 0.02311255] [ 0. 0. 0. 1. ]] SLAMing on 6.7243200000000005 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.32, Z:0.02 [[ 0.99962598 0.02734787 0. 6.94691764] [-0.02734787 0.99962598 0. -0.32298618] [ 0. 0. 1. 0.0229584 ] [ 0. 0. 0. 1. ]] SLAMing on 6.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.33, Z:0.02 [[ 0.99950694 0.03139882 0. 7.0089296 ] [-0.03139882 0.99950694 0. -0.32922516] [ 0. 0. 1. 0.02294209] [ 0. 0. 0. 1. ]] SLAMing on 6.844320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.33, Z:0.02 [[ 0.99956715 0.02941948 0. 7.07069939] [-0.02941948 0.99956715 0. -0.32693247] [ 0. 0. 1. 0.01968031] [ 0. 0. 0. 1. ]] SLAMing on 6.90432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.33, Z:0.02 [[ 0.99958395 0.02884318 0. 7.13258961] [-0.02884318 0.99958395 0. -0.3311011 ] [ 0. 0. 1. 0.01919662] [ 0. 0. 0. 1. ]] SLAMing on 6.964320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.33, Z:0.02 [[ 0.99956718 0.02941853 0. 7.19582696] [-0.02941853 0.99956718 0. -0.3320731 ] [ 0. 0. 1. 0.01937299] [ 0. 0. 0. 1. ]] SLAMing on 7.02432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.33, Z:0.02 [[ 0.99939227 0.03485803 0. 7.258998 ] [-0.03485803 0.99939227 0. -0.33462107] [ 0. 0. 1. 0.02018303] [ 0. 0. 0. 1. ]] SLAMing on 7.084320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.34, Z:0.02 [[ 0.9992791 0.03796418 0. 7.32175524] [-0.03796418 0.9992791 0. -0.33698484] [ 0. 0. 1. 0.02043453] [ 0. 0. 0. 1. ]] SLAMing on 7.1443200000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.34, Z:0.02 [[ 0.99916268 0.0409138 0. 7.38496792] [-0.0409138 0.99916268 0. -0.34048742] [ 0. 0. 1. 0.02149654] [ 0. 0. 0. 1. ]] SLAMing on 7.20432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.34, Z:0.02 [[ 0.99916953 0.04074608 0. 7.4478403 ] [-0.04074608 0.99916953 0. -0.34278434] [ 0. 0. 1. 0.02075422] [ 0. 0. 0. 1. ]] SLAMing on 7.2643200000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.35, Z:0.02 [[ 0.99927697 0.03802024 0. 7.50981195] [-0.03802024 0.99927697 0. -0.34646241] [ 0. 0. 1. 0.02366045] [ 0. 0. 0. 1. ]] SLAMing on 7.32432 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.35, Z:0.02 [[ 0.99943029 0.0337504 0. 7.57297668] [-0.0337504 0.99943029 0. -0.35227287] [ 0. 0. 1. 0.02276762] [ 0. 0. 0. 1. ]] SLAMing on 7.384320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.36, Z:0.02 [[ 0.99954946 0.03001473 0. 7.63570546] [-0.03001473 0.99954946 0. -0.35519616] [ 0. 0. 1. 0.02255288] [ 0. 0. 0. 1. ]] SLAMing on 7.44432 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.36, Z:0.02 [[ 0.99962033 0.02755352 0. 7.69836736] [-0.02755352 0.99962033 0. -0.35835764] [ 0. 0. 1. 0.02080839] [ 0. 0. 0. 1. ]] SLAMing on 7.504320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.36, Z:0.02 [[ 0.99967691 0.02541821 0. 7.761074 ] [-0.02541821 0.99967691 0. -0.36210914] [ 0. 0. 1. 0.0198818 ] [ 0. 0. 0. 1. ]] SLAMing on 7.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.37, Z:0.02 [[ 0.99968888 0.02494288 0. 7.82354073] [-0.02494288 0.99968888 0. -0.36542874] [ 0. 0. 1. 0.01926832] [ 0. 0. 0. 1. ]] SLAMing on 7.624320000000001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.37, Z:0.02 [[ 0.99956189 0.02959772 0. 7.88602193] [-0.02959772 0.99956189 0. -0.36984655] [ 0. 0. 1. 0.01769136] [ 0. 0. 0. 1. ]] SLAMing on 7.6843200000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.37, Z:0.02 [[ 0.99943788 0.03352505 0. 7.94792032] [-0.03352505 0.99943788 0. -0.37056793] [ 0. 0. 1. 0.01970045] [ 0. 0. 0. 1. ]] SLAMing on 7.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.37, Z:0.02 [[ 0.99912462 0.04183284 0. 8.01044444] [-0.04183284 0.99912462 0. -0.37358821] [ 0. 0. 1. 0.01671955] [ 0. 0. 0. 1. ]] SLAMing on 7.804320000000001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.38, Z:0.02 [[ 0.9990261 0.04412324 0. 8.07300159] [-0.04412324 0.9990261 0. -0.37812537] [ 0. 0. 1. 0.02107316] [ 0. 0. 0. 1. ]] SLAMing on 7.86432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.38, Z:0.02 [[ 0.99902686 0.04410586 0. 8.1343668 ] [-0.04410586 0.99902686 0. -0.3817934 ] [ 0. 0. 1. 0.02372872] [ 0. 0. 0. 1. ]] SLAMing on 7.924320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.39, Z:0.02 [[ 0.99908991 0.04265392 0. 8.19716246] [-0.04265392 0.99908991 0. -0.38679259] [ 0. 0. 1. 0.02468501] [ 0. 0. 0. 1. ]] SLAMing on 7.98432 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.40, Z:0.03 [[ 0.99915231 0.0411662 0. 8.25959902] [-0.0411662 0.99915231 0. -0.39594477] [ 0. 0. 1. 0.02508062] [ 0. 0. 0. 1. ]] SLAMing on 8.04432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.40, Z:0.02 [[ 0.99926581 0.03831246 0. 8.3212884 ] [-0.03831246 0.99926581 0. -0.39946452] [ 0. 0. 1. 0.02324615] [ 0. 0. 0. 1. ]] SLAMing on 8.104320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.41, Z:0.02 [[ 0.999341 0.03629836 0. 8.38364721] [-0.03629836 0.999341 0. -0.40527558] [ 0. 0. 1. 0.02309342] [ 0. 0. 0. 1. ]] SLAMing on 8.16432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.41, Z:0.02 [[ 0.99946268 0.03277717 0. 8.44629691] [-0.03277717 0.99946268 0. -0.41017185] [ 0. 0. 1. 0.02102036] [ 0. 0. 0. 1. ]] SLAMing on 8.22432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.42, Z:0.02 [[ 0.99950515 0.03145572 0. 8.50884028] [-0.03145572 0.99950515 0. -0.41647566] [ 0. 0. 1. 0.02220202] [ 0. 0. 0. 1. ]] SLAMing on 8.284320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.42, Z:0.02 [[ 0.99953976 0.03033587 0. 8.57094921] [-0.03033587 0.99953976 0. -0.42184615] [ 0. 0. 1. 0.02271947] [ 0. 0. 0. 1. ]] SLAMing on 8.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.43, Z:0.02 [[ 0.9995397 0.03033804 0. 8.63274657] [-0.03033804 0.9995397 0. -0.42679623] [ 0. 0. 1. 0.02257708] [ 0. 0. 0. 1. ]] SLAMing on 8.40432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.43, Z:0.02 [[ 0.99939856 0.03467743 0. 8.69422523] [-0.03467743 0.99939856 0. -0.43114115] [ 0. 0. 1. 0.02266622] [ 0. 0. 0. 1. ]] SLAMing on 8.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.44, Z:0.02 [[ 0.99922368 0.03939583 0. 8.75694809] [-0.03939583 0.99922368 0. -0.43560195] [ 0. 0. 1. 0.02310475] [ 0. 0. 0. 1. ]] SLAMing on 8.524320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.44, Z:0.02 [[ 0.99917495 0.04061299 0. 8.81921771] [-0.04061299 0.99917495 0. -0.43965784] [ 0. 0. 1. 0.02313607] [ 0. 0. 0. 1. ]] SLAMing on 8.58432 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.44, Z:0.02 [[ 0.99903414 0.0439408 0. 8.88236092] [-0.0439408 0.99903414 0. -0.44058389] [ 0. 0. 1. 0.02339039] [ 0. 0. 0. 1. ]] SLAMing on 8.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.44, Z:0.02 [[ 0.99906187 0.04330576 0. 8.94372337] [-0.04330576 0.99906187 0. -0.44480715] [ 0. 0. 1. 0.02457819] [ 0. 0. 0. 1. ]] SLAMing on 8.704320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.45, Z:0.03 [[ 0.99918651 0.04032775 0. 9.00665093] [-0.04032775 0.99918651 0. -0.44816019] [ 0. 0. 1. 0.02639214] [ 0. 0. 0. 1. ]] SLAMing on 8.764320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.45, Z:0.03 [[ 0.99930801 0.03719533 0. 9.06935445] [-0.03719533 0.99930801 0. -0.45132613] [ 0. 0. 1. 0.02601558] [ 0. 0. 0. 1. ]] SLAMing on 8.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.45, Z:0.03 [[ 0.99937723 0.03528666 0. 9.13197467] [-0.03528666 0.99937723 0. -0.45263255] [ 0. 0. 1. 0.02602922] [ 0. 0. 0. 1. ]] SLAMing on 8.88432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.46, Z:0.03 [[ 0.99945324 0.03306387 0. 9.19395786] [-0.03306387 0.99945324 0. -0.45551353] [ 0. 0. 1. 0.02832691] [ 0. 0. 0. 1. ]] SLAMing on 8.944320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.46, Z:0.02 [[ 0.99947548 0.03238479 0. 9.25727178] [-0.03238479 0.99947548 0. -0.45564256] [ 0. 0. 1. 0.02190994] [ 0. 0. 0. 1. ]] SLAMing on 9.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.46, Z:0.02 [[ 0.99943615 0.03357641 0. 9.31942814] [-0.03357641 0.99943615 0. -0.45980018] [ 0. 0. 1. 0.02250873] [ 0. 0. 0. 1. ]] SLAMing on 9.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.46, Z:0.02 [[ 0.99942984 0.03376368 0. 9.38254441] [-0.03376368 0.99942984 0. -0.4619683 ] [ 0. 0. 1. 0.01836955] [ 0. 0. 0. 1. ]] SLAMing on 9.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.47, Z:0.02 [[ 0.99935254 0.03597912 0. 9.44389949] [-0.03597912 0.99935254 0. -0.46576859] [ 0. 0. 1. 0.01645386] [ 0. 0. 0. 1. ]] SLAMing on 9.184320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.47, Z:0.02 [[ 0.99924927 0.03874139 0. 9.50472667] [-0.03874139 0.99924927 0. -0.47006105] [ 0. 0. 1. 0.02110048] [ 0. 0. 0. 1. ]] SLAMing on 9.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.47, Z:0.02 [[ 0.99922862 0.03927046 0. 9.56794828] [-0.03927046 0.99922862 0. -0.47479271] [ 0. 0. 1. 0.02197215] [ 0. 0. 0. 1. ]] SLAMing on 9.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.48, Z:0.02 [[ 0.99922182 0.03944296 0. 9.63049505] [-0.03944296 0.99922182 0. -0.48167769] [ 0. 0. 1. 0.01979278] [ 0. 0. 0. 1. ]] SLAMing on 9.364320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.49, Z:0.02 [[ 0.99932281 0.0367958 0. 9.69312174] [-0.0367958 0.99932281 0. -0.48512038] [ 0. 0. 1. 0.02330157] [ 0. 0. 0. 1. ]] SLAMing on 9.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.49, Z:0.02 [[ 0.99927906 0.03796535 0. 9.755517 ] [-0.03796535 0.99927906 0. -0.49494183] [ 0. 0. 1. 0.02449881] [ 0. 0. 0. 1. ]] SLAMing on 9.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.50, Z:0.03 [[ 0.99934041 0.03631464 0. 9.81765861] [-0.03631464 0.99934041 0. -0.49694585] [ 0. 0. 1. 0.02504605] [ 0. 0. 0. 1. ]] SLAMing on 9.54432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.50, Z:0.02 [[ 0.99925552 0.03857974 0. 9.87989682] [-0.03857974 0.99925552 0. -0.50418343] [ 0. 0. 1. 0.02356196] [ 0. 0. 0. 1. ]] SLAMing on 9.604320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.51, Z:0.02 [[ 0.99915947 0.04099222 0. 9.94270821] [-0.04099222 0.99915947 0. -0.50947667] [ 0. 0. 1. 0.02105778] [ 0. 0. 0. 1. ]] SLAMing on 9.66432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.51, Z:0.02 [[ 0.99901157 0.044451 0. 10.00456076] [-0.044451 0.99901157 0. -0.51399585] [ 0. 0. 1. 0.0212344 ] [ 0. 0. 0. 1. ]] SLAMing on 9.72432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.52, Z:0.02 [[ 0.99885545 0.04783086 0. 10.06734298] [-0.04783086 0.99885545 0. -0.52090481] [ 0. 0. 1. 0.02049735] [ 0. 0. 0. 1. ]] SLAMing on 9.784320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.52, Z:0.02 [[ 0.99870614 0.0508531 0. 10.12970439] [-0.0508531 0.99870614 0. -0.52357893] [ 0. 0. 1. 0.02075198] [ 0. 0. 0. 1. ]] SLAMing on 9.844320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.53, Z:0.02 [[ 0.9985921 0.05304545 0. 10.19257094] [-0.05304545 0.9985921 0. -0.53105975] [ 0. 0. 1. 0.02219263] [ 0. 0. 0. 1. ]] SLAMing on 9.90432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.54, Z:0.02 [[ 0.99853683 0.05407585 0. 10.25572732] [-0.05407585 0.99853683 0. -0.53588385] [ 0. 0. 1. 0.02215655] [ 0. 0. 0. 1. ]] SLAMing on 9.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.54, Z:0.02 [[ 0.99860937 0.05271937 0. 10.31851736] [-0.05271937 0.99860937 0. -0.54079256] [ 0. 0. 1. 0.02330647] [ 0. 0. 0. 1. ]] SLAMing on 10.024320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.55, Z:0.02 [[ 0.99874759 0.05003247 0. 10.37986672] [-0.05003247 0.99874759 0. -0.54715013] [ 0. 0. 1. 0.02348346] [ 0. 0. 0. 1. ]] SLAMing on 10.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.55, Z:0.03 [[ 0.99886216 0.04769053 0. 10.44263656] [-0.04769053 0.99886216 0. -0.5529661 ] [ 0. 0. 1. 0.02627671] [ 0. 0. 0. 1. ]] SLAMing on 10.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.56, Z:0.03 [[ 0.99889439 0.04701055 0. 10.50575111] [-0.04701055 0.99889439 0. -0.55671772] [ 0. 0. 1. 0.02527267] [ 0. 0. 0. 1. ]] SLAMing on 10.204320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.56, Z:0.02 [[ 0.99894345 0.04595628 0. 10.56826463] [-0.04595628 0.99894345 0. -0.56072043] [ 0. 0. 1. 0.02411999] [ 0. 0. 0. 1. ]] SLAMing on 10.264320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.56, Z:0.02 [[ 0.99905055 0.0435661 0. 10.63052618] [-0.0435661 0.99905055 0. -0.56379384] [ 0. 0. 1. 0.02342762] [ 0. 0. 0. 1. ]] SLAMing on 10.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.57, Z:0.02 [[ 0.99906436 0.04324823 0. 10.69342 ] [-0.04324823 0.99906436 0. -0.56732199] [ 0. 0. 1. 0.01968357] [ 0. 0. 0. 1. ]] SLAMing on 10.38432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.57, Z:0.02 [[ 0.99905981 0.04335307 0. 10.75502707] [-0.04335307 0.99905981 0. -0.57067054] [ 0. 0. 1. 0.02354591] [ 0. 0. 0. 1. ]] SLAMing on 10.444320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.57, Z:0.02 [[ 0.99903558 0.04390794 0. 10.8176545 ] [-0.04390794 0.99903558 0. -0.572607 ] [ 0. 0. 1. 0.02303751] [ 0. 0. 0. 1. ]] SLAMing on 10.50432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.58, Z:0.02 [[ 0.99902421 0.04416595 0. 10.88019786] [-0.04416595 0.99902421 0. -0.57501385] [ 0. 0. 1. 0.02137792] [ 0. 0. 0. 1. ]] SLAMing on 10.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.58, Z:0.02 [[ 0.9990757 0.04298531 0. 10.94280508] [-0.04298531 0.9990757 0. -0.57880727] [ 0. 0. 1. 0.0230344 ] [ 0. 0. 0. 1. ]] SLAMing on 10.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.58, Z:0.02 [[ 0.99909755 0.04247453 0. 11.00614276] [-0.04247453 0.99909755 0. -0.58196103] [ 0. 0. 1. 0.02440085] [ 0. 0. 0. 1. ]] SLAMing on 10.684320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.58, Z:0.03 [[ 0.99911773 0.04199726 0. 11.06873813] [-0.04199726 0.99911773 0. -0.58248766] [ 0. 0. 1. 0.02575895] [ 0. 0. 0. 1. ]] SLAMing on 10.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.59, Z:0.03 [[ 0.99906593 0.04321185 0. 11.13200308] [-0.04321185 0.99906593 0. -0.58540938] [ 0. 0. 1. 0.02831189] [ 0. 0. 0. 1. ]] SLAMing on 10.80432 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.59, Z:0.03 [[ 0.99898085 0.04513608 0. 11.19383772] [-0.04513608 0.99898085 0. -0.58676268] [ 0. 0. 1. 0.02807234] [ 0. 0. 0. 1. ]] SLAMing on 10.864320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.59, Z:0.03 [[ 0.99884615 0.04802456 0. 11.25710002] [-0.04802456 0.99884615 0. -0.58796947] [ 0. 0. 1. 0.02693158] [ 0. 0. 0. 1. ]] SLAMing on 10.924320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.59, Z:0.02 [[ 0.99870643 0.05084745 0. 11.31963515] [-0.05084745 0.99870643 0. -0.59279508] [ 0. 0. 1. 0.02310903] [ 0. 0. 0. 1. ]] SLAMing on 10.98432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.59, Z:0.03 [[ 0.99856355 0.05358015 0. 11.38198819] [-0.05358015 0.99856355 0. -0.59401965] [ 0. 0. 1. 0.02643777] [ 0. 0. 0. 1. ]] SLAMing on 11.04432 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.60, Z:0.02 [[ 0.99832343 0.0578821 0. 11.44509183] [-0.0578821 0.99832343 0. -0.59678217] [ 0. 0. 1. 0.02196046] [ 0. 0. 0. 1. ]] SLAMing on 11.104320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.60, Z:0.02 [[ 0.99815799 0.06066818 0. 11.50605861] [-0.06066818 0.99815799 0. -0.59754742] [ 0. 0. 1. 0.02221296] [ 0. 0. 0. 1. ]] SLAMing on 11.16432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.60, Z:0.02 [[ 0.99820781 0.05984292 0. 11.56884583] [-0.05984292 0.99820781 0. -0.6022628 ] [ 0. 0. 1. 0.02188982] [ 0. 0. 0. 1. ]] SLAMing on 11.22432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.61, Z:0.02 [[ 0.9983967 0.05660419 0. 11.63090217] [-0.05660419 0.9983967 0. -0.60655598] [ 0. 0. 1. 0.02413248] [ 0. 0. 0. 1. ]] SLAMing on 11.284320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.61, Z:0.02 [[ 0.99864481 0.05204365 0. 11.69307926] [-0.05204365 0.99864481 0. -0.60868037] [ 0. 0. 1. 0.02291622] [ 0. 0. 0. 1. ]] SLAMing on 11.344320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.62, Z:0.02 [[ 0.99892208 0.04641859 0. 11.755901 ] [-0.04641859 0.99892208 0. -0.61760418] [ 0. 0. 1. 0.02124158] [ 0. 0. 0. 1. ]] SLAMing on 11.40432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.62, Z:0.03 [[ 0.99914006 0.04146243 0. 11.81791714] [-0.04146243 0.99914006 0. -0.621732 ] [ 0. 0. 1. 0.02670639] [ 0. 0. 0. 1. ]] SLAMing on 11.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.63, Z:0.02 [[ 0.99944049 0.03344695 0. 11.87967991] [-0.03344695 0.99944049 0. -0.62512925] [ 0. 0. 1. 0.01814441] [ 0. 0. 0. 1. ]] SLAMing on 11.524320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.63, Z:0.02 [[ 0.99950294 0.03152571 0. 11.94047355] [-0.03152571 0.99950294 0. -0.63056571] [ 0. 0. 1. 0.01628099] [ 0. 0. 0. 1. ]] SLAMing on 11.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.64, Z:0.02 [[ 0.99927868 0.03797536 0. 12.00254141] [-0.03797536 0.99927868 0. -0.63753068] [ 0. 0. 1. 0.02482396] [ 0. 0. 0. 1. ]] SLAMing on 11.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.64, Z:0.02 [[ 0.99877692 0.04944356 0. 12.06478959] [-0.04944356 0.99877692 0. -0.64251298] [ 0. 0. 1. 0.0190499 ] [ 0. 0. 0. 1. ]] SLAMing on 11.704320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.64, Z:0.02 [[ 0.99846713 0.05534786 0. 12.12679334] [-0.05534786 0.99846713 0. -0.64438902] [ 0. 0. 1. 0.0212719 ] [ 0. 0. 0. 1. ]] SLAMing on 11.764320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.65, Z:0.02 [[ 0.99795651 0.06389687 0. 12.18985103] [-0.06389687 0.99795651 0. -0.64945995] [ 0. 0. 1. 0.02285585] [ 0. 0. 0. 1. ]] SLAMing on 11.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.66, Z:0.02 [[ 0.99773156 0.06731822 0. 12.25245441] [-0.06731822 0.99773156 0. -0.65660752] [ 0. 0. 1. 0.02425454] [ 0. 0. 0. 1. ]] SLAMing on 11.88432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.66, Z:0.02 [[ 0.99766621 0.06827984 0. 12.3146531 ] [-0.06827984 0.99766621 0. -0.66280442] [ 0. 0. 1. 0.02073886] [ 0. 0. 0. 1. ]] SLAMing on 11.944320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.67, Z:0.02 [[ 0.99790137 0.06475228 0. 12.37672493] [-0.06475228 0.99790137 0. -0.6693757 ] [ 0. 0. 1. 0.02472498] [ 0. 0. 0. 1. ]] SLAMing on 12.004320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.68, Z:0.03 [[ 0.99821849 0.0596644 0. 12.43902431] [-0.0596644 0.99821849 0. -0.67773286] [ 0. 0. 1. 0.02594564] [ 0. 0. 0. 1. ]] SLAMing on 12.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.69, Z:0.03 [[ 0.99842651 0.05607592 0. 12.50091802] [-0.05607592 0.99842651 0. -0.68503183] [ 0. 0. 1. 0.02639884] [ 0. 0. 0. 1. ]] SLAMing on 12.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.69, Z:0.03 [[ 0.99845749 0.05552159 0. 12.56298595] [-0.05552159 0.99845749 0. -0.69198713] [ 0. 0. 1. 0.02654157] [ 0. 0. 0. 1. ]] SLAMing on 12.184320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.70, Z:0.02 [[ 0.99837141 0.05704844 0. 12.62439896] [-0.05704844 0.99837141 0. -0.69974139] [ 0. 0. 1. 0.02499953] [ 0. 0. 0. 1. ]] SLAMing on 12.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.70, Z:0.02 [[ 0.99826151 0.05894033 0. 12.68735567] [-0.05894033 0.99826151 0. -0.70412099] [ 0. 0. 1. 0.01911123] [ 0. 0. 0. 1. ]] SLAMing on 12.30432 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.71, Z:0.02 [[ 0.99804804 0.06245081 0. 12.74996092] [-0.06245081 0.99804804 0. -0.71031041] [ 0. 0. 1. 0.01836126] [ 0. 0. 0. 1. ]] SLAMing on 12.364320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.72, Z:0.02 [[ 0.99796614 0.0637462 0. 12.81249179] [-0.0637462 0.99796614 0. -0.71671918] [ 0. 0. 1. 0.01876841] [ 0. 0. 0. 1. ]] SLAMing on 12.424320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.73, Z:0.02 [[ 0.9977433 0.06714387 0. 12.87342388] [-0.06714387 0.9977433 0. -0.72541501] [ 0. 0. 1. 0.01939131] [ 0. 0. 0. 1. ]] SLAMing on 12.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.73, Z:0.02 [[ 0.99768165 0.0680538 0. 12.93542777] [-0.0680538 0.99768165 0. -0.73309001] [ 0. 0. 1. 0.02196544] [ 0. 0. 0. 1. ]] SLAMing on 12.54432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.74, Z:0.02 [[ 0.99770724 0.0676776 0. 12.99698523] [-0.0676776 0.99770724 0. -0.73920077] [ 0. 0. 1. 0.02094511] [ 0. 0. 0. 1. ]] SLAMing on 12.604320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.75, Z:0.02 [[ 0.99780223 0.06626248 0. 13.0582583 ] [-0.06626248 0.99780223 0. -0.74758035] [ 0. 0. 1. 0.01713201] [ 0. 0. 0. 1. ]] SLAMing on 12.66432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.76, Z:0.02 [[ 0.99809242 0.06173747 0. 13.11842408] [-0.06173747 0.99809242 0. -0.75782459] [ 0. 0. 1. 0.02125829] [ 0. 0. 0. 1. ]] SLAMing on 12.72432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.76, Z:0.02 [[ 0.99836269 0.05720093 0. 13.18154991] [-0.05720093 0.99836269 0. -0.76335064] [ 0. 0. 1. 0.01804478] [ 0. 0. 0. 1. ]] SLAMing on 12.784320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.78, Z:0.02 [[ 0.9985912 0.05306234 0. 13.24166583] [-0.05306234 0.9985912 0. -0.77672347] [ 0. 0. 1. 0.01801158] [ 0. 0. 0. 1. ]] SLAMing on 12.844320000000002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.78, Z:0.02 [[ 0.99867813 0.05140025 0. 13.30389875] [-0.05140025 0.99867813 0. -0.78412788] [ 0. 0. 1. 0.02150675] [ 0. 0. 0. 1. ]] SLAMing on 12.90432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.79, Z:0.02 [[ 0.99864661 0.05200917 0. 13.36707254] [-0.05200917 0.99864661 0. -0.78931669] [ 0. 0. 1. 0.02173928] [ 0. 0. 0. 1. ]] SLAMing on 12.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.79, Z:0.02 [[ 0.99852036 0.0543792 0. 13.42961881] [-0.0543792 0.99852036 0. -0.79357408] [ 0. 0. 1. 0.02171534] [ 0. 0. 0. 1. ]] SLAMing on 13.024320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.80, Z:0.02 [[ 0.99814904 0.06081526 0. 13.49028173] [-0.06081526 0.99814904 0. -0.79917153] [ 0. 0. 1. 0.0191494 ] [ 0. 0. 0. 1. ]] SLAMing on 13.084320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.80, Z:0.02 [[ 0.99777559 0.06666241 0. 13.55339752] [-0.06666241 0.99777559 0. -0.80161649] [ 0. 0. 1. 0.01894858] [ 0. 0. 0. 1. ]] SLAMing on 13.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.81, Z:0.02 [[ 0.99748137 0.07092891 0. 13.61619138] [-0.07092891 0.99748137 0. -0.80531183] [ 0. 0. 1. 0.02027596] [ 0. 0. 0. 1. ]] SLAMing on 13.204320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.81, Z:0.02 [[ 0.99740472 0.07199885 0. 13.67923992] [-0.07199885 0.99740472 0. -0.81190177] [ 0. 0. 1. 0.02217797] [ 0. 0. 0. 1. ]] SLAMing on 13.264320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.82, Z:0.02 [[ 0.99748039 0.07094278 0. 13.741476 ] [-0.07094278 0.99748039 0. -0.82031447] [ 0. 0. 1. 0.02491223] [ 0. 0. 0. 1. ]] SLAMing on 13.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.83, Z:0.02 [[ 0.99745543 0.07129278 0. 13.80300715] [-0.07129278 0.99745543 0. -0.83010475] [ 0. 0. 1. 0.02460366] [ 0. 0. 0. 1. ]] SLAMing on 13.38432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.84, Z:0.03 [[ 0.99743074 0.07163745 0. 13.86566632] [-0.07163745 0.99743074 0. -0.83797021] [ 0. 0. 1. 0.02552886] [ 0. 0. 0. 1. ]] SLAMing on 13.444320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.84, Z:0.03 [[ 0.9977894 0.06645538 0. 13.92842835] [-0.06645538 0.9977894 0. -0.84186266] [ 0. 0. 1. 0.02505523] [ 0. 0. 0. 1. ]] SLAMing on 13.504320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.85, Z:0.03 [[ 0.99758848 0.06940617 0. 13.99045864] [-0.06940617 0.99758848 0. -0.85289116] [ 0. 0. 1. 0.02543635] [ 0. 0. 0. 1. ]] SLAMing on 13.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.86, Z:0.02 [[ 0.9978457 0.06560462 0. 14.05330775] [-0.06560462 0.9978457 0. -0.85862939] [ 0. 0. 1. 0.02321826] [ 0. 0. 0. 1. ]] SLAMing on 13.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.86, Z:0.02 [[ 0.9980386 0.0626015 0. 14.11586816] [-0.0626015 0.9980386 0. -0.86232952] [ 0. 0. 1. 0.02420495] [ 0. 0. 0. 1. ]] SLAMing on 13.684320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.87, Z:0.02 [[ 0.99807129 0.06207821 0. 14.17889309] [-0.06207821 0.99807129 0. -0.86835634] [ 0. 0. 1. 0.02490974] [ 0. 0. 0. 1. ]] SLAMing on 13.74432 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.87, Z:0.03 [[ 0.99802454 0.06282526 0. 14.24073498] [-0.06282526 0.99802454 0. -0.87455703] [ 0. 0. 1. 0.02507086] [ 0. 0. 0. 1. ]] SLAMing on 13.80432 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.88, Z:0.02 [[ 0.99786038 0.06538086 0. 14.30262353] [-0.06538086 0.99786038 0. -0.87890079] [ 0. 0. 1. 0.02344471] [ 0. 0. 0. 1. ]] SLAMing on 13.864320000000001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.88, Z:0.03 [[ 0.99756143 0.06979395 0. 14.3649363 ] [-0.06979395 0.99756143 0. -0.88477846] [ 0. 0. 1. 0.02500092] [ 0. 0. 0. 1. ]] SLAMing on 13.924320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.89, Z:0.02 [[ 0.99747565 0.07100938 0. 14.42721974] [-0.07100938 0.99747565 0. -0.88965187] [ 0. 0. 1. 0.02475822] [ 0. 0. 0. 1. ]] SLAMing on 13.98432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.89, Z:0.03 [[ 0.99747371 0.07103654 0. 14.48996951] [-0.07103654 0.99747371 0. -0.89374639] [ 0. 0. 1. 0.02631204] [ 0. 0. 0. 1. ]] SLAMing on 14.04432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.90, Z:0.03 [[ 0.99763051 0.06879947 0. 14.55185254] [-0.06879947 0.99763051 0. -0.89874215] [ 0. 0. 1. 0.02774931] [ 0. 0. 0. 1. ]] SLAMing on 14.104320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.90, Z:0.03 [[ 0.99777948 0.06660416 0. 14.61437818] [-0.06660416 0.99777948 0. -0.90435371] [ 0. 0. 1. 0.02959881] [ 0. 0. 0. 1. ]] SLAMing on 14.164320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.91, Z:0.03 [[ 0.99786182 0.06535887 0. 14.67713149] [-0.06535887 0.99786182 0. -0.90848473] [ 0. 0. 1. 0.0287436 ] [ 0. 0. 0. 1. ]] SLAMing on 14.22432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.91, Z:0.03 [[ 0.99802338 0.0628437 0. 14.74043753] [-0.0628437 0.99802338 0. -0.91247204] [ 0. 0. 1. 0.02820345] [ 0. 0. 0. 1. ]] SLAMing on 14.284320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.92, Z:0.03 [[ 0.99815438 0.06072751 0. 14.80320311] [-0.06072751 0.99815438 0. -0.91650392] [ 0. 0. 1. 0.02750775] [ 0. 0. 0. 1. ]] SLAMing on 14.344320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.92, Z:0.03 [[ 0.9982007 0.05996126 0. 14.86620422] [-0.05996126 0.9982007 0. -0.92009127] [ 0. 0. 1. 0.02673553] [ 0. 0. 0. 1. ]] SLAMing on 14.40432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.92, Z:0.02 [[ 0.9981943 0.06006778 0. 14.92910898] [-0.06006778 0.9981943 0. -0.92456592] [ 0. 0. 1. 0.02439747] [ 0. 0. 0. 1. ]] SLAMing on 14.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.93, Z:0.02 [[ 0.99792649 0.06436398 0. 14.99198539] [-0.06436398 0.99792649 0. -0.92809329] [ 0. 0. 1. 0.01800943] [ 0. 0. 0. 1. ]] SLAMing on 14.524320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.93, Z:0.02 [[ 0.99776349 0.06684321 0. 15.05409633] [-0.06684321 0.99776349 0. -0.93057675] [ 0. 0. 1. 0.02159099] [ 0. 0. 0. 1. ]] SLAMing on 14.584320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.93, Z:0.02 [[ 0.99733815 0.07291518 0. 15.11716463] [-0.07291518 0.99733815 0. -0.93418742] [ 0. 0. 1. 0.02248927] [ 0. 0. 0. 1. ]] SLAMing on 14.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.94, Z:0.02 [[ 0.99708218 0.07633563 0. 15.17920811] [-0.07633563 0.99708218 0. -0.93921891] [ 0. 0. 1. 0.02329067] [ 0. 0. 0. 1. ]] SLAMing on 14.704320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.94, Z:0.02 [[ 0.99687238 0.07902817 0. 15.24167159] [-0.07902817 0.99687238 0. -0.94242878] [ 0. 0. 1. 0.02310324] [ 0. 0. 0. 1. ]] SLAMing on 14.764320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.95, Z:0.02 [[ 0.99696561 0.07784331 0. 15.30456448] [-0.07784331 0.99696561 0. -0.94996632] [ 0. 0. 1. 0.02368412] [ 0. 0. 0. 1. ]] SLAMing on 14.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.96, Z:0.02 [[ 0.99718718 0.0749515 0. 15.36762861] [-0.0749515 0.99718718 0. -0.95605391] [ 0. 0. 1. 0.02488049] [ 0. 0. 0. 1. ]] SLAMing on 14.88432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.96, Z:0.02 [[ 0.99758437 0.06946523 0. 15.43060493] [-0.06946523 0.99758437 0. -0.96098954] [ 0. 0. 1. 0.02451677] [ 0. 0. 0. 1. ]] SLAMing on 14.944320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.97, Z:0.02 [[ 0.99795853 0.06386526 0. 15.49311582] [-0.06386526 0.99795853 0. -0.96942432] [ 0. 0. 1. 0.02354321] [ 0. 0. 0. 1. ]] SLAMing on 15.004320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.98, Z:0.02 [[ 0.99816516 0.06055003 0. 15.55551549] [-0.06055003 0.99816516 0. -0.97682363] [ 0. 0. 1. 0.02366857] [ 0. 0. 0. 1. ]] SLAMing on 15.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.98, Z:0.02 [[ 0.99821592 0.05970737 0. 15.61750303] [-0.05970737 0.99821592 0. -0.98305755] [ 0. 0. 1. 0.01791569] [ 0. 0. 0. 1. ]] SLAMing on 15.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.99, Z:0.02 [[ 0.99815986 0.06063741 0. 15.67827159] [-0.06063741 0.99815986 0. -0.98918068] [ 0. 0. 1. 0.02154572] [ 0. 0. 0. 1. ]] SLAMing on 15.184320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.00, Z:0.02 [[ 0.99813295 0.06107877 0. 15.74022553] [-0.06107877 0.99813295 0. -0.99745639] [ 0. 0. 1. 0.02113624] [ 0. 0. 0. 1. ]] SLAMing on 15.244320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.00, Z:0.02 [[ 0.99814889 0.06081771 0. 15.80304999] [-0.06081771 0.99814889 0. -1.00474475] [ 0. 0. 1. 0.02039838] [ 0. 0. 0. 1. ]] SLAMing on 15.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.01, Z:0.02 [[ 0.9981489 0.06081762 0. 15.86572754] [-0.06081762 0.9981489 0. -1.01338698] [ 0. 0. 1. 0.01879366] [ 0. 0. 0. 1. ]] SLAMing on 15.364320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.02, Z:0.02 [[ 0.9982949 0.05837209 0. 15.92765003] [-0.05837209 0.9982949 0. -1.02036571] [ 0. 0. 1. 0.02236807] [ 0. 0. 0. 1. ]] SLAMing on 15.424320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.03, Z:0.02 [[ 0.99830064 0.0582737 0. 15.99053429] [-0.0582737 0.99830064 0. -1.02766032] [ 0. 0. 1. 0.02277969] [ 0. 0. 0. 1. ]] SLAMing on 15.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.03, Z:0.02 [[ 0.99820322 0.05991929 0. 16.05295474] [-0.05991929 0.99820322 0. -1.03281978] [ 0. 0. 1. 0.02352089] [ 0. 0. 0. 1. ]] SLAMing on 15.54432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.04, Z:0.02 [[ 0.99825137 0.05911183 0. 16.11544036] [-0.05911183 0.99825137 0. -1.03742419] [ 0. 0. 1. 0.01850323] [ 0. 0. 0. 1. ]] SLAMing on 15.604320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.04, Z:0.02 [[ 0.9980652 0.06217597 0. 16.17735117] [-0.06217597 0.9980652 0. -1.04430282] [ 0. 0. 1. 0.02372752] [ 0. 0. 0. 1. ]] SLAMing on 15.664320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.05, Z:0.02 [[ 0.99779339 0.06639535 0. 16.23948151] [-0.06639535 0.99779339 0. -1.04913999] [ 0. 0. 1. 0.02194669] [ 0. 0. 0. 1. ]] SLAMing on 15.72432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.05, Z:0.02 [[ 0.99744055 0.07150074 0. 16.30212523] [-0.07150074 0.99744055 0. -1.05335608] [ 0. 0. 1. 0.01824714] [ 0. 0. 0. 1. ]] SLAMing on 15.784320000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.06, Z:0.02 [[ 0.99708914 0.0762446 0. 16.36376851] [-0.0762446 0.99708914 0. -1.05814753] [ 0. 0. 1. 0.01732923] [ 0. 0. 0. 1. ]] SLAMing on 15.844320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.07, Z:0.02 [[ 0.99658627 0.08255788 0. 16.42611007] [-0.08255788 0.99658627 0. -1.06671371] [ 0. 0. 1. 0.01808641] [ 0. 0. 0. 1. ]] SLAMing on 15.904320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.08, Z:0.02 [[ 0.9963854 0.08494784 0. 16.48810911] [-0.08494784 0.9963854 0. -1.07537013] [ 0. 0. 1. 0.01882125] [ 0. 0. 0. 1. ]] SLAMing on 15.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.08, Z:0.02 [[ 9.96386806e-01 8.49313361e-02 0.00000000e+00 1.65498951e+01] [-8.49313361e-02 9.96386806e-01 0.00000000e+00 -1.08178490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62901453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.09, Z:0.02 [[ 0.99662004 0.0821492 0. 16.61232231] [-0.0821492 0.99662004 0. -1.09046693] [ 0. 0. 1. 0.01808939] [ 0. 0. 0. 1. ]] SLAMing on 16.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.10, Z:0.02 [[ 0.99657231 0.0827262 0. 16.67465859] [-0.0827262 0.99657231 0. -1.10034066] [ 0. 0. 1. 0.02126693] [ 0. 0. 0. 1. ]] SLAMing on 16.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.11, Z:0.02 [[ 9.96898523e-01 7.86977420e-02 0.00000000e+00 1.67372899e+01] [-7.86977420e-02 9.96898523e-01 0.00000000e+00 -1.10680578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65051197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.12, Z:0.02 [[ 0.99706636 0.07654198 0. 16.79858194] [-0.07654198 0.99706636 0. -1.11600555] [ 0. 0. 1. 0.0192157 ] [ 0. 0. 0. 1. ]] SLAMing on 16.26432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.12, Z:0.02 [[ 9.97212227e-01 7.46175254e-02 0.00000000e+00 1.68612858e+01] [-7.46175254e-02 9.97212227e-01 0.00000000e+00 -1.12452348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58537652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.13, Z:0.01 [[ 9.97362107e-01 7.25866961e-02 0.00000000e+00 1.69238187e+01] [-7.25866961e-02 9.97362107e-01 0.00000000e+00 -1.13449526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49018518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.14, Z:0.02 [[ 0.99740912 0.07193775 0. 16.98442656] [-0.07193775 0.99740912 0. -1.14191124] [ 0. 0. 1. 0.01764001] [ 0. 0. 0. 1. ]] SLAMing on 16.44432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.15, Z:0.02 [[ 9.97378970e-01 7.23546205e-02 0.00000000e+00 1.70458748e+01] [-7.23546205e-02 9.97378970e-01 0.00000000e+00 -1.15142156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62915880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.16, Z:0.02 [[ 9.97237902e-01 7.42735963e-02 0.00000000e+00 1.71084049e+01] [-7.42735963e-02 9.97237902e-01 0.00000000e+00 -1.16071645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57804789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564320000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.17, Z:0.01 [[ 9.96852407e-01 7.92797444e-02 0.00000000e+00 1.71698547e+01] [-7.92797444e-02 9.96852407e-01 0.00000000e+00 -1.16950126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49688205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.18, Z:0.02 [[ 9.96415797e-01 8.45905447e-02 0.00000000e+00 1.72319335e+01] [-8.45905447e-02 9.96415797e-01 0.00000000e+00 -1.17846886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62082537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.19, Z:0.02 [[ 0.99605717 0.08871372 0. 17.29380523] [-0.08871372 0.99605717 0. -1.19014916] [ 0. 0. 1. 0.01849462] [ 0. 0. 0. 1. ]] SLAMing on 16.744320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.20, Z:0.02 [[ 0.99593537 0.09007073 0. 17.35587024] [-0.09007073 0.99593537 0. -1.19922312] [ 0. 0. 1. 0.01885367] [ 0. 0. 0. 1. ]] SLAMing on 16.80432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.21, Z:0.02 [[ 0.99596558 0.08973613 0. 17.41725471] [-0.08973613 0.99596558 0. -1.20864368] [ 0. 0. 1. 0.0192039 ] [ 0. 0. 0. 1. ]] SLAMing on 16.864320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.22, Z:0.02 [[ 0.99592602 0.09017409 0. 17.48001798] [-0.09017409 0.99592602 0. -1.21644297] [ 0. 0. 1. 0.02213094] [ 0. 0. 0. 1. ]] SLAMing on 16.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.22, Z:0.02 [[ 0.99591781 0.09026465 0. 17.54284881] [-0.09026465 0.99591781 0. -1.22371602] [ 0. 0. 1. 0.02219505] [ 0. 0. 0. 1. ]] SLAMing on 16.98432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.23, Z:0.02 [[ 0.99596214 0.08977424 0. 17.60515752] [-0.08977424 0.99596214 0. -1.22887907] [ 0. 0. 1. 0.0215414 ] [ 0. 0. 0. 1. ]] SLAMing on 17.044320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.24, Z:0.02 [[ 0.99607801 0.08847931 0. 17.66560932] [-0.08847931 0.99607801 0. -1.23578014] [ 0. 0. 1. 0.01963852] [ 0. 0. 0. 1. ]] SLAMing on 17.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.24, Z:0.02 [[ 9.96170382e-01 8.74332263e-02 0.00000000e+00 1.77271207e+01] [-8.74332263e-02 9.96170382e-01 0.00000000e+00 -1.24121010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76942515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.25, Z:0.02 [[ 0.99667077 0.08153139 0. 17.78983902] [-0.08153139 0.99667077 0. -1.24580303] [ 0. 0. 1. 0.01854958] [ 0. 0. 0. 1. ]] SLAMing on 17.224320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.25, Z:0.02 [[ 0.99672973 0.0808074 0. 17.85239967] [-0.0808074 0.99672973 0. -1.25114167] [ 0. 0. 1. 0.01890059] [ 0. 0. 0. 1. ]] SLAMing on 17.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.26, Z:0.02 [[ 0.99672782 0.08083098 0. 17.91449962] [-0.08083098 0.99672782 0. -1.25679633] [ 0. 0. 1. 0.01796488] [ 0. 0. 0. 1. ]] SLAMing on 17.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.26, Z:0.02 [[ 0.99668337 0.08137721 0. 17.97574405] [-0.08137721 0.99668337 0. -1.26040379] [ 0. 0. 1. 0.0224956 ] [ 0. 0. 0. 1. ]] SLAMing on 17.404320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.04, Y:-1.26, Z:0.02 [[ 0.99653186 0.08321215 0. 18.03784553] [-0.08321215 0.99653186 0. -1.26462151] [ 0. 0. 1. 0.02340182] [ 0. 0. 0. 1. ]] SLAMing on 17.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.27, Z:0.02 [[ 0.99634153 0.08546083 0. 18.10037091] [-0.08546083 0.99634153 0. -1.26825074] [ 0. 0. 1. 0.02271128] [ 0. 0. 0. 1. ]] SLAMing on 17.524320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:-1.27, Z:0.02 [[ 0.99628272 0.08614371 0. 18.16217572] [-0.08614371 0.99628272 0. -1.27377474] [ 0. 0. 1. 0.02263954] [ 0. 0. 0. 1. ]] SLAMing on 17.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.28, Z:0.02 [[ 0.99633561 0.08552982 0. 18.2248444 ] [-0.08552982 0.99633561 0. -1.27946596] [ 0. 0. 1. 0.02322603] [ 0. 0. 0. 1. ]] SLAMing on 17.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.28, Z:0.02 [[ 0.99643801 0.08432845 0. 18.28762736] [-0.08432845 0.99643801 0. -1.28468747] [ 0. 0. 1. 0.02263221] [ 0. 0. 0. 1. ]] SLAMing on 17.704320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.29, Z:0.02 [[ 0.99665796 0.08168789 0. 18.35097192] [-0.08168789 0.99665796 0. -1.28852532] [ 0. 0. 1. 0.02161122] [ 0. 0. 0. 1. ]] SLAMing on 17.76432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.29, Z:0.02 [[ 0.99689249 0.07877414 0. 18.41256474] [-0.07877414 0.99689249 0. -1.29402669] [ 0. 0. 1. 0.02105896] [ 0. 0. 0. 1. ]] SLAMing on 17.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.30, Z:0.02 [[ 0.9971089 0.07598578 0. 18.47470828] [-0.07598578 0.9971089 0. -1.29856012] [ 0. 0. 1. 0.01850615] [ 0. 0. 0. 1. ]] SLAMing on 17.884320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.30, Z:0.02 [[ 9.97155225e-01 7.53754379e-02 0.00000000e+00 1.85374288e+01] [-7.53754379e-02 9.97155225e-01 0.00000000e+00 -1.30371001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72030355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.31, Z:0.02 [[ 9.97191163e-01 7.48984906e-02 0.00000000e+00 1.86000489e+01] [-7.48984906e-02 9.97191163e-01 0.00000000e+00 -1.30766954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84536156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.31, Z:0.02 [[ 9.97104531e-01 7.60431066e-02 0.00000000e+00 1.86615198e+01] [-7.60431066e-02 9.97104531e-01 0.00000000e+00 -1.31475357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64680289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.32, Z:0.02 [[ 0.9970678 0.07652316 0. 18.72419634] [-0.07652316 0.9970678 0. -1.3191014 ] [ 0. 0. 1. 0.02185472] [ 0. 0. 0. 1. ]] SLAMing on 18.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.32, Z:0.02 [[ 0.99694478 0.07810957 0. 18.78647804] [-0.07810957 0.99694478 0. -1.32342926] [ 0. 0. 1. 0.02188801] [ 0. 0. 0. 1. ]] SLAMing on 18.18432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.33, Z:0.03 [[ 0.99664302 0.08187002 0. 18.8487696 ] [-0.08187002 0.99664302 0. -1.3273795 ] [ 0. 0. 1. 0.02507796] [ 0. 0. 0. 1. ]] SLAMing on 18.244320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.33, Z:0.03 [[ 0.99615328 0.08762791 0. 18.91020144] [-0.08762791 0.99615328 0. -1.33122951] [ 0. 0. 1. 0.02621889] [ 0. 0. 0. 1. ]] SLAMing on 18.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.34, Z:0.03 [[ 0.99573247 0.09228676 0. 18.97269746] [-0.09228676 0.99573247 0. -1.33661795] [ 0. 0. 1. 0.0325553 ] [ 0. 0. 0. 1. ]] SLAMing on 18.364320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.34, Z:0.03 [[ 0.9953865 0.09594642 0. 19.03478666] [-0.09594642 0.9953865 0. -1.34162255] [ 0. 0. 1. 0.03255319] [ 0. 0. 0. 1. ]] SLAMing on 18.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.35, Z:0.03 [[ 0.99544583 0.0953289 0. 19.09782565] [-0.0953289 0.99544583 0. -1.34513706] [ 0. 0. 1. 0.02814712] [ 0. 0. 0. 1. ]] SLAMing on 18.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.35, Z:0.03 [[ 0.99551891 0.09456267 0. 19.16021141] [-0.09456267 0.99551891 0. -1.35000323] [ 0. 0. 1. 0.02705862] [ 0. 0. 0. 1. ]] SLAMing on 18.544320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.36, Z:0.03 [[ 0.9958421 0.09109622 0. 19.22166168] [-0.09109622 0.9958421 0. -1.35783125] [ 0. 0. 1. 0.0262624 ] [ 0. 0. 0. 1. ]] SLAMing on 18.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.37, Z:0.02 [[ 0.99617515 0.08737886 0. 19.2832638 ] [-0.08737886 0.99617515 0. -1.36510813] [ 0. 0. 1. 0.02381107] [ 0. 0. 0. 1. ]] SLAMing on 18.66432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.37, Z:0.03 [[ 0.99666565 0.08159398 0. 19.34511233] [-0.08159398 0.99666565 0. -1.36968004] [ 0. 0. 1. 0.02605586] [ 0. 0. 0. 1. ]] SLAMing on 18.724320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.38, Z:0.03 [[ 0.99701411 0.07721959 0. 19.40655512] [-0.07721959 0.99701411 0. -1.37567033] [ 0. 0. 1. 0.02533586] [ 0. 0. 0. 1. ]] SLAMing on 18.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.38, Z:0.03 [[ 0.99709247 0.0762011 0. 19.46918884] [-0.0762011 0.99709247 0. -1.384388 ] [ 0. 0. 1. 0.0263987 ] [ 0. 0. 0. 1. ]] SLAMing on 18.84432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.39, Z:0.03 [[ 0.99702231 0.07711369 0. 19.53230116] [-0.07711369 0.99702231 0. -1.39049477] [ 0. 0. 1. 0.0259992 ] [ 0. 0. 0. 1. ]] SLAMing on 18.904320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.40, Z:0.03 [[ 0.99659969 0.08239569 0. 19.59389279] [-0.08239569 0.99659969 0. -1.39804935] [ 0. 0. 1. 0.02638776] [ 0. 0. 0. 1. ]] SLAMing on 18.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.41, Z:0.03 [[ 0.99624045 0.08663117 0. 19.65667054] [-0.08663117 0.99624045 0. -1.40508532] [ 0. 0. 1. 0.02719946] [ 0. 0. 0. 1. ]] SLAMing on 19.024320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.41, Z:0.03 [[ 0.99553822 0.09435918 0. 19.71777507] [-0.09435918 0.99553822 0. -1.41180609] [ 0. 0. 1. 0.03323003] [ 0. 0. 0. 1. ]] SLAMing on 19.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.42, Z:0.03 [[ 0.99515792 0.09828897 0. 19.78020276] [-0.09828897 0.99515792 0. -1.41768782] [ 0. 0. 1. 0.03417597] [ 0. 0. 0. 1. ]] SLAMing on 19.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.42, Z:0.03 [[ 0.99489933 0.10087284 0. 19.84303552] [-0.10087284 0.99489933 0. -1.42491529] [ 0. 0. 1. 0.03398196] [ 0. 0. 0. 1. ]] SLAMing on 19.204320000000003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.43, Z:0.03 [[ 0.99507247 0.09915032 0. 19.90447383] [-0.09915032 0.99507247 0. -1.43181439] [ 0. 0. 1. 0.03327032] [ 0. 0. 0. 1. ]] SLAMing on 19.26432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.44, Z:0.03 [[ 0.99538948 0.09591554 0. 19.96617792] [-0.09591554 0.99538948 0. -1.43963231] [ 0. 0. 1. 0.03112746] [ 0. 0. 0. 1. ]] SLAMing on 19.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.45, Z:0.03 [[ 0.99584372 0.09107841 0. 20.02797674] [-0.09107841 0.99584372 0. -1.44894984] [ 0. 0. 1. 0.02683095] [ 0. 0. 0. 1. ]] SLAMing on 19.384320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.46, Z:0.03 [[ 0.99614135 0.0877634 0. 20.08836288] [-0.0877634 0.99614135 0. -1.45840096] [ 0. 0. 1. 0.02873761] [ 0. 0. 0. 1. ]] SLAMing on 19.44432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.47, Z:0.03 [[ 0.99639657 0.08481674 0. 20.15034526] [-0.08481674 0.99639657 0. -1.46554928] [ 0. 0. 1. 0.03031909] [ 0. 0. 0. 1. ]] SLAMing on 19.50432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.48, Z:0.03 [[ 0.99645966 0.08407231 0. 20.21233158] [-0.08407231 0.99645966 0. -1.4756727 ] [ 0. 0. 1. 0.03237187] [ 0. 0. 0. 1. ]] SLAMing on 19.564320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.48, Z:0.03 [[ 0.99641032 0.08465502 0. 20.27421176] [-0.08465502 0.99641032 0. -1.48412762] [ 0. 0. 1. 0.0339321 ] [ 0. 0. 0. 1. ]] SLAMing on 19.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.49, Z:0.03 [[ 0.99627488 0.08623438 0. 20.3371915 ] [-0.08623438 0.99627488 0. -1.49061396] [ 0. 0. 1. 0.0344976 ] [ 0. 0. 0. 1. ]] SLAMing on 19.684320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.50, Z:0.04 [[ 0.9960172 0.08916127 0. 20.39932889] [-0.08916127 0.9960172 0. -1.49881527] [ 0. 0. 1. 0.03538614] [ 0. 0. 0. 1. ]] SLAMing on 19.744320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.51, Z:0.04 [[ 0.99588793 0.09059372 0. 20.46150052] [-0.09059372 0.99588793 0. -1.50694609] [ 0. 0. 1. 0.03603202] [ 0. 0. 0. 1. ]] SLAMing on 19.80432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.51, Z:0.03 [[ 0.99569971 0.09263954 0. 20.52322957] [-0.09263954 0.99569971 0. -1.51281506] [ 0. 0. 1. 0.03447284] [ 0. 0. 0. 1. ]] SLAMing on 19.864320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.52, Z:0.03 [[ 0.99563855 0.09329457 0. 20.58604496] [-0.09329457 0.99563855 0. -1.52066253] [ 0. 0. 1. 0.03498442] [ 0. 0. 0. 1. ]] SLAMing on 19.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.53, Z:0.04 [[ 0.9957797 0.09177579 0. 20.64720971] [-0.09177579 0.9957797 0. -1.52760617] [ 0. 0. 1. 0.03577293] [ 0. 0. 0. 1. ]] SLAMing on 19.98432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.53, Z:0.04 [[ 0.9958082 0.09146603 0. 20.70918736] [-0.09146603 0.9958082 0. -1.53468479] [ 0. 0. 1. 0.03580577] [ 0. 0. 0. 1. ]] SLAMing on 20.044320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.54, Z:0.03 [[ 0.99603154 0.08900092 0. 20.77140482] [-0.08900092 0.99603154 0. -1.54096805] [ 0. 0. 1. 0.02984127] [ 0. 0. 0. 1. ]] SLAMing on 20.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.55, Z:0.04 [[ 0.99603256 0.08898951 0. 20.83253559] [-0.08898951 0.99603256 0. -1.54905762] [ 0. 0. 1. 0.03620279] [ 0. 0. 0. 1. ]] SLAMing on 20.16432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.56, Z:0.04 [[ 0.99605519 0.08873593 0. 20.89538818] [-0.08873593 0.99605519 0. -1.55720125] [ 0. 0. 1. 0.035795 ] [ 0. 0. 0. 1. ]] SLAMing on 20.224320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.56, Z:0.04 [[ 0.99600352 0.08931401 0. 20.95771815] [-0.08931401 0.99600352 0. -1.56262781] [ 0. 0. 1. 0.03516075] [ 0. 0. 0. 1. ]] SLAMing on 20.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.57, Z:0.03 [[ 0.99586317 0.09086558 0. 21.01915703] [-0.09086558 0.99586317 0. -1.56951632] [ 0. 0. 1. 0.03251784] [ 0. 0. 0. 1. ]] SLAMing on 20.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.58, Z:0.03 [[ 0.99546968 0.09507952 0. 21.08132279] [-0.09507952 0.99546968 0. -1.57688195] [ 0. 0. 1. 0.03407495] [ 0. 0. 0. 1. ]] SLAMing on 20.404320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.58, Z:0.03 [[ 0.99527439 0.09710244 0. 21.14358959] [-0.09710244 0.99527439 0. -1.58355079] [ 0. 0. 1. 0.03430854] [ 0. 0. 0. 1. ]] SLAMing on 20.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.59, Z:0.04 [[ 0.99508916 0.09898269 0. 21.20634747] [-0.09898269 0.99508916 0. -1.5926894 ] [ 0. 0. 1. 0.03504507] [ 0. 0. 0. 1. ]] SLAMing on 20.524320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.60, Z:0.03 [[ 0.99503667 0.09950897 0. 21.26644115] [-0.09950897 0.99503667 0. -1.60306264] [ 0. 0. 1. 0.03048087] [ 0. 0. 0. 1. ]] SLAMing on 20.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.61, Z:0.03 [[ 0.99486801 0.10118123 0. 21.32774501] [-0.10118123 0.99486801 0. -1.61072219] [ 0. 0. 1. 0.03205492] [ 0. 0. 0. 1. ]] SLAMing on 20.64432 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.62, Z:0.04 [[ 0.99504972 0.09937837 0. 21.38937312] [-0.09937837 0.99504972 0. -1.61916357] [ 0. 0. 1. 0.03550114] [ 0. 0. 0. 1. ]] SLAMing on 20.704320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.63, Z:0.04 [[ 0.99520642 0.09779667 0. 21.45035647] [-0.09779667 0.99520642 0. -1.62967466] [ 0. 0. 1. 0.0355751 ] [ 0. 0. 0. 1. ]] SLAMing on 20.76432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.64, Z:0.03 [[ 0.99535326 0.0962906 0. 21.5129577 ] [-0.0962906 0.99535326 0. -1.63757342] [ 0. 0. 1. 0.0340758 ] [ 0. 0. 0. 1. ]] SLAMing on 20.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.65, Z:0.03 [[ 0.9953073 0.09676456 0. 21.57365852] [-0.09676456 0.9953073 0. -1.64741807] [ 0. 0. 1. 0.03346116] [ 0. 0. 0. 1. ]] SLAMing on 20.884320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.66, Z:0.03 [[ 0.9954002 0.09580417 0. 21.63605853] [-0.09580417 0.9954002 0. -1.65604062] [ 0. 0. 1. 0.03490106] [ 0. 0. 0. 1. ]] SLAMing on 20.94432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.67, Z:0.03 [[ 0.99529899 0.09684998 0. 21.69836689] [-0.09684998 0.99529899 0. -1.66568295] [ 0. 0. 1. 0.03364228] [ 0. 0. 0. 1. ]] SLAMing on 21.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.68, Z:0.03 [[ 0.99501432 0.09973216 0. 21.76023773] [-0.09973216 0.99501432 0. -1.67624144] [ 0. 0. 1. 0.03344364] [ 0. 0. 0. 1. ]] SLAMing on 21.064320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.69, Z:0.03 [[ 0.99485505 0.10130855 0. 21.8222146 ] [-0.10130855 0.99485505 0. -1.68533484] [ 0. 0. 1. 0.03215922] [ 0. 0. 0. 1. ]] SLAMing on 21.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.69, Z:0.04 [[ 0.99427378 0.1068628 0. 21.88252464] [-0.1068628 0.99427378 0. -1.69472762] [ 0. 0. 1. 0.03591357] [ 0. 0. 0. 1. ]] SLAMing on 21.184320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.70, Z:0.04 [[ 0.99354848 0.11340822 0. 21.94482589] [-0.11340822 0.99354848 0. -1.7042048 ] [ 0. 0. 1. 0.03755284] [ 0. 0. 0. 1. ]] SLAMing on 21.244320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.72, Z:0.04 [[ 0.99280783 0.11971892 0. 22.00592164] [-0.11971892 0.99280783 0. -1.7169632 ] [ 0. 0. 1. 0.03809262] [ 0. 0. 0. 1. ]] SLAMing on 21.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.72, Z:0.04 [[ 0.99288898 0.11904402 0. 22.06733614] [-0.11904402 0.99288898 0. -1.72356481] [ 0. 0. 1. 0.03585812] [ 0. 0. 0. 1. ]] SLAMing on 21.364320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.73, Z:0.04 [[ 0.99306652 0.11755377 0. 22.12913976] [-0.11755377 0.99306652 0. -1.73433521] [ 0. 0. 1. 0.03560962] [ 0. 0. 0. 1. ]] SLAMing on 21.42432 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.75, Z:0.04 [[ 0.99330396 0.11553026 0. 22.19140248] [-0.11553026 0.99330396 0. -1.74629666] [ 0. 0. 1. 0.03569396] [ 0. 0. 0. 1. ]] SLAMing on 21.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.76, Z:0.04 [[ 0.99379785 0.11120175 0. 22.25357151] [-0.11120175 0.99379785 0. -1.75784201] [ 0. 0. 1. 0.03626759] [ 0. 0. 0. 1. ]] SLAMing on 21.544320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.77, Z:0.04 [[ 0.99433068 0.10633205 0. 22.31577253] [-0.10633205 0.99433068 0. -1.77016832] [ 0. 0. 1. 0.03621778] [ 0. 0. 0. 1. ]] SLAMing on 21.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.79, Z:0.04 [[ 0.99438348 0.10583714 0. 22.37660817] [-0.10583714 0.99438348 0. -1.78553599] [ 0. 0. 1. 0.03722741] [ 0. 0. 0. 1. ]] SLAMing on 21.66432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.79, Z:0.03 [[ 0.99455873 0.10417743 0. 22.43829074] [-0.10417743 0.99455873 0. -1.79442888] [ 0. 0. 1. 0.0342365 ] [ 0. 0. 0. 1. ]] SLAMing on 21.724320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.81, Z:0.03 [[ 0.99434735 0.10617603 0. 22.49853204] [-0.10617603 0.99434735 0. -1.80637372] [ 0. 0. 1. 0.03300286] [ 0. 0. 0. 1. ]] SLAMing on 21.78432 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.82, Z:0.03 [[ 0.99403062 0.10910149 0. 22.55939528] [-0.10910149 0.99403062 0. -1.81622253] [ 0. 0. 1. 0.03367038] [ 0. 0. 0. 1. ]] SLAMing on 21.844320000000003 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.82, Z:0.03 [[ 0.99376618 0.11148444 0. 22.62032181] [-0.11148444 0.99376618 0. -1.82442451] [ 0. 0. 1. 0.03388869] [ 0. 0. 0. 1. ]] SLAMing on 21.904320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.84, Z:0.04 [[ 0.9934718 0.11407792 0. 22.68173702] [-0.11407792 0.9934718 0. -1.83531908] [ 0. 0. 1. 0.0358215 ] [ 0. 0. 0. 1. ]] SLAMing on 21.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.85, Z:0.03 [[ 0.99341601 0.11456279 0. 22.74277511] [-0.11456279 0.99341601 0. -1.84585849] [ 0. 0. 1. 0.03416687] [ 0. 0. 0. 1. ]] SLAMing on 22.024320000000003 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.86, Z:0.04 [[ 0.99366607 0.11237323 0. 22.80415252] [-0.11237323 0.99366607 0. -1.85622812] [ 0. 0. 1. 0.03627374] [ 0. 0. 0. 1. ]] SLAMing on 22.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.87, Z:0.04 [[ 0.99391518 0.11014815 0. 22.86620245] [-0.11014815 0.99391518 0. -1.86792554] [ 0. 0. 1. 0.03532596] [ 0. 0. 0. 1. ]] SLAMing on 22.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.88, Z:0.03 [[ 0.99406888 0.10875232 0. 22.92772276] [-0.10875232 0.99406888 0. -1.87778321] [ 0. 0. 1. 0.03435526] [ 0. 0. 0. 1. ]] SLAMing on 22.204320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.89, Z:0.03 [[ 0.99431899 0.10644125 0. 22.9886951 ] [-0.10644125 0.99431899 0. -1.888203 ] [ 0. 0. 1. 0.03363448] [ 0. 0. 0. 1. ]] SLAMing on 22.26432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.90, Z:0.03 [[ 0.99449662 0.10476868 0. 23.05041637] [-0.10476868 0.99449662 0. -1.89867537] [ 0. 0. 1. 0.03301517] [ 0. 0. 0. 1. ]] SLAMing on 22.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.91, Z:0.03 [[ 0.9947166 0.10265909 0. 23.11230193] [-0.10265909 0.9947166 0. -1.90843606] [ 0. 0. 1. 0.03317492] [ 0. 0. 0. 1. ]] SLAMing on 22.384320000000002 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.92, Z:0.03 [[ 0.99476272 0.1022112 0. 23.1738627 ] [-0.1022112 0.99476272 0. -1.91818119] [ 0. 0. 1. 0.03430524] [ 0. 0. 0. 1. ]] SLAMing on 22.44432 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.93, Z:0.04 [[ 0.99478865 0.10195855 0. 23.23574576] [-0.10195855 0.99478865 0. -1.92768223] [ 0. 0. 1. 0.03582066] [ 0. 0. 0. 1. ]] SLAMing on 22.50432 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.94, Z:0.04 [[ 0.9945782 0.10399137 0. 23.29817825] [-0.10399137 0.9945782 0. -1.93589321] [ 0. 0. 1. 0.03604666] [ 0. 0. 0. 1. ]] SLAMing on 22.564320000000002 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.94, Z:0.03 [[ 0.99425337 0.1070525 0. 23.36068615] [-0.1070525 0.99425337 0. -1.94435314] [ 0. 0. 1. 0.03119048] [ 0. 0. 0. 1. ]] SLAMing on 22.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.95, Z:0.04 [[ 0.99399559 0.1094201 0. 23.42327067] [-0.1094201 0.99399559 0. -1.95280499] [ 0. 0. 1. 0.03557782] [ 0. 0. 0. 1. ]] SLAMing on 22.684320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.96, Z:0.04 [[ 0.99382455 0.11096287 0. 23.48527732] [-0.11096287 0.99382455 0. -1.96248221] [ 0. 0. 1. 0.03513226] [ 0. 0. 0. 1. ]] SLAMing on 22.744320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.97, Z:0.04 [[ 0.99387219 0.11053539 0. 23.54736565] [-0.11053539 0.99387219 0. -1.97150708] [ 0. 0. 1. 0.03595045] [ 0. 0. 0. 1. ]] SLAMing on 22.80432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.98, Z:0.03 [[ 0.9941667 0.10785444 0. 23.61006784] [-0.10785444 0.9941667 0. -1.97859423] [ 0. 0. 1. 0.0334474 ] [ 0. 0. 0. 1. ]] SLAMing on 22.864320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.99, Z:0.04 [[ 0.99421924 0.107369 0. 23.67100694] [-0.107369 0.99421924 0. -1.98886364] [ 0. 0. 1. 0.03548315] [ 0. 0. 0. 1. ]] SLAMing on 22.92432 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.00, Z:0.03 [[ 0.99458789 0.10389866 0. 23.73316886] [-0.10389866 0.99458789 0. -1.99807309] [ 0. 0. 1. 0.03485368] [ 0. 0. 0. 1. ]] SLAMing on 22.98432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.01, Z:0.03 [[ 0.99473387 0.10249161 0. 23.79450492] [-0.10249161 0.99473387 0. -2.00593719] [ 0. 0. 1. 0.03419281] [ 0. 0. 0. 1. ]] SLAMing on 23.044320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:-2.02, Z:0.04 [[ 0.99458893 0.10388871 0. 23.85705938] [-0.10388871 0.99458893 0. -2.01536726] [ 0. 0. 1. 0.03512825] [ 0. 0. 0. 1. ]] SLAMing on 23.10432 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:-2.02, Z:0.04 [[ 0.9945621 0.10414527 0. 23.91853054] [-0.10414527 0.9945621 0. -2.02435341] [ 0. 0. 1. 0.03519123] [ 0. 0. 0. 1. ]] SLAMing on 23.16432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:-2.03, Z:0.04 [[ 0.99441968 0.10549645 0. 23.98062668] [-0.10549645 0.99441968 0. -2.03395661] [ 0. 0. 1. 0.03613456] [ 0. 0. 0. 1. ]] SLAMing on 23.224320000000002 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:-2.04, Z:0.04 [[ 0.99416871 0.10783587 0. 24.0433835 ] [-0.10783587 0.99416871 0. -2.04264194] [ 0. 0. 1. 0.03675073] [ 0. 0. 0. 1. ]] SLAMing on 23.28432 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:24.10, Y:-2.05, Z:0.04 [[ 0.99345546 0.11422014 0. 24.10480695] [-0.11422014 0.99345546 0. -2.0497559 ] [ 0. 0. 1. 0.03712237] [ 0. 0. 0. 1. ]] SLAMing on 23.344320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:-2.06, Z:0.04 [[ 0.9928368 0.11947839 0. 24.16725137] [-0.11947839 0.9928368 0. -2.0587039 ] [ 0. 0. 1. 0.03776349] [ 0. 0. 0. 1. ]] SLAMing on 23.404320000000002 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:-2.07, Z:0.04 [[ 0.99241301 0.12294887 0. 24.2298213 ] [-0.12294887 0.99241301 0. -2.06525112] [ 0. 0. 1. 0.03609944] [ 0. 0. 0. 1. ]] SLAMing on 23.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:-2.07, Z:0.04 [[ 0.9922867 0.12396412 0. 24.29080091] [-0.12396412 0.9922867 0. -2.07383613] [ 0. 0. 1. 0.03607452] [ 0. 0. 0. 1. ]] SLAMing on 23.524320000000003 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:24.35, Y:-2.08, Z:0.03 [[ 0.99244783 0.12266747 0. 24.35317337] [-0.12266747 0.99244783 0. -2.0839412 ] [ 0. 0. 1. 0.03497152] [ 0. 0. 0. 1. ]] SLAMing on 23.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:-2.09, Z:0.03 [[ 0.99286897 0.11921077 0. 24.41583269] [-0.11921077 0.99286897 0. -2.0925735 ] [ 0. 0. 1. 0.03480812] [ 0. 0. 0. 1. ]] SLAMing on 23.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.48, Y:-2.10, Z:0.03 [[ 0.99318569 0.1165426 0. 24.47711844] [-0.1165426 0.99318569 0. -2.10209476] [ 0. 0. 1. 0.03447954] [ 0. 0. 0. 1. ]] SLAMing on 23.704320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.54, Y:-2.11, Z:0.04 [[ 0.99368254 0.11222749 0. 24.53954496] [-0.11222749 0.99368254 0. -2.11327399] [ 0. 0. 1. 0.03545507] [ 0. 0. 0. 1. ]] SLAMing on 23.76432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.60, Y:-2.12, Z:0.03 [[ 0.99385508 0.11068916 0. 24.60206438] [-0.11068916 0.99385508 0. -2.12233536] [ 0. 0. 1. 0.0349676 ] [ 0. 0. 0. 1. ]] SLAMing on 23.82432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.66, Y:-2.13, Z:0.03 [[ 0.99401739 0.10922195 0. 24.66439919] [-0.10922195 0.99401739 0. -2.13042154] [ 0. 0. 1. 0.03421763] [ 0. 0. 0. 1. ]] SLAMing on 23.884320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:-2.14, Z:0.04 [[ 0.99398665 0.1095013 0. 24.72587149] [-0.1095013 0.99398665 0. -2.13876784] [ 0. 0. 1. 0.03503605] [ 0. 0. 0. 1. ]] SLAMing on 23.94432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.79, Y:-2.14, Z:0.03 [[ 0.99370384 0.1120387 0. 24.78753274] [-0.1120387 0.99370384 0. -2.14463397] [ 0. 0. 1. 0.03191117] [ 0. 0. 0. 1. ]] SLAMing on 24.004320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.85, Y:-2.15, Z:0.03 [[ 0.99326285 0.11588317 0. 24.84968904] [-0.11588317 0.99326285 0. -2.1516906 ] [ 0. 0. 1. 0.03458975] [ 0. 0. 0. 1. ]] SLAMing on 24.064320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.91, Y:-2.16, Z:0.04 [[ 0.99270984 0.12052875 0. 24.91176095] [-0.12052875 0.99270984 0. -2.15772711] [ 0. 0. 1. 0.03621623] [ 0. 0. 0. 1. ]] SLAMing on 24.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.97, Y:-2.16, Z:0.04 [[ 0.99199667 0.12626405 0. 24.97338839] [-0.12626405 0.99199667 0. -2.16274921] [ 0. 0. 1. 0.03642659] [ 0. 0. 0. 1. ]] SLAMing on 24.184320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:-2.17, Z:0.03 [[ 0.99157627 0.12952411 0. 25.03599535] [-0.12952411 0.99157627 0. -2.16701729] [ 0. 0. 1. 0.03386328] [ 0. 0. 0. 1. ]] SLAMing on 24.244320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.10, Y:-2.17, Z:0.03 [[ 0.99138989 0.1309431 0. 25.0983277 ] [-0.1309431 0.99138989 0. -2.17381846] [ 0. 0. 1. 0.03302075] [ 0. 0. 0. 1. ]] SLAMing on 24.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:-2.18, Z:0.03 [[ 0.9917294 0.12834642 0. 25.16110146] [-0.12834642 0.9917294 0. -2.18084502] [ 0. 0. 1. 0.03226118] [ 0. 0. 0. 1. ]] SLAMing on 24.364320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.22, Y:-2.19, Z:0.04 [[ 0.99242358 0.12286348 0. 25.22269374] [-0.12286348 0.99242358 0. -2.18955849] [ 0. 0. 1. 0.03590126] [ 0. 0. 0. 1. ]] SLAMing on 24.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.29, Y:-2.20, Z:0.04 [[ 0.99298566 0.11823482 0. 25.28530812] [-0.11823482 0.99298566 0. -2.19835687] [ 0. 0. 1. 0.0360854 ] [ 0. 0. 0. 1. ]] SLAMing on 24.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.35, Y:-2.21, Z:0.03 [[ 0.99361172 0.11285282 0. 25.34758116] [-0.11285282 0.99361172 0. -2.20763461] [ 0. 0. 1. 0.03395237] [ 0. 0. 0. 1. ]] SLAMing on 24.544320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.41, Y:-2.21, Z:0.03 [[ 0.99419656 0.10757885 0. 25.41033615] [-0.10757885 0.99419656 0. -2.21222202] [ 0. 0. 1. 0.03391383] [ 0. 0. 0. 1. ]] SLAMing on 24.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.47, Y:-2.22, Z:0.03 [[ 0.99431121 0.10651392 0. 25.4725411 ] [-0.10651392 0.99431121 0. -2.22189429] [ 0. 0. 1. 0.03050022] [ 0. 0. 0. 1. ]] SLAMing on 24.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.23, Z:0.03 [[ 0.99452854 0.10446519 0. 25.53475085] [-0.10446519 0.99452854 0. -2.22602553] [ 0. 0. 1. 0.03420037] [ 0. 0. 0. 1. ]] SLAMing on 24.724320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:-2.23, Z:0.04 [[ 0.99442175 0.10547696 0. 25.59790146] [-0.10547696 0.99442175 0. -2.23163745] [ 0. 0. 1. 0.035657 ] [ 0. 0. 0. 1. ]] SLAMing on 24.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.66, Y:-2.24, Z:0.04 [[ 0.99413534 0.10814305 0. 25.66071342] [-0.10814305 0.99413534 0. -2.23830631] [ 0. 0. 1. 0.03648067] [ 0. 0. 0. 1. ]] SLAMing on 24.844320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.72, Y:-2.24, Z:0.04 [[ 0.99351051 0.11374034 0. 25.72337733] [-0.11374034 0.99351051 0. -2.24323318] [ 0. 0. 1. 0.0379322 ] [ 0. 0. 0. 1. ]] SLAMing on 24.904320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:-2.25, Z:0.04 [[ 0.99273507 0.12032076 0. 25.78667741] [-0.12032076 0.99273507 0. -2.2454561 ] [ 0. 0. 1. 0.03717666] [ 0. 0. 0. 1. ]] SLAMing on 24.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:-2.25, Z:0.04 [[ 0.99222876 0.12442706 0. 25.84739956] [-0.12442706 0.99222876 0. -2.25308472] [ 0. 0. 1. 0.03528267] [ 0. 0. 0. 1. ]] SLAMing on 25.024320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:-2.26, Z:0.03 [[ 0.9917917 0.12786409 0. 25.91020867] [-0.12786409 0.9917917 0. -2.25885103] [ 0. 0. 1. 0.0336266 ] [ 0. 0. 0. 1. ]] SLAMing on 25.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:-2.26, Z:0.03 [[ 0.99150715 0.13005217 0. 25.9726637 ] [-0.13005217 0.99150715 0. -2.26446527] [ 0. 0. 1. 0.03315801] [ 0. 0. 0. 1. ]] SLAMing on 25.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.27, Z:0.04 [[ 0.99174432 0.12823109 0. 26.03459437] [-0.12823109 0.99174432 0. -2.27012717] [ 0. 0. 1. 0.03789548] [ 0. 0. 0. 1. ]] SLAMing on 25.204320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.28, Z:0.04 [[ 0.99225231 0.12423913 0. 26.09604451] [-0.12423913 0.99225231 0. -2.27741939] [ 0. 0. 1. 0.03769448] [ 0. 0. 0. 1. ]] SLAMing on 25.26432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.16, Y:-2.29, Z:0.03 [[ 0.99265887 0.12094779 0. 26.15841164] [-0.12094779 0.99265887 0. -2.28638538] [ 0. 0. 1. 0.03311763] [ 0. 0. 0. 1. ]] SLAMing on 25.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.22, Y:-2.29, Z:0.04 [[ 0.99321857 0.11626206 0. 26.22006569] [-0.11626206 0.99321857 0. -2.29224085] [ 0. 0. 1. 0.03540689] [ 0. 0. 0. 1. ]] SLAMing on 25.384320000000002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.30, Z:0.03 [[ 0.99359092 0.11303579 0. 26.28280912] [-0.11303579 0.99359092 0. -2.29973081] [ 0. 0. 1. 0.03423698] [ 0. 0. 0. 1. ]] SLAMing on 25.44432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.35, Y:-2.31, Z:0.03 [[ 0.99381905 0.11101215 0. 26.34526883] [-0.11101215 0.99381905 0. -2.30611656] [ 0. 0. 1. 0.03442376] [ 0. 0. 0. 1. ]] SLAMing on 25.504320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.41, Y:-2.31, Z:0.03 [[ 0.99386072 0.11063846 0. 26.40773112] [-0.11063846 0.99386072 0. -2.31376677] [ 0. 0. 1. 0.03225361] [ 0. 0. 0. 1. ]] SLAMing on 25.564320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.47, Y:-2.32, Z:0.03 [[ 0.99368342 0.11221966 0. 26.46936804] [-0.11221966 0.99368342 0. -2.32030381] [ 0. 0. 1. 0.03295059] [ 0. 0. 0. 1. ]] SLAMing on 25.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.53, Y:-2.33, Z:0.04 [[ 0.99340598 0.1146497 0. 26.53103657] [-0.1146497 0.99340598 0. -2.32938117] [ 0. 0. 1. 0.03608968] [ 0. 0. 0. 1. ]] SLAMing on 25.684320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.34, Z:0.03 [[ 0.99287109 0.11919313 0. 26.59381404] [-0.11919313 0.99287109 0. -2.33531765] [ 0. 0. 1. 0.03340641] [ 0. 0. 0. 1. ]] SLAMing on 25.744320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.34, Z:0.03 [[ 0.99204376 0.12589348 0. 26.6557019 ] [-0.12589348 0.99204376 0. -2.3428173 ] [ 0. 0. 1. 0.03334126] [ 0. 0. 0. 1. ]] SLAMing on 25.80432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.72, Y:-2.35, Z:0.04 [[ 0.9910858 0.13322511 0. 26.71692055] [-0.13322511 0.9910858 0. -2.34984216] [ 0. 0. 1. 0.03642185] [ 0. 0. 0. 1. ]] SLAMing on 25.864320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.36, Z:0.04 [[ 0.99060303 0.13676856 0. 26.7792834 ] [-0.13676856 0.99060303 0. -2.35800405] [ 0. 0. 1. 0.03616199] [ 0. 0. 0. 1. ]] SLAMing on 25.92432 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.37, Z:0.04 [[ 0.99024059 0.13936847 0. 26.84052904] [-0.13936847 0.99024059 0. -2.36605561] [ 0. 0. 1. 0.03561134] [ 0. 0. 0. 1. ]] SLAMing on 25.98432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.37, Z:0.03 [[ 0.99049118 0.13757627 0. 26.9023776 ] [-0.13757627 0.99049118 0. -2.37449532] [ 0. 0. 1. 0.03496202] [ 0. 0. 0. 1. ]] SLAMing on 26.044320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.38, Z:0.04 [[ 0.99102285 0.13369257 0. 26.96434078] [-0.13369257 0.99102285 0. -2.38403223] [ 0. 0. 1. 0.03508949] [ 0. 0. 0. 1. ]] SLAMing on 26.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.39, Z:0.03 [[ 0.99161811 0.12920341 0. 27.0270141 ] [-0.12920341 0.99161811 0. -2.39039402] [ 0. 0. 1. 0.02712096] [ 0. 0. 0. 1. ]] SLAMing on 26.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.09, Y:-2.40, Z:0.03 [[ 0.99181907 0.12765162 0. 27.08872999] [-0.12765162 0.99181907 0. -2.39927932] [ 0. 0. 1. 0.02986756] [ 0. 0. 0. 1. ]] SLAMing on 26.224320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:-2.41, Z:0.03 [[ 0.99207008 0.12568593 0. 27.15081632] [-0.12568593 0.99207008 0. -2.40750352] [ 0. 0. 1. 0.03027629] [ 0. 0. 0. 1. ]] SLAMing on 26.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.42, Z:0.03 [[ 0.99211405 0.12533835 0. 27.21355775] [-0.12533835 0.99211405 0. -2.41545445] [ 0. 0. 1. 0.02833213] [ 0. 0. 0. 1. ]] SLAMing on 26.344320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:-2.42, Z:0.03 [[ 0.9922263 0.12444665 0. 27.27531289] [-0.12444665 0.9922263 0. -2.42037839] [ 0. 0. 1. 0.02971932] [ 0. 0. 0. 1. ]] SLAMing on 26.404320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.34, Y:-2.43, Z:0.03 [[ 0.99196228 0.12653392 0. 27.3376235 ] [-0.12653392 0.99196228 0. -2.42939424] [ 0. 0. 1. 0.02986274] [ 0. 0. 0. 1. ]] SLAMing on 26.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.44, Z:0.03 [[ 0.9916625 0.12886226 0. 27.40026271] [-0.12886226 0.9916625 0. -2.43730799] [ 0. 0. 1. 0.03001884] [ 0. 0. 0. 1. ]] SLAMing on 26.524320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.44, Z:0.03 [[ 0.99112608 0.13292514 0. 27.46324448] [-0.13292514 0.99112608 0. -2.44413914] [ 0. 0. 1. 0.03045225] [ 0. 0. 0. 1. ]] SLAMing on 26.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.45, Z:0.03 [[ 0.9902959 0.13897495 0. 27.52453788] [-0.13897495 0.9902959 0. -2.45459495] [ 0. 0. 1. 0.03366679] [ 0. 0. 0. 1. ]] SLAMing on 26.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.46, Z:0.03 [[ 9.89893205e-01 1.41814820e-01 0.00000000e+00 2.75869783e+01] [-1.41814820e-01 9.89893205e-01 0.00000000e+00 -2.46110206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65612132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.47, Z:0.03 [[ 0.98941875 0.145088 0. 27.6467343 ] [-0.145088 0.98941875 0. -2.4731673 ] [ 0. 0. 1. 0.02821994] [ 0. 0. 0. 1. ]] SLAMing on 26.76432 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:-2.49, Z:0.03 [[ 9.89296891e-01 1.45916628e-01 0.00000000e+00 2.77088105e+01] [-1.45916628e-01 9.89296891e-01 0.00000000e+00 -2.48580531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64915282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.77, Y:-2.50, Z:0.03 [[ 0.98918079 0.14670159 0. 27.77018354] [-0.14670159 0.98918079 0. -2.50104948] [ 0. 0. 1. 0.03132859] [ 0. 0. 0. 1. ]] SLAMing on 26.884320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:-2.51, Z:0.03 [[ 0.98912821 0.14705574 0. 27.83106134] [-0.14705574 0.98912821 0. -2.51292462] [ 0. 0. 1. 0.03140693] [ 0. 0. 0. 1. ]] SLAMing on 26.94432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.89, Y:-2.53, Z:0.03 [[ 0.98901309 0.14782798 0. 27.89294802] [-0.14782798 0.98901309 0. -2.5260863 ] [ 0. 0. 1. 0.02978086] [ 0. 0. 0. 1. ]] SLAMing on 27.004320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.54, Z:0.03 [[ 0.98898269 0.14803123 0. 27.95320095] [-0.14803123 0.98898269 0. -2.53938456] [ 0. 0. 1. 0.02839613] [ 0. 0. 0. 1. ]] SLAMing on 27.064320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.55, Z:0.03 [[ 9.88965616e-01 1.48145232e-01 0.00000000e+00 2.80149390e+01] [-1.48145232e-01 9.88965616e-01 0.00000000e+00 -2.55286685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77171882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.57, Z:0.03 [[ 9.89067967e-01 1.47460358e-01 0.00000000e+00 2.80747689e+01] [-1.47460358e-01 9.89067967e-01 0.00000000e+00 -2.56733172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62206561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.58, Z:0.02 [[ 9.89319486e-01 1.45763350e-01 0.00000000e+00 2.81361401e+01] [-1.45763350e-01 9.89319486e-01 0.00000000e+00 -2.58373892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47625209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.60, Z:0.03 [[ 9.89516847e-01 1.44417486e-01 0.00000000e+00 2.81983242e+01] [-1.44417486e-01 9.89516847e-01 0.00000000e+00 -2.59636661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63495052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.61, Z:0.02 [[ 9.89949101e-01 1.41424107e-01 0.00000000e+00 2.82591643e+01] [-1.41424107e-01 9.89949101e-01 0.00000000e+00 -2.60875138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42723791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.62, Z:0.03 [[ 9.90181795e-01 1.39785599e-01 0.00000000e+00 2.83184532e+01] [-1.39785599e-01 9.90181795e-01 0.00000000e+00 -2.62481813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76517699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.64, Z:0.03 [[ 0.99023499 0.1394083 0. 28.38039401] [-0.1394083 0.99023499 0. -2.63784287] [ 0. 0. 1. 0.02850668] [ 0. 0. 0. 1. ]] SLAMing on 27.48432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.65, Z:0.03 [[ 9.90137182e-01 1.40101254e-01 0.00000000e+00 2.84424553e+01] [-1.40101254e-01 9.90137182e-01 0.00000000e+00 -2.65060840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72026681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.66, Z:0.03 [[ 0.98979069 0.14252853 0. 28.50345064] [-0.14252853 0.98979069 0. -2.66461302] [ 0. 0. 1. 0.02883783] [ 0. 0. 0. 1. ]] SLAMing on 27.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.68, Z:0.03 [[ 0.98961143 0.14376791 0. 28.56549268] [-0.14376791 0.98961143 0. -2.67597195] [ 0. 0. 1. 0.02934987] [ 0. 0. 0. 1. ]] SLAMing on 27.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.69, Z:0.03 [[ 0.98902028 0.14777984 0. 28.6269367 ] [-0.14777984 0.98902028 0. -2.6882208 ] [ 0. 0. 1. 0.03012007] [ 0. 0. 0. 1. ]] SLAMing on 27.724320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.70, Z:0.03 [[ 0.98856853 0.15077223 0. 28.68749245] [-0.15077223 0.98856853 0. -2.69885077] [ 0. 0. 1. 0.02979563] [ 0. 0. 0. 1. ]] SLAMing on 27.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:-2.71, Z:0.03 [[ 0.98798514 0.15454892 0. 28.74910194] [-0.15454892 0.98798514 0. -2.71092879] [ 0. 0. 1. 0.03195622] [ 0. 0. 0. 1. ]] SLAMing on 27.844320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:-2.72, Z:0.03 [[ 0.98764964 0.15667862 0. 28.81119909] [-0.15667862 0.98764964 0. -2.72154282] [ 0. 0. 1. 0.03272331] [ 0. 0. 0. 1. ]] SLAMing on 27.904320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.73, Z:0.03 [[ 0.98767273 0.15653301 0. 28.87318067] [-0.15653301 0.98767273 0. -2.73215341] [ 0. 0. 1. 0.03298526] [ 0. 0. 0. 1. ]] SLAMing on 27.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.74, Z:0.03 [[ 0.98791698 0.15498397 0. 28.93387139] [-0.15498397 0.98791698 0. -2.74398681] [ 0. 0. 1. 0.03114575] [ 0. 0. 0. 1. ]] SLAMing on 28.024320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.76, Z:0.03 [[ 9.88150321e-01 1.53489229e-01 0.00000000e+00 2.89954416e+01] [-1.53489229e-01 9.88150321e-01 0.00000000e+00 -2.75623353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84860150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.77, Z:0.03 [[ 0.98853823 0.15097073 0. 29.05692289] [-0.15097073 0.98853823 0. -2.76660655] [ 0. 0. 1. 0.03332823] [ 0. 0. 0. 1. ]] SLAMing on 28.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.78, Z:0.03 [[ 0.98873366 0.14968552 0. 29.11930064] [-0.14968552 0.98873366 0. -2.77797079] [ 0. 0. 1. 0.03342992] [ 0. 0. 0. 1. ]] SLAMing on 28.204320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.79, Z:0.03 [[ 0.98882063 0.14910989 0. 29.18117726] [-0.14910989 0.98882063 0. -2.78803439] [ 0. 0. 1. 0.0329612 ] [ 0. 0. 0. 1. ]] SLAMing on 28.26432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.80, Z:0.03 [[ 0.98868123 0.15003141 0. 29.24200566] [-0.15003141 0.98868123 0. -2.79773414] [ 0. 0. 1. 0.03410211] [ 0. 0. 0. 1. ]] SLAMing on 28.324320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.81, Z:0.03 [[ 0.98847501 0.15138411 0. 29.30407604] [-0.15138411 0.98847501 0. -2.8079368 ] [ 0. 0. 1. 0.03428219] [ 0. 0. 0. 1. ]] SLAMing on 28.384320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.82, Z:0.03 [[ 0.98835278 0.15218008 0. 29.36495989] [-0.15218008 0.98835278 0. -2.81838145] [ 0. 0. 1. 0.0345954 ] [ 0. 0. 0. 1. ]] SLAMing on 28.44432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:-2.83, Z:0.03 [[ 0.98818424 0.15327072 0. 29.42676721] [-0.15327072 0.98818424 0. -2.82800341] [ 0. 0. 1. 0.03324783] [ 0. 0. 0. 1. ]] SLAMing on 28.504320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.84, Z:0.03 [[ 0.98852115 0.15108256 0. 29.48834758] [-0.15108256 0.98852115 0. -2.83781058] [ 0. 0. 1. 0.03051527] [ 0. 0. 0. 1. ]] SLAMing on 28.564320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.85, Z:0.03 [[ 0.98863725 0.15032093 0. 29.54922692] [-0.15032093 0.98863725 0. -2.85221297] [ 0. 0. 1. 0.03175549] [ 0. 0. 0. 1. ]] SLAMing on 28.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.86, Z:0.03 [[ 0.98887301 0.14876213 0. 29.61127812] [-0.14876213 0.98887301 0. -2.86304716] [ 0. 0. 1. 0.03184837] [ 0. 0. 0. 1. ]] SLAMing on 28.684320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.87, Z:0.03 [[ 0.9892619 0.14615367 0. 29.67267784] [-0.14615367 0.9892619 0. -2.87486429] [ 0. 0. 1. 0.03304399] [ 0. 0. 0. 1. ]] SLAMing on 28.744320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.89, Z:0.03 [[ 0.98957226 0.14403731 0. 29.7343787 ] [-0.14403731 0.98957226 0. -2.8862149 ] [ 0. 0. 1. 0.03306851] [ 0. 0. 0. 1. ]] SLAMing on 28.80432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.90, Z:0.03 [[ 0.98969773 0.14317266 0. 29.79517456] [-0.14317266 0.98969773 0. -2.89639576] [ 0. 0. 1. 0.03221237] [ 0. 0. 0. 1. ]] SLAMing on 28.864320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.91, Z:0.03 [[ 0.98982826 0.14226741 0. 29.85729459] [-0.14226741 0.98982826 0. -2.90794678] [ 0. 0. 1. 0.03144101] [ 0. 0. 0. 1. ]] SLAMing on 28.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.92, Z:0.03 [[ 0.99002382 0.14090008 0. 29.91900084] [-0.14090008 0.99002382 0. -2.91883508] [ 0. 0. 1. 0.03193187] [ 0. 0. 0. 1. ]] SLAMing on 28.984320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.93, Z:0.03 [[ 0.98993565 0.14151819 0. 29.98134566] [-0.14151819 0.98993565 0. -2.9294907 ] [ 0. 0. 1. 0.03213719] [ 0. 0. 0. 1. ]] SLAMing on 29.044320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.94, Z:0.03 [[ 0.98965904 0.1434398 0. 30.04304636] [-0.1434398 0.98965904 0. -2.93998501] [ 0. 0. 1. 0.03102745] [ 0. 0. 0. 1. ]] SLAMing on 29.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:-2.95, Z:0.03 [[ 0.98930082 0.14589001 0. 30.10378649] [-0.14589001 0.98930082 0. -2.95219915] [ 0. 0. 1. 0.03151214] [ 0. 0. 0. 1. ]] SLAMing on 29.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.96, Z:0.03 [[ 0.988731 0.14970306 0. 30.16468449] [-0.14970306 0.988731 0. -2.96234691] [ 0. 0. 1. 0.03104864] [ 0. 0. 0. 1. ]] SLAMing on 29.224320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.97, Z:0.03 [[ 9.88078121e-01 1.53953328e-01 0.00000000e+00 3.02256884e+01] [-1.53953328e-01 9.88078121e-01 0.00000000e+00 -2.97278179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72519995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28432 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.99, Z:0.03 [[ 9.87695074e-01 1.56391948e-01 0.00000000e+00 3.02863370e+01] [-1.56391948e-01 9.87695074e-01 0.00000000e+00 -2.98576661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87968453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:-3.00, Z:0.03 [[ 0.98776571 0.15594519 0. 30.34842479] [-0.15594519 0.98776571 0. -2.99630106] [ 0. 0. 1. 0.03063107] [ 0. 0. 0. 1. ]] SLAMing on 29.404320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:-3.01, Z:0.03 [[ 0.987693 0.15640506 0. 30.40921893] [-0.15640506 0.987693 0. -3.00673316] [ 0. 0. 1. 0.03069132] [ 0. 0. 0. 1. ]] SLAMing on 29.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:-3.02, Z:0.03 [[ 9.87666094e-01 1.56574861e-01 0.00000000e+00 3.04713951e+01] [-1.56574861e-01 9.87666094e-01 0.00000000e+00 -3.01801894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76286409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:-3.03, Z:0.03 [[ 9.87794243e-01 1.55764355e-01 0.00000000e+00 3.05326750e+01] [-1.55764355e-01 9.87794243e-01 0.00000000e+00 -3.02908154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03064743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:-3.04, Z:0.03 [[ 9.88179490e-01 1.53301321e-01 0.00000000e+00 3.05949809e+01] [-1.53301321e-01 9.88179490e-01 0.00000000e+00 -3.04078103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93585065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:-3.05, Z:0.03 [[ 9.88476072e-01 1.51377197e-01 0.00000000e+00 3.06562061e+01] [-1.51377197e-01 9.88476072e-01 0.00000000e+00 -3.05308578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75597008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:-3.07, Z:0.03 [[ 9.88918686e-01 1.48458181e-01 0.00000000e+00 3.07169530e+01] [-1.48458181e-01 9.88918686e-01 0.00000000e+00 -3.06575280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85306394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.78, Y:-3.08, Z:0.03 [[ 9.89283138e-01 1.46009838e-01 0.00000000e+00 3.07790461e+01] [-1.46009838e-01 9.89283138e-01 0.00000000e+00 -3.07812700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81101335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.84, Y:-3.09, Z:0.03 [[ 9.89209924e-01 1.46505041e-01 0.00000000e+00 3.08413220e+01] [-1.46505041e-01 9.89209924e-01 0.00000000e+00 -3.08869812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86611163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.90, Y:-3.10, Z:0.03 [[ 9.88997125e-01 1.47934740e-01 0.00000000e+00 3.09026793e+01] [-1.47934740e-01 9.88997125e-01 0.00000000e+00 -3.10087166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93951005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.96, Y:-3.11, Z:0.03 [[ 9.88262017e-01 1.52768407e-01 0.00000000e+00 3.09639620e+01] [-1.52768407e-01 9.88262017e-01 0.00000000e+00 -3.11208457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97337338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.02, Y:-3.12, Z:0.03 [[ 9.87543401e-01 1.57346848e-01 0.00000000e+00 3.10246429e+01] [-1.57346848e-01 9.87543401e-01 0.00000000e+00 -3.12396169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74740057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:-3.14, Z:0.03 [[ 9.87006009e-01 1.60683345e-01 0.00000000e+00 3.10865063e+01] [-1.60683345e-01 9.87006009e-01 0.00000000e+00 -3.13645984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04220700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.15, Y:-3.15, Z:0.03 [[ 9.86666595e-01 1.62754507e-01 0.00000000e+00 3.11479176e+01] [-1.62754507e-01 9.86666595e-01 0.00000000e+00 -3.14810575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97959562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:-3.16, Z:0.03 [[ 9.86620078e-01 1.63036261e-01 0.00000000e+00 3.12096072e+01] [-1.63036261e-01 9.86620078e-01 0.00000000e+00 -3.16114752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98183300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.27, Y:-3.17, Z:0.03 [[ 9.86930394e-01 1.61147127e-01 0.00000000e+00 3.12714869e+01] [-1.61147127e-01 9.86930394e-01 0.00000000e+00 -3.17237733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65808318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.33, Y:-3.19, Z:0.03 [[ 9.86969743e-01 1.60905956e-01 0.00000000e+00 3.13316251e+01] [-1.60905956e-01 9.86969743e-01 0.00000000e+00 -3.18679880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77254433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.39, Y:-3.20, Z:0.03 [[ 9.87347609e-01 1.58570799e-01 0.00000000e+00 3.13928315e+01] [-1.58570799e-01 9.87347609e-01 0.00000000e+00 -3.20023896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77441342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.45, Y:-3.21, Z:0.03 [[ 9.87904556e-01 1.55063173e-01 0.00000000e+00 3.14539037e+01] [-1.55063173e-01 9.87904556e-01 0.00000000e+00 -3.21444815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78446337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484320000000004 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:31.51, Y:-3.23, Z:0.03 [[ 9.88173747e-01 1.53338335e-01 0.00000000e+00 3.15145847e+01] [-1.53338335e-01 9.88173747e-01 0.00000000e+00 -3.22690206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64500206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.24, Z:0.03 [[ 9.88169863e-01 1.53363367e-01 0.00000000e+00 3.15760616e+01] [-1.53363367e-01 9.88169863e-01 0.00000000e+00 -3.23923680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57730044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.64, Y:-3.25, Z:0.03 [[ 9.88119737e-01 1.53685996e-01 0.00000000e+00 3.16376789e+01] [-1.53685996e-01 9.88119737e-01 0.00000000e+00 -3.25278886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66598667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.70, Y:-3.27, Z:0.03 [[ 9.87731700e-01 1.56160456e-01 0.00000000e+00 3.16992369e+01] [-1.56160456e-01 9.87731700e-01 0.00000000e+00 -3.26534084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82346880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.76, Y:-3.28, Z:0.03 [[ 9.87183625e-01 1.59588505e-01 0.00000000e+00 3.17597079e+01] [-1.59588505e-01 9.87183625e-01 0.00000000e+00 -3.27631945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79629865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:-3.29, Z:0.03 [[ 9.86955053e-01 1.60996034e-01 0.00000000e+00 3.18218005e+01] [-1.60996034e-01 9.86955053e-01 0.00000000e+00 -3.28757619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54749861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.88, Y:-3.30, Z:0.03 [[ 9.86817632e-01 1.61836220e-01 0.00000000e+00 3.18823403e+01] [-1.61836220e-01 9.86817632e-01 0.00000000e+00 -3.29962790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69322847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904320000000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.94, Y:-3.31, Z:0.03 [[ 9.86729477e-01 1.62372843e-01 0.00000000e+00 3.19447587e+01] [-1.62372843e-01 9.86729477e-01 0.00000000e+00 -3.30911348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71707003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96432 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:32.01, Y:-3.32, Z:0.02 [[ 9.87004403e-01 1.60693211e-01 0.00000000e+00 3.20072833e+01] [-1.60693211e-01 9.87004403e-01 0.00000000e+00 -3.31902823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35603063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.07, Y:-3.33, Z:0.03 [[ 9.86946013e-01 1.61051445e-01 0.00000000e+00 3.20683694e+01] [-1.61051445e-01 9.86946013e-01 0.00000000e+00 -3.32957200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70568648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.13, Y:-3.34, Z:0.03 [[ 9.87076151e-01 1.60251903e-01 0.00000000e+00 3.21309165e+01] [-1.60251903e-01 9.87076151e-01 0.00000000e+00 -3.33729064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65570107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.35, Z:0.03 [[ 9.87459302e-01 1.57873767e-01 0.00000000e+00 3.21929982e+01] [-1.57873767e-01 9.87459302e-01 0.00000000e+00 -3.34644766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56147756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204320000000003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.26, Y:-3.35, Z:0.02 [[ 9.88130651e-01 1.53615805e-01 0.00000000e+00 3.22559709e+01] [-1.53615805e-01 9.88130651e-01 0.00000000e+00 -3.35364202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45266430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:-3.36, Z:0.02 [[ 9.88182510e-01 1.53281853e-01 0.00000000e+00 3.23165680e+01] [-1.53281853e-01 9.88182510e-01 0.00000000e+00 -3.36393951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47322166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324320000000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.38, Y:-3.37, Z:0.03 [[ 9.88333824e-01 1.52303158e-01 0.00000000e+00 3.23792609e+01] [-1.52303158e-01 9.88333824e-01 0.00000000e+00 -3.37294404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67292932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:-3.38, Z:0.03 [[ 9.88265399e-01 1.52746528e-01 0.00000000e+00 3.24415532e+01] [-1.52746528e-01 9.88265399e-01 0.00000000e+00 -3.38328375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68540764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:-3.39, Z:0.03 [[ 9.87822245e-01 1.55586670e-01 0.00000000e+00 3.25025666e+01] [-1.55586670e-01 9.87822245e-01 0.00000000e+00 -3.39114179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65720844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:-3.40, Z:0.03 [[ 9.86936262e-01 1.61111191e-01 0.00000000e+00 3.25646901e+01] [-1.61111191e-01 9.86936262e-01 0.00000000e+00 -3.40058401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76638926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:-3.41, Z:0.03 [[ 9.86273190e-01 1.65121756e-01 0.00000000e+00 3.26254569e+01] [-1.65121756e-01 9.86273190e-01 0.00000000e+00 -3.40979222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71490917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.69, Y:-3.42, Z:0.03 [[ 9.85278867e-01 1.70954832e-01 0.00000000e+00 3.26864926e+01] [-1.70954832e-01 9.85278867e-01 0.00000000e+00 -3.41873459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70140634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.75, Y:-3.43, Z:0.03 [[ 9.84596002e-01 1.74844824e-01 0.00000000e+00 3.27484257e+01] [-1.74844824e-01 9.84596002e-01 0.00000000e+00 -3.42828140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83414961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744320000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:-3.44, Z:0.03 [[ 9.84270862e-01 1.76665984e-01 0.00000000e+00 3.28088458e+01] [-1.76665984e-01 9.84270862e-01 0.00000000e+00 -3.44281346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86321591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:-3.45, Z:0.03 [[ 9.84650591e-01 1.74537140e-01 0.00000000e+00 3.28696726e+01] [-1.74537140e-01 9.84650591e-01 0.00000000e+00 -3.45197397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76320614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864320000000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:-3.46, Z:0.03 [[ 9.85009629e-01 1.72499365e-01 0.00000000e+00 3.29310515e+01] [-1.72499365e-01 9.85009629e-01 0.00000000e+00 -3.46415338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71705994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.48, Z:0.03 [[ 9.85501927e-01 1.69664230e-01 0.00000000e+00 3.29928445e+01] [-1.69664230e-01 9.85501927e-01 0.00000000e+00 -3.47758220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64516489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:-3.49, Z:0.03 [[ 9.86170719e-01 1.65732654e-01 0.00000000e+00 3.30527799e+01] [-1.65732654e-01 9.86170719e-01 0.00000000e+00 -3.49153043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64485503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04432 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:-3.50, Z:0.03 [[ 9.86526385e-01 1.63602235e-01 0.00000000e+00 3.31147632e+01] [-1.63602235e-01 9.86526385e-01 0.00000000e+00 -3.50493274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67858305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:-3.52, Z:0.03 [[ 9.86845493e-01 1.61666238e-01 0.00000000e+00 3.31753725e+01] [-1.61666238e-01 9.86845493e-01 0.00000000e+00 -3.51817378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69825081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.24, Y:-3.53, Z:0.03 [[ 9.86754553e-01 1.62220383e-01 0.00000000e+00 3.32363611e+01] [-1.62220383e-01 9.86754553e-01 0.00000000e+00 -3.53255790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05663352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:-3.54, Z:0.03 [[ 9.86281088e-01 1.65074574e-01 0.00000000e+00 3.32967003e+01] [-1.65074574e-01 9.86281088e-01 0.00000000e+00 -3.54418033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94328237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:-3.56, Z:0.03 [[ 9.85706454e-01 1.68471913e-01 0.00000000e+00 3.33583856e+01] [-1.68471913e-01 9.85706454e-01 0.00000000e+00 -3.55832290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98504329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.57, Z:0.03 [[ 9.85223427e-01 1.71274043e-01 0.00000000e+00 3.34196377e+01] [-1.71274043e-01 9.85223427e-01 0.00000000e+00 -3.56862722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92919401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:-3.58, Z:0.03 [[ 9.84924601e-01 1.72984193e-01 0.00000000e+00 3.34799211e+01] [-1.72984193e-01 9.84924601e-01 0.00000000e+00 -3.58230301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74679889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.54, Y:-3.59, Z:0.03 [[ 9.84886053e-01 1.73203531e-01 0.00000000e+00 3.35407372e+01] [-1.73203531e-01 9.84886053e-01 0.00000000e+00 -3.59417339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06952749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52432 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:-3.61, Z:0.03 [[ 9.85000548e-01 1.72551211e-01 0.00000000e+00 3.36026131e+01] [-1.72551211e-01 9.85000548e-01 0.00000000e+00 -3.60659714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01920347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584320000000005 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.62, Z:0.03 [[ 9.85428495e-01 1.70090216e-01 0.00000000e+00 3.36621335e+01] [-1.70090216e-01 9.85428495e-01 0.00000000e+00 -3.62151318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99701559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.63, Z:0.03 [[ 9.86112250e-01 1.66080193e-01 0.00000000e+00 3.37231823e+01] [-1.66080193e-01 9.86112250e-01 0.00000000e+00 -3.63481793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95636667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70432 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.65, Z:0.03 [[ 9.86555971e-01 1.63423729e-01 0.00000000e+00 3.37844920e+01] [-1.63423729e-01 9.86555971e-01 0.00000000e+00 -3.64820222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11845468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:-3.66, Z:0.03 [[ 9.86973782e-01 1.60881178e-01 0.00000000e+00 3.38446374e+01] [-1.60881178e-01 9.86973782e-01 0.00000000e+00 -3.66083537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21276567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.91, Y:-3.67, Z:0.03 [[ 9.86955912e-01 1.60990768e-01 0.00000000e+00 3.39051254e+01] [-1.60990768e-01 9.86955912e-01 0.00000000e+00 -3.67283842e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25189147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88432 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.69, Z:0.03 [[ 9.86611378e-01 1.63088897e-01 0.00000000e+00 3.39666948e+01] [-1.63088897e-01 9.86611378e-01 0.00000000e+00 -3.68739278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26951230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944320000000005 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:34.03, Y:-3.70, Z:0.03 [[ 9.85982476e-01 1.66848905e-01 0.00000000e+00 3.40285647e+01] [-1.66848905e-01 9.85982476e-01 0.00000000e+00 -3.70011881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37014347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.09, Y:-3.71, Z:0.04 [[ 0.98561402 0.16901187 0. 34.08925377] [-0.16901187 0.98561402 0. -3.70803129] [ 0. 0. 1. 0.03715943] [ 0. 0. 0. 1. ]] SLAMing on 33.06432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:-3.72, Z:0.04 [[ 0.9851565 0.17165857 0. 34.15163715] [-0.17165857 0.9851565 0. -3.71906283] [ 0. 0. 1. 0.03825251] [ 0. 0. 0. 1. ]] SLAMing on 33.124320000000004 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:-3.73, Z:0.04 [[ 0.98478096 0.17380005 0. 34.21371455] [-0.17380005 0.98478096 0. -3.7308808 ] [ 0. 0. 1. 0.04009624] [ 0. 0. 0. 1. ]] SLAMing on 33.18432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.74, Z:0.04 [[ 0.9846172 0.17472542 0. 34.27586599] [-0.17472542 0.9846172 0. -3.74153538] [ 0. 0. 1. 0.04098939] [ 0. 0. 0. 1. ]] SLAMing on 33.24432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.75, Z:0.04 [[ 0.98473445 0.17406337 0. 34.33651782] [-0.17406337 0.98473445 0. -3.75201601] [ 0. 0. 1. 0.0414771 ] [ 0. 0. 0. 1. ]] SLAMing on 33.304320000000004 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.76, Z:0.04 [[ 0.98485294 0.1733917 0. 34.3985155 ] [-0.1733917 0.98485294 0. -3.7630408 ] [ 0. 0. 1. 0.04229627] [ 0. 0. 0. 1. ]] SLAMing on 33.36432 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.77, Z:0.04 [[ 0.98498965 0.17261343 0. 34.4602112 ] [-0.17261343 0.98498965 0. -3.77444266] [ 0. 0. 1. 0.04254127] [ 0. 0. 0. 1. ]] SLAMing on 33.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.52, Y:-3.78, Z:0.04 [[ 0.9853316 0.17065061 0. 34.52093382] [-0.17065061 0.9853316 0. -3.78418046] [ 0. 0. 1. 0.04074088] [ 0. 0. 0. 1. ]] SLAMing on 33.484320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.58, Y:-3.80, Z:0.04 [[ 0.98572365 0.16837126 0. 34.58260127] [-0.16837126 0.98572365 0. -3.79537202] [ 0. 0. 1. 0.04063513] [ 0. 0. 0. 1. ]] SLAMing on 33.54432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:-3.81, Z:0.04 [[ 0.98622801 0.16539138 0. 34.64416049] [-0.16539138 0.98622801 0. -3.80514583] [ 0. 0. 1. 0.03759327] [ 0. 0. 0. 1. ]] SLAMing on 33.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.82, Z:0.04 [[ 0.98576041 0.16815593 0. 34.70507227] [-0.16815593 0.98576041 0. -3.81627677] [ 0. 0. 1. 0.03838025] [ 0. 0. 0. 1. ]] SLAMing on 33.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.83, Z:0.04 [[ 0.98612416 0.16600947 0. 34.76584303] [-0.16600947 0.98612416 0. -3.82564813] [ 0. 0. 1. 0.0401056 ] [ 0. 0. 0. 1. ]] SLAMing on 33.724320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.83, Y:-3.84, Z:0.04 [[ 0.98588203 0.16744143 0. 34.82828625] [-0.16744143 0.98588203 0. -3.83529362] [ 0. 0. 1. 0.04011623] [ 0. 0. 0. 1. ]] SLAMing on 33.78432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.84, Z:0.04 [[ 0.98576447 0.1681321 0. 34.8899754 ] [-0.1681321 0.98576447 0. -3.84464329] [ 0. 0. 1. 0.04152398] [ 0. 0. 0. 1. ]] SLAMing on 33.84432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.95, Y:-3.85, Z:0.04 [[ 0.98574962 0.16821917 0. 34.95116549] [-0.16821917 0.98574962 0. -3.85431424] [ 0. 0. 1. 0.03890009] [ 0. 0. 0. 1. ]] SLAMing on 33.904320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.01, Y:-3.86, Z:0.04 [[ 0.98598278 0.16684709 0. 35.01204511] [-0.16684709 0.98598278 0. -3.86300118] [ 0. 0. 1. 0.04123514] [ 0. 0. 0. 1. ]] SLAMing on 33.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.07, Y:-3.87, Z:0.04 [[ 0.98640047 0.16435973 0. 35.07401492] [-0.16435973 0.98640047 0. -3.87124513] [ 0. 0. 1. 0.04044105] [ 0. 0. 0. 1. ]] SLAMing on 34.02432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-3.88, Z:0.04 [[ 0.98674699 0.16226639 0. 35.13603259] [-0.16226639 0.98674699 0. -3.88174529] [ 0. 0. 1. 0.04217872] [ 0. 0. 0. 1. ]] SLAMing on 34.084320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-3.89, Z:0.04 [[ 0.98732623 0.15870386 0. 35.19765784] [-0.15870386 0.98732623 0. -3.89136744] [ 0. 0. 1. 0.04210449] [ 0. 0. 0. 1. ]] SLAMing on 34.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.90, Z:0.04 [[ 0.98770011 0.15636011 0. 35.26024273] [-0.15636011 0.98770011 0. -3.89982758] [ 0. 0. 1. 0.04170299] [ 0. 0. 0. 1. ]] SLAMing on 34.20432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.91, Z:0.04 [[ 0.98761739 0.15688177 0. 35.32205744] [-0.15688177 0.98761739 0. -3.90751682] [ 0. 0. 1. 0.04159292] [ 0. 0. 0. 1. ]] SLAMing on 34.264320000000005 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.92, Z:0.04 [[ 0.98735695 0.15851264 0. 35.3838595 ] [-0.15851264 0.98735695 0. -3.91702347] [ 0. 0. 1. 0.04240265] [ 0. 0. 0. 1. ]] SLAMing on 34.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:-3.92, Z:0.04 [[ 0.98673909 0.16231439 0. 35.44564635] [-0.16231439 0.98673909 0. -3.92341795] [ 0. 0. 1. 0.04109574] [ 0. 0. 0. 1. ]] SLAMing on 34.38432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.93, Z:0.04 [[ 0.98605516 0.16641882 0. 35.50790422] [-0.16641882 0.98605516 0. -3.93095057] [ 0. 0. 1. 0.04051149] [ 0. 0. 0. 1. ]] SLAMing on 34.444320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.94, Z:0.04 [[ 0.9855708 0.16926371 0. 35.57028624] [-0.16926371 0.9855708 0. -3.93869636] [ 0. 0. 1. 0.03973329] [ 0. 0. 0. 1. ]] SLAMing on 34.50432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:-3.95, Z:0.04 [[ 0.98565206 0.16878983 0. 35.63262972] [-0.16878983 0.98565206 0. -3.9466822 ] [ 0. 0. 1. 0.03996276] [ 0. 0. 0. 1. ]] SLAMing on 34.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:-3.96, Z:0.04 [[ 0.98588488 0.16742462 0. 35.69452166] [-0.16742462 0.98588488 0. -3.95796643] [ 0. 0. 1. 0.04070829] [ 0. 0. 0. 1. ]] SLAMing on 34.624320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.97, Z:0.04 [[ 0.98637859 0.16449094 0. 35.75697843] [-0.16449094 0.98637859 0. -3.96681498] [ 0. 0. 1. 0.04143561] [ 0. 0. 0. 1. ]] SLAMing on 34.68432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.98, Z:0.04 [[ 0.98676023 0.16218587 0. 35.81843057] [-0.16218587 0.98676023 0. -3.9783502 ] [ 0. 0. 1. 0.03884689] [ 0. 0. 0. 1. ]] SLAMing on 34.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.99, Z:0.04 [[ 0.98704045 0.16047166 0. 35.87985468] [-0.16047166 0.98704045 0. -3.98782419] [ 0. 0. 1. 0.03680314] [ 0. 0. 0. 1. ]] SLAMing on 34.804320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-4.00, Z:0.04 [[ 0.98702613 0.16055973 0. 35.94064735] [-0.16055973 0.98702613 0. -3.99580745] [ 0. 0. 1. 0.04152283] [ 0. 0. 0. 1. ]] SLAMing on 34.86432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:-4.01, Z:0.04 [[ 0.98640225 0.16434904 0. 36.0019655 ] [-0.16434904 0.98640225 0. -4.00557978] [ 0. 0. 1. 0.03611698] [ 0. 0. 0. 1. ]] SLAMing on 34.92432 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:-4.02, Z:0.04 [[ 9.85846240e-01 1.67651994e-01 0.00000000e+00 3.60638691e+01] [-1.67651994e-01 9.85846240e-01 0.00000000e+00 -4.01684512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60436169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:-4.03, Z:0.04 [[ 0.98415538 0.17730819 0. 36.12407552] [-0.17730819 0.98415538 0. -4.02756056] [ 0. 0. 1. 0.04041873] [ 0. 0. 0. 1. ]] SLAMing on 35.044320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-4.03, Z:0.04 [[ 0.98386629 0.17890536 0. 36.18559008] [-0.17890536 0.98386629 0. -4.03489393] [ 0. 0. 1. 0.0407913 ] [ 0. 0. 0. 1. ]] SLAMing on 35.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-4.05, Z:0.04 [[ 0.98329886 0.18199822 0. 36.24766325] [-0.18199822 0.98329886 0. -4.04706402] [ 0. 0. 1. 0.04020263] [ 0. 0. 0. 1. ]] SLAMing on 35.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-4.06, Z:0.04 [[ 0.98332553 0.18185406 0. 36.30905889] [-0.18185406 0.98332553 0. -4.0603134 ] [ 0. 0. 1. 0.04019647] [ 0. 0. 0. 1. ]] SLAMing on 35.224320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-4.07, Z:0.04 [[ 0.98346856 0.18107897 0. 36.37058913] [-0.18107897 0.98346856 0. -4.07305233] [ 0. 0. 1. 0.04069088] [ 0. 0. 0. 1. ]] SLAMing on 35.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-4.09, Z:0.04 [[ 0.98371866 0.17971534 0. 36.43123477] [-0.17971534 0.98371866 0. -4.08687034] [ 0. 0. 1. 0.04135166] [ 0. 0. 0. 1. ]] SLAMing on 35.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-4.10, Z:0.04 [[ 0.98387918 0.17883442 0. 36.4925368 ] [-0.17883442 0.98387918 0. -4.10078421] [ 0. 0. 1. 0.04038624] [ 0. 0. 0. 1. ]] SLAMing on 35.404320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-4.11, Z:0.04 [[ 0.98393948 0.17850238 0. 36.55338491] [-0.17850238 0.98393948 0. -4.11396904] [ 0. 0. 1. 0.04022301] [ 0. 0. 0. 1. ]] SLAMing on 35.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:-4.13, Z:0.04 [[ 0.98448756 0.17545439 0. 36.61369436] [-0.17545439 0.98448756 0. -4.12727482] [ 0. 0. 1. 0.03903469] [ 0. 0. 0. 1. ]] SLAMing on 35.52432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:-4.14, Z:0.04 [[ 0.98464846 0.17454917 0. 36.67534355] [-0.17454917 0.98464846 0. -4.14041637] [ 0. 0. 1. 0.03939606] [ 0. 0. 0. 1. ]] SLAMing on 35.584320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:-4.15, Z:0.04 [[ 0.98449499 0.1754127 0. 36.73684694] [-0.1754127 0.98449499 0. -4.1536684 ] [ 0. 0. 1. 0.03846114] [ 0. 0. 0. 1. ]] SLAMing on 35.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:-4.17, Z:0.04 [[ 0.98396353 0.17836975 0. 36.79823881] [-0.17836975 0.98396353 0. -4.16599728] [ 0. 0. 1. 0.03743012] [ 0. 0. 0. 1. ]] SLAMing on 35.70432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.86, Y:-4.18, Z:0.04 [[ 0.98308836 0.18313188 0. 36.86045392] [-0.18313188 0.98308836 0. -4.17829619] [ 0. 0. 1. 0.03905022] [ 0. 0. 0. 1. ]] SLAMing on 35.764320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-4.19, Z:0.04 [[ 0.98221754 0.18774638 0. 36.92166948] [-0.18774638 0.98221754 0. -4.19044036] [ 0. 0. 1. 0.03865941] [ 0. 0. 0. 1. ]] SLAMing on 35.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-4.20, Z:0.04 [[ 0.98095217 0.19424943 0. 36.98300427] [-0.19424943 0.98095217 0. -4.20280919] [ 0. 0. 1. 0.03929631] [ 0. 0. 0. 1. ]] SLAMing on 35.88432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.04, Y:-4.22, Z:0.04 [[ 0.98002494 0.19887464 0. 37.04428506] [-0.19887464 0.98002494 0. -4.2154028 ] [ 0. 0. 1. 0.03949185] [ 0. 0. 0. 1. ]] SLAMing on 35.944320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:-4.23, Z:0.04 [[ 0.97999069 0.19904335 0. 37.10457181] [-0.19904335 0.97999069 0. -4.22985459] [ 0. 0. 1. 0.04017005] [ 0. 0. 0. 1. ]] SLAMing on 36.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:-4.24, Z:0.04 [[ 0.98060315 0.19600374 0. 37.1643721 ] [-0.19600374 0.98060315 0. -4.24498665] [ 0. 0. 1. 0.04017667] [ 0. 0. 0. 1. ]] SLAMing on 36.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-4.26, Z:0.04 [[ 0.98113392 0.19332933 0. 37.22596589] [-0.19332933 0.98113392 0. -4.25943098] [ 0. 0. 1. 0.03944173] [ 0. 0. 0. 1. ]] SLAMing on 36.124320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:-4.27, Z:0.04 [[ 0.98210924 0.18831209 0. 37.28727876] [-0.18831209 0.98210924 0. -4.27489521] [ 0. 0. 1. 0.03975425] [ 0. 0. 0. 1. ]] SLAMing on 36.18432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:-4.29, Z:0.04 [[ 0.98308406 0.18315493 0. 37.3481225 ] [-0.18315493 0.98308406 0. -4.28961279] [ 0. 0. 1. 0.03917051] [ 0. 0. 0. 1. ]] SLAMing on 36.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:-4.30, Z:0.04 [[ 0.98378218 0.1793673 0. 37.40845372] [-0.1793673 0.98378218 0. -4.30421241] [ 0. 0. 1. 0.03748605] [ 0. 0. 0. 1. ]] SLAMing on 36.304320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:-4.32, Z:0.04 [[ 9.84100656e-01 1.77611654e-01 0.00000000e+00 3.74703287e+01] [-1.77611654e-01 9.84100656e-01 0.00000000e+00 -4.31746269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53906618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:-4.33, Z:0.03 [[ 9.84058639e-01 1.77844298e-01 0.00000000e+00 3.75316186e+01] [-1.77844298e-01 9.84058639e-01 0.00000000e+00 -4.33136991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48189771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:-4.35, Z:0.04 [[ 9.83804469e-01 1.79244990e-01 0.00000000e+00 3.75922911e+01] [-1.79244990e-01 9.83804469e-01 0.00000000e+00 -4.34569827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52603140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:-4.36, Z:0.04 [[ 9.83474294e-01 1.81047817e-01 0.00000000e+00 3.76534622e+01] [-1.81047817e-01 9.83474294e-01 0.00000000e+00 -4.35980803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57127617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:-4.37, Z:0.04 [[ 9.83503409e-01 1.80889594e-01 0.00000000e+00 3.77142338e+01] [-1.80889594e-01 9.83503409e-01 0.00000000e+00 -4.37358819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60918154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:-4.39, Z:0.04 [[ 9.83835437e-01 1.79074935e-01 0.00000000e+00 3.77761287e+01] [-1.79074935e-01 9.83835437e-01 0.00000000e+00 -4.38685132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66207288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:-4.40, Z:0.04 [[ 9.83709128e-01 1.79767493e-01 0.00000000e+00 3.78372849e+01] [-1.79767493e-01 9.83709128e-01 0.00000000e+00 -4.40356516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72911296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-4.42, Z:0.04 [[ 0.98381855 0.17916767 0. 37.89943339] [-0.17916767 0.98381855 0. -4.41584127] [ 0. 0. 1. 0.03832495] [ 0. 0. 0. 1. ]] SLAMing on 36.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:-4.43, Z:0.04 [[ 9.83614804e-01 1.80282880e-01 0.00000000e+00 3.79608722e+01] [-1.80282880e-01 9.83614804e-01 0.00000000e+00 -4.42697461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66647279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:-4.44, Z:0.03 [[ 9.83392325e-01 1.81492519e-01 0.00000000e+00 3.80221825e+01] [-1.81492519e-01 9.83392325e-01 0.00000000e+00 -4.43689243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47065798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:-4.45, Z:0.04 [[ 0.98263806 0.18553286 0. 38.08345956] [-0.18553286 0.98263806 0. -4.45389617] [ 0. 0. 1. 0.03901471] [ 0. 0. 0. 1. ]] SLAMing on 36.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:-4.46, Z:0.04 [[ 9.83048265e-01 1.83346963e-01 0.00000000e+00 3.81446693e+01] [-1.83346963e-01 9.83048265e-01 0.00000000e+00 -4.46217907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56583986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:-4.48, Z:0.04 [[ 0.98263814 0.18553244 0. 38.20417179] [-0.18553244 0.98263814 0. -4.47961984] [ 0. 0. 1. 0.03857355] [ 0. 0. 0. 1. ]] SLAMing on 37.084320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:-4.49, Z:0.03 [[ 9.83095970e-01 1.83090996e-01 0.00000000e+00 3.82648230e+01] [-1.83090996e-01 9.83095970e-01 0.00000000e+00 -4.48774257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43474491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:-4.50, Z:0.03 [[ 9.83314409e-01 1.81914192e-01 0.00000000e+00 3.83263220e+01] [-1.81914192e-01 9.83314409e-01 0.00000000e+00 -4.50136981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37986801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:-4.51, Z:0.03 [[ 9.83635519e-01 1.80169823e-01 0.00000000e+00 3.83873064e+01] [-1.80169823e-01 9.83635519e-01 0.00000000e+00 -4.51417637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13949092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.45, Y:-4.53, Z:0.03 [[ 9.83698456e-01 1.79825883e-01 0.00000000e+00 3.84481778e+01] [-1.79825883e-01 9.83698456e-01 0.00000000e+00 -4.52819825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26307153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.51, Y:-4.54, Z:0.03 [[ 9.83502773e-01 1.80893048e-01 0.00000000e+00 3.85097710e+01] [-1.80893048e-01 9.83502773e-01 0.00000000e+00 -4.54287719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44207579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.57, Y:-4.56, Z:0.04 [[ 0.98257389 0.18587241 0. 38.56945866] [-0.18587241 0.98257389 0. -4.55943258] [ 0. 0. 1. 0.04089349] [ 0. 0. 0. 1. ]] SLAMing on 37.444320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:-4.57, Z:0.04 [[ 0.98190289 0.18938508 0. 38.62985635] [-0.18938508 0.98190289 0. -4.57232668] [ 0. 0. 1. 0.04282727] [ 0. 0. 0. 1. ]] SLAMing on 37.50432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:-4.59, Z:0.04 [[ 0.98162902 0.19079956 0. 38.6903156 ] [-0.19079956 0.98162902 0. -4.58578277] [ 0. 0. 1. 0.04151306] [ 0. 0. 0. 1. ]] SLAMing on 37.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:-4.60, Z:0.04 [[ 0.9812838 0.19256716 0. 38.75170622] [-0.19256716 0.9812838 0. -4.59884147] [ 0. 0. 1. 0.04058706] [ 0. 0. 0. 1. ]] SLAMing on 37.624320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:-4.61, Z:0.04 [[ 0.98103562 0.19382753 0. 38.81284009] [-0.19382753 0.98103562 0. -4.61298419] [ 0. 0. 1. 0.04006674] [ 0. 0. 0. 1. ]] SLAMing on 37.68432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.87, Y:-4.63, Z:0.04 [[ 9.81118530e-01 1.93407420e-01 0.00000000e+00 3.88731339e+01] [-1.93407420e-01 9.81118530e-01 0.00000000e+00 -4.62519724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85370013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.93, Y:-4.64, Z:0.04 [[ 9.80676214e-01 1.95637836e-01 0.00000000e+00 3.89336553e+01] [-1.95637836e-01 9.80676214e-01 0.00000000e+00 -4.63999998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83398327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.99, Y:-4.65, Z:0.04 [[ 9.80593369e-01 1.96052659e-01 0.00000000e+00 3.89948341e+01] [-1.96052659e-01 9.80593369e-01 0.00000000e+00 -4.65324880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51860759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.67, Z:0.04 [[ 9.80247628e-01 1.97774085e-01 0.00000000e+00 3.90540964e+01] [-1.97774085e-01 9.80247628e-01 0.00000000e+00 -4.67018048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73662159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.11, Y:-4.69, Z:0.04 [[ 9.80508271e-01 1.96477813e-01 0.00000000e+00 3.91142229e+01] [-1.96477813e-01 9.80508271e-01 0.00000000e+00 -4.68605355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72878415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.70, Z:0.04 [[ 9.80854081e-01 1.94744117e-01 0.00000000e+00 3.91756248e+01] [-1.94744117e-01 9.80854081e-01 0.00000000e+00 -4.70102338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76827457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.72, Z:0.04 [[ 0.98130933 0.192437 0. 39.23654081] [-0.192437 0.98130933 0. -4.71724044] [ 0. 0. 1. 0.04007783] [ 0. 0. 0. 1. ]] SLAMing on 38.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.73, Z:0.04 [[ 0.98145235 0.19170626 0. 39.29728043] [-0.19170626 0.98145235 0. -4.7333032 ] [ 0. 0. 1. 0.0397039 ] [ 0. 0. 0. 1. ]] SLAMing on 38.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.75, Z:0.04 [[ 9.81227903e-01 1.92851761e-01 0.00000000e+00 3.93587331e+01] [-1.92851761e-01 9.81227903e-01 0.00000000e+00 -4.74773378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82861015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224320000000006 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.76, Z:0.04 [[ 9.80890049e-01 1.94562873e-01 0.00000000e+00 3.94198198e+01] [-1.94562873e-01 9.80890049e-01 0.00000000e+00 -4.76174404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71514874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.48, Y:-4.78, Z:0.03 [[ 9.80259469e-01 1.97715384e-01 0.00000000e+00 3.94797676e+01] [-1.97715384e-01 9.80259469e-01 0.00000000e+00 -4.77684589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49566322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.54, Y:-4.79, Z:0.04 [[ 9.80006329e-01 1.98966319e-01 0.00000000e+00 3.95402964e+01] [-1.98966319e-01 9.80006329e-01 0.00000000e+00 -4.79253780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60708149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.60, Y:-4.81, Z:0.04 [[ 9.80135293e-01 1.98330046e-01 0.00000000e+00 3.96002594e+01] [-1.98330046e-01 9.80135293e-01 0.00000000e+00 -4.80732161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54395861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.66, Y:-4.82, Z:0.04 [[ 9.80175418e-01 1.98131649e-01 0.00000000e+00 3.96615360e+01] [-1.98131649e-01 9.80175418e-01 0.00000000e+00 -4.82237723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67436819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.84, Z:0.04 [[ 9.80171446e-01 1.98151296e-01 0.00000000e+00 3.97227082e+01] [-1.98151296e-01 9.80171446e-01 0.00000000e+00 -4.83885903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77884858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.85, Z:0.04 [[ 9.80066262e-01 1.98670888e-01 0.00000000e+00 3.97830203e+01] [-1.98670888e-01 9.80066262e-01 0.00000000e+00 -4.85265300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51726075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64432 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.87, Z:0.03 [[ 9.79799661e-01 1.99981560e-01 0.00000000e+00 3.98424372e+01] [-1.99981560e-01 9.79799661e-01 0.00000000e+00 -4.86900692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44615174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:-4.89, Z:0.03 [[ 9.79764988e-01 2.00151362e-01 0.00000000e+00 3.99033858e+01] [-2.00151362e-01 9.79764988e-01 0.00000000e+00 -4.88606149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37586888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764320000000005 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.90, Z:0.03 [[ 9.79841471e-01 1.99776602e-01 0.00000000e+00 3.99638990e+01] [-1.99776602e-01 9.79841471e-01 0.00000000e+00 -4.90190961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24449083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.92, Z:0.03 [[ 9.80074529e-01 1.98630104e-01 0.00000000e+00 4.00237925e+01] [-1.98630104e-01 9.80074529e-01 0.00000000e+00 -4.91663240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23683896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88432 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.93, Z:0.03 [[ 9.80495583e-01 1.96541122e-01 0.00000000e+00 4.00840273e+01] [-1.96541122e-01 9.80495583e-01 0.00000000e+00 -4.93257283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42553371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944320000000005 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.94, Z:0.04 [[ 9.80399081e-01 1.97021935e-01 0.00000000e+00 4.01456789e+01] [-1.97021935e-01 9.80399081e-01 0.00000000e+00 -4.94429963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52144462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.96, Z:0.03 [[ 9.80326246e-01 1.97384019e-01 0.00000000e+00 4.02067170e+01] [-1.97384019e-01 9.80326246e-01 0.00000000e+00 -4.95770140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47317425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.97, Z:0.03 [[ 9.80427155e-01 1.96882182e-01 0.00000000e+00 4.02678540e+01] [-1.96882182e-01 9.80427155e-01 0.00000000e+00 -4.97071327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44653276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.98, Z:0.03 [[ 9.80394635e-01 1.97044054e-01 0.00000000e+00 4.03284411e+01] [-1.97044054e-01 9.80394635e-01 0.00000000e+00 -4.98327963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46311478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.99, Z:0.03 [[ 9.80599268e-01 1.96023151e-01 0.00000000e+00 4.03891376e+01] [-1.96023151e-01 9.80599268e-01 0.00000000e+00 -4.99367667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46231470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:-5.00, Z:0.03 [[ 9.80846215e-01 1.94783731e-01 0.00000000e+00 4.04503121e+01] [-1.94783731e-01 9.80846215e-01 0.00000000e+00 -5.00451889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43110941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:-5.02, Z:0.03 [[ 9.81401102e-01 1.91968426e-01 0.00000000e+00 4.05122438e+01] [-1.91968426e-01 9.81401102e-01 0.00000000e+00 -5.01676275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47552777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:-5.03, Z:0.03 [[ 9.81677591e-01 1.90549486e-01 0.00000000e+00 4.05736178e+01] [-1.90549486e-01 9.81677591e-01 0.00000000e+00 -5.02854687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41524755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:-5.04, Z:0.03 [[ 9.81867638e-01 1.89567775e-01 0.00000000e+00 4.06357040e+01] [-1.89567775e-01 9.81867638e-01 0.00000000e+00 -5.03939101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41123799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:-5.05, Z:0.03 [[ 9.81856412e-01 1.89625912e-01 0.00000000e+00 4.06970550e+01] [-1.89625912e-01 9.81856412e-01 0.00000000e+00 -5.05213415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39400365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:-5.06, Z:0.04 [[ 9.81770493e-01 1.90070248e-01 0.00000000e+00 4.07576057e+01] [-1.90070248e-01 9.81770493e-01 0.00000000e+00 -5.06316486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53340626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:-5.08, Z:0.03 [[ 9.81055020e-01 1.93729314e-01 0.00000000e+00 4.08190445e+01] [-1.93729314e-01 9.81055020e-01 0.00000000e+00 -5.07720595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45906259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:-5.09, Z:0.03 [[ 9.80999463e-01 1.94010445e-01 0.00000000e+00 4.08794205e+01] [-1.94010445e-01 9.80999463e-01 0.00000000e+00 -5.08524518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47954208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:-5.10, Z:0.03 [[ 9.80285558e-01 1.97585992e-01 0.00000000e+00 4.09396024e+01] [-1.97585992e-01 9.80285558e-01 0.00000000e+00 -5.09954718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12150022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:-5.11, Z:0.03 [[ 9.80100257e-01 1.98503113e-01 0.00000000e+00 4.10006457e+01] [-1.98503113e-01 9.80100257e-01 0.00000000e+00 -5.10780686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30392425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84432 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.06, Y:-5.12, Z:0.03 [[ 9.80158913e-01 1.98213281e-01 0.00000000e+00 4.10624398e+01] [-1.98213281e-01 9.80158913e-01 0.00000000e+00 -5.12023874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18610782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.12, Y:-5.14, Z:0.03 [[ 9.80095022e-01 1.98528962e-01 0.00000000e+00 4.11232364e+01] [-1.98528962e-01 9.80095022e-01 0.00000000e+00 -5.13735332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92645645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.18, Y:-5.15, Z:0.03 [[ 9.80198221e-01 1.98018804e-01 0.00000000e+00 4.11832127e+01] [-1.98018804e-01 9.80198221e-01 0.00000000e+00 -5.15143705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92247146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.24, Y:-5.16, Z:0.03 [[ 9.81293849e-01 1.92515925e-01 0.00000000e+00 4.12445818e+01] [-1.92515925e-01 9.81293849e-01 0.00000000e+00 -5.15936034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00557448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.31, Y:-5.17, Z:0.03 [[ 9.81476961e-01 1.91580204e-01 0.00000000e+00 4.13058745e+01] [-1.91580204e-01 9.81476961e-01 0.00000000e+00 -5.17386236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96274267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:-5.19, Z:0.03 [[ 9.81454405e-01 1.91695724e-01 0.00000000e+00 4.13676267e+01] [-1.91695724e-01 9.81454405e-01 0.00000000e+00 -5.18819131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95905122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:-5.20, Z:0.03 [[ 9.81084469e-01 1.93580124e-01 0.00000000e+00 4.14288426e+01] [-1.93580124e-01 9.81084469e-01 0.00000000e+00 -5.20419098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78740619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:-5.22, Z:0.03 [[ 9.80636336e-01 1.95837629e-01 0.00000000e+00 4.14892076e+01] [-1.95837629e-01 9.80636336e-01 0.00000000e+00 -5.21641259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91212731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32432 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:-5.23, Z:0.03 [[ 9.79965450e-01 1.99167558e-01 0.00000000e+00 4.15506208e+01] [-1.99167558e-01 9.79965450e-01 0.00000000e+00 -5.22974858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74687486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:-5.24, Z:0.03 [[ 9.78692361e-01 2.05332078e-01 0.00000000e+00 4.16115517e+01] [-2.05332078e-01 9.78692361e-01 0.00000000e+00 -5.24357606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83352876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444320000000005 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:-5.26, Z:0.03 [[ 9.77478008e-01 2.11037304e-01 0.00000000e+00 4.16728554e+01] [-2.11037304e-01 9.77478008e-01 0.00000000e+00 -5.25870187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94104615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:-5.27, Z:0.03 [[ 9.76743101e-01 2.14412955e-01 0.00000000e+00 4.17339885e+01] [-2.14412955e-01 9.76743101e-01 0.00000000e+00 -5.27255637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87003712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:-5.29, Z:0.03 [[ 9.75761499e-01 2.18836691e-01 0.00000000e+00 4.17945786e+01] [-2.18836691e-01 9.75761499e-01 0.00000000e+00 -5.28759710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72350989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624320000000004 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:-5.30, Z:0.03 [[ 9.75805626e-01 2.18639839e-01 0.00000000e+00 4.18538553e+01] [-2.18639839e-01 9.75805626e-01 0.00000000e+00 -5.30416319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66078034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.91, Y:-5.32, Z:0.03 [[ 9.76460766e-01 2.15695092e-01 0.00000000e+00 4.19141342e+01] [-2.15695092e-01 9.76460766e-01 0.00000000e+00 -5.32122700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82427481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.97, Y:-5.34, Z:0.03 [[ 9.76838427e-01 2.13978239e-01 0.00000000e+00 4.19746205e+01] [-2.13978239e-01 9.76838427e-01 0.00000000e+00 -5.33697147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87215233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.04, Y:-5.35, Z:0.03 [[ 9.77268943e-01 2.12003332e-01 0.00000000e+00 4.20351352e+01] [-2.12003332e-01 9.77268943e-01 0.00000000e+00 -5.35276066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82168049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.10, Y:-5.37, Z:0.03 [[ 9.77534528e-01 2.10775346e-01 0.00000000e+00 4.20961127e+01] [-2.10775346e-01 9.77534528e-01 0.00000000e+00 -5.36983045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85456586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.16, Y:-5.38, Z:0.03 [[ 9.77578072e-01 2.10573298e-01 0.00000000e+00 4.21564485e+01] [-2.10573298e-01 9.77578072e-01 0.00000000e+00 -5.38417969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80475030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.22, Y:-5.40, Z:0.03 [[ 9.77819630e-01 2.09448729e-01 0.00000000e+00 4.22173586e+01] [-2.09448729e-01 9.77819630e-01 0.00000000e+00 -5.39991023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73550764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.28, Y:-5.42, Z:0.03 [[ 9.78043033e-01 2.08403035e-01 0.00000000e+00 4.22775700e+01] [-2.08403035e-01 9.78043033e-01 0.00000000e+00 -5.41655109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57725229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.34, Y:-5.43, Z:0.03 [[ 9.78106281e-01 2.08105992e-01 0.00000000e+00 4.23380738e+01] [-2.08105992e-01 9.78106281e-01 0.00000000e+00 -5.43231033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57410084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.40, Y:-5.45, Z:0.03 [[ 9.78095551e-01 2.08156416e-01 0.00000000e+00 4.23990016e+01] [-2.08156416e-01 9.78095551e-01 0.00000000e+00 -5.44730619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53692238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.46, Y:-5.46, Z:0.03 [[ 9.78032933e-01 2.08450429e-01 0.00000000e+00 4.24587002e+01] [-2.08450429e-01 9.78032933e-01 0.00000000e+00 -5.46251037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65345286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:-5.48, Z:0.03 [[ 9.77851712e-01 2.09298898e-01 0.00000000e+00 4.25197222e+01] [-2.09298898e-01 9.77851712e-01 0.00000000e+00 -5.47865005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81146266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.58, Y:-5.49, Z:0.03 [[ 9.77643669e-01 2.10268536e-01 0.00000000e+00 4.25798815e+01] [-2.10268536e-01 9.77643669e-01 0.00000000e+00 -5.49351281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91412607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.64, Y:-5.51, Z:0.03 [[ 9.77162267e-01 2.12494481e-01 0.00000000e+00 4.26396826e+01] [-2.12494481e-01 9.77162267e-01 0.00000000e+00 -5.50782297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89689784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.70, Y:-5.52, Z:0.03 [[ 9.76309139e-01 2.16380370e-01 0.00000000e+00 4.27006747e+01] [-2.16380370e-01 9.76309139e-01 0.00000000e+00 -5.52139724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80893127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.76, Y:-5.53, Z:0.03 [[ 9.74996859e-01 2.22218643e-01 0.00000000e+00 4.27621837e+01] [-2.22218643e-01 9.74996859e-01 0.00000000e+00 -5.53394738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73783477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584320000000005 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:42.82, Y:-5.55, Z:0.03 [[ 9.74166259e-01 2.25832015e-01 0.00000000e+00 4.28235008e+01] [-2.25832015e-01 9.74166259e-01 0.00000000e+00 -5.54822751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54022296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:-5.56, Z:0.02 [[ 9.73724196e-01 2.27730522e-01 0.00000000e+00 4.28849022e+01] [-2.27730522e-01 9.73724196e-01 0.00000000e+00 -5.56118874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09344017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-5.58, Z:0.02 [[ 9.72876268e-01 2.31326104e-01 0.00000000e+00 4.29444026e+01] [-2.31326104e-01 9.72876268e-01 0.00000000e+00 -5.57689280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30808868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:-5.59, Z:0.02 [[ 9.73151479e-01 2.30165592e-01 0.00000000e+00 4.30057435e+01] [-2.30165592e-01 9.73151479e-01 0.00000000e+00 -5.59093327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37668797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:-5.61, Z:0.02 [[ 9.73780751e-01 2.27488569e-01 0.00000000e+00 4.30665658e+01] [-2.27488569e-01 9.73780751e-01 0.00000000e+00 -5.60801064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42777258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:-5.62, Z:0.02 [[ 9.73875170e-01 2.27084022e-01 0.00000000e+00 4.31278722e+01] [-2.27084022e-01 9.73875170e-01 0.00000000e+00 -5.62148200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42443531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944320000000005 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-5.63, Z:0.02 [[ 9.74215481e-01 2.25619582e-01 0.00000000e+00 4.31890698e+01] [-2.25619582e-01 9.74215481e-01 0.00000000e+00 -5.63464001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00815976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-5.65, Z:0.02 [[ 9.74763431e-01 2.23240350e-01 0.00000000e+00 4.32487887e+01] [-2.23240350e-01 9.74763431e-01 0.00000000e+00 -5.65159883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35556522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:-5.67, Z:0.02 [[ 9.75100617e-01 2.21762909e-01 0.00000000e+00 4.33105470e+01] [-2.21762909e-01 9.75100617e-01 0.00000000e+00 -5.66582189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25107006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124320000000004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:-5.68, Z:0.02 [[ 9.74888897e-01 2.22691802e-01 0.00000000e+00 4.33716023e+01] [-2.22691802e-01 9.74888897e-01 0.00000000e+00 -5.67831965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44186014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18432000000001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:-5.70, Z:0.03 [[ 9.73649113e-01 2.28051321e-01 0.00000000e+00 4.34316410e+01] [-2.28051321e-01 9.73649113e-01 0.00000000e+00 -5.69689017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52951771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:-5.71, Z:0.02 [[ 9.72608984e-01 2.32447338e-01 0.00000000e+00 4.34927851e+01] [-2.32447338e-01 9.72608984e-01 0.00000000e+00 -5.71184080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47046008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304320000000004 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:43.55, Y:-5.72, Z:0.02 [[ 9.71727466e-01 2.36105342e-01 0.00000000e+00 4.35544763e+01] [-2.36105342e-01 9.71727466e-01 0.00000000e+00 -5.72046483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11152307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.74, Z:0.02 [[ 9.71275274e-01 2.37958700e-01 0.00000000e+00 4.36155904e+01] [-2.37958700e-01 9.71275274e-01 0.00000000e+00 -5.73543942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43765417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.75, Z:0.03 [[ 9.70937727e-01 2.39332260e-01 0.00000000e+00 4.36750248e+01] [-2.39332260e-01 9.70937727e-01 0.00000000e+00 -5.75125655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56981906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.77, Z:0.02 [[ 9.70699127e-01 2.40298157e-01 0.00000000e+00 4.37360712e+01] [-2.40298157e-01 9.70699127e-01 0.00000000e+00 -5.76588267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49296601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-5.78, Z:0.03 [[ 9.71189129e-01 2.38310039e-01 0.00000000e+00 4.37975304e+01] [-2.38310039e-01 9.71189129e-01 0.00000000e+00 -5.78055034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80083663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:-5.80, Z:0.03 [[ 9.71571168e-01 2.36747685e-01 0.00000000e+00 4.38582925e+01] [-2.36747685e-01 9.71571168e-01 0.00000000e+00 -5.79559966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95275109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:-5.81, Z:0.03 [[ 9.72007770e-01 2.34948708e-01 0.00000000e+00 4.39187816e+01] [-2.34948708e-01 9.72007770e-01 0.00000000e+00 -5.80974846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84412522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:-5.82, Z:0.03 [[ 9.72711821e-01 2.32016624e-01 0.00000000e+00 4.39804592e+01] [-2.32016624e-01 9.72711821e-01 0.00000000e+00 -5.82315587e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62996427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.04, Y:-5.84, Z:0.03 [[ 9.73347296e-01 2.29336090e-01 0.00000000e+00 4.40422530e+01] [-2.29336090e-01 9.73347296e-01 0.00000000e+00 -5.83618227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56402869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.11, Y:-5.84, Z:0.02 [[ 9.74609349e-01 2.23912072e-01 0.00000000e+00 4.41052591e+01] [-2.23912072e-01 9.74609349e-01 0.00000000e+00 -5.84197714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04831306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.16, Y:-5.86, Z:0.03 [[ 9.73710728e-01 2.27788101e-01 0.00000000e+00 4.41641785e+01] [-2.27788101e-01 9.73710728e-01 0.00000000e+00 -5.86029845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51486993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.87, Z:0.03 [[ 9.73454023e-01 2.28882645e-01 0.00000000e+00 4.42260779e+01] [-2.28882645e-01 9.73454023e-01 0.00000000e+00 -5.87333747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51857453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.29, Y:-5.89, Z:0.02 [[ 9.73641004e-01 2.28085937e-01 0.00000000e+00 4.42861606e+01] [-2.28085937e-01 9.73641004e-01 0.00000000e+00 -5.88735572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33169231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:-5.90, Z:0.02 [[ 9.74308850e-01 2.25216039e-01 0.00000000e+00 4.43480380e+01] [-2.25216039e-01 9.74308850e-01 0.00000000e+00 -5.90102190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18557153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.41, Y:-5.92, Z:0.02 [[ 9.75277203e-01 2.20985017e-01 0.00000000e+00 4.44082539e+01] [-2.20985017e-01 9.75277203e-01 0.00000000e+00 -5.91557937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14628777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.47, Y:-5.93, Z:0.02 [[ 9.76107086e-01 2.17290028e-01 0.00000000e+00 4.44692747e+01] [-2.17290028e-01 9.76107086e-01 0.00000000e+00 -5.93181911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28434268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.53, Y:-5.95, Z:0.02 [[ 9.76624078e-01 2.14954439e-01 0.00000000e+00 4.45309115e+01] [-2.14954439e-01 9.76624078e-01 0.00000000e+00 -5.94624580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23885381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.59, Y:-5.96, Z:0.02 [[ 9.76572321e-01 2.15189455e-01 0.00000000e+00 4.45916692e+01] [-2.15189455e-01 9.76572321e-01 0.00000000e+00 -5.95851623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78750637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.65, Y:-5.98, Z:0.02 [[ 9.77487475e-01 2.10993451e-01 0.00000000e+00 4.46519653e+01] [-2.10993451e-01 9.77487475e-01 0.00000000e+00 -5.97554803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24462494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.71, Y:-5.99, Z:0.02 [[ 9.77551170e-01 2.10698151e-01 0.00000000e+00 4.47134713e+01] [-2.10698151e-01 9.77551170e-01 0.00000000e+00 -5.98949682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16803502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:-6.00, Z:0.02 [[ 9.77971241e-01 2.08739677e-01 0.00000000e+00 4.47745201e+01] [-2.08739677e-01 9.77971241e-01 0.00000000e+00 -6.00055623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87162584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.84, Y:-6.02, Z:0.02 [[ 9.77413453e-01 2.11336087e-01 0.00000000e+00 4.48351435e+01] [-2.11336087e-01 9.77413453e-01 0.00000000e+00 -6.01738665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85988558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.90, Y:-6.03, Z:0.02 [[ 9.77050666e-01 2.13007032e-01 0.00000000e+00 4.48965104e+01] [-2.13007032e-01 9.77050666e-01 0.00000000e+00 -6.03270845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68134799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68432000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.96, Y:-6.05, Z:0.02 [[ 9.76676933e-01 2.14714157e-01 0.00000000e+00 4.49570592e+01] [-2.14714157e-01 9.76676933e-01 0.00000000e+00 -6.04824240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54989087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:-6.06, Z:0.01 [[ 9.76859207e-01 2.13883353e-01 0.00000000e+00 4.50191649e+01] [-2.13883353e-01 9.76859207e-01 0.00000000e+00 -6.06116310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14475405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.08, Y:-6.08, Z:0.02 [[ 9.76911346e-01 2.13645084e-01 0.00000000e+00 4.50792290e+01] [-2.13645084e-01 9.76911346e-01 0.00000000e+00 -6.07924187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56861831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.14, Y:-6.09, Z:0.02 [[ 9.77475050e-01 2.11051003e-01 0.00000000e+00 4.51398995e+01] [-2.11051003e-01 9.77475050e-01 0.00000000e+00 -6.09379501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68096125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.20, Y:-6.11, Z:0.02 [[ 9.77875039e-01 2.09189887e-01 0.00000000e+00 4.52001116e+01] [-2.09189887e-01 9.77875039e-01 0.00000000e+00 -6.10646790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80632402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.26, Y:-6.12, Z:0.02 [[ 9.79042850e-01 2.03654361e-01 0.00000000e+00 4.52614137e+01] [-2.03654361e-01 9.79042850e-01 0.00000000e+00 -6.12182944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61409069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.32, Y:-6.14, Z:0.02 [[ 9.80369024e-01 1.97171441e-01 0.00000000e+00 4.53230132e+01] [-1.97171441e-01 9.80369024e-01 0.00000000e+00 -6.13551849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59041146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.38, Y:-6.15, Z:0.02 [[ 9.81160714e-01 1.93193305e-01 0.00000000e+00 4.53831579e+01] [-1.93193305e-01 9.81160714e-01 0.00000000e+00 -6.14881792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69198721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:-6.16, Z:0.02 [[ 9.81940014e-01 1.89192517e-01 0.00000000e+00 4.54435280e+01] [-1.89192517e-01 9.81940014e-01 0.00000000e+00 -6.16479114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69580062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.51, Y:-6.18, Z:0.02 [[ 9.81646496e-01 1.90709612e-01 0.00000000e+00 4.55051509e+01] [-1.90709612e-01 9.81646496e-01 0.00000000e+00 -6.17799476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52639929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.57, Y:-6.19, Z:0.01 [[ 9.81039195e-01 1.93809437e-01 0.00000000e+00 4.55654134e+01] [-1.93809437e-01 9.81039195e-01 0.00000000e+00 -6.19062822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23709508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.63, Y:-6.21, Z:0.01 [[ 9.80625433e-01 1.95892214e-01 0.00000000e+00 4.56257598e+01] [-1.95892214e-01 9.80625433e-01 0.00000000e+00 -6.20561142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21418637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.69, Y:-6.22, Z:0.01 [[ 9.80288351e-01 1.97572135e-01 0.00000000e+00 4.56872500e+01] [-1.97572135e-01 9.80288351e-01 0.00000000e+00 -6.22099370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36393951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.75, Y:-6.24, Z:0.01 [[ 9.80032623e-01 1.98836761e-01 0.00000000e+00 4.57485456e+01] [-1.98836761e-01 9.80032623e-01 0.00000000e+00 -6.23629476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47575450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.81, Y:-6.26, Z:0.02 [[ 9.79127213e-01 2.03248373e-01 0.00000000e+00 4.58073424e+01] [-2.03248373e-01 9.79127213e-01 0.00000000e+00 -6.25627494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83022554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.87, Y:-6.27, Z:0.02 [[ 9.79561456e-01 2.01145107e-01 0.00000000e+00 4.58674867e+01] [-2.01145107e-01 9.79561456e-01 0.00000000e+00 -6.26825562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55914819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.93, Y:-6.29, Z:0.01 [[ 9.79981860e-01 1.99086801e-01 0.00000000e+00 4.59279642e+01] [-1.99086801e-01 9.79981860e-01 0.00000000e+00 -6.28536527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45604268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.99, Y:-6.30, Z:0.01 [[ 9.80501746e-01 1.96510374e-01 0.00000000e+00 4.59877602e+01] [-1.96510374e-01 9.80501746e-01 0.00000000e+00 -6.30203481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46132773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:-6.32, Z:0.01 [[ 9.80868322e-01 1.94672379e-01 0.00000000e+00 4.60484587e+01] [-1.94672379e-01 9.80868322e-01 0.00000000e+00 -6.31963496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37951097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.11, Y:-6.34, Z:0.01 [[ 9.80931480e-01 1.94353882e-01 0.00000000e+00 4.61084407e+01] [-1.94353882e-01 9.80931480e-01 0.00000000e+00 -6.33541166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42611043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88432 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:-6.35, Z:0.01 [[ 9.80797679e-01 1.95027980e-01 0.00000000e+00 4.61692081e+01] [-1.95027980e-01 9.80797679e-01 0.00000000e+00 -6.35056417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34856339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:-6.36, Z:0.01 [[ 9.80147639e-01 1.98269023e-01 0.00000000e+00 4.62306296e+01] [-1.98269023e-01 9.80147639e-01 0.00000000e+00 -6.36429174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29770186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:-6.38, Z:0.01 [[ 9.79080758e-01 2.03472035e-01 0.00000000e+00 4.62917738e+01] [-2.03472035e-01 9.79080758e-01 0.00000000e+00 -6.38010625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00074095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:-6.39, Z:0.01 [[ 9.78462403e-01 2.06425109e-01 0.00000000e+00 4.63532662e+01] [-2.06425109e-01 9.78462403e-01 0.00000000e+00 -6.39498070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35786332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:-6.41, Z:0.01 [[ 9.78398137e-01 2.06729500e-01 0.00000000e+00 4.64147036e+01] [-2.06729500e-01 9.78398137e-01 0.00000000e+00 -6.40840399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37331723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18432000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.47, Y:-6.42, Z:0.01 [[ 9.78489827e-01 2.06295076e-01 0.00000000e+00 4.64744020e+01] [-2.06295076e-01 9.78489827e-01 0.00000000e+00 -6.42347796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06802756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.53, Y:-6.44, Z:0.01 [[ 9.79050616e-01 2.03617022e-01 0.00000000e+00 4.65340072e+01] [-2.03617022e-01 9.79050616e-01 0.00000000e+00 -6.44131621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14507841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:-6.46, Z:0.01 [[ 9.79594616e-01 2.00983552e-01 0.00000000e+00 4.65953778e+01] [-2.00983552e-01 9.79594616e-01 0.00000000e+00 -6.45621223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49080864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:-6.47, Z:0.01 [[ 9.79899228e-01 1.99493117e-01 0.00000000e+00 4.66552267e+01] [-1.99493117e-01 9.79899228e-01 0.00000000e+00 -6.47045546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70824584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:-6.49, Z:0.01 [[ 9.80128846e-01 1.98361906e-01 0.00000000e+00 4.67161370e+01] [-1.98361906e-01 9.80128846e-01 0.00000000e+00 -6.48655624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28558925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:-6.50, Z:0.01 [[ 9.79884829e-01 1.99563829e-01 0.00000000e+00 4.67775476e+01] [-1.99563829e-01 9.79884829e-01 0.00000000e+00 -6.50038645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24496317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:-6.51, Z:0.01 [[ 9.79371968e-01 2.02065704e-01 0.00000000e+00 4.68393464e+01] [-2.02065704e-01 9.79371968e-01 0.00000000e+00 -6.51431508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01626647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:-6.53, Z:0.01 [[ 9.79053475e-01 2.03603273e-01 0.00000000e+00 4.69004202e+01] [-2.03603273e-01 9.79053475e-01 0.00000000e+00 -6.52951762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99830768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:-6.54, Z:0.01 [[ 9.78601712e-01 2.05763672e-01 0.00000000e+00 4.69612197e+01] [-2.05763672e-01 9.78601712e-01 0.00000000e+00 -6.54457907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60006501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:-6.56, Z:0.01 [[ 9.77655049e-01 2.10215615e-01 0.00000000e+00 4.70224643e+01] [-2.10215615e-01 9.77655049e-01 0.00000000e+00 -6.55858235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03629230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:-6.57, Z:0.01 [[ 9.77138452e-01 2.12603966e-01 0.00000000e+00 4.70829600e+01] [-2.12603966e-01 9.77138452e-01 0.00000000e+00 -6.57493077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68263495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84432 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.59, Z:0.00 [[ 9.77018470e-01 2.13154660e-01 0.00000000e+00 4.71425901e+01] [-2.13154660e-01 9.77018470e-01 0.00000000e+00 -6.59075824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29888843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.61, Z:0.01 [[ 9.77621207e-01 2.10372944e-01 0.00000000e+00 4.72032176e+01] [-2.10372944e-01 9.77621207e-01 0.00000000e+00 -6.60550925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87774172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.62, Z:0.01 [[ 9.78011983e-01 2.08548701e-01 0.00000000e+00 4.72635590e+01] [-2.08548701e-01 9.78011983e-01 0.00000000e+00 -6.62177409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59336547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.64, Z:0.01 [[ 9.78225978e-01 2.07542614e-01 0.00000000e+00 4.73239394e+01] [-2.07542614e-01 9.78225978e-01 0.00000000e+00 -6.63922032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01230282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.39, Y:-6.65, Z:0.01 [[ 9.77640199e-01 2.10284669e-01 0.00000000e+00 4.73862273e+01] [-2.10284669e-01 9.77640199e-01 0.00000000e+00 -6.65136788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47201114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.45, Y:-6.67, Z:0.01 [[ 9.77252256e-01 2.12080238e-01 0.00000000e+00 4.74464373e+01] [-2.12080238e-01 9.77252256e-01 0.00000000e+00 -6.66589880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81131652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.51, Y:-6.68, Z:0.01 [[ 9.77306544e-01 2.11829928e-01 0.00000000e+00 4.75068557e+01] [-2.11829928e-01 9.77306544e-01 0.00000000e+00 -6.68379297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27079191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.57, Y:-6.70, Z:0.01 [[ 9.76843404e-01 2.13955518e-01 0.00000000e+00 4.75678055e+01] [-2.13955518e-01 9.76843404e-01 0.00000000e+00 -6.69801437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38022583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.63, Y:-6.72, Z:0.01 [[ 9.77037842e-01 2.13065847e-01 0.00000000e+00 4.76282361e+01] [-2.13065847e-01 9.77037842e-01 0.00000000e+00 -6.71553705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35767983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:-6.73, Z:0.01 [[ 9.76853111e-01 2.13911195e-01 0.00000000e+00 4.76882944e+01] [-2.13911195e-01 9.76853111e-01 0.00000000e+00 -6.73289211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94470422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.75, Y:-6.75, Z:0.01 [[ 9.77385608e-01 2.11464829e-01 0.00000000e+00 4.77490080e+01] [-2.11464829e-01 9.77385608e-01 0.00000000e+00 -6.74650360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23409260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50432000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:-6.76, Z:0.01 [[ 9.77560127e-01 2.10656589e-01 0.00000000e+00 4.78087323e+01] [-2.10656589e-01 9.77560127e-01 0.00000000e+00 -6.76241445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14541980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.87, Y:-6.78, Z:0.01 [[ 9.77642278e-01 2.10275000e-01 0.00000000e+00 4.78691112e+01] [-2.10275000e-01 9.77642278e-01 0.00000000e+00 -6.77984595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00596477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:-6.80, Z:0.01 [[ 9.77549359e-01 2.10706551e-01 0.00000000e+00 4.79303834e+01] [-2.10706551e-01 9.77549359e-01 0.00000000e+00 -6.79543899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72010528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68432000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:-6.81, Z:0.01 [[ 9.77113460e-01 2.12718794e-01 0.00000000e+00 4.79919081e+01] [-2.12718794e-01 9.77113460e-01 0.00000000e+00 -6.80916443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64245251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:-6.83, Z:0.01 [[ 9.76538300e-01 2.15343792e-01 0.00000000e+00 4.80514608e+01] [-2.15343792e-01 9.76538300e-01 0.00000000e+00 -6.82521934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98954023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.11, Y:-6.84, Z:0.01 [[ 9.75880020e-01 2.18307551e-01 0.00000000e+00 4.81122190e+01] [-2.18307551e-01 9.75880020e-01 0.00000000e+00 -6.84197497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49134439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.17, Y:-6.86, Z:0.01 [[ 9.75363858e-01 2.20602230e-01 0.00000000e+00 4.81723186e+01] [-2.20602230e-01 9.75363858e-01 0.00000000e+00 -6.85854807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40873982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.23, Y:-6.87, Z:0.01 [[ 9.74363860e-01 2.24977930e-01 0.00000000e+00 4.82333474e+01] [-2.24977930e-01 9.74363860e-01 0.00000000e+00 -6.87455098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38392232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:-6.89, Z:0.01 [[ 9.73633661e-01 2.28117280e-01 0.00000000e+00 4.82942450e+01] [-2.28117280e-01 9.73633661e-01 0.00000000e+00 -6.88983473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72289583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.36, Y:-6.91, Z:0.01 [[ 9.73752338e-01 2.27610159e-01 0.00000000e+00 4.83552037e+01] [-2.27610159e-01 9.73752338e-01 0.00000000e+00 -6.90561950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16794572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.42, Y:-6.92, Z:0.01 [[ 9.73921392e-01 2.26885703e-01 0.00000000e+00 4.84163698e+01] [-2.26885703e-01 9.73921392e-01 0.00000000e+00 -6.92098061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20915167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164320000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:-6.94, Z:0.01 [[ 9.74279825e-01 2.25341568e-01 0.00000000e+00 4.84764458e+01] [-2.25341568e-01 9.74279825e-01 0.00000000e+00 -6.93815660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24880012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:-6.95, Z:0.01 [[ 9.75315869e-01 2.20814303e-01 0.00000000e+00 4.85362819e+01] [-2.20814303e-01 9.75315869e-01 0.00000000e+00 -6.95321153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23784775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:-6.97, Z:0.01 [[ 9.75686229e-01 2.19172040e-01 0.00000000e+00 4.85978073e+01] [-2.19172040e-01 9.75686229e-01 0.00000000e+00 -6.96686560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28751573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:-6.98, Z:0.01 [[ 9.76929963e-01 2.13559941e-01 0.00000000e+00 4.86586178e+01] [-2.13559941e-01 9.76929963e-01 0.00000000e+00 -6.98205528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23433352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404320000000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:-7.00, Z:0.01 [[ 9.76981175e-01 2.13325535e-01 0.00000000e+00 4.87190973e+01] [-2.13325535e-01 9.76981175e-01 0.00000000e+00 -6.99688208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20168405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46432 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.78, Y:-7.01, Z:0.01 [[ 9.76951928e-01 2.13459435e-01 0.00000000e+00 4.87806294e+01] [-2.13459435e-01 9.76951928e-01 0.00000000e+00 -7.01154870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02187001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.84, Y:-7.03, Z:0.01 [[ 9.77348895e-01 2.11634445e-01 0.00000000e+00 4.88412306e+01] [-2.11634445e-01 9.77348895e-01 0.00000000e+00 -7.02633356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93064982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.90, Y:-7.04, Z:0.01 [[ 9.77594060e-01 2.10499060e-01 0.00000000e+00 4.89012428e+01] [-2.10499060e-01 9.77594060e-01 0.00000000e+00 -7.04038234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49124893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.96, Y:-7.06, Z:0.01 [[ 9.78519346e-01 2.06155011e-01 0.00000000e+00 4.89625304e+01] [-2.06155011e-01 9.78519346e-01 0.00000000e+00 -7.05630429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33078267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:-7.07, Z:0.01 [[ 9.78125983e-01 2.08013367e-01 0.00000000e+00 4.90229624e+01] [-2.08013367e-01 9.78125983e-01 0.00000000e+00 -7.06967060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63092042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:-7.08, Z:0.01 [[ 9.77826686e-01 2.09415788e-01 0.00000000e+00 4.90827384e+01] [-2.09415788e-01 9.77826686e-01 0.00000000e+00 -7.08336072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53883441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82432 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:49.14, Y:-7.10, Z:0.00 [[ 9.78224470e-01 2.07549720e-01 0.00000000e+00 4.91433024e+01] [-2.07549720e-01 9.78224470e-01 0.00000000e+00 -7.10060824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82623441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.20, Y:-7.12, Z:0.00 [[ 9.78892565e-01 2.04375504e-01 0.00000000e+00 4.92027678e+01] [-2.04375504e-01 9.78892565e-01 0.00000000e+00 -7.11574164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92738731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944320000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.26, Y:-7.13, Z:0.00 [[ 9.79484505e-01 2.01519487e-01 0.00000000e+00 4.92634287e+01] [-2.01519487e-01 9.79484505e-01 0.00000000e+00 -7.13128499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55844777e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00432000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.32, Y:-7.15, Z:0.00 [[ 9.79419563e-01 2.01834881e-01 0.00000000e+00 4.93215693e+01] [-2.01834881e-01 9.79419563e-01 0.00000000e+00 -7.14885032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95213621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06432 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.38, Y:-7.16, Z:-0.00 [[ 9.78809859e-01 2.04771237e-01 0.00000000e+00 4.93814080e+01] [-2.04771237e-01 9.78809859e-01 0.00000000e+00 -7.16465441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17328970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124320000000004 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:-7.18, Z:-0.00 [[ 9.77811314e-01 2.09487550e-01 0.00000000e+00 4.94399345e+01] [-2.09487550e-01 9.77811314e-01 0.00000000e+00 -7.18055521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47303021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18432000000001 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:-7.20, Z:-0.00 [[ 9.76835724e-01 2.13990579e-01 0.00000000e+00 4.95007301e+01] [-2.13990579e-01 9.76835724e-01 0.00000000e+00 -7.19508172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54998098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24432 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:-7.21, Z:-0.00 [[ 9.76485131e-01 2.15584762e-01 0.00000000e+00 4.95613333e+01] [-2.15584762e-01 9.76485131e-01 0.00000000e+00 -7.21077405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84889438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304320000000004 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-7.22, Z:-0.02 [[ 9.78966170e-01 2.04022641e-01 0.00000000e+00 4.96225716e+01] [-2.04022641e-01 9.78966170e-01 0.00000000e+00 -7.21653911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87516775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364320000000006 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:-7.23, Z:-0.02 [[ 9.79998872e-01 1.99003041e-01 0.00000000e+00 4.96823027e+01] [-1.99003041e-01 9.79998872e-01 0.00000000e+00 -7.23120731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15976057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42432 meters Centerline goodness : 0.993035 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-7.26, Z:-0.01 [[ 9.80027273e-01 1.98863131e-01 0.00000000e+00 4.97373681e+01] [-1.98863131e-01 9.80027273e-01 0.00000000e+00 -7.25577859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03693487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484320000000004 meters Centerline goodness : 0.986760 with order 1 Centerline is valid? [True, True] Translation: X:49.80, Y:-7.27, Z:-0.00 [[ 9.79977333e-01 1.99109081e-01 0.00000000e+00 4.97963720e+01] [-1.99109081e-01 9.79977333e-01 0.00000000e+00 -7.27401529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91350940e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544320000000006 meters Centerline goodness : 0.982998 with order 1 Centerline is valid? [True, True] Translation: X:49.86, Y:-7.29, Z:-0.01 [[ 9.80922153e-01 1.94400953e-01 0.00000000e+00 4.98551916e+01] [-1.94400953e-01 9.80922153e-01 0.00000000e+00 -7.28711296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48678255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60432 meters Centerline goodness : 0.974906 with order 1 Centerline is valid? [True, True] Translation: X:49.92, Y:-7.30, Z:-0.01 [[ 9.80933057e-01 1.94345925e-01 0.00000000e+00 4.99151192e+01] [-1.94345925e-01 9.80933057e-01 0.00000000e+00 -7.30434447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37071156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 456.79 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%| | 0/1622 [00:00