+ python -m lidar_slam --result /working/result.json --no-model /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.024340128 Adjusted end_distance from 9.223372036854776e+18 to 59.974340128 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [0, True] SLAMing on 0.084340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99999999e-01 -5.08463023e-05 0.00000000e+00 5.94536166e-02] [ 5.08463023e-05 9.99999999e-01 0.00000000e+00 -4.09370362e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41583450e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14434012799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.00 [[ 1.00000000e+00 4.85333872e-06 0.00000000e+00 1.20252148e-01] [-4.85333872e-06 1.00000000e+00 0.00000000e+00 -7.64460685e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92278333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20434012799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.00 [[ 0.99999757 0.0022063 0. 0.18109707] [-0.0022063 0.99999757 0. -0.01177595] [ 0. 0. 1. -0.00314815] [ 0. 0. 0. 1. ]] SLAMing on 0.264340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.02, Z:-0.00 [[ 0.99998098 0.00616778 0. 0.24125356] [-0.00616778 0.99998098 0. -0.01546884] [ 0. 0. 1. -0.00259431] [ 0. 0. 0. 1. ]] SLAMing on 0.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.02, Z:-0.00 [[ 0.99995881 0.00907624 0. 0.30176211] [-0.00907624 0.99995881 0. -0.01815965] [ 0. 0. 1. -0.00172698] [ 0. 0. 0. 1. ]] SLAMing on 0.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.02, Z:-0.00 [[ 0.99992313 0.01239896 0. 0.36245771] [-0.01239896 0.99992313 0. -0.02165013] [ 0. 0. 1. -0.00107575] [ 0. 0. 0. 1. ]] SLAMing on 0.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.03, Z:0.00 [[ 9.99917869e-01 1.28161845e-02 0.00000000e+00 4.23644398e-01] [-1.28161845e-02 9.99917869e-01 0.00000000e+00 -2.51107888e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15937131e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5043401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.03, Z:-0.00 [[ 0.99993571 0.011339 0. 0.48448926] [-0.011339 0.99993571 0. -0.0286327 ] [ 0. 0. 1. -0.00149263] [ 0. 0. 0. 1. ]] SLAMing on 0.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.03, Z:-0.00 [[ 0.99997545 0.00700705 0. 0.54502347] [-0.00700705 0.99997545 0. -0.03259524] [ 0. 0. 1. -0.00150434] [ 0. 0. 0. 1. ]] SLAMing on 0.6243401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.04, Z:-0.00 [[ 0.99999479 0.00322649 0. 0.60557968] [-0.00322649 0.99999479 0. -0.03533267] [ 0. 0. 1. -0.00314022] [ 0. 0. 0. 1. ]] SLAMing on 0.6843401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.04, Z:-0.01 [[ 9.99999951e-01 -3.11931855e-04 0.00000000e+00 6.66417989e-01] [ 3.11931855e-04 9.99999951e-01 0.00000000e+00 -3.91609344e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11909241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7443401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.04, Z:-0.01 [[ 9.99999992e-01 1.25062041e-04 0.00000000e+00 7.27321728e-01] [-1.25062041e-04 9.99999992e-01 0.00000000e+00 -4.06606148e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40739742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.804340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.04, Z:-0.01 [[ 0.9999979 0.0020505 0. 0.78820032] [-0.0020505 0.9999979 0. -0.04326556] [ 0. 0. 1. -0.00717699] [ 0. 0. 0. 1. ]] SLAMing on 0.8643401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.05, Z:-0.01 [[ 0.9999912 0.00419631 0. 0.84867511] [-0.00419631 0.9999912 0. -0.04605547] [ 0. 0. 1. -0.00815385] [ 0. 0. 0. 1. ]] SLAMing on 0.9243401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.05, Z:-0.01 [[ 0.99998639 0.00521722 0. 0.90904863] [-0.00521722 0.99998639 0. -0.04704285] [ 0. 0. 1. -0.01061321] [ 0. 0. 0. 1. ]] SLAMing on 0.9843401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.05, Z:-0.01 [[ 0.99997323 0.00731726 0. 0.96961005] [-0.00731726 0.99997323 0. -0.04740599] [ 0. 0. 1. -0.01163448] [ 0. 0. 0. 1. ]] SLAMing on 1.044340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.05, Z:-0.01 [[ 0.99996718 0.0081022 0. 1.03027801] [-0.0081022 0.99996718 0. -0.04845014] [ 0. 0. 1. -0.01112571] [ 0. 0. 0. 1. ]] SLAMing on 1.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.05, Z:-0.01 [[ 0.99996827 0.0079659 0. 1.09077237] [-0.0079659 0.99996827 0. -0.05018488] [ 0. 0. 1. -0.01171432] [ 0. 0. 0. 1. ]] SLAMing on 1.1643401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.05, Z:-0.01 [[ 0.99997139 0.00756395 0. 1.15132083] [-0.00756395 0.99997139 0. -0.05213244] [ 0. 0. 1. -0.01170527] [ 0. 0. 0. 1. ]] SLAMing on 1.224340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.06, Z:-0.01 [[ 0.99998499 0.00547823 0. 1.21185399] [-0.00547823 0.99998499 0. -0.05506247] [ 0. 0. 1. -0.01315939] [ 0. 0. 0. 1. ]] SLAMing on 1.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.06, Z:-0.01 [[ 0.99998393 0.00566973 0. 1.27219361] [-0.00566973 0.99998393 0. -0.05709775] [ 0. 0. 1. -0.01430747] [ 0. 0. 0. 1. ]] SLAMing on 1.3443401279999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.06, Z:-0.02 [[ 0.99997409 0.00719893 0. 1.33285879] [-0.00719893 0.99997409 0. -0.05901455] [ 0. 0. 1. -0.01513103] [ 0. 0. 0. 1. ]] SLAMing on 1.4043401279999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.06, Z:-0.01 [[ 0.99995204 0.00979415 0. 1.39357908] [-0.00979415 0.99995204 0. -0.06213786] [ 0. 0. 1. -0.01458918] [ 0. 0. 0. 1. ]] SLAMing on 1.464340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.07, Z:-0.01 [[ 0.99992788 0.01200965 0. 1.45451277] [-0.01200965 0.99992788 0. -0.06619012] [ 0. 0. 1. -0.01407995] [ 0. 0. 0. 1. ]] SLAMing on 1.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.07, Z:-0.01 [[ 0.99990198 0.01400079 0. 1.51519493] [-0.01400079 0.99990198 0. -0.06862079] [ 0. 0. 1. -0.01344768] [ 0. 0. 0. 1. ]] SLAMing on 1.584340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.07, Z:-0.01 [[ 0.99988359 0.01525819 0. 1.57629869] [-0.01525819 0.99988359 0. -0.07391446] [ 0. 0. 1. -0.01040387] [ 0. 0. 0. 1. ]] SLAMing on 1.6443401279999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.08, Z:-0.01 [[ 0.99986361 0.01651568 0. 1.63732552] [-0.01651568 0.99986361 0. -0.08106408] [ 0. 0. 1. -0.00758245] [ 0. 0. 0. 1. ]] SLAMing on 1.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.09, Z:-0.01 [[ 0.99983244 0.01830532 0. 1.69851351] [-0.01830532 0.99983244 0. -0.08606083] [ 0. 0. 1. -0.00700903] [ 0. 0. 0. 1. ]] SLAMing on 1.764340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.09, Z:-0.01 [[ 0.99978357 0.02080417 0. 1.75938578] [-0.02080417 0.99978357 0. -0.09288368] [ 0. 0. 1. -0.00576467] [ 0. 0. 0. 1. ]] SLAMing on 1.8243401279999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.10, Z:-0.00 [[ 0.99977223 0.02134206 0. 1.82105347] [-0.02134206 0.99977223 0. -0.10319145] [ 0. 0. 1. -0.0025214 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8843401279999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.11, Z:-0.00 [[ 0.99973564 0.02299238 0. 1.88184079] [-0.02299238 0.99973564 0. -0.11025256] [ 0. 0. 1. -0.00226649] [ 0. 0. 0. 1. ]] SLAMing on 1.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.12, Z:-0.00 [[ 0.99969184 0.02482408 0. 1.94425939] [-0.02482408 0.99969184 0. -0.11984608] [ 0. 0. 1. -0.00208466] [ 0. 0. 0. 1. ]] SLAMing on 2.004340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.13, Z:-0.00 [[ 0.99964976 0.02646418 0. 2.00554881] [-0.02646418 0.99964976 0. -0.13056996] [ 0. 0. 1. -0.00258073] [ 0. 0. 0. 1. ]] SLAMing on 2.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.14, Z:-0.00 [[ 0.99963997 0.0268315 0. 2.0673731 ] [-0.0268315 0.99963997 0. -0.13732042] [ 0. 0. 1. -0.00363153] [ 0. 0. 0. 1. ]] SLAMing on 2.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.15, Z:-0.00 [[ 0.99958072 0.02895499 0. 2.1298442 ] [-0.02895499 0.99958072 0. -0.14862604] [ 0. 0. 1. -0.00247572] [ 0. 0. 0. 1. ]] SLAMing on 2.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.16, Z:-0.00 [[ 0.99957599 0.02911754 0. 2.19127721] [-0.02911754 0.99957599 0. -0.15646228] [ 0. 0. 1. -0.0022408 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2443401279999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.17, Z:-0.00 [[ 9.99530981e-01 3.06238143e-02 0.00000000e+00 2.25304468e+00] [-3.06238143e-02 9.99530981e-01 0.00000000e+00 -1.68331690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05918001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3043401279999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.18, Z:0.00 [[ 0.99954013 0.03032363 0. 2.31505683] [-0.03032363 0.99954013 0. -0.18031826] [ 0. 0. 1. 0.00393095] [ 0. 0. 0. 1. ]] SLAMing on 2.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.19, Z:0.01 [[ 0.99954785 0.03006817 0. 2.37765714] [-0.03006817 0.99954785 0. -0.19085135] [ 0. 0. 1. 0.00598668] [ 0. 0. 0. 1. ]] SLAMing on 2.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.20, Z:0.01 [[ 0.99957054 0.02930414 0. 2.4403969 ] [-0.02930414 0.99957054 0. -0.19813147] [ 0. 0. 1. 0.005149 ] [ 0. 0. 0. 1. ]] SLAMing on 2.484340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.21, Z:0.01 [[ 0.99967107 0.0256467 0. 2.50215931] [-0.0256467 0.99967107 0. -0.20824007] [ 0. 0. 1. 0.0056359 ] [ 0. 0. 0. 1. ]] SLAMing on 2.544340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.22, Z:0.00 [[ 0.99973685 0.02293964 0. 2.56487292] [-0.02293964 0.99973685 0. -0.21732 ] [ 0. 0. 1. 0.00314325] [ 0. 0. 0. 1. ]] SLAMing on 2.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.22, Z:0.00 [[ 0.99979694 0.02015132 0. 2.62667795] [-0.02015132 0.99979694 0. -0.22361672] [ 0. 0. 1. 0.00484608] [ 0. 0. 0. 1. ]] SLAMing on 2.6643401279999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.23, Z:0.00 [[ 9.99780342e-01 2.09587156e-02 0.00000000e+00 2.68875324e+00] [-2.09587156e-02 9.99780342e-01 0.00000000e+00 -2.31160263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76940989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7243401279999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.24, Z:0.01 [[ 0.99972945 0.02325991 0. 2.74939384] [-0.02325991 0.99972945 0. -0.23686483] [ 0. 0. 1. 0.00612767] [ 0. 0. 0. 1. ]] SLAMing on 2.7843401279999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.24, Z:0.01 [[ 0.99968 0.02529619 0. 2.81241789] [-0.02529619 0.99968 0. -0.24093367] [ 0. 0. 1. 0.0059237 ] [ 0. 0. 0. 1. ]] SLAMing on 2.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.25, Z:0.00 [[ 0.99958094 0.02894714 0. 2.87537214] [-0.02894714 0.99958094 0. -0.24657433] [ 0. 0. 1. 0.00339509] [ 0. 0. 0. 1. ]] SLAMing on 2.904340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.25, Z:0.01 [[ 0.99960624 0.02805996 0. 2.93828807] [-0.02805996 0.99960624 0. -0.24959577] [ 0. 0. 1. 0.00754641] [ 0. 0. 0. 1. ]] SLAMing on 2.964340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.25, Z:0.01 [[ 0.99960924 0.02795293 0. 3.00016841] [-0.02795293 0.99960924 0. -0.25257058] [ 0. 0. 1. 0.00727896] [ 0. 0. 0. 1. ]] SLAMing on 3.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.26, Z:0.01 [[ 0.99967326 0.02556135 0. 3.06302107] [-0.02556135 0.99967326 0. -0.25692662] [ 0. 0. 1. 0.01055139] [ 0. 0. 0. 1. ]] SLAMing on 3.084340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.26, Z:0.01 [[ 0.99969717 0.02460832 0. 3.12637149] [-0.02460832 0.99969717 0. -0.2597375 ] [ 0. 0. 1. 0.01090369] [ 0. 0. 0. 1. ]] SLAMing on 3.144340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.26, Z:0.01 [[ 0.99973146 0.02317338 0. 3.18827749] [-0.02317338 0.99973146 0. -0.26304763] [ 0. 0. 1. 0.01007342] [ 0. 0. 0. 1. ]] SLAMing on 3.2043401279999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.27, Z:0.01 [[ 0.99972546 0.02343101 0. 3.25131382] [-0.02343101 0.99972546 0. -0.26652891] [ 0. 0. 1. 0.01010729] [ 0. 0. 0. 1. ]] SLAMing on 3.2643401279999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.27, Z:0.01 [[ 0.99969913 0.02452849 0. 3.3144073 ] [-0.02452849 0.99969913 0. -0.26981044] [ 0. 0. 1. 0.01037032] [ 0. 0. 0. 1. ]] SLAMing on 3.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.27, Z:0.01 [[ 0.99962607 0.02734438 0. 3.37716483] [-0.02734438 0.99962607 0. -0.27307932] [ 0. 0. 1. 0.00951448] [ 0. 0. 0. 1. ]] SLAMing on 3.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.28, Z:0.01 [[ 0.99957036 0.02931026 0. 3.43951122] [-0.02931026 0.99957036 0. -0.27592109] [ 0. 0. 1. 0.00945748] [ 0. 0. 0. 1. ]] SLAMing on 3.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.28, Z:0.01 [[ 0.99957318 0.02921406 0. 3.50237105] [-0.02921406 0.99957318 0. -0.27890082] [ 0. 0. 1. 0.00976804] [ 0. 0. 0. 1. ]] SLAMing on 3.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.28, Z:0.01 [[ 0.99961513 0.02774147 0. 3.56473274] [-0.02774147 0.99961513 0. -0.28321061] [ 0. 0. 1. 0.01093773] [ 0. 0. 0. 1. ]] SLAMing on 3.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.29, Z:0.01 [[ 0.99966445 0.02590359 0. 3.62674641] [-0.02590359 0.99966445 0. -0.28925718] [ 0. 0. 1. 0.0104201 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6243401279999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.29, Z:0.01 [[ 0.99967863 0.02535047 0. 3.68966414] [-0.02535047 0.99967863 0. -0.29463552] [ 0. 0. 1. 0.00742335] [ 0. 0. 0. 1. ]] SLAMing on 3.6843401279999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.30, Z:0.01 [[ 0.99970958 0.02409894 0. 3.75156293] [-0.02409894 0.99970958 0. -0.30170752] [ 0. 0. 1. 0.01038967] [ 0. 0. 0. 1. ]] SLAMing on 3.7443401279999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.31, Z:0.01 [[ 0.9997053 0.02427567 0. 3.81399537] [-0.02427567 0.9997053 0. -0.30921765] [ 0. 0. 1. 0.01114453] [ 0. 0. 0. 1. ]] SLAMing on 3.8043401279999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.32, Z:0.01 [[ 0.99970011 0.02448856 0. 3.87652017] [-0.02448856 0.99970011 0. -0.31557869] [ 0. 0. 1. 0.01117956] [ 0. 0. 0. 1. ]] SLAMing on 3.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.32, Z:0.01 [[ 0.99970744 0.02418765 0. 3.93801051] [-0.02418765 0.99970744 0. -0.32471909] [ 0. 0. 1. 0.01196859] [ 0. 0. 0. 1. ]] SLAMing on 3.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.33, Z:0.01 [[ 0.99971266 0.02397058 0. 4.00101373] [-0.02397058 0.99971266 0. -0.33319194] [ 0. 0. 1. 0.01398934] [ 0. 0. 0. 1. ]] SLAMing on 3.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.34, Z:0.01 [[ 0.99969988 0.0244978 0. 4.06409517] [-0.0244978 0.99969988 0. -0.33949461] [ 0. 0. 1. 0.01450438] [ 0. 0. 0. 1. ]] SLAMing on 4.044340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.35, Z:0.01 [[ 0.99966347 0.02594123 0. 4.1267288 ] [-0.02594123 0.99966347 0. -0.34855876] [ 0. 0. 1. 0.01257383] [ 0. 0. 0. 1. ]] SLAMing on 4.1043401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.36, Z:0.01 [[ 0.99960407 0.02813725 0. 4.18922898] [-0.02813725 0.99960407 0. -0.35824384] [ 0. 0. 1. 0.00704636] [ 0. 0. 0. 1. ]] SLAMing on 4.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.37, Z:0.01 [[ 0.99960917 0.02795537 0. 4.25142025] [-0.02795537 0.99960917 0. -0.36722052] [ 0. 0. 1. 0.00615018] [ 0. 0. 0. 1. ]] SLAMing on 4.224340128000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.37, Z:0.01 [[ 0.99963516 0.02700994 0. 4.31303177] [-0.02700994 0.99963516 0. -0.37456964] [ 0. 0. 1. 0.00935926] [ 0. 0. 0. 1. ]] SLAMing on 4.284340128 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.38, Z:0.01 [[ 0.99969159 0.02483386 0. 4.37546244] [-0.02483386 0.99969159 0. -0.38455286] [ 0. 0. 1. 0.00558519] [ 0. 0. 0. 1. ]] SLAMing on 4.344340128000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.39, Z:0.01 [[ 0.99977582 0.02117343 0. 4.43715853] [-0.02117343 0.99977582 0. -0.39266188] [ 0. 0. 1. 0.00922509] [ 0. 0. 0. 1. ]] SLAMing on 4.404340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.40, Z:0.01 [[ 0.99983141 0.01836176 0. 4.49946692] [-0.01836176 0.99983141 0. -0.40081803] [ 0. 0. 1. 0.00699904] [ 0. 0. 0. 1. ]] SLAMing on 4.464340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.41, Z:0.01 [[ 0.99985732 0.0168918 0. 4.5611145 ] [-0.0168918 0.99985732 0. -0.40985542] [ 0. 0. 1. 0.00561613] [ 0. 0. 0. 1. ]] SLAMing on 4.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.42, Z:0.01 [[ 0.99986804 0.01624479 0. 4.6237841 ] [-0.01624479 0.99986804 0. -0.41700465] [ 0. 0. 1. 0.00766102] [ 0. 0. 0. 1. ]] SLAMing on 4.584340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.42, Z:0.00 [[ 9.99834705e-01 1.81813572e-02 0.00000000e+00 4.68562228e+00] [-1.81813572e-02 9.99834705e-01 0.00000000e+00 -4.21610055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48142193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6443401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.43, Z:0.00 [[ 9.99791147e-01 2.04367699e-02 0.00000000e+00 4.74838358e+00] [-2.04367699e-02 9.99791147e-01 0.00000000e+00 -4.32057850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99561324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.44, Z:0.00 [[ 9.99615452e-01 2.77298973e-02 0.00000000e+00 4.81049585e+00] [-2.77298973e-02 9.99615452e-01 0.00000000e+00 -4.38263808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56952024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.764340128000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.44, Z:0.00 [[ 9.99495002e-01 3.17764079e-02 0.00000000e+00 4.87187647e+00] [-3.17764079e-02 9.99495002e-01 0.00000000e+00 -4.41320595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80924887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.45, Z:0.00 [[ 9.99327606e-01 3.66651931e-02 0.00000000e+00 4.93432988e+00] [-3.66651931e-02 9.99327606e-01 0.00000000e+00 -4.45616267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45975628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.45, Z:0.00 [[ 9.99380806e-01 3.51852851e-02 0.00000000e+00 4.99594358e+00] [-3.51852851e-02 9.99380806e-01 0.00000000e+00 -4.53078799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47815272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.46, Z:0.00 [[ 9.99470599e-01 3.25349404e-02 0.00000000e+00 5.05884969e+00] [-3.25349404e-02 9.99470599e-01 0.00000000e+00 -4.55299278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66525074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.46, Z:0.00 [[ 9.99518863e-01 3.10168229e-02 0.00000000e+00 5.12159509e+00] [-3.10168229e-02 9.99518863e-01 0.00000000e+00 -4.56857007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32541879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.46, Z:0.00 [[ 9.99716631e-01 2.38045841e-02 0.00000000e+00 5.18416825e+00] [-2.38045841e-02 9.99716631e-01 0.00000000e+00 -4.59112620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14032697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.46, Z:0.00 [[ 9.99876745e-01 1.57001588e-02 0.00000000e+00 5.24646820e+00] [-1.57001588e-02 9.99876745e-01 0.00000000e+00 -4.63160633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85337680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1843401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.46, Z:0.01 [[ 0.99994508 0.01048062 0. 5.30854007] [-0.01048062 0.99994508 0. -0.46468336] [ 0. 0. 1. 0.00542484] [ 0. 0. 0. 1. ]] SLAMing on 5.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.46, Z:0.01 [[ 9.99994001e-01 3.46375170e-03 0.00000000e+00 5.37124521e+00] [-3.46375170e-03 9.99994001e-01 0.00000000e+00 -4.64878051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37488462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.47, Z:0.01 [[ 9.99999430e-01 -1.06742417e-03 0.00000000e+00 5.43236552e+00] [ 1.06742417e-03 9.99999430e-01 0.00000000e+00 -4.67960343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34390065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.47, Z:0.01 [[ 9.99999443e-01 -1.05542913e-03 0.00000000e+00 5.49289738e+00] [ 1.05542913e-03 9.99999443e-01 0.00000000e+00 -4.69462273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56682552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.47, Z:0.01 [[ 9.99997123e-01 2.39877197e-03 0.00000000e+00 5.55381826e+00] [-2.39877197e-03 9.99997123e-01 0.00000000e+00 -4.68508130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20990636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.47, Z:0.01 [[ 0.99995975 0.00897262 0. 5.61521233] [-0.00897262 0.99995975 0. -0.46883807] [ 0. 0. 1. 0.014092 ] [ 0. 0. 0. 1. ]] SLAMing on 5.544340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.47, Z:0.01 [[ 0.99990171 0.01402053 0. 5.67799745] [-0.01402053 0.99990171 0. -0.47000686] [ 0. 0. 1. 0.01399759] [ 0. 0. 0. 1. ]] SLAMing on 5.6043401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.47, Z:0.01 [[ 0.99982469 0.01872403 0. 5.74069454] [-0.01872403 0.99982469 0. -0.46690821] [ 0. 0. 1. 0.01381425] [ 0. 0. 0. 1. ]] SLAMing on 5.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.47, Z:0.01 [[ 0.99970399 0.02432947 0. 5.802879 ] [-0.02432947 0.99970399 0. -0.46850415] [ 0. 0. 1. 0.01402039] [ 0. 0. 0. 1. ]] SLAMing on 5.724340128000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.47, Z:0.01 [[ 0.99982929 0.01847655 0. 5.86596882] [-0.01847655 0.99982929 0. -0.46572299] [ 0. 0. 1. 0.01311018] [ 0. 0. 0. 1. ]] SLAMing on 5.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.47, Z:0.01 [[ 0.9998694 0.01616127 0. 5.92820405] [-0.01616127 0.9998694 0. -0.46548302] [ 0. 0. 1. 0.01344773] [ 0. 0. 0. 1. ]] SLAMing on 5.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.46, Z:0.01 [[ 0.99993422 0.0114699 0. 5.9911569 ] [-0.0114699 0.99993422 0. -0.46437941] [ 0. 0. 1. 0.01440182] [ 0. 0. 0. 1. ]] SLAMing on 5.904340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.47, Z:0.02 [[ 0.99994892 0.01010693 0. 6.05425224] [-0.01010693 0.99994892 0. -0.4654711 ] [ 0. 0. 1. 0.01515738] [ 0. 0. 0. 1. ]] SLAMing on 5.964340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.46, Z:0.01 [[ 0.9999691 0.00786108 0. 6.11766764] [-0.00786108 0.9999691 0. -0.4634562 ] [ 0. 0. 1. 0.01284807] [ 0. 0. 0. 1. ]] SLAMing on 6.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.46, Z:0.01 [[ 0.99996838 0.00795228 0. 6.17958776] [-0.00795228 0.99996838 0. -0.46220783] [ 0. 0. 1. 0.00882694] [ 0. 0. 0. 1. ]] SLAMing on 6.084340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.46, Z:0.01 [[ 9.99932895e-01 1.15847119e-02 0.00000000e+00 6.24158564e+00] [-1.15847119e-02 9.99932895e-01 0.00000000e+00 -4.62817354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91153342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1443401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.46, Z:0.01 [[ 0.99987859 0.01558252 0. 6.30480878] [-0.01558252 0.99987859 0. -0.46385784] [ 0. 0. 1. 0.00672367] [ 0. 0. 0. 1. ]] SLAMing on 6.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.46, Z:0.00 [[ 9.99837438e-01 1.80304458e-02 0.00000000e+00 6.36724657e+00] [-1.80304458e-02 9.99837438e-01 0.00000000e+00 -4.63821565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98627070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.264340128000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.47, Z:0.00 [[ 9.99849634e-01 1.73409528e-02 0.00000000e+00 6.43025639e+00] [-1.73409528e-02 9.99849634e-01 0.00000000e+00 -4.66597043e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76252964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.47, Z:0.01 [[ 0.99988405 0.01522789 0. 6.49343013] [-0.01522789 0.99988405 0. -0.46679516] [ 0. 0. 1. 0.00703768] [ 0. 0. 0. 1. ]] SLAMing on 6.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.47, Z:0.01 [[ 9.99863232e-01 1.65383783e-02 0.00000000e+00 6.55581066e+00] [-1.65383783e-02 9.99863232e-01 0.00000000e+00 -4.68826753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83526963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.47, Z:0.01 [[ 0.99985144 0.01723674 0. 6.6191743 ] [-0.01723674 0.99985144 0. -0.47142639] [ 0. 0. 1. 0.00863753] [ 0. 0. 0. 1. ]] SLAMing on 6.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.47, Z:0.01 [[ 0.99985152 0.0172317 0. 6.6819763 ] [-0.0172317 0.99985152 0. -0.47328174] [ 0. 0. 1. 0.00938154] [ 0. 0. 0. 1. ]] SLAMing on 6.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.48, Z:0.01 [[ 9.99798108e-01 2.00933432e-02 0.00000000e+00 6.74482724e+00] [-2.00933432e-02 9.99798108e-01 0.00000000e+00 -4.75786176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70021517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.48, Z:0.00 [[ 9.99766442e-01 2.16115998e-02 0.00000000e+00 6.80686578e+00] [-2.16115998e-02 9.99766442e-01 0.00000000e+00 -4.78682578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83926306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6843401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.48, Z:0.01 [[ 9.99793324e-01 2.03299859e-02 0.00000000e+00 6.86887489e+00] [-2.03299859e-02 9.99793324e-01 0.00000000e+00 -4.80922658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25049529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.48, Z:0.01 [[ 0.99979068 0.02045975 0. 6.93101421] [-0.02045975 0.99979068 0. -0.48439314] [ 0. 0. 1. 0.00695855] [ 0. 0. 0. 1. ]] SLAMing on 6.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.49, Z:0.01 [[ 0.99967961 0.02531148 0. 6.99411785] [-0.02531148 0.99967961 0. -0.48808861] [ 0. 0. 1. 0.00985959] [ 0. 0. 0. 1. ]] SLAMing on 6.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.49, Z:0.01 [[ 0.99960218 0.0282042 0. 7.05608725] [-0.0282042 0.99960218 0. -0.49084271] [ 0. 0. 1. 0.00823294] [ 0. 0. 0. 1. ]] SLAMing on 6.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.49, Z:0.01 [[ 0.99953513 0.03048813 0. 7.11877427] [-0.03048813 0.99953513 0. -0.49353247] [ 0. 0. 1. 0.01052396] [ 0. 0. 0. 1. ]] SLAMing on 6.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.50, Z:0.01 [[ 0.9993521 0.03599132 0. 7.18140022] [-0.03599132 0.9993521 0. -0.49617722] [ 0. 0. 1. 0.0117575 ] [ 0. 0. 0. 1. ]] SLAMing on 7.044340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.50, Z:0.01 [[ 0.99930955 0.03715401 0. 7.24309162] [-0.03715401 0.99930955 0. -0.49957901] [ 0. 0. 1. 0.01123002] [ 0. 0. 0. 1. ]] SLAMing on 7.1043401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.50, Z:0.01 [[ 0.99940723 0.03442652 0. 7.30389604] [-0.03442652 0.99940723 0. -0.50327056] [ 0. 0. 1. 0.01149287] [ 0. 0. 0. 1. ]] SLAMing on 7.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.51, Z:0.01 [[ 0.99959865 0.02832929 0. 7.36620703] [-0.02832929 0.99959865 0. -0.50786372] [ 0. 0. 1. 0.0147905 ] [ 0. 0. 0. 1. ]] SLAMing on 7.224340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.51, Z:0.01 [[ 0.99971422 0.02390547 0. 7.42809839] [-0.02390547 0.99971422 0. -0.51149028] [ 0. 0. 1. 0.01429536] [ 0. 0. 0. 1. ]] SLAMing on 7.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.51, Z:0.01 [[ 0.99969827 0.02456342 0. 7.48998829] [-0.02456342 0.99969827 0. -0.51436347] [ 0. 0. 1. 0.01417519] [ 0. 0. 0. 1. ]] SLAMing on 7.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.52, Z:0.01 [[ 0.99955669 0.02977301 0. 7.55261131] [-0.02977301 0.99955669 0. -0.51722608] [ 0. 0. 1. 0.01207237] [ 0. 0. 0. 1. ]] SLAMing on 7.404340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.52, Z:0.01 [[ 0.99942325 0.03395825 0. 7.61438069] [-0.03395825 0.99942325 0. -0.5191988 ] [ 0. 0. 1. 0.0095179 ] [ 0. 0. 0. 1. ]] SLAMing on 7.464340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.52, Z:0.01 [[ 0.99911003 0.04217984 0. 7.6771083 ] [-0.04217984 0.99911003 0. -0.52289595] [ 0. 0. 1. 0.0097881 ] [ 0. 0. 0. 1. ]] SLAMing on 7.524340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.53, Z:0.01 [[ 0.99902088 0.04424108 0. 7.73981416] [-0.04424108 0.99902088 0. -0.53090976] [ 0. 0. 1. 0.00997216] [ 0. 0. 0. 1. ]] SLAMing on 7.584340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.53, Z:0.01 [[ 0.99905254 0.04352029 0. 7.80231695] [-0.04352029 0.99905254 0. -0.53375186] [ 0. 0. 1. 0.01025593] [ 0. 0. 0. 1. ]] SLAMing on 7.6443401280000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.54, Z:0.01 [[ 0.99906802 0.04316354 0. 7.86450801] [-0.04316354 0.99906802 0. -0.53788497] [ 0. 0. 1. 0.0119168 ] [ 0. 0. 0. 1. ]] SLAMing on 7.704340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.54, Z:0.01 [[ 0.99910452 0.04231035 0. 7.9259983 ] [-0.04231035 0.99910452 0. -0.54397219] [ 0. 0. 1. 0.0106093 ] [ 0. 0. 0. 1. ]] SLAMing on 7.764340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.55, Z:0.01 [[ 0.99904389 0.04371841 0. 7.98894025] [-0.04371841 0.99904389 0. -0.54903848] [ 0. 0. 1. 0.01090215] [ 0. 0. 0. 1. ]] SLAMing on 7.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.55, Z:0.01 [[ 0.99907343 0.04303803 0. 8.05208168] [-0.04303803 0.99907343 0. -0.55332382] [ 0. 0. 1. 0.01109125] [ 0. 0. 0. 1. ]] SLAMing on 7.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.56, Z:0.01 [[ 9.99242257e-01 3.89218769e-02 0.00000000e+00 8.11344022e+00] [-3.89218769e-02 9.99242257e-01 0.00000000e+00 -5.59593645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08969011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.57, Z:0.01 [[ 0.99934407 0.03621368 0. 8.17629691] [-0.03621368 0.99934407 0. -0.56582294] [ 0. 0. 1. 0.00883142] [ 0. 0. 0. 1. ]] SLAMing on 8.004340127999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.57, Z:0.01 [[ 0.99946849 0.03259974 0. 8.23797087] [-0.03259974 0.99946849 0. -0.5724999 ] [ 0. 0. 1. 0.00888631] [ 0. 0. 0. 1. ]] SLAMing on 8.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.58, Z:0.01 [[ 0.99955972 0.02967106 0. 8.30092754] [-0.02967106 0.99955972 0. -0.57814387] [ 0. 0. 1. 0.00873983] [ 0. 0. 0. 1. ]] SLAMing on 8.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.59, Z:0.01 [[ 9.99484344e-01 3.21098978e-02 0.00000000e+00 8.36343253e+00] [-3.21098978e-02 9.99484344e-01 0.00000000e+00 -5.86657990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18642376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.59, Z:0.01 [[ 9.99530054e-01 3.06540459e-02 0.00000000e+00 8.42464305e+00] [-3.06540459e-02 9.99530054e-01 0.00000000e+00 -5.93888900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71383528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.60, Z:0.01 [[ 0.99941688 0.03414525 0. 8.48748382] [-0.03414525 0.99941688 0. -0.6000058 ] [ 0. 0. 1. 0.00941459] [ 0. 0. 0. 1. ]] SLAMing on 8.304340128 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.60, Z:0.01 [[ 9.99374403e-01 3.53666826e-02 0.00000000e+00 8.54859747e+00] [-3.53666826e-02 9.99374403e-01 0.00000000e+00 -6.03526447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30069694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.61, Z:0.01 [[ 0.99915115 0.04119434 0. 8.61095043] [-0.04119434 0.99915115 0. -0.61080941] [ 0. 0. 1. 0.01030244] [ 0. 0. 0. 1. ]] SLAMing on 8.424340128 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.62, Z:0.01 [[ 0.99912066 0.04192745 0. 8.67325763] [-0.04192745 0.99912066 0. -0.61723069] [ 0. 0. 1. 0.01060709] [ 0. 0. 0. 1. ]] SLAMing on 8.484340128 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.62, Z:0.01 [[ 0.99922035 0.03948016 0. 8.73626115] [-0.03948016 0.99922035 0. -0.62202258] [ 0. 0. 1. 0.01100731] [ 0. 0. 0. 1. ]] SLAMing on 8.544340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.63, Z:0.01 [[ 0.99935691 0.03585748 0. 8.79814467] [-0.03585748 0.99935691 0. -0.63009413] [ 0. 0. 1. 0.01353318] [ 0. 0. 0. 1. ]] SLAMing on 8.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.63, Z:0.01 [[ 0.99943935 0.03348106 0. 8.85992817] [-0.03348106 0.99943935 0. -0.63495022] [ 0. 0. 1. 0.01421513] [ 0. 0. 0. 1. ]] SLAMing on 8.664340128000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.64, Z:0.01 [[ 0.99941618 0.03416568 0. 8.92224581] [-0.03416568 0.99941618 0. -0.63920215] [ 0. 0. 1. 0.01306091] [ 0. 0. 0. 1. ]] SLAMing on 8.724340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.64, Z:0.01 [[ 0.9992823 0.03787983 0. 8.9830149 ] [-0.03787983 0.9992823 0. -0.64303426] [ 0. 0. 1. 0.01120333] [ 0. 0. 0. 1. ]] SLAMing on 8.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.65, Z:0.01 [[ 0.99924371 0.03888447 0. 9.04583581] [-0.03888447 0.99924371 0. -0.64785545] [ 0. 0. 1. 0.01185478] [ 0. 0. 0. 1. ]] SLAMing on 8.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.65, Z:0.01 [[ 0.99916275 0.04091221 0. 9.10736679] [-0.04091221 0.99916275 0. -0.65143553] [ 0. 0. 1. 0.01130028] [ 0. 0. 0. 1. ]] SLAMing on 8.904340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.66, Z:0.01 [[ 0.99919157 0.04020209 0. 9.16987608] [-0.04020209 0.99919157 0. -0.65660145] [ 0. 0. 1. 0.01322208] [ 0. 0. 0. 1. ]] SLAMing on 8.964340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.66, Z:0.01 [[ 0.99924812 0.03877099 0. 9.23171853] [-0.03877099 0.99924812 0. -0.66259974] [ 0. 0. 1. 0.01330825] [ 0. 0. 0. 1. ]] SLAMing on 9.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.67, Z:0.01 [[ 0.99931392 0.03703637 0. 9.2934872 ] [-0.03703637 0.99931392 0. -0.66769927] [ 0. 0. 1. 0.01400663] [ 0. 0. 0. 1. ]] SLAMing on 9.084340128000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.67, Z:0.01 [[ 0.99944543 0.0332992 0. 9.3557008 ] [-0.0332992 0.99944543 0. -0.67437572] [ 0. 0. 1. 0.01399249] [ 0. 0. 0. 1. ]] SLAMing on 9.144340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.68, Z:0.01 [[ 0.99943261 0.03368173 0. 9.4185744 ] [-0.03368173 0.99943261 0. -0.68072324] [ 0. 0. 1. 0.01490741] [ 0. 0. 0. 1. ]] SLAMing on 9.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.69, Z:0.01 [[ 0.99938774 0.03498775 0. 9.4807396 ] [-0.03498775 0.99938774 0. -0.68665358] [ 0. 0. 1. 0.01380796] [ 0. 0. 0. 1. ]] SLAMing on 9.264340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.69, Z:0.01 [[ 0.99929351 0.03758301 0. 9.5425827 ] [-0.03758301 0.99929351 0. -0.68950325] [ 0. 0. 1. 0.01355467] [ 0. 0. 0. 1. ]] SLAMing on 9.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.69, Z:0.01 [[ 0.99918345 0.04040331 0. 9.60518477] [-0.04040331 0.99918345 0. -0.6916666 ] [ 0. 0. 1. 0.01252897] [ 0. 0. 0. 1. ]] SLAMing on 9.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.70, Z:0.01 [[ 0.99922806 0.03928468 0. 9.66710354] [-0.03928468 0.99922806 0. -0.69513217] [ 0. 0. 1. 0.0125932 ] [ 0. 0. 0. 1. ]] SLAMing on 9.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.70, Z:0.01 [[ 0.99924854 0.03876017 0. 9.72963784] [-0.03876017 0.99924854 0. -0.69881249] [ 0. 0. 1. 0.01340165] [ 0. 0. 0. 1. ]] SLAMing on 9.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.70, Z:0.01 [[ 0.99926984 0.03820716 0. 9.79264851] [-0.03820716 0.99926984 0. -0.69902835] [ 0. 0. 1. 0.01342423] [ 0. 0. 0. 1. ]] SLAMing on 9.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.70, Z:0.01 [[ 0.99921685 0.03956873 0. 9.85422448] [-0.03956873 0.99921685 0. -0.70064407] [ 0. 0. 1. 0.01139119] [ 0. 0. 0. 1. ]] SLAMing on 9.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.70, Z:0.01 [[ 0.99920468 0.03987483 0. 9.91751405] [-0.03987483 0.99920468 0. -0.70469464] [ 0. 0. 1. 0.01139119] [ 0. 0. 0. 1. ]] SLAMing on 9.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.71, Z:0.01 [[ 0.99918747 0.04030395 0. 9.97901207] [-0.04030395 0.99918747 0. -0.70731151] [ 0. 0. 1. 0.01047562] [ 0. 0. 0. 1. ]] SLAMing on 9.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.71, Z:0.01 [[ 9.99312228e-01 3.70819580e-02 0.00000000e+00 1.00409727e+01] [-3.70819580e-02 9.99312228e-01 0.00000000e+00 -7.09233949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85670237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.804340128 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.72, Z:0.01 [[ 0.99941763 0.03412335 0. 10.10368137] [-0.03412335 0.99941763 0. -0.71588576] [ 0. 0. 1. 0.01398564] [ 0. 0. 0. 1. ]] SLAMing on 9.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.72, Z:0.01 [[ 9.99564020e-01 2.95257603e-02 0.00000000e+00 1.01663026e+01] [-2.95257603e-02 9.99564020e-01 0.00000000e+00 -7.16879836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58833382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.72, Z:0.01 [[ 9.99643746e-01 2.66904736e-02 0.00000000e+00 1.02289921e+01] [-2.66904736e-02 9.99643746e-01 0.00000000e+00 -7.16872304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92139801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.72, Z:0.01 [[ 9.99551523e-01 2.99458438e-02 0.00000000e+00 1.02909336e+01] [-2.99458438e-02 9.99551523e-01 0.00000000e+00 -7.21120713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68234619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.72, Z:0.01 [[ 9.99554018e-01 2.98624523e-02 0.00000000e+00 1.03537409e+01] [-2.98624523e-02 9.99554018e-01 0.00000000e+00 -7.20700749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30942892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.72, Z:0.01 [[ 0.99952196 0.03091694 0. 10.4165069 ] [-0.03091694 0.99952196 0. -0.72335332] [ 0. 0. 1. 0.01041953] [ 0. 0. 0. 1. ]] SLAMing on 10.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.72, Z:0.01 [[ 0.99941474 0.03420789 0. 10.47909054] [-0.03420789 0.99941474 0. -0.72365415] [ 0. 0. 1. 0.01337041] [ 0. 0. 0. 1. ]] SLAMing on 10.224340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.72, Z:0.01 [[ 0.99935527 0.03590322 0. 10.54212054] [-0.03590322 0.99935527 0. -0.72473234] [ 0. 0. 1. 0.01368876] [ 0. 0. 0. 1. ]] SLAMing on 10.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.73, Z:0.01 [[ 0.99929113 0.0376461 0. 10.60445288] [-0.0376461 0.99929113 0. -0.72852885] [ 0. 0. 1. 0.01469177] [ 0. 0. 0. 1. ]] SLAMing on 10.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.73, Z:0.02 [[ 0.9994004 0.03462432 0. 10.6667512 ] [-0.03462432 0.9994004 0. -0.72930715] [ 0. 0. 1. 0.01866702] [ 0. 0. 0. 1. ]] SLAMing on 10.404340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.73, Z:0.02 [[ 0.99942059 0.0340366 0. 10.7300362 ] [-0.0340366 0.99942059 0. -0.73177708] [ 0. 0. 1. 0.01769202] [ 0. 0. 0. 1. ]] SLAMing on 10.464340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.74, Z:0.01 [[ 0.9994178 0.0341183 0. 10.79278957] [-0.0341183 0.9994178 0. -0.73555581] [ 0. 0. 1. 0.01388757] [ 0. 0. 0. 1. ]] SLAMing on 10.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.74, Z:0.02 [[ 0.99948115 0.03220903 0. 10.85437009] [-0.03220903 0.99948115 0. -0.73634558] [ 0. 0. 1. 0.0151194 ] [ 0. 0. 0. 1. ]] SLAMing on 10.584340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.74, Z:0.01 [[ 9.99523757e-01 3.08586894e-02 0.00000000e+00 1.09160918e+01] [-3.08586894e-02 9.99523757e-01 0.00000000e+00 -7.39243509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02802514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.74, Z:0.01 [[ 0.99954781 0.03006945 0. 10.97669983] [-0.03006945 0.99954781 0. -0.74150697] [ 0. 0. 1. 0.01156321] [ 0. 0. 0. 1. ]] SLAMing on 10.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.74, Z:0.01 [[ 0.99956917 0.02935077 0. 11.0387879 ] [-0.02935077 0.99956917 0. -0.74439383] [ 0. 0. 1. 0.01220295] [ 0. 0. 0. 1. ]] SLAMing on 10.764340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.75, Z:0.01 [[ 0.99958868 0.02867877 0. 11.10152862] [-0.02867877 0.99958868 0. -0.74618384] [ 0. 0. 1. 0.01129738] [ 0. 0. 0. 1. ]] SLAMing on 10.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.75, Z:0.01 [[ 9.99612772e-01 2.78263453e-02 0.00000000e+00 1.11640749e+01] [-2.78263453e-02 9.99612772e-01 0.00000000e+00 -7.50191215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00358756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.75, Z:0.01 [[ 9.99538250e-01 3.03856268e-02 0.00000000e+00 1.12260116e+01] [-3.03856268e-02 9.99538250e-01 0.00000000e+00 -7.52234998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02917157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.75, Z:0.01 [[ 9.99378829e-01 3.52413949e-02 0.00000000e+00 1.12893406e+01] [-3.52413949e-02 9.99378829e-01 0.00000000e+00 -7.52314365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05059687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.75, Z:0.00 [[ 9.99100761e-01 4.23989212e-02 0.00000000e+00 1.13511853e+01] [-4.23989212e-02 9.99100761e-01 0.00000000e+00 -7.53402820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25019558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.76, Z:0.00 [[ 9.99029537e-01 4.40452459e-02 0.00000000e+00 1.14138518e+01] [-4.40452459e-02 9.99029537e-01 0.00000000e+00 -7.57124102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48783929e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.76, Z:0.00 [[ 9.98918600e-01 4.64933329e-02 0.00000000e+00 1.14756468e+01] [-4.64933329e-02 9.98918600e-01 0.00000000e+00 -7.61277207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84858454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.77, Z:0.00 [[ 9.98874362e-01 4.74342659e-02 0.00000000e+00 1.15378587e+01] [-4.74342659e-02 9.98874362e-01 0.00000000e+00 -7.68895773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52602072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244340128 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.77, Z:-0.00 [[ 9.98899160e-01 4.69091509e-02 0.00000000e+00 1.16001988e+01] [-4.69091509e-02 9.98899160e-01 0.00000000e+00 -7.69447518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05103021e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.78, Z:0.00 [[ 9.98952407e-01 4.57612197e-02 0.00000000e+00 1.16623192e+01] [-4.57612197e-02 9.98952407e-01 0.00000000e+00 -7.75649567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69285929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.78, Z:0.00 [[ 9.99108032e-01 4.22272478e-02 0.00000000e+00 1.17236404e+01] [-4.22272478e-02 9.99108032e-01 0.00000000e+00 -7.80336255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20426681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.78, Z:0.00 [[ 9.99166381e-01 4.08233237e-02 0.00000000e+00 1.17867690e+01] [-4.08233237e-02 9.99166381e-01 0.00000000e+00 -7.84179700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38574033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.79, Z:0.00 [[ 9.99192598e-01 4.01765155e-02 0.00000000e+00 1.18493132e+01] [-4.01765155e-02 9.99192598e-01 0.00000000e+00 -7.88744944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60003064e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.79, Z:-0.00 [[ 9.99132329e-01 4.16483893e-02 0.00000000e+00 1.19114701e+01] [-4.16483893e-02 9.99132329e-01 0.00000000e+00 -7.91420768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.26807730e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.79, Z:-0.00 [[ 9.99169546e-01 4.07457767e-02 0.00000000e+00 1.19732259e+01] [-4.07457767e-02 9.99169546e-01 0.00000000e+00 -7.94866277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39255856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.80, Z:-0.00 [[ 9.98933908e-01 4.61632654e-02 0.00000000e+00 1.20362255e+01] [-4.61632654e-02 9.98933908e-01 0.00000000e+00 -7.99001766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28422162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.80, Z:-0.00 [[ 9.98805466e-01 4.88634957e-02 0.00000000e+00 1.20991757e+01] [-4.88634957e-02 9.98805466e-01 0.00000000e+00 -8.03066374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49364716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.81, Z:-0.00 [[ 9.98668818e-01 5.15809230e-02 0.00000000e+00 1.21606945e+01] [-5.15809230e-02 9.98668818e-01 0.00000000e+00 -8.06355214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78303166e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.81, Z:-0.00 [[ 9.98621995e-01 5.24796222e-02 0.00000000e+00 1.22238153e+01] [-5.24796222e-02 9.98621995e-01 0.00000000e+00 -8.09598163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41117519e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.81, Z:-0.00 [[ 9.98461809e-01 5.54438018e-02 0.00000000e+00 1.22867416e+01] [-5.54438018e-02 9.98461809e-01 0.00000000e+00 -8.12441685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27015369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.82, Z:-0.00 [[ 9.98357947e-01 5.72835828e-02 0.00000000e+00 1.23496777e+01] [-5.72835828e-02 9.98357947e-01 0.00000000e+00 -8.15984765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87872829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.82, Z:-0.00 [[ 9.98048737e-01 6.24397195e-02 0.00000000e+00 1.24126363e+01] [-6.24397195e-02 9.98048737e-01 0.00000000e+00 -8.23710372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52859138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.83, Z:-0.00 [[ 9.97908767e-01 6.46381700e-02 0.00000000e+00 1.24758921e+01] [-6.46381700e-02 9.97908767e-01 0.00000000e+00 -8.25042957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63932961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.83, Z:-0.00 [[ 9.97765153e-01 6.68184009e-02 0.00000000e+00 1.25383177e+01] [-6.68184009e-02 9.97765153e-01 0.00000000e+00 -8.29568477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99439320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.84, Z:-0.00 [[ 9.97737483e-01 6.72303106e-02 0.00000000e+00 1.26012862e+01] [-6.72303106e-02 9.97737483e-01 0.00000000e+00 -8.37524482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71196192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.85, Z:-0.00 [[ 9.97832149e-01 6.58103518e-02 0.00000000e+00 1.26632941e+01] [-6.58103518e-02 9.97832149e-01 0.00000000e+00 -8.45115220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48920076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.85, Z:-0.00 [[ 9.97963379e-01 6.37894509e-02 0.00000000e+00 1.27251129e+01] [-6.37894509e-02 9.97963379e-01 0.00000000e+00 -8.53502853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47553717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.86, Z:-0.00 [[ 9.98043995e-01 6.25154784e-02 0.00000000e+00 1.27880044e+01] [-6.25154784e-02 9.98043995e-01 0.00000000e+00 -8.61700559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82005200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.87, Z:-0.00 [[ 9.98277996e-01 5.86604034e-02 0.00000000e+00 1.28506308e+01] [-5.86604034e-02 9.98277996e-01 0.00000000e+00 -8.71130900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39997884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.88, Z:-0.01 [[ 9.98474546e-01 5.52139647e-02 0.00000000e+00 1.29118927e+01] [-5.52139647e-02 9.98474546e-01 0.00000000e+00 -8.78156171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26081723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.89, Z:-0.01 [[ 9.98584594e-01 5.31865447e-02 0.00000000e+00 1.29735685e+01] [-5.31865447e-02 9.98584594e-01 0.00000000e+00 -8.85702000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57637355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.89, Z:-0.01 [[ 9.98635132e-01 5.22290431e-02 0.00000000e+00 1.30361780e+01] [-5.22290431e-02 9.98635132e-01 0.00000000e+00 -8.94096352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96237941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.90, Z:-0.00 [[ 9.98629856e-01 5.23298219e-02 0.00000000e+00 1.30983954e+01] [-5.23298219e-02 9.98629856e-01 0.00000000e+00 -9.01634121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80907850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.91, Z:-0.00 [[ 9.98445932e-01 5.57289959e-02 0.00000000e+00 1.31613745e+01] [-5.57289959e-02 9.98445932e-01 0.00000000e+00 -9.08641680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16345018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.92, Z:-0.00 [[ 9.98146889e-01 6.08505299e-02 0.00000000e+00 1.32240985e+01] [-6.08505299e-02 9.98146889e-01 0.00000000e+00 -9.17783747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81512640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.93, Z:-0.00 [[ 9.97899479e-01 6.47813939e-02 0.00000000e+00 1.32851881e+01] [-6.47813939e-02 9.97899479e-01 0.00000000e+00 -9.25481430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02746109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.93, Z:-0.00 [[ 9.97573262e-01 6.96246188e-02 0.00000000e+00 1.33473651e+01] [-6.96246188e-02 9.97573262e-01 0.00000000e+00 -9.32318343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07866639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.94, Z:-0.00 [[ 9.97487397e-01 7.08441509e-02 0.00000000e+00 1.34084046e+01] [-7.08441509e-02 9.97487397e-01 0.00000000e+00 -9.40068053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95270334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.044340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.95, Z:-0.00 [[ 9.97609519e-01 6.91031649e-02 0.00000000e+00 1.34712077e+01] [-6.91031649e-02 9.97609519e-01 0.00000000e+00 -9.48787383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43594685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.95, Z:0.00 [[ 9.97737563e-01 6.72291266e-02 0.00000000e+00 1.35334980e+01] [-6.72291266e-02 9.97737563e-01 0.00000000e+00 -9.54549396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38405525e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.96, Z:0.00 [[ 9.97927981e-01 6.43408533e-02 0.00000000e+00 1.35961146e+01] [-6.43408533e-02 9.97927981e-01 0.00000000e+00 -9.60428241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12936106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.224340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.97, Z:-0.00 [[ 9.98220335e-01 5.96335789e-02 0.00000000e+00 1.36570524e+01] [-5.96335789e-02 9.98220335e-01 0.00000000e+00 -9.65848259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99072177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.97, Z:-0.00 [[ 9.98270233e-01 5.87923588e-02 0.00000000e+00 1.37202368e+01] [-5.87923588e-02 9.98270233e-01 0.00000000e+00 -9.71043201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19894782e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.97, Z:-0.00 [[ 9.98425493e-01 5.60939891e-02 0.00000000e+00 1.37836320e+01] [-5.60939891e-02 9.98425493e-01 0.00000000e+00 -9.72776696e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78455374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.404340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.98, Z:-0.00 [[ 9.98192087e-01 6.01045581e-02 0.00000000e+00 1.38442428e+01] [-6.01045581e-02 9.98192087e-01 0.00000000e+00 -9.79565340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24071452e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.464340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.98, Z:-0.00 [[ 9.98158481e-01 6.06600968e-02 0.00000000e+00 1.39051127e+01] [-6.06600968e-02 9.98158481e-01 0.00000000e+00 -9.79298937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14023580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.98, Z:-0.00 [[ 9.98160301e-01 6.06301357e-02 0.00000000e+00 1.39665831e+01] [-6.06301357e-02 9.98160301e-01 0.00000000e+00 -9.84919744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38262811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.584340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.99, Z:-0.00 [[ 9.98361313e-01 5.72248991e-02 0.00000000e+00 1.40296158e+01] [-5.72248991e-02 9.98361313e-01 0.00000000e+00 -9.89463655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03655058e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.99, Z:0.00 [[ 9.98556664e-01 5.37083699e-02 0.00000000e+00 1.40923005e+01] [-5.37083699e-02 9.98556664e-01 0.00000000e+00 -9.93724541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56817402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.00, Z:0.00 [[ 9.98735425e-01 5.02747481e-02 0.00000000e+00 1.41551802e+01] [-5.02747481e-02 9.98735425e-01 0.00000000e+00 -9.97909978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73256530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.00, Z:0.00 [[ 9.98794259e-01 4.90920287e-02 0.00000000e+00 1.42185249e+01] [-4.90920287e-02 9.98794259e-01 0.00000000e+00 -1.00141772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12318559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.00, Z:0.00 [[ 9.98741680e-01 5.01503387e-02 0.00000000e+00 1.42805609e+01] [-5.01503387e-02 9.98741680e-01 0.00000000e+00 -1.00305635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11120442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.01, Z:0.00 [[ 9.98649035e-01 5.19625415e-02 0.00000000e+00 1.43431253e+01] [-5.19625415e-02 9.98649035e-01 0.00000000e+00 -1.00594768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92984934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.01, Z:0.01 [[ 9.98402737e-01 5.64975618e-02 0.00000000e+00 1.44053985e+01] [-5.64975618e-02 9.98402737e-01 0.00000000e+00 -1.00672030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10531939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.004340127999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.01, Z:0.01 [[ 9.98158543e-01 6.06590723e-02 0.00000000e+00 1.44680632e+01] [-6.06590723e-02 9.98158543e-01 0.00000000e+00 -1.00975649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05225836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.01, Z:0.00 [[ 9.97773576e-01 6.66925077e-02 0.00000000e+00 1.45298103e+01] [-6.66925077e-02 9.97773576e-01 0.00000000e+00 -1.01200856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37621157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.02, Z:0.00 [[ 9.97468377e-01 7.11114457e-02 0.00000000e+00 1.45924424e+01] [-7.11114457e-02 9.97468377e-01 0.00000000e+00 -1.01538195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02927286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.02, Z:0.00 [[ 9.97299281e-01 7.34448359e-02 0.00000000e+00 1.46553678e+01] [-7.34448359e-02 9.97299281e-01 0.00000000e+00 -1.02007573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75197653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.02, Z:0.00 [[ 9.97454018e-01 7.13125675e-02 0.00000000e+00 1.47181624e+01] [-7.13125675e-02 9.97454018e-01 0.00000000e+00 -1.02360863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02675991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.03, Z:0.00 [[ 9.97704509e-01 6.77178900e-02 0.00000000e+00 1.47813099e+01] [-6.77178900e-02 9.97704509e-01 0.00000000e+00 -1.02853372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04472653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.03, Z:0.01 [[ 9.97863983e-01 6.53258811e-02 0.00000000e+00 1.48427994e+01] [-6.53258811e-02 9.97863983e-01 0.00000000e+00 -1.03360744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71103256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424340127999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.04, Z:0.00 [[ 9.98312768e-01 5.80656256e-02 0.00000000e+00 1.49054959e+01] [-5.80656256e-02 9.98312768e-01 0.00000000e+00 -1.03571531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09584946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.97, Y:-1.04, Z:0.00 [[ 9.98419565e-01 5.61994057e-02 0.00000000e+00 1.49682627e+01] [-5.61994057e-02 9.98419565e-01 0.00000000e+00 -1.03874537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61694077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.03, Y:-1.04, Z:0.00 [[ 9.98372653e-01 5.70267160e-02 0.00000000e+00 1.50298662e+01] [-5.70267160e-02 9.98372653e-01 0.00000000e+00 -1.04450439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34304411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.09, Y:-1.05, Z:0.00 [[ 9.98281475e-01 5.86011662e-02 0.00000000e+00 1.50922745e+01] [-5.86011662e-02 9.98281475e-01 0.00000000e+00 -1.04993635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40478370e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.06, Z:-0.00 [[ 9.98207506e-01 5.98479312e-02 0.00000000e+00 1.51551254e+01] [-5.98479312e-02 9.98207506e-01 0.00000000e+00 -1.05511227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76400135e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.724340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.07, Z:0.00 [[ 9.97925647e-01 6.43770408e-02 0.00000000e+00 1.52160798e+01] [-6.43770408e-02 9.97925647e-01 0.00000000e+00 -1.06537741e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26492313e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.07, Z:0.00 [[ 9.97870730e-01 6.52227453e-02 0.00000000e+00 1.52772576e+01] [-6.52227453e-02 9.97870730e-01 0.00000000e+00 -1.07245484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60053877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.08, Z:0.00 [[ 9.97787894e-01 6.64779508e-02 0.00000000e+00 1.53394038e+01] [-6.64779508e-02 9.97787894e-01 0.00000000e+00 -1.07906669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90900812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.09, Z:0.00 [[ 9.97686071e-01 6.79889965e-02 0.00000000e+00 1.54022068e+01] [-6.79889965e-02 9.97686071e-01 0.00000000e+00 -1.08685475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43055471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.09, Z:0.00 [[ 9.97622090e-01 6.89214409e-02 0.00000000e+00 1.54645306e+01] [-6.89214409e-02 9.97622090e-01 0.00000000e+00 -1.09286006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52568403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.10, Z:0.00 [[ 9.97468291e-01 7.11126405e-02 0.00000000e+00 1.55268023e+01] [-7.11126405e-02 9.97468291e-01 0.00000000e+00 -1.09922697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03443640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.084340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:-1.10, Z:0.00 [[ 9.97527313e-01 7.02798733e-02 0.00000000e+00 1.55899512e+01] [-7.02798733e-02 9.97527313e-01 0.00000000e+00 -1.10494759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81390860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.144340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:-1.11, Z:0.01 [[ 9.97628779e-01 6.88245512e-02 0.00000000e+00 1.56526291e+01] [-6.88245512e-02 9.97628779e-01 0.00000000e+00 -1.10741363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02847931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.11, Z:0.01 [[ 9.97479076e-01 7.09612012e-02 0.00000000e+00 1.57140576e+01] [-7.09612012e-02 9.97479076e-01 0.00000000e+00 -1.11042145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07358569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.264340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.12, Z:0.01 [[ 9.97262112e-01 7.39478241e-02 0.00000000e+00 1.57767867e+01] [-7.39478241e-02 9.97262112e-01 0.00000000e+00 -1.11518276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29222609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.12, Z:0.01 [[ 9.97061475e-01 7.66055764e-02 0.00000000e+00 1.58385957e+01] [-7.66055764e-02 9.97061475e-01 0.00000000e+00 -1.11652725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09497689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.12, Z:0.01 [[ 9.96990585e-01 7.75227237e-02 0.00000000e+00 1.59010439e+01] [-7.75227237e-02 9.96990585e-01 0.00000000e+00 -1.12062216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.57824351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.12, Z:0.01 [[ 9.97043520e-01 7.68389207e-02 0.00000000e+00 1.59636532e+01] [-7.68389207e-02 9.97043520e-01 0.00000000e+00 -1.12484610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37858871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504340127999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.13, Z:0.01 [[ 9.97272638e-01 7.38057294e-02 0.00000000e+00 1.60252355e+01] [-7.38057294e-02 9.97272638e-01 0.00000000e+00 -1.12820729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06092482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:-1.13, Z:0.01 [[ 9.97358203e-01 7.26403183e-02 0.00000000e+00 1.60880163e+01] [-7.26403183e-02 9.97358203e-01 0.00000000e+00 -1.13297059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18861889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.13, Z:0.01 [[ 9.97490845e-01 7.07955832e-02 0.00000000e+00 1.61503307e+01] [-7.07955832e-02 9.97490845e-01 0.00000000e+00 -1.13252374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80614175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.14, Z:0.01 [[ 9.97361951e-01 7.25888319e-02 0.00000000e+00 1.62118250e+01] [-7.25888319e-02 9.97361951e-01 0.00000000e+00 -1.13503112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40743721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.14, Z:0.01 [[ 9.97530642e-01 7.02326009e-02 0.00000000e+00 1.62747076e+01] [-7.02326009e-02 9.97530642e-01 0.00000000e+00 -1.13793231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46310560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.14, Z:0.01 [[ 9.97732528e-01 6.73038085e-02 0.00000000e+00 1.63380707e+01] [-6.73038085e-02 9.97732528e-01 0.00000000e+00 -1.14103134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33323618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.14, Z:0.01 [[ 9.98035158e-01 6.26563852e-02 0.00000000e+00 1.64002576e+01] [-6.26563852e-02 9.98035158e-01 0.00000000e+00 -1.14408522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57218239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924340127999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.15, Z:0.01 [[ 9.98188980e-01 6.01561396e-02 0.00000000e+00 1.64630371e+01] [-6.01561396e-02 9.98188980e-01 0.00000000e+00 -1.14817686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29265327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.15, Z:0.01 [[ 9.98231696e-01 5.94430901e-02 0.00000000e+00 1.65252280e+01] [-5.94430901e-02 9.98231696e-01 0.00000000e+00 -1.15216274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57764358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.15, Z:0.01 [[ 9.98163244e-01 6.05816742e-02 0.00000000e+00 1.65880733e+01] [-6.05816742e-02 9.98163244e-01 0.00000000e+00 -1.15410321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62285745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.16, Z:0.01 [[ 9.97820550e-01 6.59859808e-02 0.00000000e+00 1.66505778e+01] [-6.59859808e-02 9.97820550e-01 0.00000000e+00 -1.15756902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98211251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.16, Z:0.00 [[ 9.97487996e-01 7.08357050e-02 0.00000000e+00 1.67126248e+01] [-7.08357050e-02 9.97487996e-01 0.00000000e+00 -1.16225314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99818103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.17, Z:0.01 [[ 9.96996320e-01 7.74489411e-02 0.00000000e+00 1.67749866e+01] [-7.74489411e-02 9.96996320e-01 0.00000000e+00 -1.16690811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43976062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.17, Z:0.01 [[ 9.96811490e-01 7.97925616e-02 0.00000000e+00 1.68374643e+01] [-7.97925616e-02 9.96811490e-01 0.00000000e+00 -1.17230040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02555812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.18, Z:0.01 [[ 9.96698647e-01 8.11899452e-02 0.00000000e+00 1.68989126e+01] [-8.11899452e-02 9.96698647e-01 0.00000000e+00 -1.17865114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99537247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.19, Z:0.01 [[ 9.96801679e-01 7.99150317e-02 0.00000000e+00 1.69617767e+01] [-7.99150317e-02 9.96801679e-01 0.00000000e+00 -1.18584883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83292105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.19, Z:0.01 [[ 9.97023411e-01 7.70993966e-02 0.00000000e+00 1.70238626e+01] [-7.70993966e-02 9.97023411e-01 0.00000000e+00 -1.19218733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56511469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.20, Z:0.01 [[ 9.97078321e-01 7.63860014e-02 0.00000000e+00 1.70865366e+01] [-7.63860014e-02 9.97078321e-01 0.00000000e+00 -1.19906709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30069529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.584340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.21, Z:0.01 [[ 9.97160703e-01 7.53029352e-02 0.00000000e+00 1.71488312e+01] [-7.53029352e-02 9.97160703e-01 0.00000000e+00 -1.20558776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09479675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.21, Z:0.00 [[ 9.97194434e-01 7.48549292e-02 0.00000000e+00 1.72117054e+01] [-7.48549292e-02 9.97194434e-01 0.00000000e+00 -1.21358868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32487974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.22, Z:0.00 [[ 9.97270940e-01 7.38286635e-02 0.00000000e+00 1.72740541e+01] [-7.38286635e-02 9.97270940e-01 0.00000000e+00 -1.22134163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06254670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.23, Z:0.00 [[ 9.97179824e-01 7.50493036e-02 0.00000000e+00 1.73349522e+01] [-7.50493036e-02 9.97179824e-01 0.00000000e+00 -1.22934620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45463495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.24, Z:0.01 [[ 9.97136803e-01 7.56187592e-02 0.00000000e+00 1.73968410e+01] [-7.56187592e-02 9.97136803e-01 0.00000000e+00 -1.23722951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29149986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.884340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.24, Z:0.01 [[ 9.97052492e-01 7.67224131e-02 0.00000000e+00 1.74600064e+01] [-7.67224131e-02 9.97052492e-01 0.00000000e+00 -1.24261469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15528790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.25, Z:0.01 [[ 9.96905442e-01 7.86100525e-02 0.00000000e+00 1.75216834e+01] [-7.86100525e-02 9.96905442e-01 0.00000000e+00 -1.25175969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12171306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.26, Z:0.01 [[ 9.96868523e-01 7.90768470e-02 0.00000000e+00 1.75837867e+01] [-7.90768470e-02 9.96868523e-01 0.00000000e+00 -1.25793817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75741380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.064340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.27, Z:0.01 [[ 9.96656266e-01 8.17085568e-02 0.00000000e+00 1.76448987e+01] [-8.17085568e-02 9.96656266e-01 0.00000000e+00 -1.26581594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59276541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.124340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.27, Z:0.01 [[ 9.96753313e-01 8.05160470e-02 0.00000000e+00 1.77059577e+01] [-8.05160470e-02 9.96753313e-01 0.00000000e+00 -1.27430561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18819352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.28, Z:0.01 [[ 9.96761675e-01 8.04124595e-02 0.00000000e+00 1.77688095e+01] [-8.04124595e-02 9.96761675e-01 0.00000000e+00 -1.28188373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36999524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.244340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.29, Z:0.01 [[ 9.96622085e-01 8.21244179e-02 0.00000000e+00 1.78312947e+01] [-8.21244179e-02 9.96622085e-01 0.00000000e+00 -1.29122920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48403815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.30, Z:0.02 [[ 9.96903868e-01 7.86300115e-02 0.00000000e+00 1.78923892e+01] [-7.86300115e-02 9.96903868e-01 0.00000000e+00 -1.29950568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51541835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.31, Z:0.01 [[ 9.96699563e-01 8.11786928e-02 0.00000000e+00 1.79539538e+01] [-8.11786928e-02 9.96699563e-01 0.00000000e+00 -1.30945570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37190725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.424340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.32, Z:0.01 [[ 9.96632249e-01 8.20009816e-02 0.00000000e+00 1.80168111e+01] [-8.20009816e-02 9.96632249e-01 0.00000000e+00 -1.31782451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49871320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.33, Z:0.01 [[ 9.95966721e-01 8.97234124e-02 0.00000000e+00 1.80768900e+01] [-8.97234124e-02 9.95966721e-01 0.00000000e+00 -1.32971146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22852574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.34, Z:0.01 [[ 9.95797906e-01 9.15780045e-02 0.00000000e+00 1.81391293e+01] [-9.15780045e-02 9.95797906e-01 0.00000000e+00 -1.33538542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39828838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.35, Z:0.01 [[ 9.95448247e-01 9.53036639e-02 0.00000000e+00 1.82007480e+01] [-9.53036639e-02 9.95448247e-01 0.00000000e+00 -1.34674220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39809450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.36, Z:0.01 [[ 9.95494849e-01 9.48156450e-02 0.00000000e+00 1.82619669e+01] [-9.48156450e-02 9.95494849e-01 0.00000000e+00 -1.35957660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05287703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.724340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.37, Z:0.02 [[ 9.95619146e-01 9.35014260e-02 0.00000000e+00 1.83245208e+01] [-9.35014260e-02 9.95619146e-01 0.00000000e+00 -1.37007787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53293060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.784340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.38, Z:0.02 [[ 9.95939758e-01 9.00222152e-02 0.00000000e+00 1.83862627e+01] [-9.00222152e-02 9.95939758e-01 0.00000000e+00 -1.38384503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58354509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.40, Z:0.02 [[ 9.96121592e-01 8.79873545e-02 0.00000000e+00 1.84478079e+01] [-8.79873545e-02 9.96121592e-01 0.00000000e+00 -1.39814911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63083921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.904340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.41, Z:0.01 [[ 9.96236255e-01 8.66794322e-02 0.00000000e+00 1.85094716e+01] [-8.66794322e-02 9.96236255e-01 0.00000000e+00 -1.41105002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32481915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.42, Z:0.01 [[ 9.96162716e-01 8.75205292e-02 0.00000000e+00 1.85718313e+01] [-8.75205292e-02 9.96162716e-01 0.00000000e+00 -1.42182149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14842665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.43, Z:0.01 [[ 9.95932742e-01 9.00997947e-02 0.00000000e+00 1.86331950e+01] [-9.00997947e-02 9.95932742e-01 0.00000000e+00 -1.43484535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70634266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.084340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.44, Z:0.01 [[ 9.95986728e-01 8.95010458e-02 0.00000000e+00 1.86949474e+01] [-8.95010458e-02 9.95986728e-01 0.00000000e+00 -1.44437812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37309008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.144340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.45, Z:0.00 [[ 9.96162971e-01 8.75176304e-02 0.00000000e+00 1.87571399e+01] [-8.75176304e-02 9.96162971e-01 0.00000000e+00 -1.45313708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92450536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.46, Z:0.01 [[ 9.95801279e-01 9.15413219e-02 0.00000000e+00 1.88202282e+01] [-9.15413219e-02 9.95801279e-01 0.00000000e+00 -1.45873833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75748102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.47, Z:0.01 [[ 9.95347810e-01 9.63469658e-02 0.00000000e+00 1.88820405e+01] [-9.63469658e-02 9.95347810e-01 0.00000000e+00 -1.46789785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24189925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.47, Z:0.01 [[ 9.95180673e-01 9.80582903e-02 0.00000000e+00 1.89435336e+01] [-9.80582903e-02 9.95180673e-01 0.00000000e+00 -1.47473493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63492593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.48, Z:0.01 [[ 9.95289432e-01 9.69481603e-02 0.00000000e+00 1.90060654e+01] [-9.69481603e-02 9.95289432e-01 0.00000000e+00 -1.48035904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36299128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.48, Z:0.01 [[ 9.95791551e-01 9.16470819e-02 0.00000000e+00 1.90689004e+01] [-9.16470819e-02 9.95791551e-01 0.00000000e+00 -1.48345112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27592107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.49, Z:0.00 [[ 9.96140314e-01 8.77751396e-02 0.00000000e+00 1.91307972e+01] [-8.77751396e-02 9.96140314e-01 0.00000000e+00 -1.48767773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53170380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.50, Z:0.01 [[ 9.97097826e-01 7.61309769e-02 0.00000000e+00 1.91919662e+01] [-7.61309769e-02 9.97097826e-01 0.00000000e+00 -1.49524947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12805128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.50, Z:0.01 [[ 9.97558317e-01 6.98384213e-02 0.00000000e+00 1.92534659e+01] [-6.98384213e-02 9.97558317e-01 0.00000000e+00 -1.50230312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74684987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:-1.51, Z:0.01 [[ 9.98028464e-01 6.27629228e-02 0.00000000e+00 1.93162306e+01] [-6.27629228e-02 9.98028464e-01 0.00000000e+00 -1.50726944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47754213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.51, Z:0.01 [[ 9.97866422e-01 6.52886137e-02 0.00000000e+00 1.93785749e+01] [-6.52886137e-02 9.97866422e-01 0.00000000e+00 -1.51336543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23666141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.52, Z:0.01 [[ 9.97411711e-01 7.19018757e-02 0.00000000e+00 1.94407307e+01] [-7.19018757e-02 9.97411711e-01 0.00000000e+00 -1.51587487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59378768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.52, Z:0.01 [[ 9.96922874e-01 7.83886645e-02 0.00000000e+00 1.95028509e+01] [-7.83886645e-02 9.96922874e-01 0.00000000e+00 -1.52376120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75745828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.53, Z:0.01 [[ 9.96541023e-01 8.31022846e-02 0.00000000e+00 1.95656288e+01] [-8.31022846e-02 9.96541023e-01 0.00000000e+00 -1.52817672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22256297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.54, Z:0.01 [[ 9.96506197e-01 8.35188505e-02 0.00000000e+00 1.96275958e+01] [-8.35188505e-02 9.96506197e-01 0.00000000e+00 -1.53536369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79988438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.54, Z:0.01 [[ 9.96888439e-01 7.88253809e-02 0.00000000e+00 1.96882267e+01] [-7.88253809e-02 9.96888439e-01 0.00000000e+00 -1.54033477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16161421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.104340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.55, Z:0.01 [[ 9.96935920e-01 7.82225757e-02 0.00000000e+00 1.97508816e+01] [-7.82225757e-02 9.96935920e-01 0.00000000e+00 -1.54836205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28756149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.55, Z:0.01 [[ 9.97183308e-01 7.50029983e-02 0.00000000e+00 1.98134707e+01] [-7.50029983e-02 9.97183308e-01 0.00000000e+00 -1.55296465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23555519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.56, Z:0.01 [[ 9.97164052e-01 7.52585754e-02 0.00000000e+00 1.98762789e+01] [-7.52585754e-02 9.97164052e-01 0.00000000e+00 -1.55856898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12455515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.56, Z:0.01 [[ 9.97137626e-01 7.56079027e-02 0.00000000e+00 1.99381027e+01] [-7.56079027e-02 9.97137626e-01 0.00000000e+00 -1.56276055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06146602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.57, Z:0.01 [[ 9.97301449e-01 7.34153858e-02 0.00000000e+00 2.00003771e+01] [-7.34153858e-02 9.97301449e-01 0.00000000e+00 -1.56845111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46222928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.57, Z:0.01 [[ 9.97308443e-01 7.33203198e-02 0.00000000e+00 2.00615874e+01] [-7.33203198e-02 9.97308443e-01 0.00000000e+00 -1.57427420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88343442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.58, Z:0.01 [[ 9.97386546e-01 7.22501121e-02 0.00000000e+00 2.01228322e+01] [-7.22501121e-02 9.97386546e-01 0.00000000e+00 -1.58131605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03944674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.59, Z:0.01 [[ 9.97355756e-01 7.26738998e-02 0.00000000e+00 2.01858981e+01] [-7.26738998e-02 9.97355756e-01 0.00000000e+00 -1.58751474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12842347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.59, Z:0.01 [[ 9.97311372e-01 7.32804765e-02 0.00000000e+00 2.02474737e+01] [-7.32804765e-02 9.97311372e-01 0.00000000e+00 -1.59373978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99217785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.60, Z:0.01 [[ 9.97315743e-01 7.32209585e-02 0.00000000e+00 2.03095928e+01] [-7.32209585e-02 9.97315743e-01 0.00000000e+00 -1.59882472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33710326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.61, Z:0.01 [[ 9.97291684e-01 7.35479237e-02 0.00000000e+00 2.03709410e+01] [-7.35479237e-02 9.97291684e-01 0.00000000e+00 -1.60746414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03956856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.61, Z:0.01 [[ 9.97442092e-01 7.14791775e-02 0.00000000e+00 2.04333151e+01] [-7.14791775e-02 9.97442092e-01 0.00000000e+00 -1.61211601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00578384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.62, Z:0.01 [[ 9.97613896e-01 6.90399465e-02 0.00000000e+00 2.04958430e+01] [-6.90399465e-02 9.97613896e-01 0.00000000e+00 -1.61969652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19696539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.63, Z:0.01 [[ 9.97542725e-01 7.00607661e-02 0.00000000e+00 2.05577507e+01] [-7.00607661e-02 9.97542725e-01 0.00000000e+00 -1.62583967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12086498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.64, Z:0.01 [[ 9.97347806e-01 7.27829239e-02 0.00000000e+00 2.06188857e+01] [-7.27829239e-02 9.97347806e-01 0.00000000e+00 -1.63554421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18221750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.64, Z:0.01 [[ 9.97354668e-01 7.26888316e-02 0.00000000e+00 2.06821129e+01] [-7.26888316e-02 9.97354668e-01 0.00000000e+00 -1.63896253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04134110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.64, Z:0.01 [[ 9.97053061e-01 7.67150113e-02 0.00000000e+00 2.07444926e+01] [-7.67150113e-02 9.97053061e-01 0.00000000e+00 -1.64299950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22479818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.124340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.65, Z:0.01 [[ 9.96251697e-01 8.65017661e-02 0.00000000e+00 2.08073908e+01] [-8.65017661e-02 9.96251697e-01 0.00000000e+00 -1.65018015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30952725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.65, Z:0.01 [[ 9.95796014e-01 9.15985726e-02 0.00000000e+00 2.08695904e+01] [-9.15985726e-02 9.95796014e-01 0.00000000e+00 -1.65465020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35415108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.66, Z:0.01 [[ 9.95629566e-01 9.33904071e-02 0.00000000e+00 2.09322089e+01] [-9.33904071e-02 9.95629566e-01 0.00000000e+00 -1.66206502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34726051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.67, Z:0.01 [[ 9.95124813e-01 9.86235561e-02 0.00000000e+00 2.09934772e+01] [-9.86235561e-02 9.95124813e-01 0.00000000e+00 -1.66890083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47639800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.67, Z:0.02 [[ 9.94901073e-01 1.00855618e-01 0.00000000e+00 2.10567621e+01] [-1.00855618e-01 9.94901073e-01 0.00000000e+00 -1.67338042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58880160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.68, Z:0.02 [[ 9.94940468e-01 1.00466242e-01 0.00000000e+00 2.11199360e+01] [-1.00466242e-01 9.94940468e-01 0.00000000e+00 -1.67887830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67926655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.69, Z:0.02 [[ 9.95117853e-01 9.86937637e-02 0.00000000e+00 2.11822076e+01] [-9.86937637e-02 9.95117853e-01 0.00000000e+00 -1.68584293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92180543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.69, Z:0.02 [[ 9.95344385e-01 9.63823403e-02 0.00000000e+00 2.12436252e+01] [-9.63823403e-02 9.95344385e-01 0.00000000e+00 -1.69200752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66507895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.604340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.70, Z:0.02 [[ 9.95537467e-01 9.43671152e-02 0.00000000e+00 2.13064126e+01] [-9.43671152e-02 9.95537467e-01 0.00000000e+00 -1.69809132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58517012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.71, Z:0.02 [[ 9.95708935e-01 9.25403509e-02 0.00000000e+00 2.13684722e+01] [-9.25403509e-02 9.95708935e-01 0.00000000e+00 -1.70555900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51337012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.724340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.71, Z:0.02 [[ 9.95835056e-01 9.11731337e-02 0.00000000e+00 2.14311931e+01] [-9.11731337e-02 9.95835056e-01 0.00000000e+00 -1.71185748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54963977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.784340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.72, Z:0.01 [[ 9.95888829e-01 9.05838803e-02 0.00000000e+00 2.14924295e+01] [-9.05838803e-02 9.95888829e-01 0.00000000e+00 -1.71755263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37188282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.55, Y:-1.73, Z:0.02 [[ 9.95909904e-01 9.03518800e-02 0.00000000e+00 2.15546018e+01] [-9.03518800e-02 9.95909904e-01 0.00000000e+00 -1.72508498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70945428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.73, Z:0.02 [[ 9.95870186e-01 9.07886160e-02 0.00000000e+00 2.16168203e+01] [-9.07886160e-02 9.95870186e-01 0.00000000e+00 -1.73019870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69878535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.74, Z:0.02 [[ 9.95666182e-01 9.29992157e-02 0.00000000e+00 2.16789768e+01] [-9.29992157e-02 9.95666182e-01 0.00000000e+00 -1.73633294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68450056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.74, Z:0.02 [[ 9.95436444e-01 9.54268580e-02 0.00000000e+00 2.17402257e+01] [-9.54268580e-02 9.95436444e-01 0.00000000e+00 -1.74207162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56397664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.75, Z:0.02 [[ 9.95226574e-01 9.75913241e-02 0.00000000e+00 2.18032531e+01] [-9.75913241e-02 9.95226574e-01 0.00000000e+00 -1.74726323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65286826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.75, Z:0.02 [[ 9.94901321e-01 1.00853166e-01 0.00000000e+00 2.18650999e+01] [-1.00853166e-01 9.94901321e-01 0.00000000e+00 -1.75188249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56933406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.76, Z:0.02 [[ 9.94806386e-01 1.01785333e-01 0.00000000e+00 2.19274186e+01] [-1.01785333e-01 9.94806386e-01 0.00000000e+00 -1.75904823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52264651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.77, Z:0.02 [[ 9.94907806e-01 1.00789172e-01 0.00000000e+00 2.19884037e+01] [-1.00789172e-01 9.94907806e-01 0.00000000e+00 -1.76592806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50068983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.77, Z:0.02 [[ 9.95336849e-01 9.64601270e-02 0.00000000e+00 2.20507881e+01] [-9.64601270e-02 9.95336849e-01 0.00000000e+00 -1.77070408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58504094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.78, Z:0.02 [[ 9.95830055e-01 9.12277465e-02 0.00000000e+00 2.21128731e+01] [-9.12277465e-02 9.95830055e-01 0.00000000e+00 -1.77840460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74734994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.78, Z:0.01 [[ 9.96118377e-01 8.80237427e-02 0.00000000e+00 2.21745648e+01] [-8.80237427e-02 9.96118377e-01 0.00000000e+00 -1.78487301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43044770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.79, Z:0.02 [[ 9.96220989e-01 8.68547133e-02 0.00000000e+00 2.22379065e+01] [-8.68547133e-02 9.96220989e-01 0.00000000e+00 -1.78909171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55318782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.79, Z:0.01 [[ 9.96106060e-01 8.81630198e-02 0.00000000e+00 2.22996560e+01] [-8.81630198e-02 9.96106060e-01 0.00000000e+00 -1.79484713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19323719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.80, Z:0.02 [[ 9.95846521e-01 9.10478272e-02 0.00000000e+00 2.23622178e+01] [-9.10478272e-02 9.95846521e-01 0.00000000e+00 -1.79992901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76070884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.81, Z:0.02 [[ 9.95041402e-01 9.94615897e-02 0.00000000e+00 2.24248666e+01] [-9.94615897e-02 9.95041402e-01 0.00000000e+00 -1.80517305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67137122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.81, Z:0.02 [[ 9.93984509e-01 1.09520758e-01 0.00000000e+00 2.24875546e+01] [-1.09520758e-01 9.93984509e-01 0.00000000e+00 -1.81105118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98396526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.82, Z:0.02 [[ 0.99294091 0.11861009 0. 22.54842618] [-0.11861009 0.99294091 0. -1.82142059] [ 0. 0. 1. 0.02360934] [ 0. 0. 0. 1. ]] SLAMing on 21.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.83, Z:0.02 [[ 9.91971932e-01 1.26458238e-01 0.00000000e+00 2.26105205e+01] [-1.26458238e-01 9.91971932e-01 0.00000000e+00 -1.82528558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06100918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.83, Z:0.02 [[ 0.99133544 0.13135463 0. 22.67219866] [-0.13135463 0.99133544 0. -1.83186684] [ 0. 0. 1. 0.02273102] [ 0. 0. 0. 1. ]] SLAMing on 21.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.84, Z:0.02 [[ 0.99119056 0.1324435 0. 22.73403981] [-0.1324435 0.99119056 0. -1.84186493] [ 0. 0. 1. 0.02410714] [ 0. 0. 0. 1. ]] SLAMing on 22.044340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.85, Z:0.02 [[ 0.99145311 0.13046355 0. 22.79506763] [-0.13046355 0.99145311 0. -1.85202402] [ 0. 0. 1. 0.02371093] [ 0. 0. 0. 1. ]] SLAMing on 22.104340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.86, Z:0.02 [[ 9.91922129e-01 1.26848298e-01 0.00000000e+00 2.28575286e+01] [-1.26848298e-01 9.91922129e-01 0.00000000e+00 -1.86189560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23942952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.87, Z:0.02 [[ 9.92088621e-01 1.25539510e-01 0.00000000e+00 2.29193910e+01] [-1.25539510e-01 9.92088621e-01 0.00000000e+00 -1.87148038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20422348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.88, Z:0.02 [[ 9.92560621e-01 1.21751440e-01 0.00000000e+00 2.29811325e+01] [-1.21751440e-01 9.92560621e-01 0.00000000e+00 -1.88270710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18139967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.90, Z:0.02 [[ 9.93270677e-01 1.15816070e-01 0.00000000e+00 2.30420201e+01] [-1.15816070e-01 9.93270677e-01 0.00000000e+00 -1.89644832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92360356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.91, Z:0.02 [[ 9.93761450e-01 1.11526594e-01 0.00000000e+00 2.31026518e+01] [-1.11526594e-01 9.93761450e-01 0.00000000e+00 -1.91186594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14672301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.92, Z:0.02 [[ 9.94281666e-01 1.06789370e-01 0.00000000e+00 2.31631452e+01] [-1.06789370e-01 9.94281666e-01 0.00000000e+00 -1.92488475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05865665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.94, Z:0.02 [[ 9.94165637e-01 1.07864200e-01 0.00000000e+00 2.32226751e+01] [-1.07864200e-01 9.94165637e-01 0.00000000e+00 -1.93786427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06167941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.95, Z:0.02 [[ 9.93608857e-01 1.12877984e-01 0.00000000e+00 2.32850451e+01] [-1.12877984e-01 9.93608857e-01 0.00000000e+00 -1.94994067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14986615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.96, Z:0.02 [[ 9.93155463e-01 1.16799944e-01 0.00000000e+00 2.33466723e+01] [-1.16799944e-01 9.93155463e-01 0.00000000e+00 -1.95983220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17953716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.97, Z:0.02 [[ 0.99236216 0.12335858 0. 23.40853927] [-0.12335858 0.99236216 0. -1.9744056 ] [ 0. 0. 1. 0.02392209] [ 0. 0. 0. 1. ]] SLAMing on 22.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.99, Z:0.03 [[ 0.99199539 0.12627408 0. 23.4693356 ] [-0.12627408 0.99199539 0. -1.98870796] [ 0. 0. 1. 0.02510612] [ 0. 0. 0. 1. ]] SLAMing on 22.764340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:-2.00, Z:0.03 [[ 0.99175874 0.12811947 0. 23.53066057] [-0.12811947 0.99175874 0. -2.00336148] [ 0. 0. 1. 0.02688814] [ 0. 0. 0. 1. ]] SLAMing on 22.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.02, Z:0.03 [[ 0.99189577 0.12705427 0. 23.59181804] [-0.12705427 0.99189577 0. -2.01543172] [ 0. 0. 1. 0.02568849] [ 0. 0. 0. 1. ]] SLAMing on 22.884340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.03, Z:0.03 [[ 0.99202271 0.12605932 0. 23.65292774] [-0.12605932 0.99202271 0. -2.03022774] [ 0. 0. 1. 0.02650803] [ 0. 0. 0. 1. ]] SLAMing on 22.944340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.04, Z:0.02 [[ 0.99242109 0.12288357 0. 23.71468804] [-0.12288357 0.99242109 0. -2.0424932 ] [ 0. 0. 1. 0.02487205] [ 0. 0. 0. 1. ]] SLAMing on 23.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.06, Z:0.02 [[ 9.92621792e-01 1.21251717e-01 0.00000000e+00 2.37744345e+01] [-1.21251717e-01 9.92621792e-01 0.00000000e+00 -2.05538623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28318800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.84, Y:-2.07, Z:0.02 [[ 9.93117680e-01 1.17120766e-01 0.00000000e+00 2.38359555e+01] [-1.17120766e-01 9.93117680e-01 0.00000000e+00 -2.06661266e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20824669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.90, Y:-2.08, Z:0.02 [[ 0.99281257 0.11967961 0. 23.89713563] [-0.11967961 0.99281257 0. -2.07717539] [ 0. 0. 1. 0.02411116] [ 0. 0. 0. 1. ]] SLAMing on 23.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.96, Y:-2.08, Z:0.02 [[ 9.92781940e-01 1.19933393e-01 0.00000000e+00 2.39595955e+01] [-1.19933393e-01 9.92781940e-01 0.00000000e+00 -2.08286399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25491217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.02, Y:-2.09, Z:0.02 [[ 9.92464034e-01 1.22536284e-01 0.00000000e+00 2.40214949e+01] [-1.22536284e-01 9.92464034e-01 0.00000000e+00 -2.09150651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25888190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:-2.10, Z:0.02 [[ 9.92748396e-01 1.20210744e-01 0.00000000e+00 2.40835999e+01] [-1.20210744e-01 9.92748396e-01 0.00000000e+00 -2.09685646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00609110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.15, Y:-2.10, Z:0.02 [[ 9.92925962e-01 1.18735140e-01 0.00000000e+00 2.41456479e+01] [-1.18735140e-01 9.92925962e-01 0.00000000e+00 -2.10391103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82738064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:-2.11, Z:0.02 [[ 9.93214310e-01 1.16298471e-01 0.00000000e+00 2.42070878e+01] [-1.16298471e-01 9.93214310e-01 0.00000000e+00 -2.11131776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86692791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:-2.12, Z:0.02 [[ 9.93456575e-01 1.14210479e-01 0.00000000e+00 2.42677111e+01] [-1.14210479e-01 9.93456575e-01 0.00000000e+00 -2.11644916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76045005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:-2.12, Z:0.02 [[ 9.93394141e-01 1.14752259e-01 0.00000000e+00 2.43304053e+01] [-1.14752259e-01 9.93394141e-01 0.00000000e+00 -2.12463634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19535532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:-2.13, Z:0.02 [[ 9.93396371e-01 1.14732955e-01 0.00000000e+00 2.43911234e+01] [-1.14732955e-01 9.93396371e-01 0.00000000e+00 -2.13073297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42644267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:-2.14, Z:0.03 [[ 0.99333515 0.11526176 0. 24.45349894] [-0.11526176 0.99333515 0. -2.13654843] [ 0. 0. 1. 0.02727094] [ 0. 0. 0. 1. ]] SLAMing on 23.724340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:-2.14, Z:0.03 [[ 0.99328529 0.11569066 0. 24.51469477] [-0.11569066 0.99328529 0. -2.14403091] [ 0. 0. 1. 0.02741975] [ 0. 0. 0. 1. ]] SLAMing on 23.784340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.58, Y:-2.15, Z:0.03 [[ 0.9929064 0.11889866 0. 24.57658198] [-0.11889866 0.9929064 0. -2.15233032] [ 0. 0. 1. 0.02715025] [ 0. 0. 0. 1. ]] SLAMing on 23.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:-2.16, Z:0.02 [[ 9.93033089e-01 1.17835837e-01 0.00000000e+00 2.46380777e+01] [-1.17835837e-01 9.93033089e-01 0.00000000e+00 -2.15894795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32765821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904340127999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.70, Y:-2.17, Z:0.02 [[ 9.93846946e-01 1.10762121e-01 0.00000000e+00 2.47002967e+01] [-1.10762121e-01 9.93846946e-01 0.00000000e+00 -2.16562840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33650260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.76, Y:-2.17, Z:0.03 [[ 0.99481553 0.10169593 0. 24.76285024] [-0.10169593 0.99481553 0. -2.17243906] [ 0. 0. 1. 0.02539549] [ 0. 0. 0. 1. ]] SLAMing on 24.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.83, Y:-2.18, Z:0.02 [[ 9.94990174e-01 9.99727635e-02 0.00000000e+00 2.48252740e+01] [-9.99727635e-02 9.94990174e-01 0.00000000e+00 -2.18081577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48142515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.19, Z:0.02 [[ 9.95235089e-01 9.75044502e-02 0.00000000e+00 2.48873238e+01] [-9.75044502e-02 9.95235089e-01 0.00000000e+00 -2.18924556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41591739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.95, Y:-2.20, Z:0.02 [[ 9.95238209e-01 9.74725991e-02 0.00000000e+00 2.49490290e+01] [-9.74725991e-02 9.95238209e-01 0.00000000e+00 -2.19526084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31261749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.01, Y:-2.20, Z:0.02 [[ 9.95314028e-01 9.66953229e-02 0.00000000e+00 2.50119206e+01] [-9.66953229e-02 9.95314028e-01 0.00000000e+00 -2.20147953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33190016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.07, Y:-2.21, Z:0.02 [[ 9.95159542e-01 9.82725051e-02 0.00000000e+00 2.50732673e+01] [-9.82725051e-02 9.95159542e-01 0.00000000e+00 -2.20759281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41603596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.21, Z:0.02 [[ 9.95053376e-01 9.93417258e-02 0.00000000e+00 2.51360656e+01] [-9.93417258e-02 9.95053376e-01 0.00000000e+00 -2.21444624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46795284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.20, Y:-2.22, Z:0.02 [[ 9.94727866e-01 1.02549858e-01 0.00000000e+00 2.51983510e+01] [-1.02549858e-01 9.94727866e-01 0.00000000e+00 -2.22432852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46934437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:-2.23, Z:0.02 [[ 9.94461709e-01 1.05099524e-01 0.00000000e+00 2.52595049e+01] [-1.05099524e-01 9.94461709e-01 0.00000000e+00 -2.23221190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46619922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:-2.24, Z:0.02 [[ 9.94190866e-01 1.07631419e-01 0.00000000e+00 2.53226201e+01] [-1.07631419e-01 9.94190866e-01 0.00000000e+00 -2.23600624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16736555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:-2.25, Z:0.02 [[ 9.93665507e-01 1.12378198e-01 0.00000000e+00 2.53835366e+01] [-1.12378198e-01 9.93665507e-01 0.00000000e+00 -2.24503270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09386492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.45, Y:-2.25, Z:0.02 [[ 9.93588960e-01 1.13052992e-01 0.00000000e+00 2.54463352e+01] [-1.13052992e-01 9.93588960e-01 0.00000000e+00 -2.25213563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02840033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.51, Y:-2.26, Z:0.02 [[ 9.93480666e-01 1.14000733e-01 0.00000000e+00 2.55081230e+01] [-1.14000733e-01 9.93480666e-01 0.00000000e+00 -2.26070371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75560780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.57, Y:-2.27, Z:0.02 [[ 9.93825135e-01 1.10957653e-01 0.00000000e+00 2.55691455e+01] [-1.10957653e-01 9.93825135e-01 0.00000000e+00 -2.26849575e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69942913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.63, Y:-2.28, Z:0.02 [[ 9.94272008e-01 1.06879253e-01 0.00000000e+00 2.56316507e+01] [-1.06879253e-01 9.94272008e-01 0.00000000e+00 -2.27540681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66946310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:-2.28, Z:0.02 [[ 9.94778046e-01 1.02061938e-01 0.00000000e+00 2.56940362e+01] [-1.02061938e-01 9.94778046e-01 0.00000000e+00 -2.28326060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77984080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.76, Y:-2.29, Z:0.02 [[ 9.94943374e-01 1.00437460e-01 0.00000000e+00 2.57570430e+01] [-1.00437460e-01 9.94943374e-01 0.00000000e+00 -2.28963696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86596216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.82, Y:-2.29, Z:0.02 [[ 9.94811279e-01 1.01737505e-01 0.00000000e+00 2.58199330e+01] [-1.01737505e-01 9.94811279e-01 0.00000000e+00 -2.29478123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79104629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.88, Y:-2.30, Z:0.02 [[ 9.94462943e-01 1.05087845e-01 0.00000000e+00 2.58817123e+01] [-1.05087845e-01 9.94462943e-01 0.00000000e+00 -2.30235760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81239537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.94, Y:-2.31, Z:0.02 [[ 9.94048585e-01 1.08937642e-01 0.00000000e+00 2.59449367e+01] [-1.08937642e-01 9.94048585e-01 0.00000000e+00 -2.30800766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93834614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.31, Z:0.02 [[ 9.93766885e-01 1.11478149e-01 0.00000000e+00 2.60072703e+01] [-1.11478149e-01 9.93766885e-01 0.00000000e+00 -2.31248185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99152321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224340127999998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.32, Z:0.02 [[ 9.93691432e-01 1.12148732e-01 0.00000000e+00 2.60697686e+01] [-1.12148732e-01 9.93691432e-01 0.00000000e+00 -2.31837455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99090560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.13, Y:-2.32, Z:0.02 [[ 9.93508461e-01 1.13758245e-01 0.00000000e+00 2.61320114e+01] [-1.13758245e-01 9.93508461e-01 0.00000000e+00 -2.32311945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72647144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.33, Z:0.02 [[ 9.93398486e-01 1.14714633e-01 0.00000000e+00 2.61951488e+01] [-1.14714633e-01 9.93398486e-01 0.00000000e+00 -2.32924558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63007831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:-2.33, Z:0.02 [[ 9.93615997e-01 1.12815113e-01 0.00000000e+00 2.62578877e+01] [-1.12815113e-01 9.93615997e-01 0.00000000e+00 -2.33455360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77308074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:-2.34, Z:0.02 [[ 9.93867995e-01 1.10573096e-01 0.00000000e+00 2.63208928e+01] [-1.10573096e-01 9.93867995e-01 0.00000000e+00 -2.34176438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68212618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:-2.35, Z:0.02 [[ 9.93937203e-01 1.09949244e-01 0.00000000e+00 2.63819582e+01] [-1.09949244e-01 9.93937203e-01 0.00000000e+00 -2.35032458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56552309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.44, Y:-2.36, Z:0.02 [[ 9.94599113e-01 1.03791156e-01 0.00000000e+00 2.64445360e+01] [-1.03791156e-01 9.94599113e-01 0.00000000e+00 -2.35574928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81323711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:-2.36, Z:0.02 [[ 9.94765242e-01 1.02186662e-01 0.00000000e+00 2.65069529e+01] [-1.02186662e-01 9.94765242e-01 0.00000000e+00 -2.36424988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84140819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.37, Z:0.02 [[ 9.94525251e-01 1.04496530e-01 0.00000000e+00 2.65680930e+01] [-1.04496530e-01 9.94525251e-01 0.00000000e+00 -2.37407911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68480612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.38, Z:0.02 [[ 9.94049223e-01 1.08931828e-01 0.00000000e+00 2.66307786e+01] [-1.08931828e-01 9.94049223e-01 0.00000000e+00 -2.38184274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70946799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.69, Y:-2.39, Z:0.02 [[ 9.93781371e-01 1.11348940e-01 0.00000000e+00 2.66922013e+01] [-1.11348940e-01 9.93781371e-01 0.00000000e+00 -2.39028448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63981292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.40, Z:0.02 [[ 9.93583849e-01 1.13097904e-01 0.00000000e+00 2.67537556e+01] [-1.13097904e-01 9.93583849e-01 0.00000000e+00 -2.40234397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66279735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.41, Z:0.02 [[ 9.93619153e-01 1.12787320e-01 0.00000000e+00 2.68160965e+01] [-1.12787320e-01 9.93619153e-01 0.00000000e+00 -2.41157159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74934499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.42, Z:0.02 [[ 9.93605831e-01 1.12904619e-01 0.00000000e+00 2.68783137e+01] [-1.12904619e-01 9.93605831e-01 0.00000000e+00 -2.42389435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91676330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.43, Z:0.02 [[ 9.94202598e-01 1.07522991e-01 0.00000000e+00 2.69407751e+01] [-1.07522991e-01 9.94202598e-01 0.00000000e+00 -2.43087527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78916516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.44, Z:0.02 [[ 9.94133737e-01 1.08157815e-01 0.00000000e+00 2.70017933e+01] [-1.08157815e-01 9.94133737e-01 0.00000000e+00 -2.44257270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32496620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.06, Y:-2.45, Z:0.02 [[ 9.93947029e-01 1.09860378e-01 0.00000000e+00 2.70636082e+01] [-1.09860378e-01 9.93947029e-01 0.00000000e+00 -2.45396483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35985799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:-2.46, Z:0.02 [[ 9.93784127e-01 1.11324338e-01 0.00000000e+00 2.71251066e+01] [-1.11324338e-01 9.93784127e-01 0.00000000e+00 -2.46359312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47034661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:-2.47, Z:0.02 [[ 9.93671410e-01 1.12325990e-01 0.00000000e+00 2.71873810e+01] [-1.12325990e-01 9.93671410e-01 0.00000000e+00 -2.46996742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20013257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:-2.48, Z:0.02 [[ 9.93442000e-01 1.14337191e-01 0.00000000e+00 2.72487109e+01] [-1.14337191e-01 9.93442000e-01 0.00000000e+00 -2.47719663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13679997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:-2.49, Z:0.02 [[ 9.92444469e-01 1.22694649e-01 0.00000000e+00 2.73108137e+01] [-1.22694649e-01 9.92444469e-01 0.00000000e+00 -2.48816335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28755009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:-2.50, Z:0.02 [[ 9.92094892e-01 1.25489942e-01 0.00000000e+00 2.73733396e+01] [-1.25489942e-01 9.92094892e-01 0.00000000e+00 -2.49668354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38161485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:-2.51, Z:0.02 [[ 9.91433292e-01 1.30614044e-01 0.00000000e+00 2.74353335e+01] [-1.30614044e-01 9.91433292e-01 0.00000000e+00 -2.50661714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38214319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:-2.52, Z:0.02 [[ 9.91382993e-01 1.30995274e-01 0.00000000e+00 2.74970938e+01] [-1.30995274e-01 9.91382993e-01 0.00000000e+00 -2.51558274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38108620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.53, Z:0.02 [[ 9.91524353e-01 1.29920964e-01 0.00000000e+00 2.75589065e+01] [-1.29920964e-01 9.91524353e-01 0.00000000e+00 -2.52526180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36783049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:-2.54, Z:0.02 [[ 9.91677380e-01 1.28747718e-01 0.00000000e+00 2.76209304e+01] [-1.28747718e-01 9.91677380e-01 0.00000000e+00 -2.53598027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28338258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.55, Z:0.02 [[ 9.92172869e-01 1.24871923e-01 0.00000000e+00 2.76819890e+01] [-1.24871923e-01 9.92172869e-01 0.00000000e+00 -2.54518489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22369852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.74, Y:-2.55, Z:0.02 [[ 9.92758834e-01 1.20124508e-01 0.00000000e+00 2.77443202e+01] [-1.20124508e-01 9.92758834e-01 0.00000000e+00 -2.55449896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06089894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.57, Z:0.02 [[ 9.93055354e-01 1.17648052e-01 0.00000000e+00 2.78065799e+01] [-1.17648052e-01 9.93055354e-01 0.00000000e+00 -2.56555686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00407925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.58, Z:0.02 [[ 9.93173460e-01 1.16646812e-01 0.00000000e+00 2.78669764e+01] [-1.16646812e-01 9.93173460e-01 0.00000000e+00 -2.57583159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88150199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.58, Z:0.02 [[ 9.93403820e-01 1.14668438e-01 0.00000000e+00 2.79286017e+01] [-1.14668438e-01 9.93403820e-01 0.00000000e+00 -2.58257108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61272021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.59, Z:0.02 [[ 9.92854898e-01 1.19327917e-01 0.00000000e+00 2.79905500e+01] [-1.19327917e-01 9.92854898e-01 0.00000000e+00 -2.59110394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68168441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144340127999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.60, Z:0.02 [[ 9.91728954e-01 1.28349843e-01 0.00000000e+00 2.80516208e+01] [-1.28349843e-01 9.91728954e-01 0.00000000e+00 -2.60449712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89411649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.61, Z:0.02 [[ 9.90865907e-01 1.34850863e-01 0.00000000e+00 2.81134013e+01] [-1.34850863e-01 9.90865907e-01 0.00000000e+00 -2.61177254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83555811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.62, Z:0.02 [[ 9.89999974e-01 1.41067544e-01 0.00000000e+00 2.81759734e+01] [-1.41067544e-01 9.89999974e-01 0.00000000e+00 -2.62059275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89980086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.63, Z:0.02 [[ 9.89168053e-01 1.46787477e-01 0.00000000e+00 2.82380663e+01] [-1.46787477e-01 9.89168053e-01 0.00000000e+00 -2.63341127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23085548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.64, Z:0.02 [[ 9.88619158e-01 1.50439893e-01 0.00000000e+00 2.83003118e+01] [-1.50439893e-01 9.88619158e-01 0.00000000e+00 -2.64469558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49166607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.65, Z:0.03 [[ 9.88529032e-01 1.51030967e-01 0.00000000e+00 2.83622908e+01] [-1.51030967e-01 9.88529032e-01 0.00000000e+00 -2.65329437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56708303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.66, Z:0.02 [[ 9.88404548e-01 1.51843506e-01 0.00000000e+00 2.84236115e+01] [-1.51843506e-01 9.88404548e-01 0.00000000e+00 -2.66404884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45248658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.49, Y:-2.67, Z:0.02 [[ 9.88438489e-01 1.51622404e-01 0.00000000e+00 2.84853011e+01] [-1.51622404e-01 9.88438489e-01 0.00000000e+00 -2.67486542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38898511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.55, Y:-2.68, Z:0.02 [[ 9.88896554e-01 1.48605540e-01 0.00000000e+00 2.85461390e+01] [-1.48605540e-01 9.88896554e-01 0.00000000e+00 -2.68449966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02806218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.69, Z:0.02 [[ 9.89469065e-01 1.44744495e-01 0.00000000e+00 2.86060294e+01] [-1.44744495e-01 9.89469065e-01 0.00000000e+00 -2.69405089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81660928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.71, Z:0.02 [[ 9.89890122e-01 1.41836338e-01 0.00000000e+00 2.86678403e+01] [-1.41836338e-01 9.89890122e-01 0.00000000e+00 -2.70697052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94860995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.72, Z:0.02 [[ 9.90563926e-01 1.37051478e-01 0.00000000e+00 2.87302142e+01] [-1.37051478e-01 9.90563926e-01 0.00000000e+00 -2.71740432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03090369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.73, Z:0.02 [[ 9.90771279e-01 1.35544358e-01 0.00000000e+00 2.87910562e+01] [-1.35544358e-01 9.90771279e-01 0.00000000e+00 -2.72660272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01956741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.74, Z:0.02 [[ 9.91251529e-01 1.31986390e-01 0.00000000e+00 2.88532052e+01] [-1.31986390e-01 9.91251529e-01 0.00000000e+00 -2.73751873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30008242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:-2.75, Z:0.02 [[ 9.91362867e-01 1.31147497e-01 0.00000000e+00 2.89156687e+01] [-1.31147497e-01 9.91362867e-01 0.00000000e+00 -2.74727670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36802837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.76, Z:0.02 [[ 9.91350701e-01 1.31239427e-01 0.00000000e+00 2.89766029e+01] [-1.31239427e-01 9.91350701e-01 0.00000000e+00 -2.75648404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13911322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.77, Z:0.02 [[ 9.90798639e-01 1.35344216e-01 0.00000000e+00 2.90391302e+01] [-1.35344216e-01 9.90798639e-01 0.00000000e+00 -2.76600028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32556427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.77, Z:0.02 [[ 9.90158106e-01 1.39953296e-01 0.00000000e+00 2.91002459e+01] [-1.39953296e-01 9.90158106e-01 0.00000000e+00 -2.77344046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36683326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.78, Z:0.02 [[ 9.89588129e-01 1.43928231e-01 0.00000000e+00 2.91622105e+01] [-1.43928231e-01 9.89588129e-01 0.00000000e+00 -2.78155838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32775194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.79, Z:0.02 [[ 9.88967453e-01 1.48132968e-01 0.00000000e+00 2.92235356e+01] [-1.48132968e-01 9.88967453e-01 0.00000000e+00 -2.79057162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21082370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.80, Z:0.02 [[ 9.88646937e-01 1.50257223e-01 0.00000000e+00 2.92853058e+01] [-1.50257223e-01 9.88646937e-01 0.00000000e+00 -2.80261869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23476816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.81, Z:0.02 [[ 9.88461871e-01 1.51469897e-01 0.00000000e+00 2.93461192e+01] [-1.51469897e-01 9.88461871e-01 0.00000000e+00 -2.81384854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95011395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.83, Z:0.02 [[ 9.88718739e-01 1.49784030e-01 0.00000000e+00 2.94074383e+01] [-1.49784030e-01 9.88718739e-01 0.00000000e+00 -2.82643396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85541006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:-2.84, Z:0.02 [[ 9.88875202e-01 1.48747554e-01 0.00000000e+00 2.94679664e+01] [-1.48747554e-01 9.88875202e-01 0.00000000e+00 -2.84152866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05860290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.53, Y:-2.86, Z:0.02 [[ 9.89760437e-01 1.42738495e-01 0.00000000e+00 2.95286411e+01] [-1.42738495e-01 9.89760437e-01 0.00000000e+00 -2.85516237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93873740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:-2.87, Z:0.02 [[ 9.90377971e-01 1.38388852e-01 0.00000000e+00 2.95900321e+01] [-1.38388852e-01 9.90377971e-01 0.00000000e+00 -2.86856952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08849669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.65, Y:-2.88, Z:0.02 [[ 9.90412535e-01 1.38141273e-01 0.00000000e+00 2.96519346e+01] [-1.38141273e-01 9.90412535e-01 0.00000000e+00 -2.88197543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16795580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.90, Z:0.02 [[ 9.90260804e-01 1.39224780e-01 0.00000000e+00 2.97130258e+01] [-1.39224780e-01 9.90260804e-01 0.00000000e+00 -2.89644640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22944851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.91, Z:0.02 [[ 9.89893506e-01 1.41812717e-01 0.00000000e+00 2.97749416e+01] [-1.41812717e-01 9.89893506e-01 0.00000000e+00 -2.90711664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14252299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.92, Z:0.02 [[ 9.89032792e-01 1.47696096e-01 0.00000000e+00 2.98363091e+01] [-1.47696096e-01 9.89032792e-01 0.00000000e+00 -2.91860014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93435454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.93, Z:0.02 [[ 9.88451933e-01 1.51534736e-01 0.00000000e+00 2.98986971e+01] [-1.51534736e-01 9.88451933e-01 0.00000000e+00 -2.92931555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15132788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.94, Z:0.02 [[ 9.87770280e-01 1.55916239e-01 0.00000000e+00 2.99605595e+01] [-1.55916239e-01 9.87770280e-01 0.00000000e+00 -2.94061832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28954058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.95, Z:0.02 [[ 9.87427260e-01 1.58074051e-01 0.00000000e+00 3.00212474e+01] [-1.58074051e-01 9.87427260e-01 0.00000000e+00 -2.95135622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41575803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.96, Z:0.03 [[ 9.87111743e-01 1.60032519e-01 0.00000000e+00 3.00835034e+01] [-1.60032519e-01 9.87111743e-01 0.00000000e+00 -2.96295498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66159239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.97, Z:0.03 [[ 9.87207928e-01 1.59438096e-01 0.00000000e+00 3.01449226e+01] [-1.59438096e-01 9.87207928e-01 0.00000000e+00 -2.97360052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52272223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.98, Z:0.03 [[ 9.87209352e-01 1.59429279e-01 0.00000000e+00 3.02069559e+01] [-1.59429279e-01 9.87209352e-01 0.00000000e+00 -2.98492377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58611069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.27, Y:-3.00, Z:0.02 [[ 9.87216988e-01 1.59381988e-01 0.00000000e+00 3.02674536e+01] [-1.59381988e-01 9.87216988e-01 0.00000000e+00 -2.99660660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31263911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.33, Y:-3.01, Z:0.02 [[ 9.87458797e-01 1.57876925e-01 0.00000000e+00 3.03297473e+01] [-1.57876925e-01 9.87458797e-01 0.00000000e+00 -3.00852766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16739299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.39, Y:-3.02, Z:0.02 [[ 9.87897146e-01 1.55110377e-01 0.00000000e+00 3.03909533e+01] [-1.55110377e-01 9.87897146e-01 0.00000000e+00 -3.02007144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04191122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.45, Y:-3.03, Z:0.02 [[ 9.88240896e-01 1.52904976e-01 0.00000000e+00 3.04513039e+01] [-1.52904976e-01 9.88240896e-01 0.00000000e+00 -3.03272888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05866227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.51, Y:-3.05, Z:0.02 [[ 9.89115317e-01 1.47142416e-01 0.00000000e+00 3.05113976e+01] [-1.47142416e-01 9.89115317e-01 0.00000000e+00 -3.04790049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03608378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.57, Y:-3.06, Z:0.02 [[ 9.89827221e-01 1.42274636e-01 0.00000000e+00 3.05719858e+01] [-1.42274636e-01 9.89827221e-01 0.00000000e+00 -3.06026349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72688664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.63, Y:-3.07, Z:0.01 [[ 9.89966751e-01 1.41300499e-01 0.00000000e+00 3.06331984e+01] [-1.41300499e-01 9.89966751e-01 0.00000000e+00 -3.07202692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49775002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.70, Y:-3.08, Z:0.02 [[ 9.89438344e-01 1.44954348e-01 0.00000000e+00 3.06955804e+01] [-1.44954348e-01 9.89438344e-01 0.00000000e+00 -3.08290128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62161838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.76, Y:-3.09, Z:0.02 [[ 9.89088227e-01 1.47324399e-01 0.00000000e+00 3.07572738e+01] [-1.47324399e-01 9.89088227e-01 0.00000000e+00 -3.09381892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60567587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:-3.10, Z:0.01 [[ 9.88428222e-01 1.51689321e-01 0.00000000e+00 3.08182829e+01] [-1.51689321e-01 9.88428222e-01 0.00000000e+00 -3.10335568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48135177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.88, Y:-3.11, Z:0.02 [[ 9.87905888e-01 1.55054690e-01 0.00000000e+00 3.08804410e+01] [-1.55054690e-01 9.87905888e-01 0.00000000e+00 -3.11025452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84858669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.94, Y:-3.12, Z:0.02 [[ 9.87574645e-01 1.57150627e-01 0.00000000e+00 3.09422310e+01] [-1.57150627e-01 9.87574645e-01 0.00000000e+00 -3.11914206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03586323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:-3.13, Z:0.02 [[ 9.87271053e-01 1.59046745e-01 0.00000000e+00 3.10043533e+01] [-1.59046745e-01 9.87271053e-01 0.00000000e+00 -3.12869828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14525732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.07, Y:-3.14, Z:0.02 [[ 9.86813796e-01 1.61859604e-01 0.00000000e+00 3.10666995e+01] [-1.61859604e-01 9.86813796e-01 0.00000000e+00 -3.13817296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18172542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144340127999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.13, Y:-3.15, Z:0.02 [[ 9.86628567e-01 1.62984880e-01 0.00000000e+00 3.11281473e+01] [-1.62984880e-01 9.86628567e-01 0.00000000e+00 -3.14719188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06687457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.19, Y:-3.16, Z:0.02 [[ 9.86728473e-01 1.62378943e-01 0.00000000e+00 3.11902900e+01] [-1.62378943e-01 9.86728473e-01 0.00000000e+00 -3.15659089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92948839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.25, Y:-3.17, Z:0.02 [[ 9.86813375e-01 1.61862173e-01 0.00000000e+00 3.12521373e+01] [-1.61862173e-01 9.86813375e-01 0.00000000e+00 -3.16770402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96201800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.31, Y:-3.18, Z:0.02 [[ 9.86928171e-01 1.61160744e-01 0.00000000e+00 3.13136846e+01] [-1.61160744e-01 9.86928171e-01 0.00000000e+00 -3.17955112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92221831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.38, Y:-3.19, Z:0.02 [[ 9.87428798e-01 1.58064444e-01 0.00000000e+00 3.13756647e+01] [-1.58064444e-01 9.87428798e-01 0.00000000e+00 -3.19013548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01888394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.44, Y:-3.20, Z:0.02 [[ 9.87983625e-01 1.54558588e-01 0.00000000e+00 3.14367457e+01] [-1.54558588e-01 9.87983625e-01 0.00000000e+00 -3.20037527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26284130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.50, Y:-3.21, Z:0.03 [[ 9.88808651e-01 1.49189316e-01 0.00000000e+00 3.14985370e+01] [-1.49189316e-01 9.88808651e-01 0.00000000e+00 -3.21111059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69010071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.56, Y:-3.22, Z:0.03 [[ 9.88851276e-01 1.48906527e-01 0.00000000e+00 3.15599366e+01] [-1.48906527e-01 9.88851276e-01 0.00000000e+00 -3.22201021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62874014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.62, Y:-3.24, Z:0.03 [[ 0.9881783 0.15330896 0. 31.62019535] [-0.15330896 0.9881783 0. -3.23632426] [ 0. 0. 1. 0.03299405] [ 0. 0. 0. 1. ]] SLAMing on 30.684340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.68, Y:-3.24, Z:0.03 [[ 9.88751820e-01 1.49565501e-01 0.00000000e+00 3.16819324e+01] [-1.49565501e-01 9.88751820e-01 0.00000000e+00 -3.23724247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68041563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:-3.24, Z:0.03 [[ 9.88992907e-01 1.47962931e-01 0.00000000e+00 3.17442101e+01] [-1.47962931e-01 9.88992907e-01 0.00000000e+00 -3.24458188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72001560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.81, Y:-3.26, Z:0.03 [[ 9.88789242e-01 1.49317901e-01 0.00000000e+00 3.18066054e+01] [-1.49317901e-01 9.88789242e-01 0.00000000e+00 -3.25585676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60975486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:-3.26, Z:0.03 [[ 9.89023559e-01 1.47757910e-01 0.00000000e+00 3.18691984e+01] [-1.47757910e-01 9.89023559e-01 0.00000000e+00 -3.26372715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58788507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:-3.27, Z:0.03 [[ 9.89445773e-01 1.44903632e-01 0.00000000e+00 3.19316293e+01] [-1.44903632e-01 9.89445773e-01 0.00000000e+00 -3.26981942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72005810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.99, Y:-3.28, Z:0.03 [[ 9.89805641e-01 1.42424693e-01 0.00000000e+00 3.19925166e+01] [-1.42424693e-01 9.89805641e-01 0.00000000e+00 -3.27824174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88938684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.05, Y:-3.29, Z:0.03 [[ 9.89849365e-01 1.42120493e-01 0.00000000e+00 3.20547442e+01] [-1.42120493e-01 9.89849365e-01 0.00000000e+00 -3.28505643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99120253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.12, Y:-3.29, Z:0.03 [[ 9.90170567e-01 1.39865105e-01 0.00000000e+00 3.21174370e+01] [-1.39865105e-01 9.90170567e-01 0.00000000e+00 -3.29054181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92247038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.18, Y:-3.30, Z:0.03 [[ 9.90582408e-01 1.36917830e-01 0.00000000e+00 3.21803986e+01] [-1.36917830e-01 9.90582408e-01 0.00000000e+00 -3.29544556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79466402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.24, Y:-3.31, Z:0.03 [[ 9.90564440e-01 1.37047766e-01 0.00000000e+00 3.22420667e+01] [-1.37047766e-01 9.90564440e-01 0.00000000e+00 -3.30505403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78752262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:-3.31, Z:0.03 [[ 9.91447987e-01 1.30502446e-01 0.00000000e+00 3.23051903e+01] [-1.30502446e-01 9.91447987e-01 0.00000000e+00 -3.30941092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77067097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:-3.32, Z:0.03 [[ 9.91649778e-01 1.28960137e-01 0.00000000e+00 3.23665799e+01] [-1.28960137e-01 9.91649778e-01 0.00000000e+00 -3.31622450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80280111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:-3.32, Z:0.03 [[ 9.91953452e-01 1.26603113e-01 0.00000000e+00 3.24292189e+01] [-1.26603113e-01 9.91953452e-01 0.00000000e+00 -3.32054572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69222601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:-3.32, Z:0.03 [[ 9.91856574e-01 1.27359870e-01 0.00000000e+00 3.24913718e+01] [-1.27359870e-01 9.91856574e-01 0.00000000e+00 -3.32489295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53860891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:-3.33, Z:0.03 [[ 9.91628916e-01 1.29120460e-01 0.00000000e+00 3.25538724e+01] [-1.29120460e-01 9.91628916e-01 0.00000000e+00 -3.33112154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52126087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:-3.34, Z:0.02 [[ 9.91193333e-01 1.32422723e-01 0.00000000e+00 3.26167928e+01] [-1.32422723e-01 9.91193333e-01 0.00000000e+00 -3.33661401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48982732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:-3.35, Z:0.02 [[ 9.91031349e-01 1.33629579e-01 0.00000000e+00 3.26791653e+01] [-1.33629579e-01 9.91031349e-01 0.00000000e+00 -3.34551639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46231877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:-3.35, Z:0.02 [[ 9.90599112e-01 1.36796927e-01 0.00000000e+00 3.27419124e+01] [-1.36796927e-01 9.90599112e-01 0.00000000e+00 -3.35088646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47823263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:-3.36, Z:0.03 [[ 9.90410327e-01 1.38157098e-01 0.00000000e+00 3.28036598e+01] [-1.38157098e-01 9.90410327e-01 0.00000000e+00 -3.35732731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50205223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:-3.36, Z:0.02 [[ 9.90186076e-01 1.39755271e-01 0.00000000e+00 3.28655771e+01] [-1.39755271e-01 9.90186076e-01 0.00000000e+00 -3.36414761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48777234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884340127999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:-3.37, Z:0.03 [[ 9.89973478e-01 1.41253362e-01 0.00000000e+00 3.29285338e+01] [-1.41253362e-01 9.89973478e-01 0.00000000e+00 -3.37208147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63637225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944340127999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.38, Z:0.03 [[ 9.89755853e-01 1.42770278e-01 0.00000000e+00 3.29897932e+01] [-1.42770278e-01 9.89755853e-01 0.00000000e+00 -3.37861310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55116110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:-3.39, Z:0.03 [[ 9.89485194e-01 1.44634194e-01 0.00000000e+00 3.30521719e+01] [-1.44634194e-01 9.89485194e-01 0.00000000e+00 -3.38656638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68123393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:-3.39, Z:0.03 [[ 9.89427311e-01 1.45029638e-01 0.00000000e+00 3.31132192e+01] [-1.45029638e-01 9.89427311e-01 0.00000000e+00 -3.39437079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65726126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:-3.40, Z:0.02 [[ 9.89727124e-01 1.42969297e-01 0.00000000e+00 3.31751047e+01] [-1.42969297e-01 9.89727124e-01 0.00000000e+00 -3.39891607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42502322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.184340127999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.24, Y:-3.41, Z:0.03 [[ 9.89609089e-01 1.43784042e-01 0.00000000e+00 3.32373378e+01] [-1.43784042e-01 9.89609089e-01 0.00000000e+00 -3.40949808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82467743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:-3.42, Z:0.03 [[ 9.89758309e-01 1.42753249e-01 0.00000000e+00 3.32989924e+01] [-1.42753249e-01 9.89758309e-01 0.00000000e+00 -3.41544286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75273767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:-3.42, Z:0.03 [[ 9.89704193e-01 1.43127952e-01 0.00000000e+00 3.33620936e+01] [-1.43127952e-01 9.89704193e-01 0.00000000e+00 -3.42191564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73329072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.43, Z:0.03 [[ 9.89406602e-01 1.45170853e-01 0.00000000e+00 3.34242425e+01] [-1.45170853e-01 9.89406602e-01 0.00000000e+00 -3.42983649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84711594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:-3.44, Z:0.03 [[ 9.89001765e-01 1.47903713e-01 0.00000000e+00 3.34865254e+01] [-1.47903713e-01 9.89001765e-01 0.00000000e+00 -3.43811128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94921474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.55, Y:-3.44, Z:0.03 [[ 9.88562394e-01 1.50812443e-01 0.00000000e+00 3.35495102e+01] [-1.50812443e-01 9.88562394e-01 0.00000000e+00 -3.44169388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79278336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.61, Y:-3.45, Z:0.03 [[ 9.87833844e-01 1.55513013e-01 0.00000000e+00 3.36117441e+01] [-1.55513013e-01 9.87833844e-01 0.00000000e+00 -3.45236375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21214403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.67, Y:-3.46, Z:0.03 [[ 9.87446330e-01 1.57954883e-01 0.00000000e+00 3.36734298e+01] [-1.57954883e-01 9.87446330e-01 0.00000000e+00 -3.46069979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06912731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:-3.47, Z:0.03 [[ 9.87312586e-01 1.58788720e-01 0.00000000e+00 3.37356224e+01] [-1.58788720e-01 9.87312586e-01 0.00000000e+00 -3.47124279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97259653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:-3.48, Z:0.03 [[ 9.87522951e-01 1.57475143e-01 0.00000000e+00 3.37977904e+01] [-1.57475143e-01 9.87522951e-01 0.00000000e+00 -3.47936212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02186373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.86, Y:-3.49, Z:0.03 [[ 9.87389626e-01 1.58308957e-01 0.00000000e+00 3.38583627e+01] [-1.58308957e-01 9.87389626e-01 0.00000000e+00 -3.49043408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09267678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.92, Y:-3.50, Z:0.03 [[ 9.87517101e-01 1.57511828e-01 0.00000000e+00 3.39207530e+01] [-1.57511828e-01 9.87517101e-01 0.00000000e+00 -3.50093343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88394257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.904340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.98, Y:-3.51, Z:0.03 [[ 9.87589780e-01 1.57055487e-01 0.00000000e+00 3.39822603e+01] [-1.57055487e-01 9.87589780e-01 0.00000000e+00 -3.51269214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63436640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.52, Z:0.03 [[ 9.87572778e-01 1.57162363e-01 0.00000000e+00 3.40440329e+01] [-1.57162363e-01 9.87572778e-01 0.00000000e+00 -3.52354182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73635038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:-3.53, Z:0.03 [[ 9.87412278e-01 1.58167613e-01 0.00000000e+00 3.41062289e+01] [-1.58167613e-01 9.87412278e-01 0.00000000e+00 -3.53377755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84330084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.084340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.17, Y:-3.54, Z:0.03 [[ 9.86822795e-01 1.61804734e-01 0.00000000e+00 3.41672436e+01] [-1.61804734e-01 9.86822795e-01 0.00000000e+00 -3.54386636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85457519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.23, Y:-3.55, Z:0.03 [[ 9.86178207e-01 1.65688090e-01 0.00000000e+00 3.42288159e+01] [-1.65688090e-01 9.86178207e-01 0.00000000e+00 -3.55497665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80395211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.29, Y:-3.57, Z:0.03 [[ 9.85227081e-01 1.71253027e-01 0.00000000e+00 3.42911367e+01] [-1.71253027e-01 9.85227081e-01 0.00000000e+00 -3.56665539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85530873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.264340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.58, Z:0.03 [[ 9.84131176e-01 1.77442465e-01 0.00000000e+00 3.43527857e+01] [-1.77442465e-01 9.84131176e-01 0.00000000e+00 -3.57912209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97212237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:-3.59, Z:0.03 [[ 9.83937219e-01 1.78514841e-01 0.00000000e+00 3.44146175e+01] [-1.78514841e-01 9.83937219e-01 0.00000000e+00 -3.59225099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77313707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:-3.61, Z:0.03 [[ 9.83600752e-01 1.80359532e-01 0.00000000e+00 3.44759045e+01] [-1.80359532e-01 9.83600752e-01 0.00000000e+00 -3.60843469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69368013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.63, Z:0.03 [[ 9.84179746e-01 1.77172873e-01 0.00000000e+00 3.45355993e+01] [-1.77172873e-01 9.84179746e-01 0.00000000e+00 -3.62522738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54941566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.504340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.64, Z:0.02 [[ 9.84258373e-01 1.76735554e-01 0.00000000e+00 3.45966568e+01] [-1.76735554e-01 9.84258373e-01 0.00000000e+00 -3.64185453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41244781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.66, Y:-3.66, Z:0.02 [[ 9.84656080e-01 1.74506175e-01 0.00000000e+00 3.46579326e+01] [-1.74506175e-01 9.84656080e-01 0.00000000e+00 -3.65751502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32188143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.72, Y:-3.68, Z:0.02 [[ 9.84784786e-01 1.73778378e-01 0.00000000e+00 3.47186012e+01] [-1.73778378e-01 9.84784786e-01 0.00000000e+00 -3.67575578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33869787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.78, Y:-3.70, Z:0.02 [[ 9.85277217e-01 1.70964342e-01 0.00000000e+00 3.47773827e+01] [-1.70964342e-01 9.85277217e-01 0.00000000e+00 -3.69601012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30247001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.84, Y:-3.72, Z:0.02 [[ 9.85209784e-01 1.71352505e-01 0.00000000e+00 3.48380674e+01] [-1.71352505e-01 9.85209784e-01 0.00000000e+00 -3.71516658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37927188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.804340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:-3.73, Z:0.02 [[ 9.85199635e-01 1.71410852e-01 0.00000000e+00 3.48990933e+01] [-1.71410852e-01 9.85199635e-01 0.00000000e+00 -3.73103784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49987178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.75, Z:0.03 [[ 9.84925091e-01 1.72981401e-01 0.00000000e+00 3.49599251e+01] [-1.72981401e-01 9.84925091e-01 0.00000000e+00 -3.74850937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63024377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.76, Z:0.03 [[ 9.84438526e-01 1.75729306e-01 0.00000000e+00 3.50195283e+01] [-1.75729306e-01 9.84438526e-01 0.00000000e+00 -3.76474443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58404244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.78, Z:0.03 [[ 9.84184584e-01 1.77145996e-01 0.00000000e+00 3.50807069e+01] [-1.77145996e-01 9.84184584e-01 0.00000000e+00 -3.78135305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60847654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-3.80, Z:0.03 [[ 9.83690990e-01 1.79866715e-01 0.00000000e+00 3.51417779e+01] [-1.79866715e-01 9.83690990e-01 0.00000000e+00 -3.79810114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58722028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-3.81, Z:0.03 [[ 9.83699110e-01 1.79822303e-01 0.00000000e+00 3.52014684e+01] [-1.79822303e-01 9.83699110e-01 0.00000000e+00 -3.81490489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61785019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.83, Z:0.03 [[ 9.83533529e-01 1.80725751e-01 0.00000000e+00 3.52620547e+01] [-1.80725751e-01 9.83533529e-01 0.00000000e+00 -3.83163626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78529223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.85, Z:0.03 [[ 9.83484821e-01 1.80990627e-01 0.00000000e+00 3.53231390e+01] [-1.80990627e-01 9.83484821e-01 0.00000000e+00 -3.84648382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64158626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.86, Z:0.03 [[ 9.83455834e-01 1.81148068e-01 0.00000000e+00 3.53840014e+01] [-1.81148068e-01 9.83455834e-01 0.00000000e+00 -3.86384341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93486918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.88, Z:0.03 [[ 9.83839842e-01 1.79050732e-01 0.00000000e+00 3.54442882e+01] [-1.79050732e-01 9.83839842e-01 0.00000000e+00 -3.87704938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64626277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.89, Z:0.03 [[ 9.84104495e-01 1.77590379e-01 0.00000000e+00 3.55054768e+01] [-1.77590379e-01 9.84104495e-01 0.00000000e+00 -3.89236588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75711130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.91, Z:0.03 [[ 9.83984760e-01 1.78252608e-01 0.00000000e+00 3.55657250e+01] [-1.78252608e-01 9.83984760e-01 0.00000000e+00 -3.91014817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54697148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.93, Z:0.03 [[ 9.84116369e-01 1.77524568e-01 0.00000000e+00 3.56246691e+01] [-1.77524568e-01 9.84116369e-01 0.00000000e+00 -3.92752639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70881244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:-3.94, Z:0.03 [[ 9.84610152e-01 1.74765123e-01 0.00000000e+00 3.56859427e+01] [-1.74765123e-01 9.84610152e-01 0.00000000e+00 -3.94379068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83408613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:-3.96, Z:0.03 [[ 9.84913251e-01 1.73048803e-01 0.00000000e+00 3.57454805e+01] [-1.73048803e-01 9.84913251e-01 0.00000000e+00 -3.96158264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82629256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.98, Z:0.03 [[ 9.84758315e-01 1.73928319e-01 0.00000000e+00 3.58062672e+01] [-1.73928319e-01 9.84758315e-01 0.00000000e+00 -3.97634388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95219227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.99, Z:0.03 [[ 9.84808650e-01 1.73643090e-01 0.00000000e+00 3.58681684e+01] [-1.73643090e-01 9.84808650e-01 0.00000000e+00 -3.98952128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11435432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.93, Y:-4.00, Z:0.03 [[ 9.83706856e-01 1.79779924e-01 0.00000000e+00 3.59296526e+01] [-1.79779924e-01 9.83706856e-01 0.00000000e+00 -4.00231558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90352971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:-4.02, Z:0.03 [[ 9.82607096e-01 1.85696783e-01 0.00000000e+00 3.59903568e+01] [-1.85696783e-01 9.82607096e-01 0.00000000e+00 -4.01685860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02933872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:-4.03, Z:0.03 [[ 9.83214356e-01 1.82454189e-01 0.00000000e+00 3.60523739e+01] [-1.82454189e-01 9.83214356e-01 0.00000000e+00 -4.02677596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69173715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.11, Y:-4.04, Z:0.03 [[ 9.83184511e-01 1.82614942e-01 0.00000000e+00 3.61125731e+01] [-1.82614942e-01 9.83184511e-01 0.00000000e+00 -4.04008201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51951287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.17, Y:-4.05, Z:0.03 [[ 9.83949906e-01 1.78444898e-01 0.00000000e+00 3.61735035e+01] [-1.78444898e-01 9.83949906e-01 0.00000000e+00 -4.05303398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79190953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.24, Y:-4.07, Z:0.03 [[ 9.84427802e-01 1.75789372e-01 0.00000000e+00 3.62351572e+01] [-1.75789372e-01 9.84427802e-01 0.00000000e+00 -4.06567362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94129698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.184340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.30, Y:-4.08, Z:0.03 [[ 9.84531957e-01 1.75205094e-01 0.00000000e+00 3.62965305e+01] [-1.75205094e-01 9.84531957e-01 0.00000000e+00 -4.07757646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82968770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.36, Y:-4.09, Z:0.03 [[ 9.84418693e-01 1.75840373e-01 0.00000000e+00 3.63575246e+01] [-1.75840373e-01 9.84418693e-01 0.00000000e+00 -4.08937400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67251118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.42, Y:-4.10, Z:0.03 [[ 9.85732942e-01 1.68316863e-01 0.00000000e+00 3.64196087e+01] [-1.68316863e-01 9.85732942e-01 0.00000000e+00 -4.09798243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65841592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.48, Y:-4.11, Z:0.03 [[ 9.86030522e-01 1.66564728e-01 0.00000000e+00 3.64812643e+01] [-1.66564728e-01 9.86030522e-01 0.00000000e+00 -4.10882420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68761484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.54, Y:-4.12, Z:0.03 [[ 9.86649595e-01 1.62857537e-01 0.00000000e+00 3.65427042e+01] [-1.62857537e-01 9.86649595e-01 0.00000000e+00 -4.11931387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73414954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.60, Y:-4.13, Z:0.03 [[ 9.86649511e-01 1.62858044e-01 0.00000000e+00 3.66046891e+01] [-1.62858044e-01 9.86649511e-01 0.00000000e+00 -4.13200851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80558569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:-4.14, Z:0.03 [[ 9.86955798e-01 1.60991471e-01 0.00000000e+00 3.66664713e+01] [-1.60991471e-01 9.86955798e-01 0.00000000e+00 -4.14381566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85847787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.73, Y:-4.16, Z:0.03 [[ 9.86753495e-01 1.62226817e-01 0.00000000e+00 3.67257086e+01] [-1.62226817e-01 9.86753495e-01 0.00000000e+00 -4.15703983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23657859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.79, Y:-4.16, Z:0.03 [[ 9.87520340e-01 1.57491518e-01 0.00000000e+00 3.67878874e+01] [-1.57491518e-01 9.87520340e-01 0.00000000e+00 -4.16325012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83154235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:-4.17, Z:0.03 [[ 9.87542919e-01 1.57349876e-01 0.00000000e+00 3.68493732e+01] [-1.57349876e-01 9.87542919e-01 0.00000000e+00 -4.17462530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93543755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.91, Y:-4.19, Z:0.03 [[ 9.87432015e-01 1.58044346e-01 0.00000000e+00 3.69117676e+01] [-1.58044346e-01 9.87432015e-01 0.00000000e+00 -4.18539074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04603412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:-4.20, Z:0.03 [[ 9.87122149e-01 1.59968322e-01 0.00000000e+00 3.69733079e+01] [-1.59968322e-01 9.87122149e-01 0.00000000e+00 -4.19537691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06729934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.904340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.03, Y:-4.21, Z:0.03 [[ 9.86596792e-01 1.63177114e-01 0.00000000e+00 3.70341822e+01] [-1.63177114e-01 9.86596792e-01 0.00000000e+00 -4.20948806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10667894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:-4.22, Z:0.03 [[ 9.86262236e-01 1.65187171e-01 0.00000000e+00 3.70965811e+01] [-1.65187171e-01 9.86262236e-01 0.00000000e+00 -4.22019301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10740516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:-4.23, Z:0.03 [[ 9.86399238e-01 1.64367102e-01 0.00000000e+00 3.71580792e+01] [-1.64367102e-01 9.86399238e-01 0.00000000e+00 -4.22711499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29476860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.084340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.22, Y:-4.24, Z:0.03 [[ 9.86059712e-01 1.66391837e-01 0.00000000e+00 3.72194475e+01] [-1.66391837e-01 9.86059712e-01 0.00000000e+00 -4.23921873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99247093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.28, Y:-4.25, Z:0.03 [[ 9.85951994e-01 1.67028936e-01 0.00000000e+00 3.72819384e+01] [-1.67028936e-01 9.85951994e-01 0.00000000e+00 -4.24927127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12418600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.34, Y:-4.26, Z:0.03 [[ 9.85868900e-01 1.67518689e-01 0.00000000e+00 3.73427472e+01] [-1.67518689e-01 9.85868900e-01 0.00000000e+00 -4.26032692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19123675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.264340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.40, Y:-4.27, Z:0.03 [[ 9.85998763e-01 1.66752630e-01 0.00000000e+00 3.74039595e+01] [-1.66752630e-01 9.85998763e-01 0.00000000e+00 -4.27265622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05189197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:-4.28, Z:0.03 [[ 9.86266242e-01 1.65163255e-01 0.00000000e+00 3.74657987e+01] [-1.65163255e-01 9.86266242e-01 0.00000000e+00 -4.28359848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22068122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:-4.30, Z:0.03 [[ 9.86297985e-01 1.64973585e-01 0.00000000e+00 3.75268331e+01] [-1.64973585e-01 9.86297985e-01 0.00000000e+00 -4.29525057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17557965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:-4.31, Z:0.03 [[ 9.86401443e-01 1.64353863e-01 0.00000000e+00 3.75885636e+01] [-1.64353863e-01 9.86401443e-01 0.00000000e+00 -4.30684870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02303248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.504340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:-4.32, Z:0.03 [[ 9.86272189e-01 1.65127738e-01 0.00000000e+00 3.76496720e+01] [-1.65127738e-01 9.86272189e-01 0.00000000e+00 -4.31725617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02608526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:-4.33, Z:0.03 [[ 9.86010536e-01 1.66683001e-01 0.00000000e+00 3.77109670e+01] [-1.66683001e-01 9.86010536e-01 0.00000000e+00 -4.32826941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98002048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.77, Y:-4.34, Z:0.03 [[ 9.85588584e-01 1.69160114e-01 0.00000000e+00 3.77729428e+01] [-1.69160114e-01 9.85588584e-01 0.00000000e+00 -4.33758603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34761030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.83, Y:-4.35, Z:0.03 [[ 9.84783060e-01 1.73788163e-01 0.00000000e+00 3.78346729e+01] [-1.73788163e-01 9.84783060e-01 0.00000000e+00 -4.34752864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37050283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-4.36, Z:0.03 [[ 9.84307932e-01 1.76459331e-01 0.00000000e+00 3.78956813e+01] [-1.76459331e-01 9.84307932e-01 0.00000000e+00 -4.35980957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93894543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:-4.37, Z:0.03 [[ 9.83763221e-01 1.79471237e-01 0.00000000e+00 3.79574798e+01] [-1.79471237e-01 9.83763221e-01 0.00000000e+00 -4.36949214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89101900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:-4.38, Z:0.03 [[ 9.83488560e-01 1.80970307e-01 0.00000000e+00 3.80183680e+01] [-1.80970307e-01 9.83488560e-01 0.00000000e+00 -4.38033630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83937193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:-4.39, Z:0.03 [[ 9.82659108e-01 1.85421350e-01 0.00000000e+00 3.80802199e+01] [-1.85421350e-01 9.82659108e-01 0.00000000e+00 -4.39287047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79414694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:-4.40, Z:0.03 [[ 9.81769292e-01 1.90076453e-01 0.00000000e+00 3.81411365e+01] [-1.90076453e-01 9.81769292e-01 0.00000000e+00 -4.40417936e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20511708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:-4.42, Z:0.03 [[ 9.81278636e-01 1.92593452e-01 0.00000000e+00 3.82023069e+01] [-1.92593452e-01 9.81278636e-01 0.00000000e+00 -4.41889713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80575036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:-4.43, Z:0.02 [[ 9.81402945e-01 1.91959004e-01 0.00000000e+00 3.82639405e+01] [-1.91959004e-01 9.81402945e-01 0.00000000e+00 -4.42978641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46995710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:-4.44, Z:0.02 [[ 9.80642248e-01 1.95808024e-01 0.00000000e+00 3.83236507e+01] [-1.95808024e-01 9.80642248e-01 0.00000000e+00 -4.44490248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39932468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:-4.46, Z:0.03 [[ 9.80430596e-01 1.96865048e-01 0.00000000e+00 3.83857595e+01] [-1.96865048e-01 9.80430596e-01 0.00000000e+00 -4.45748471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51855273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.45, Y:-4.47, Z:0.03 [[ 9.80515814e-01 1.96440167e-01 0.00000000e+00 3.84475189e+01] [-1.96440167e-01 9.80515814e-01 0.00000000e+00 -4.47054760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62024338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.51, Y:-4.48, Z:0.03 [[ 9.80762545e-01 1.95204584e-01 0.00000000e+00 3.85079342e+01] [-1.95204584e-01 9.80762545e-01 0.00000000e+00 -4.48412667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64726188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.57, Y:-4.50, Z:0.03 [[ 9.80684818e-01 1.95594703e-01 0.00000000e+00 3.85697058e+01] [-1.95594703e-01 9.80684818e-01 0.00000000e+00 -4.49735159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80123373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:-4.51, Z:0.03 [[ 9.80694723e-01 1.95545032e-01 0.00000000e+00 3.86306206e+01] [-1.95545032e-01 9.80694723e-01 0.00000000e+00 -4.51195743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82146738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:-4.52, Z:0.03 [[ 9.80709227e-01 1.95472279e-01 0.00000000e+00 3.86924953e+01] [-1.95472279e-01 9.80709227e-01 0.00000000e+00 -4.52325073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81730204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.584340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:-4.54, Z:0.03 [[ 9.80399170e-01 1.97021491e-01 0.00000000e+00 3.87534075e+01] [-1.97021491e-01 9.80399170e-01 0.00000000e+00 -4.53838036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03289830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644340127999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:-4.55, Z:0.03 [[ 9.80448463e-01 1.96776045e-01 0.00000000e+00 3.88140428e+01] [-1.96776045e-01 9.80448463e-01 0.00000000e+00 -4.55026866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98134181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.87, Y:-4.56, Z:0.03 [[ 9.80515706e-01 1.96440705e-01 0.00000000e+00 3.88749978e+01] [-1.96440705e-01 9.80515706e-01 0.00000000e+00 -4.56281660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57317681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764340128 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.94, Y:-4.58, Z:0.03 [[ 9.80778108e-01 1.95126376e-01 0.00000000e+00 3.89362069e+01] [-1.95126376e-01 9.80778108e-01 0.00000000e+00 -4.57827043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68220863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.00, Y:-4.59, Z:0.03 [[ 9.80724094e-01 1.95397674e-01 0.00000000e+00 3.89976907e+01] [-1.95397674e-01 9.80724094e-01 0.00000000e+00 -4.59370669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80012109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.884340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:-4.61, Z:0.03 [[ 9.81102259e-01 1.93489943e-01 0.00000000e+00 3.90590025e+01] [-1.93489943e-01 9.81102259e-01 0.00000000e+00 -4.60707408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72168572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.12, Y:-4.62, Z:0.03 [[ 9.81186823e-01 1.93060660e-01 0.00000000e+00 3.91190776e+01] [-1.93060660e-01 9.81186823e-01 0.00000000e+00 -4.62108148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92743519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.64, Z:0.03 [[ 9.81129580e-01 1.93351355e-01 0.00000000e+00 3.91792553e+01] [-1.93351355e-01 9.81129580e-01 0.00000000e+00 -4.63623762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77044344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.65, Z:0.03 [[ 9.80842855e-01 1.94800652e-01 0.00000000e+00 3.92402325e+01] [-1.94800652e-01 9.80842855e-01 0.00000000e+00 -4.64998344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81153892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.66, Z:0.03 [[ 9.80864105e-01 1.94693624e-01 0.00000000e+00 3.92996171e+01] [-1.94693624e-01 9.80864105e-01 0.00000000e+00 -4.66303295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72838451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.184340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.68, Z:0.03 [[ 9.80876538e-01 1.94630975e-01 0.00000000e+00 3.93608352e+01] [-1.94630975e-01 9.80876538e-01 0.00000000e+00 -4.67907536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97243335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.69, Z:0.03 [[ 9.81746794e-01 1.90192619e-01 0.00000000e+00 3.94213588e+01] [-1.90192619e-01 9.81746794e-01 0.00000000e+00 -4.69395151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86555433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.48, Y:-4.71, Z:0.03 [[ 9.82736844e-01 1.85008908e-01 0.00000000e+00 3.94815744e+01] [-1.85008908e-01 9.82736844e-01 0.00000000e+00 -4.70957681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03394292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.54, Y:-4.73, Z:0.03 [[ 9.83409658e-01 1.81398578e-01 0.00000000e+00 3.95413645e+01] [-1.81398578e-01 9.83409658e-01 0.00000000e+00 -4.72780154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70195572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.60, Y:-4.74, Z:0.03 [[ 9.83950989e-01 1.78438927e-01 0.00000000e+00 3.96029744e+01] [-1.78438927e-01 9.83950989e-01 0.00000000e+00 -4.74197591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92478170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.66, Y:-4.76, Z:0.03 [[ 9.83907211e-01 1.78680160e-01 0.00000000e+00 3.96639022e+01] [-1.78680160e-01 9.83907211e-01 0.00000000e+00 -4.75870551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99725277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.77, Z:0.03 [[ 9.83427842e-01 1.81299974e-01 0.00000000e+00 3.97235957e+01] [-1.81299974e-01 9.83427842e-01 0.00000000e+00 -4.77289672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08277464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.79, Z:0.03 [[ 9.83216914e-01 1.82440402e-01 0.00000000e+00 3.97847896e+01] [-1.82440402e-01 9.83216914e-01 0.00000000e+00 -4.78616331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30000559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.80, Z:0.03 [[ 9.82165661e-01 1.88017593e-01 0.00000000e+00 3.98448358e+01] [-1.88017593e-01 9.82165661e-01 0.00000000e+00 -4.80019515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33662772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.91, Y:-4.81, Z:0.03 [[ 9.81515149e-01 1.91384463e-01 0.00000000e+00 3.99052706e+01] [-1.91384463e-01 9.81515149e-01 0.00000000e+00 -4.81317973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42420291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.83, Z:0.04 [[ 9.80308972e-01 1.97469794e-01 0.00000000e+00 3.99643880e+01] [-1.97469794e-01 9.80308972e-01 0.00000000e+00 -4.82721956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84184635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.84, Z:0.04 [[ 9.79401022e-01 2.01924832e-01 0.00000000e+00 4.00249612e+01] [-2.01924832e-01 9.79401022e-01 0.00000000e+00 -4.83936110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75632359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.904340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.09, Y:-4.85, Z:0.04 [[ 9.78662225e-01 2.05475666e-01 0.00000000e+00 4.00867513e+01] [-2.05475666e-01 9.78662225e-01 0.00000000e+00 -4.85209486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92661010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.87, Z:0.04 [[ 9.77916621e-01 2.08995411e-01 0.00000000e+00 4.01486215e+01] [-2.08995411e-01 9.77916621e-01 0.00000000e+00 -4.86550304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92311800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.88, Z:0.04 [[ 9.78099227e-01 2.08139139e-01 0.00000000e+00 4.02094088e+01] [-2.08139139e-01 9.78099227e-01 0.00000000e+00 -4.87819328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87872481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.084340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.89, Z:0.04 [[ 9.78508853e-01 2.06204813e-01 0.00000000e+00 4.02694225e+01] [-2.06204813e-01 9.78508853e-01 0.00000000e+00 -4.89178188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72917108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.90, Z:0.04 [[ 0.97860813 0.20573313 0. 40.33092009] [-0.20573313 0.97860813 0. -4.90420605] [ 0. 0. 1. 0.04069306] [ 0. 0. 0. 1. ]] SLAMing on 39.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.91, Z:0.04 [[ 0.9797863 0.20004703 0. 40.39308718] [-0.20004703 0.9797863 0. -4.91293661] [ 0. 0. 1. 0.04152094] [ 0. 0. 0. 1. ]] SLAMing on 39.264340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.92, Z:0.04 [[ 0.98008425 0.19858211 0. 40.45544198] [-0.19858211 0.98008425 0. -4.92430917] [ 0. 0. 1. 0.04132269] [ 0. 0. 0. 1. ]] SLAMing on 39.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.94, Z:0.04 [[ 9.79985897e-01 1.99066930e-01 0.00000000e+00 4.05165440e+01] [-1.99066930e-01 9.79985897e-01 0.00000000e+00 -4.93510274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00728985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.94, Z:0.04 [[ 9.80004307e-01 1.98976273e-01 0.00000000e+00 4.05775149e+01] [-1.98976273e-01 9.80004307e-01 0.00000000e+00 -4.94460488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99183589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.95, Z:0.04 [[ 0.97996418 0.1991738 0. 40.63801046] [-0.1991738 0.97996418 0. -4.95296108] [ 0. 0. 1. 0.04117897] [ 0. 0. 0. 1. ]] SLAMing on 39.504340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.96, Z:0.04 [[ 9.80161419e-01 1.98200888e-01 0.00000000e+00 4.07008846e+01] [-1.98200888e-01 9.80161419e-01 0.00000000e+00 -4.96021549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04588769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.97, Z:0.04 [[ 9.79946985e-01 1.99258393e-01 0.00000000e+00 4.07635753e+01] [-1.99258393e-01 9.79946985e-01 0.00000000e+00 -4.96682314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91569872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.98, Z:0.04 [[ 9.79611504e-01 2.00901220e-01 0.00000000e+00 4.08256801e+01] [-2.00901220e-01 9.79611504e-01 0.00000000e+00 -4.97617642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90398440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.98, Z:0.04 [[ 9.79395078e-01 2.01953662e-01 0.00000000e+00 4.08873641e+01] [-2.01953662e-01 9.79395078e-01 0.00000000e+00 -4.98497458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67090899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:-4.99, Z:0.04 [[ 9.79507300e-01 2.01408664e-01 0.00000000e+00 4.09503699e+01] [-2.01408664e-01 9.79507300e-01 0.00000000e+00 -4.99167016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63003678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.804340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.01, Y:-5.00, Z:0.03 [[ 9.79469159e-01 2.01594064e-01 0.00000000e+00 4.10118193e+01] [-2.01594064e-01 9.79469159e-01 0.00000000e+00 -5.00213474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43112024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.07, Y:-5.01, Z:0.03 [[ 9.79791931e-01 2.00019429e-01 0.00000000e+00 4.10739190e+01] [-2.00019429e-01 9.79791931e-01 0.00000000e+00 -5.01192781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38539541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:-5.02, Z:0.03 [[ 9.80408979e-01 1.96972672e-01 0.00000000e+00 4.11355409e+01] [-1.96972672e-01 9.80408979e-01 0.00000000e+00 -5.02246957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14385736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:-5.03, Z:0.03 [[ 9.80845411e-01 1.94787782e-01 0.00000000e+00 4.11980842e+01] [-1.94787782e-01 9.80845411e-01 0.00000000e+00 -5.03312986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03349252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:-5.04, Z:0.03 [[ 9.81125155e-01 1.93373810e-01 0.00000000e+00 4.12589023e+01] [-1.93373810e-01 9.81125155e-01 0.00000000e+00 -5.04395657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97456468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:-5.05, Z:0.03 [[ 9.81836887e-01 1.89726980e-01 0.00000000e+00 4.13200889e+01] [-1.89726980e-01 9.81836887e-01 0.00000000e+00 -5.05416946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12234341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:-5.07, Z:0.03 [[ 9.82206736e-01 1.87802898e-01 0.00000000e+00 4.13805618e+01] [-1.87802898e-01 9.82206736e-01 0.00000000e+00 -5.06758802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51619901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.44, Y:-5.08, Z:0.03 [[ 9.81972061e-01 1.89026115e-01 0.00000000e+00 4.14399670e+01] [-1.89026115e-01 9.81972061e-01 0.00000000e+00 -5.08469025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15768843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:-5.10, Z:0.03 [[ 9.82451527e-01 1.86518087e-01 0.00000000e+00 4.15004991e+01] [-1.86518087e-01 9.82451527e-01 0.00000000e+00 -5.09826653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63884660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:-5.11, Z:0.03 [[ 9.82221473e-01 1.87725806e-01 0.00000000e+00 4.15596604e+01] [-1.87725806e-01 9.82221473e-01 0.00000000e+00 -5.11380806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72571829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:-5.13, Z:0.03 [[ 9.82044108e-01 1.88651451e-01 0.00000000e+00 4.16216070e+01] [-1.88651451e-01 9.82044108e-01 0.00000000e+00 -5.12723639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61809790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.68, Y:-5.15, Z:0.03 [[ 9.80093056e-01 1.98538667e-01 0.00000000e+00 4.16797738e+01] [-1.98538667e-01 9.80093056e-01 0.00000000e+00 -5.15018863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79323151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.74, Y:-5.16, Z:0.03 [[ 9.80251319e-01 1.97755788e-01 0.00000000e+00 4.17417589e+01] [-1.97755788e-01 9.80251319e-01 0.00000000e+00 -5.15887324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64404253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.584340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.80, Y:-5.17, Z:0.03 [[ 9.79359459e-01 2.02126322e-01 0.00000000e+00 4.18027968e+01] [-2.02126322e-01 9.79359459e-01 0.00000000e+00 -5.17494549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82724865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.86, Y:-5.19, Z:0.03 [[ 9.78168548e-01 2.07813118e-01 0.00000000e+00 4.18633099e+01] [-2.07813118e-01 9.78168548e-01 0.00000000e+00 -5.19424453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14439576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.92, Y:-5.21, Z:0.03 [[ 9.77292689e-01 2.11893842e-01 0.00000000e+00 4.19238023e+01] [-2.11893842e-01 9.77292689e-01 0.00000000e+00 -5.21271058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20305134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.764340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.99, Y:-5.23, Z:0.03 [[ 9.77268103e-01 2.12007206e-01 0.00000000e+00 4.19851794e+01] [-2.12007206e-01 9.77268103e-01 0.00000000e+00 -5.22517173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43111982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.05, Y:-5.24, Z:0.03 [[ 9.76634023e-01 2.14909250e-01 0.00000000e+00 4.20458799e+01] [-2.14909250e-01 9.76634023e-01 0.00000000e+00 -5.24214541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48632769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.11, Y:-5.26, Z:0.03 [[ 9.75754717e-01 2.18866928e-01 0.00000000e+00 4.21063317e+01] [-2.18866928e-01 9.75754717e-01 0.00000000e+00 -5.26088134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38916362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:-5.28, Z:0.03 [[ 9.75698541e-01 2.19117222e-01 0.00000000e+00 4.21659791e+01] [-2.19117222e-01 9.75698541e-01 0.00000000e+00 -5.27674278e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49331133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:-5.29, Z:0.04 [[ 9.75623732e-01 2.19450071e-01 0.00000000e+00 4.22268447e+01] [-2.19450071e-01 9.75623732e-01 0.00000000e+00 -5.29437251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58757723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:-5.31, Z:0.04 [[ 9.76391310e-01 2.16009282e-01 0.00000000e+00 4.22866378e+01] [-2.16009282e-01 9.76391310e-01 0.00000000e+00 -5.31306527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64272425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.35, Y:-5.33, Z:0.04 [[ 9.76551287e-01 2.15284889e-01 0.00000000e+00 4.23471913e+01] [-2.15284889e-01 9.76551287e-01 0.00000000e+00 -5.33082777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59816061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.184340127999995 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:42.41, Y:-5.34, Z:0.04 [[ 9.76960367e-01 2.13420807e-01 0.00000000e+00 4.24079853e+01] [-2.13420807e-01 9.76960367e-01 0.00000000e+00 -5.34234987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83320766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.47, Y:-5.36, Z:0.04 [[ 9.75394064e-01 2.20468635e-01 0.00000000e+00 4.24671421e+01] [-2.20468635e-01 9.75394064e-01 0.00000000e+00 -5.36415486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87367747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.53, Y:-5.38, Z:0.04 [[ 9.74688474e-01 2.23567391e-01 0.00000000e+00 4.25283969e+01] [-2.23567391e-01 9.74688474e-01 0.00000000e+00 -5.37913310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57422090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.59, Y:-5.39, Z:0.03 [[ 9.75142945e-01 2.21576708e-01 0.00000000e+00 4.25894938e+01] [-2.21576708e-01 9.75142945e-01 0.00000000e+00 -5.39008733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45498231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.65, Y:-5.40, Z:0.03 [[ 9.74725371e-01 2.23406472e-01 0.00000000e+00 4.26491784e+01] [-2.23406472e-01 9.74725371e-01 0.00000000e+00 -5.40475845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34305339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:-5.42, Z:0.04 [[ 9.73784558e-01 2.27472274e-01 0.00000000e+00 4.27070073e+01] [-2.27472274e-01 9.73784558e-01 0.00000000e+00 -5.42404208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71145485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:-5.43, Z:0.03 [[ 9.74478049e-01 2.24482811e-01 0.00000000e+00 4.27680707e+01] [-2.24482811e-01 9.74478049e-01 0.00000000e+00 -5.43490269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36484001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:-5.45, Z:0.03 [[ 9.75356064e-01 2.20636687e-01 0.00000000e+00 4.28286258e+01] [-2.20636687e-01 9.75356064e-01 0.00000000e+00 -5.44910086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44119943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:-5.46, Z:0.03 [[ 9.76081956e-01 2.17402889e-01 0.00000000e+00 4.28900096e+01] [-2.17402889e-01 9.76081956e-01 0.00000000e+00 -5.46342638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26651789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:-5.48, Z:0.03 [[ 9.75889758e-01 2.18264014e-01 0.00000000e+00 4.29495733e+01] [-2.18264014e-01 9.75889758e-01 0.00000000e+00 -5.48188178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38241330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:-5.50, Z:0.03 [[ 9.76457614e-01 2.15709358e-01 0.00000000e+00 4.30098760e+01] [-2.15709358e-01 9.76457614e-01 0.00000000e+00 -5.49905118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32932279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844340128 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:-5.52, Z:0.04 [[ 9.76733743e-01 2.14455577e-01 0.00000000e+00 4.30692724e+01] [-2.14455577e-01 9.76733743e-01 0.00000000e+00 -5.51547287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63554949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.904340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:-5.53, Z:0.03 [[ 9.76647784e-01 2.14846703e-01 0.00000000e+00 4.31300338e+01] [-2.14846703e-01 9.76647784e-01 0.00000000e+00 -5.53002831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36870664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-5.54, Z:0.03 [[ 9.76966453e-01 2.13392946e-01 0.00000000e+00 4.31907255e+01] [-2.13392946e-01 9.76966453e-01 0.00000000e+00 -5.54101439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14959211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-5.56, Z:0.03 [[ 9.75897771e-01 2.18228186e-01 0.00000000e+00 4.32512667e+01] [-2.18228186e-01 9.75897771e-01 0.00000000e+00 -5.55741959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34628870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.084340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:-5.56, Z:0.03 [[ 9.75807157e-01 2.18633010e-01 0.00000000e+00 4.33129117e+01] [-2.18633010e-01 9.75807157e-01 0.00000000e+00 -5.56448240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19171424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:-5.58, Z:0.03 [[ 9.75634923e-01 2.19400310e-01 0.00000000e+00 4.33742003e+01] [-2.19400310e-01 9.75634923e-01 0.00000000e+00 -5.57721655e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17879971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:-5.59, Z:0.03 [[ 9.75024630e-01 2.22096760e-01 0.00000000e+00 4.34353044e+01] [-2.22096760e-01 9.75024630e-01 0.00000000e+00 -5.59374484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27579046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:-5.60, Z:0.03 [[ 9.75778539e-01 2.18760698e-01 0.00000000e+00 4.34976480e+01] [-2.18760698e-01 9.75778539e-01 0.00000000e+00 -5.60354680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11371893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.62, Z:0.03 [[ 9.76320596e-01 2.16328672e-01 0.00000000e+00 4.35574598e+01] [-2.16328672e-01 9.76320596e-01 0.00000000e+00 -5.61558344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44967711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.63, Z:0.03 [[ 9.76467211e-01 2.15665911e-01 0.00000000e+00 4.36189860e+01] [-2.15665911e-01 9.76467211e-01 0.00000000e+00 -5.62816584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33054488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.64, Z:0.03 [[ 9.76039287e-01 2.17594371e-01 0.00000000e+00 4.36799163e+01] [-2.17594371e-01 9.76039287e-01 0.00000000e+00 -5.64244331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71380317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.504340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.66, Z:0.03 [[ 9.76883139e-01 2.13774024e-01 0.00000000e+00 4.37416512e+01] [-2.13774024e-01 9.76883139e-01 0.00000000e+00 -5.65513527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10576940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-5.67, Z:0.03 [[ 9.77293507e-01 2.11890068e-01 0.00000000e+00 4.38034268e+01] [-2.11890068e-01 9.77293507e-01 0.00000000e+00 -5.66802539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00942001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.68, Z:0.03 [[ 9.77833805e-01 2.09382543e-01 0.00000000e+00 4.38650672e+01] [-2.09382543e-01 9.77833805e-01 0.00000000e+00 -5.68135373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07762307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.69, Z:0.03 [[ 9.78073790e-01 2.08258641e-01 0.00000000e+00 4.39255720e+01] [-2.08258641e-01 9.78073790e-01 0.00000000e+00 -5.69493145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06524235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:-5.71, Z:0.03 [[ 9.78151510e-01 2.07893299e-01 0.00000000e+00 4.39861652e+01] [-2.07893299e-01 9.78151510e-01 0.00000000e+00 -5.70837068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02200394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804340128 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:-5.72, Z:0.03 [[ 9.78193969e-01 2.07693427e-01 0.00000000e+00 4.40471560e+01] [-2.07693427e-01 9.78193969e-01 0.00000000e+00 -5.72279478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04783011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.11, Y:-5.74, Z:0.03 [[ 9.78103505e-01 2.08119037e-01 0.00000000e+00 4.41078858e+01] [-2.08119037e-01 9.78103505e-01 0.00000000e+00 -5.73736135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07760816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.17, Y:-5.75, Z:0.03 [[ 9.77322109e-01 2.11758107e-01 0.00000000e+00 4.41688460e+01] [-2.11758107e-01 9.77322109e-01 0.00000000e+00 -5.75450099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22108359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.77, Z:0.03 [[ 9.77580943e-01 2.10559969e-01 0.00000000e+00 4.42293408e+01] [-2.10559969e-01 9.77580943e-01 0.00000000e+00 -5.76709949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24378488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.29, Y:-5.78, Z:0.04 [[ 9.77555959e-01 2.10675927e-01 0.00000000e+00 4.42900442e+01] [-2.10675927e-01 9.77555959e-01 0.00000000e+00 -5.78214765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51994966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:-5.80, Z:0.04 [[ 9.77580445e-01 2.10562279e-01 0.00000000e+00 4.43505201e+01] [-2.10562279e-01 9.77580445e-01 0.00000000e+00 -5.79549658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65444759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.41, Y:-5.81, Z:0.04 [[ 9.77470859e-01 2.11070412e-01 0.00000000e+00 4.44121156e+01] [-2.11070412e-01 9.77470859e-01 0.00000000e+00 -5.80775708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57528629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.47, Y:-5.82, Z:0.04 [[ 9.76877203e-01 2.13801146e-01 0.00000000e+00 4.44738244e+01] [-2.13801146e-01 9.76877203e-01 0.00000000e+00 -5.81901066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54255557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.53, Y:-5.83, Z:0.04 [[ 9.76196202e-01 2.16889316e-01 0.00000000e+00 4.45347451e+01] [-2.16889316e-01 9.76196202e-01 0.00000000e+00 -5.83091283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54050087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.60, Y:-5.84, Z:0.04 [[ 9.75760534e-01 2.18840995e-01 0.00000000e+00 4.45967954e+01] [-2.18840995e-01 9.75760534e-01 0.00000000e+00 -5.84152604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51548056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.66, Y:-5.85, Z:0.04 [[ 9.75595277e-01 2.19576536e-01 0.00000000e+00 4.46579645e+01] [-2.19576536e-01 9.75595277e-01 0.00000000e+00 -5.85360850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61532918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.72, Y:-5.87, Z:0.04 [[ 9.75310413e-01 2.20838400e-01 0.00000000e+00 4.47199396e+01] [-2.20838400e-01 9.75310413e-01 0.00000000e+00 -5.86691226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61589856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.78, Y:-5.88, Z:0.03 [[ 9.75436626e-01 2.20280252e-01 0.00000000e+00 4.47818494e+01] [-2.20280252e-01 9.75436626e-01 0.00000000e+00 -5.87725663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47144705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.584340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.84, Y:-5.89, Z:0.03 [[ 9.75619286e-01 2.19469834e-01 0.00000000e+00 4.48428095e+01] [-2.19469834e-01 9.75619286e-01 0.00000000e+00 -5.88902931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40190091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.90, Y:-5.90, Z:0.03 [[ 9.75786522e-01 2.18725085e-01 0.00000000e+00 4.49031917e+01] [-2.18725085e-01 9.75786522e-01 0.00000000e+00 -5.90396207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32093638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.96, Y:-5.92, Z:0.03 [[ 9.76368001e-01 2.16114615e-01 0.00000000e+00 4.49634130e+01] [-2.16114615e-01 9.76368001e-01 0.00000000e+00 -5.92069022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49142595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.02, Y:-5.94, Z:0.03 [[ 9.76875651e-01 2.13808236e-01 0.00000000e+00 4.50248716e+01] [-2.13808236e-01 9.76875651e-01 0.00000000e+00 -5.93631977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39601127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.09, Y:-5.95, Z:0.03 [[ 9.78406563e-01 2.06689614e-01 0.00000000e+00 4.50868100e+01] [-2.06689614e-01 9.78406563e-01 0.00000000e+00 -5.94630373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10038238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:-5.96, Z:0.03 [[ 9.79582924e-01 2.01040530e-01 0.00000000e+00 4.51479305e+01] [-2.01040530e-01 9.79582924e-01 0.00000000e+00 -5.95808366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99585538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:-5.97, Z:0.03 [[ 9.80575552e-01 1.96141750e-01 0.00000000e+00 4.52087531e+01] [-1.96141750e-01 9.80575552e-01 0.00000000e+00 -5.96873411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09459376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.27, Y:-5.98, Z:0.03 [[ 9.80925127e-01 1.94385942e-01 0.00000000e+00 4.52698842e+01] [-1.94385942e-01 9.80925127e-01 0.00000000e+00 -5.98035257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78927403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.33, Y:-6.00, Z:0.03 [[ 9.79579246e-01 2.01058452e-01 0.00000000e+00 4.53280191e+01] [-2.01058452e-01 9.79579246e-01 0.00000000e+00 -5.99852484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39222140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.39, Y:-6.01, Z:0.03 [[ 9.79258945e-01 2.02612729e-01 0.00000000e+00 4.53899803e+01] [-2.02612729e-01 9.79258945e-01 0.00000000e+00 -6.00501374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11286257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.184340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.45, Y:-6.02, Z:0.03 [[ 9.77805164e-01 2.09516253e-01 0.00000000e+00 4.54506319e+01] [-2.09516253e-01 9.77805164e-01 0.00000000e+00 -6.01902937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10691421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.51, Y:-6.03, Z:0.03 [[ 9.76927898e-01 2.13569387e-01 0.00000000e+00 4.55112657e+01] [-2.13569387e-01 9.76927898e-01 0.00000000e+00 -6.03079996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37054240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.57, Y:-6.04, Z:0.03 [[ 9.76156317e-01 2.17068755e-01 0.00000000e+00 4.55740039e+01] [-2.17068755e-01 9.76156317e-01 0.00000000e+00 -6.04105503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66552314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.64, Y:-6.06, Z:0.03 [[ 9.75653696e-01 2.19316815e-01 0.00000000e+00 4.56350813e+01] [-2.19316815e-01 9.75653696e-01 0.00000000e+00 -6.05580141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14108496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.70, Y:-6.06, Z:0.03 [[ 9.76849459e-01 2.13927873e-01 0.00000000e+00 4.56965668e+01] [-2.13927873e-01 9.76849459e-01 0.00000000e+00 -6.06319861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10974447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484340128 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:45.76, Y:-6.08, Z:0.03 [[ 9.76620017e-01 2.14972887e-01 0.00000000e+00 4.57579757e+01] [-2.14972887e-01 9.76620017e-01 0.00000000e+00 -6.07714200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12159460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.82, Y:-6.09, Z:0.03 [[ 9.77134257e-01 2.12623243e-01 0.00000000e+00 4.58192958e+01] [-2.12623243e-01 9.77134257e-01 0.00000000e+00 -6.08991679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69529686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.88, Y:-6.10, Z:0.03 [[ 9.77495068e-01 2.10958272e-01 0.00000000e+00 4.58789645e+01] [-2.10958272e-01 9.77495068e-01 0.00000000e+00 -6.10119823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07718927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.94, Y:-6.12, Z:0.03 [[ 9.76739264e-01 2.14430433e-01 0.00000000e+00 4.59384154e+01] [-2.14430433e-01 9.76739264e-01 0.00000000e+00 -6.11842618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39475755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.00, Y:-6.14, Z:0.03 [[ 9.76937066e-01 2.13527443e-01 0.00000000e+00 4.59981660e+01] [-2.13527443e-01 9.76937066e-01 0.00000000e+00 -6.13516776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49181131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.06, Y:-6.15, Z:0.03 [[ 9.77192608e-01 2.12354909e-01 0.00000000e+00 4.60602618e+01] [-2.12354909e-01 9.77192608e-01 0.00000000e+00 -6.14800762e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41382146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:-6.16, Z:0.03 [[ 9.77894131e-01 2.09100619e-01 0.00000000e+00 4.61217416e+01] [-2.09100619e-01 9.77894131e-01 0.00000000e+00 -6.15889844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15675224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.904340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:-6.17, Z:0.03 [[ 9.78038373e-01 2.08424907e-01 0.00000000e+00 4.61831039e+01] [-2.08424907e-01 9.78038373e-01 0.00000000e+00 -6.17452577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18563212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:-6.19, Z:0.04 [[ 9.77881062e-01 2.09161727e-01 0.00000000e+00 4.62423426e+01] [-2.09161727e-01 9.77881062e-01 0.00000000e+00 -6.18963727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50637812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:-6.20, Z:0.03 [[ 9.77857662e-01 2.09271100e-01 0.00000000e+00 4.63026894e+01] [-2.09271100e-01 9.77857662e-01 0.00000000e+00 -6.20399100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43034872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.084340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:-6.21, Z:0.03 [[ 9.78802711e-01 2.04805403e-01 0.00000000e+00 4.63649576e+01] [-2.04805403e-01 9.78802711e-01 0.00000000e+00 -6.21256371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63894527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:-6.23, Z:0.03 [[ 9.78080975e-01 2.08224896e-01 0.00000000e+00 4.64240197e+01] [-2.08224896e-01 9.78080975e-01 0.00000000e+00 -6.23031230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08813032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.49, Y:-6.24, Z:0.03 [[ 9.77884452e-01 2.09145877e-01 0.00000000e+00 4.64855368e+01] [-2.09145877e-01 9.77884452e-01 0.00000000e+00 -6.24425900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86285464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.55, Y:-6.26, Z:0.03 [[ 9.77658354e-01 2.10200245e-01 0.00000000e+00 4.65453018e+01] [-2.10200245e-01 9.77658354e-01 0.00000000e+00 -6.25918714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21216886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.61, Y:-6.27, Z:0.02 [[ 9.78275412e-01 2.07309476e-01 0.00000000e+00 4.66060096e+01] [-2.07309476e-01 9.78275412e-01 0.00000000e+00 -6.26922540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28916221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:-6.29, Z:0.03 [[ 9.77804707e-01 2.09518389e-01 0.00000000e+00 4.66637049e+01] [-2.09518389e-01 9.77804707e-01 0.00000000e+00 -6.28814859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78262728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:-6.30, Z:0.03 [[ 9.78240911e-01 2.07472215e-01 0.00000000e+00 4.67250614e+01] [-2.07472215e-01 9.78240911e-01 0.00000000e+00 -6.30168709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50589356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.504340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:-6.32, Z:0.02 [[ 9.78701552e-01 2.05288267e-01 0.00000000e+00 4.67855572e+01] [-2.05288267e-01 9.78701552e-01 0.00000000e+00 -6.31698605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24755850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:-6.33, Z:0.02 [[ 9.79109674e-01 2.03332844e-01 0.00000000e+00 4.68442758e+01] [-2.03332844e-01 9.79109674e-01 0.00000000e+00 -6.33367885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15372749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:-6.36, Z:0.03 [[ 9.79018321e-01 2.03772245e-01 0.00000000e+00 4.69026756e+01] [-2.03772245e-01 9.79018321e-01 0.00000000e+00 -6.35542869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62013055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:-6.37, Z:0.02 [[ 9.79749441e-01 2.00227451e-01 0.00000000e+00 4.69632322e+01] [-2.00227451e-01 9.79749441e-01 0.00000000e+00 -6.36885170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08970775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.744340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:-6.39, Z:0.02 [[ 9.79028236e-01 2.03724600e-01 0.00000000e+00 4.70227298e+01] [-2.03724600e-01 9.79028236e-01 0.00000000e+00 -6.38624824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37437340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:-6.40, Z:0.02 [[ 9.78537024e-01 2.06071086e-01 0.00000000e+00 4.70830975e+01] [-2.06071086e-01 9.78537024e-01 0.00000000e+00 -6.40166337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92724421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.42, Z:0.02 [[ 9.77298255e-01 2.11868167e-01 0.00000000e+00 4.71427913e+01] [-2.11868167e-01 9.77298255e-01 0.00000000e+00 -6.42063250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37621864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.924340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.44, Z:0.02 [[ 9.76260204e-01 2.16601050e-01 0.00000000e+00 4.72018302e+01] [-2.16601050e-01 9.76260204e-01 0.00000000e+00 -6.44089365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22176897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.46, Z:0.02 [[ 9.75712193e-01 2.19056424e-01 0.00000000e+00 4.72626013e+01] [-2.19056424e-01 9.75712193e-01 0.00000000e+00 -6.45617779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96966491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.47, Z:0.02 [[ 9.75367233e-01 2.20587309e-01 0.00000000e+00 4.73228485e+01] [-2.20587309e-01 9.75367233e-01 0.00000000e+00 -6.46895617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84399142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:-6.48, Z:0.02 [[ 9.74558612e-01 2.24132800e-01 0.00000000e+00 4.73826973e+01] [-2.24132800e-01 9.74558612e-01 0.00000000e+00 -6.48490572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71131033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:-6.50, Z:0.02 [[ 9.72887365e-01 2.31279430e-01 0.00000000e+00 4.74410699e+01] [-2.31279430e-01 9.72887365e-01 0.00000000e+00 -6.50339174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99278600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:-6.52, Z:0.02 [[ 9.71247105e-01 2.38073645e-01 0.00000000e+00 4.75008224e+01] [-2.38073645e-01 9.71247105e-01 0.00000000e+00 -6.52024379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10766551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:-6.53, Z:0.02 [[ 9.71449605e-01 2.37246001e-01 0.00000000e+00 4.75616253e+01] [-2.37246001e-01 9.71449605e-01 0.00000000e+00 -6.52969052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81528311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:-6.55, Z:0.02 [[ 9.70620046e-01 2.40617388e-01 0.00000000e+00 4.76219374e+01] [-2.40617388e-01 9.70620046e-01 0.00000000e+00 -6.54597662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64893468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.68, Y:-6.56, Z:0.02 [[ 9.69722876e-01 2.44207991e-01 0.00000000e+00 4.76822390e+01] [-2.44207991e-01 9.69722876e-01 0.00000000e+00 -6.56491150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66837509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.74, Y:-6.58, Z:0.02 [[ 9.70425054e-01 2.41402599e-01 0.00000000e+00 4.77437898e+01] [-2.41402599e-01 9.70425054e-01 0.00000000e+00 -6.57908861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70885196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.80, Y:-6.59, Z:0.02 [[ 9.71018746e-01 2.39003338e-01 0.00000000e+00 4.78034252e+01] [-2.39003338e-01 9.71018746e-01 0.00000000e+00 -6.59283408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54328259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.584340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.86, Y:-6.61, Z:0.02 [[ 9.71178912e-01 2.38351674e-01 0.00000000e+00 4.78634715e+01] [-2.38351674e-01 9.71178912e-01 0.00000000e+00 -6.61085246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69922326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.92, Y:-6.62, Z:0.02 [[ 9.72270398e-01 2.33859517e-01 0.00000000e+00 4.79238945e+01] [-2.33859517e-01 9.72270398e-01 0.00000000e+00 -6.62418130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59816964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.98, Y:-6.64, Z:0.02 [[ 9.72553745e-01 2.32678349e-01 0.00000000e+00 4.79844195e+01] [-2.32678349e-01 9.72553745e-01 0.00000000e+00 -6.64010198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62154596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.04, Y:-6.65, Z:0.02 [[ 9.72737257e-01 2.31909957e-01 0.00000000e+00 4.80447332e+01] [-2.31909957e-01 9.72737257e-01 0.00000000e+00 -6.65496822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74976119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.67, Z:0.02 [[ 9.72558824e-01 2.32657117e-01 0.00000000e+00 4.81043914e+01] [-2.32657117e-01 9.72558824e-01 0.00000000e+00 -6.67070395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50147700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.16, Y:-6.69, Z:0.02 [[ 9.71874105e-01 2.35501008e-01 0.00000000e+00 4.81642674e+01] [-2.35501008e-01 9.71874105e-01 0.00000000e+00 -6.69131033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91499337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.944340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.70, Z:0.02 [[ 9.72599764e-01 2.32485910e-01 0.00000000e+00 4.82239803e+01] [-2.32485910e-01 9.72599764e-01 0.00000000e+00 -6.70324451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82583421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.72, Z:0.02 [[ 9.72925428e-01 2.31119260e-01 0.00000000e+00 4.82842958e+01] [-2.31119260e-01 9.72925428e-01 0.00000000e+00 -6.71879481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53574328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.34, Y:-6.73, Z:0.01 [[ 9.72574685e-01 2.32590805e-01 0.00000000e+00 4.83447625e+01] [-2.32590805e-01 9.72574685e-01 0.00000000e+00 -6.73366103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06284522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:-6.75, Z:0.02 [[ 9.72451554e-01 2.33105074e-01 0.00000000e+00 4.84053328e+01] [-2.33105074e-01 9.72451554e-01 0.00000000e+00 -6.75108629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52204500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.184340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:-6.77, Z:0.02 [[ 9.71368669e-01 2.37577164e-01 0.00000000e+00 4.84655959e+01] [-2.37577164e-01 9.71368669e-01 0.00000000e+00 -6.76973785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51932014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.53, Y:-6.79, Z:0.01 [[ 9.71119086e-01 2.38595309e-01 0.00000000e+00 4.85266467e+01] [-2.38595309e-01 9.71119086e-01 0.00000000e+00 -6.78559710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43818712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.59, Y:-6.80, Z:0.01 [[ 9.70665141e-01 2.40435403e-01 0.00000000e+00 4.85865297e+01] [-2.40435403e-01 9.70665141e-01 0.00000000e+00 -6.80004951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35407499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.65, Y:-6.82, Z:0.01 [[ 9.70215165e-01 2.42244780e-01 0.00000000e+00 4.86469026e+01] [-2.42244780e-01 9.70215165e-01 0.00000000e+00 -6.81551805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47337087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.71, Y:-6.83, Z:0.01 [[ 9.70140600e-01 2.42543225e-01 0.00000000e+00 4.87079831e+01] [-2.42543225e-01 9.70140600e-01 0.00000000e+00 -6.83194608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44826719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.484340128 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:48.77, Y:-6.85, Z:0.01 [[ 9.70925896e-01 2.39380249e-01 0.00000000e+00 4.87696114e+01] [-2.39380249e-01 9.70925896e-01 0.00000000e+00 -6.84656030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05697026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:-6.86, Z:0.01 [[ 9.70782354e-01 2.39961707e-01 0.00000000e+00 4.88293607e+01] [-2.39961707e-01 9.70782354e-01 0.00000000e+00 -6.86405751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11170503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.89, Y:-6.88, Z:0.01 [[ 9.71684224e-01 2.36283237e-01 0.00000000e+00 4.88907519e+01] [-2.36283237e-01 9.71684224e-01 0.00000000e+00 -6.87970018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41670421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.95, Y:-6.90, Z:0.02 [[ 9.71958088e-01 2.35154154e-01 0.00000000e+00 4.89511219e+01] [-2.35154154e-01 9.71958088e-01 0.00000000e+00 -6.89554330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80111623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.724340127999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:49.01, Y:-6.92, Z:0.02 [[ 9.71567543e-01 2.36762559e-01 0.00000000e+00 4.90108881e+01] [-2.36762559e-01 9.71567543e-01 0.00000000e+00 -6.91660897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88436295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.07, Y:-6.93, Z:0.02 [[ 9.71909666e-01 2.35354205e-01 0.00000000e+00 4.90718036e+01] [-2.35354205e-01 9.71909666e-01 0.00000000e+00 -6.93145066e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98152364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.13, Y:-6.95, Z:0.02 [[ 9.72295007e-01 2.33757181e-01 0.00000000e+00 4.91320087e+01] [-2.33757181e-01 9.72295007e-01 0.00000000e+00 -6.94592296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94066881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.904340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.19, Y:-6.96, Z:0.02 [[ 9.72574429e-01 2.32591876e-01 0.00000000e+00 4.91927646e+01] [-2.32591876e-01 9.72574429e-01 0.00000000e+00 -6.95990559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88156566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:-6.98, Z:0.02 [[ 9.73131664e-01 2.30249354e-01 0.00000000e+00 4.92533595e+01] [-2.30249354e-01 9.73131664e-01 0.00000000e+00 -6.97604797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72766621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:-6.99, Z:0.02 [[ 9.73878696e-01 2.27068901e-01 0.00000000e+00 4.93120534e+01] [-2.27068901e-01 9.73878696e-01 0.00000000e+00 -6.99215499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12236464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.084340127999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:-7.00, Z:0.02 [[ 9.74477512e-01 2.24485140e-01 0.00000000e+00 4.93736261e+01] [-2.24485140e-01 9.74477512e-01 0.00000000e+00 -7.00356117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26650616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.43, Y:-7.02, Z:0.02 [[ 9.73195866e-01 2.29977839e-01 0.00000000e+00 4.94344206e+01] [-2.29977839e-01 9.73195866e-01 0.00000000e+00 -7.01779910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80126488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:-7.03, Z:0.02 [[ 9.72137674e-01 2.34410629e-01 0.00000000e+00 4.94958740e+01] [-2.34410629e-01 9.72137674e-01 0.00000000e+00 -7.02934283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63545976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:-7.05, Z:0.02 [[ 9.70253164e-01 2.42092540e-01 0.00000000e+00 4.95550546e+01] [-2.42092540e-01 9.70253164e-01 0.00000000e+00 -7.04882731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25191171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-7.06, Z:0.02 [[ 9.69915061e-01 2.43443575e-01 0.00000000e+00 4.96156889e+01] [-2.43443575e-01 9.69915061e-01 0.00000000e+00 -7.05997494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95640753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.67, Y:-7.08, Z:0.03 [[ 9.68377355e-01 2.49490077e-01 0.00000000e+00 4.96749337e+01] [-2.49490077e-01 9.68377355e-01 0.00000000e+00 -7.07762819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82112096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.444340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-7.09, Z:0.03 [[ 9.68294794e-01 2.49810313e-01 0.00000000e+00 4.97357119e+01] [-2.49810313e-01 9.68294794e-01 0.00000000e+00 -7.08890707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54771038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.504340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.80, Y:-7.10, Z:0.02 [[ 9.68258849e-01 2.49949596e-01 0.00000000e+00 4.97966800e+01] [-2.49949596e-01 9.68258849e-01 0.00000000e+00 -7.09981731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41344671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.86, Y:-7.11, Z:0.02 [[ 9.66799158e-01 2.55537450e-01 0.00000000e+00 4.98570762e+01] [-2.55537450e-01 9.66799158e-01 0.00000000e+00 -7.11476923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47233681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.92, Y:-7.13, Z:0.03 [[ 9.66402610e-01 2.57033063e-01 0.00000000e+00 4.99178753e+01] [-2.57033063e-01 9.66402610e-01 0.00000000e+00 -7.13011870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55515955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.98, Y:-7.15, Z:0.02 [[ 9.65326039e-01 2.61047196e-01 0.00000000e+00 4.99770299e+01] [-2.61047196e-01 9.65326039e-01 0.00000000e+00 -7.14533692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47260585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.04, Y:-7.16, Z:0.03 [[ 9.64376605e-01 2.64533107e-01 0.00000000e+00 5.00365946e+01] [-2.64533107e-01 9.64376605e-01 0.00000000e+00 -7.16160746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50450030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.10, Y:-7.18, Z:0.02 [[ 9.64735673e-01 2.63220593e-01 0.00000000e+00 5.00970313e+01] [-2.63220593e-01 9.64735673e-01 0.00000000e+00 -7.17684315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35621478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.16, Y:-7.20, Z:0.03 [[ 9.63757788e-01 2.66778796e-01 0.00000000e+00 5.01561085e+01] [-2.66778796e-01 9.63757788e-01 0.00000000e+00 -7.19846928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79647225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.924340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:50.22, Y:-7.22, Z:0.03 [[ 9.64887142e-01 2.62664813e-01 0.00000000e+00 5.02161333e+01] [-2.62664813e-01 9.64887142e-01 0.00000000e+00 -7.21778502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81663262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.28, Y:-7.23, Z:0.03 [[ 9.66078972e-01 2.58246821e-01 0.00000000e+00 5.02765803e+01] [-2.58246821e-01 9.66078972e-01 0.00000000e+00 -7.23427296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86347640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.34, Y:-7.25, Z:0.03 [[ 9.67300183e-01 2.53634296e-01 0.00000000e+00 5.03363240e+01] [-2.53634296e-01 9.67300183e-01 0.00000000e+00 -7.24877686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70598867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:-7.26, Z:0.02 [[ 9.68353406e-01 2.49583016e-01 0.00000000e+00 5.03980023e+01] [-2.49583016e-01 9.68353406e-01 0.00000000e+00 -7.25715231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32898605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.46, Y:-7.27, Z:0.03 [[ 9.68305162e-01 2.49770119e-01 0.00000000e+00 5.04577935e+01] [-2.49770119e-01 9.68305162e-01 0.00000000e+00 -7.27136014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69271479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.52, Y:-7.28, Z:0.04 [[ 9.70045571e-01 2.42923015e-01 0.00000000e+00 5.05204077e+01] [-2.42923015e-01 9.70045571e-01 0.00000000e+00 -7.28082112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70372484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.284340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:50.58, Y:-7.29, Z:0.04 [[ 9.70441837e-01 2.41335121e-01 0.00000000e+00 5.05827170e+01] [-2.41335121e-01 9.70441837e-01 0.00000000e+00 -7.29086002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62328735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.65, Y:-7.30, Z:0.04 [[ 9.70953048e-01 2.39270096e-01 0.00000000e+00 5.06460826e+01] [-2.39270096e-01 9.70953048e-01 0.00000000e+00 -7.29501281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15470841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.71, Y:-7.30, Z:0.05 [[ 9.70547732e-01 2.40908904e-01 0.00000000e+00 5.07081014e+01] [-2.40908904e-01 9.70547732e-01 0.00000000e+00 -7.29837791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68644632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.464340127999996 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:50.77, Y:-7.30, Z:0.05 [[ 9.69154416e-01 2.46454291e-01 0.00000000e+00 5.07716825e+01] [-2.46454291e-01 9.69154416e-01 0.00000000e+00 -7.29936334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54810754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.524340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:50.83, Y:-7.30, Z:0.05 [[ 9.67367281e-01 2.53378261e-01 0.00000000e+00 5.08341069e+01] [-2.53378261e-01 9.67367281e-01 0.00000000e+00 -7.30129969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04314876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.584340127999994 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:50.90, Y:-7.31, Z:0.05 [[ 9.65666862e-01 2.59783586e-01 0.00000000e+00 5.08971600e+01] [-2.59783586e-01 9.65666862e-01 0.00000000e+00 -7.30942973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83113750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.96, Y:-7.31, Z:0.05 [[ 9.63345007e-01 2.68265536e-01 0.00000000e+00 5.09606056e+01] [-2.68265536e-01 9.63345007e-01 0.00000000e+00 -7.31229726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73586857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704340128 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:51.02, Y:-7.32, Z:0.05 [[ 0.96220845 0.27231398 0. 51.02257407] [-0.27231398 0.96220845 0. -7.32081285] [ 0. 0. 1. 0.05373572] [ 0. 0. 0. 1. ]] SLAMing on 49.76434012799999 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:51.08, Y:-7.33, Z:0.05 [[ 9.60826114e-01 2.77151907e-01 0.00000000e+00 5.10848587e+01] [-2.77151907e-01 9.60826114e-01 0.00000000e+00 -7.32635538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56538703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.824340127999996 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:-7.34, Z:0.05 [[ 9.59324127e-01 2.82306959e-01 0.00000000e+00 5.11451861e+01] [-2.82306959e-01 9.59324127e-01 0.00000000e+00 -7.33953871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65861688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:-7.35, Z:0.04 [[ 9.58758293e-01 2.84222688e-01 0.00000000e+00 5.12069951e+01] [-2.84222688e-01 9.58758293e-01 0.00000000e+00 -7.35234214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76691538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.944340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:-7.37, Z:0.04 [[ 9.57825191e-01 2.87351532e-01 0.00000000e+00 5.12669177e+01] [-2.87351532e-01 9.57825191e-01 0.00000000e+00 -7.36992086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71619786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.004340127999996 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:51.33, Y:-7.39, Z:0.04 [[ 9.56397473e-01 2.92068268e-01 0.00000000e+00 5.13251510e+01] [-2.92068268e-01 9.56397473e-01 0.00000000e+00 -7.38995414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93336203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.064340128 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:51.38, Y:-7.41, Z:0.03 [[ 9.54848832e-01 2.97092086e-01 0.00000000e+00 5.13839563e+01] [-2.97092086e-01 9.54848832e-01 0.00000000e+00 -7.41446037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49504716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.124340128 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:51.44, Y:-7.44, Z:0.04 [[ 9.53891281e-01 3.00152334e-01 0.00000000e+00 5.14421617e+01] [-3.00152334e-01 9.53891281e-01 0.00000000e+00 -7.43829321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60350341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.184340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.50, Y:-7.47, Z:0.03 [[ 9.52753505e-01 3.03744562e-01 0.00000000e+00 5.14982747e+01] [-3.03744562e-01 9.52753505e-01 0.00000000e+00 -7.46851146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14889093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.244340128 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:51.55, Y:-7.50, Z:0.03 [[ 9.51969218e-01 3.06193741e-01 0.00000000e+00 5.15536648e+01] [-3.06193741e-01 9.51969218e-01 0.00000000e+00 -7.50282084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11495597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.61, Y:-7.53, Z:0.03 [[ 9.51376802e-01 3.08029512e-01 0.00000000e+00 5.16104452e+01] [-3.08029512e-01 9.51376802e-01 0.00000000e+00 -7.53059383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18715437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.364340127999995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:51.67, Y:-7.56, Z:0.04 [[ 9.50923656e-01 3.09425599e-01 0.00000000e+00 5.16654290e+01] [-3.09425599e-01 9.50923656e-01 0.00000000e+00 -7.56326462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84551754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.424340128 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:51.72, Y:-7.60, Z:0.05 [[ 9.50373804e-01 3.11110322e-01 0.00000000e+00 5.17183206e+01] [-3.11110322e-01 9.50373804e-01 0.00000000e+00 -7.59574826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82258239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.484340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:-7.63, Z:0.06 [[ 0.95123749 0.30845946 0. 51.77078291] [-0.30845946 0.95123749 0. -7.63187415] [ 0. 0. 1. 0.05622507] [ 0. 0. 0. 1. ]] SLAMing on 50.544340127999995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.66, Z:0.05 [[ 0.95473372 0.2974618 0. 51.82846015] [-0.2974618 0.95473372 0. -7.65876805] [ 0. 0. 1. 0.05232269] [ 0. 0. 0. 1. ]] SLAMing on 50.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.88, Y:-7.69, Z:0.06 [[ 0.96274628 0.27040635 0. 51.88075836] [-0.27040635 0.96274628 0. -7.69466805] [ 0. 0. 1. 0.06233519] [ 0. 0. 0. 1. ]] SLAMing on 50.664340128 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.93, Y:-7.73, Z:0.07 [[ 0.97036049 0.24166198 0. 51.93322949] [-0.24166198 0.97036049 0. -7.7323702 ] [ 0. 0. 1. 0.07260736] [ 0. 0. 0. 1. ]] SLAMing on 50.724340127999994 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:51.99, Y:-7.75, Z:0.06 [[ 0.97208633 0.23462347 0. 51.99126909] [-0.23462347 0.97208633 0. -7.7548324 ] [ 0. 0. 1. 0.06203368] [ 0. 0. 0. 1. ]] SLAMing on 50.784340128 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:52.05, Y:-7.78, Z:0.06 [[ 0.97519052 0.22136724 0. 52.0484199 ] [-0.22136724 0.97519052 0. -7.77985374] [ 0. 0. 1. 0.06351372] [ 0. 0. 0. 1. ]] SLAMing on 50.844340128 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:-7.79, Z:0.06 [[ 0.97679117 0.21419384 0. 52.10867209] [-0.21419384 0.97679117 0. -7.79376033] [ 0. 0. 1. 0.06179654] [ 0. 0. 0. 1. ]] SLAMing on 50.904340127999994 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:-7.81, Z:0.07 [[ 0.97745993 0.21112101 0. 52.16886772] [-0.21112101 0.97745993 0. -7.80737448] [ 0. 0. 1. 0.06779544] [ 0. 0. 0. 1. ]] SLAMing on 50.964340127999996 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:52.23, Y:-7.82, Z:0.06 [[ 0.97750769 0.21089977 0. 52.22887209] [-0.21089977 0.97750769 0. -7.81878321] [ 0. 0. 1. 0.05546436] [ 0. 0. 0. 1. ]] SLAMing on 51.024340128 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:52.29, Y:-7.83, Z:0.05 [[ 9.76781415e-01 2.14238340e-01 0.00000000e+00 5.22885383e+01] [-2.14238340e-01 9.76781415e-01 0.00000000e+00 -7.83142597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07935240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.084340127999994 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:52.35, Y:-7.84, Z:0.05 [[ 9.74759583e-01 2.23257151e-01 0.00000000e+00 5.23507486e+01] [-2.23257151e-01 9.74759583e-01 0.00000000e+00 -7.83639698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88464307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.144340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.41, Y:-7.84, Z:0.04 [[ 9.73029505e-01 2.30680693e-01 0.00000000e+00 5.24124255e+01] [-2.30680693e-01 9.73029505e-01 0.00000000e+00 -7.84309997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73479066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.47, Y:-7.85, Z:0.02 [[ 9.72935157e-01 2.31078301e-01 0.00000000e+00 5.24726408e+01] [-2.31078301e-01 9.72935157e-01 0.00000000e+00 -7.85042922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41958805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26434012799999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:52.54, Y:-7.85, Z:0.01 [[ 9.72146842e-01 2.34372606e-01 0.00000000e+00 5.25357236e+01] [-2.34372606e-01 9.72146842e-01 0.00000000e+00 -7.84982904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01334769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.324340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.60, Y:-7.86, Z:0.00 [[ 9.70605929e-01 2.40674325e-01 0.00000000e+00 5.25969546e+01] [-2.40674325e-01 9.70605929e-01 0.00000000e+00 -7.85820597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14938976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.384340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:52.66, Y:-7.86, Z:-0.01 [[ 9.71469501e-01 2.37164517e-01 0.00000000e+00 5.26601234e+01] [-2.37164517e-01 9.71469501e-01 0.00000000e+00 -7.85666943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36522671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.73, Y:-7.85, Z:-0.03 [[ 9.72837880e-01 2.31487494e-01 0.00000000e+00 5.27270028e+01] [-2.31487494e-01 9.72837880e-01 0.00000000e+00 -7.84905652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13857859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.504340127999996 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:52.79, Y:-7.85, Z:-0.04 [[ 9.75153417e-01 2.21530616e-01 0.00000000e+00 5.27928487e+01] [-2.21530616e-01 9.75153417e-01 0.00000000e+00 -7.84522394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32241097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.85, Y:-7.85, Z:-0.05 [[ 9.77328166e-01 2.11730150e-01 0.00000000e+00 5.28544623e+01] [-2.11730150e-01 9.77328166e-01 0.00000000e+00 -7.85118995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66491110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.92, Y:-7.85, Z:-0.05 [[ 9.79395611e-01 2.01951075e-01 0.00000000e+00 5.29184073e+01] [-2.01951075e-01 9.79395611e-01 0.00000000e+00 -7.85424600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68606462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.684340127999995 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:52.98, Y:-7.85, Z:-0.04 [[ 9.80899545e-01 1.94514994e-01 0.00000000e+00 5.29823041e+01] [-1.94514994e-01 9.80899545e-01 0.00000000e+00 -7.85217145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05580645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:-7.86, Z:-0.04 [[ 9.80807140e-01 1.94980394e-01 0.00000000e+00 5.30451721e+01] [-1.94980394e-01 9.80807140e-01 0.00000000e+00 -7.85881823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84249343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.804340128 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:-7.86, Z:-0.03 [[ 9.79971212e-01 1.99139207e-01 0.00000000e+00 5.31086654e+01] [-1.99139207e-01 9.79971212e-01 0.00000000e+00 -7.86491115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68880147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864340127999995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:-7.87, Z:-0.03 [[ 9.79710792e-01 2.00416477e-01 0.00000000e+00 5.31716273e+01] [-2.00416477e-01 9.79710792e-01 0.00000000e+00 -7.87367550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55543660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924340128 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:-7.89, Z:-0.02 [[ 9.79380194e-01 2.02025830e-01 0.00000000e+00 5.32339824e+01] [-2.02025830e-01 9.79380194e-01 0.00000000e+00 -7.88555270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21861492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.29, Y:-7.90, Z:-0.03 [[ 9.76509382e-01 2.15474888e-01 0.00000000e+00 5.32946603e+01] [-2.15474888e-01 9.76509382e-01 0.00000000e+00 -7.89964301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64305397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.36, Y:-7.91, Z:-0.02 [[ 9.74756278e-01 2.23271581e-01 0.00000000e+00 5.33551816e+01] [-2.23271581e-01 9.74756278e-01 0.00000000e+00 -7.91173416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36442638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.42, Y:-7.93, Z:-0.02 [[ 9.70735536e-01 2.40151034e-01 0.00000000e+00 5.34158508e+01] [-2.40151034e-01 9.70735536e-01 0.00000000e+00 -7.92511852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47211582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.48, Y:-7.94, Z:-0.02 [[ 9.67674160e-01 2.52203727e-01 0.00000000e+00 5.34763835e+01] [-2.52203727e-01 9.67674160e-01 0.00000000e+00 -7.94326098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32802438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:-7.96, Z:-0.02 [[ 9.66015113e-01 2.58485594e-01 0.00000000e+00 5.35345715e+01] [-2.58485594e-01 9.66015113e-01 0.00000000e+00 -7.96410695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08915754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:-7.98, Z:-0.02 [[ 9.67126971e-01 2.54293968e-01 0.00000000e+00 5.35940743e+01] [-2.54293968e-01 9.67126971e-01 0.00000000e+00 -7.98384904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19876401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.344340128 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:53.65, Y:-8.01, Z:-0.02 [[ 9.67175828e-01 2.54108083e-01 0.00000000e+00 5.36505573e+01] [-2.54108083e-01 9.67175828e-01 0.00000000e+00 -8.01145461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89242722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.71, Y:-8.04, Z:-0.02 [[ 9.68296151e-01 2.49805052e-01 0.00000000e+00 5.37076539e+01] [-2.49805052e-01 9.68296151e-01 0.00000000e+00 -8.03741591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78414962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.76, Y:-8.07, Z:-0.01 [[ 9.69212338e-01 2.46226406e-01 0.00000000e+00 5.37637078e+01] [-2.46226406e-01 9.69212338e-01 0.00000000e+00 -8.06977433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46355535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.524340128 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:53.82, Y:-8.10, Z:-0.01 [[ 9.69446305e-01 2.45303612e-01 0.00000000e+00 5.38206797e+01] [-2.45303612e-01 9.69446305e-01 0.00000000e+00 -8.09710488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26629561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.584340127999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:53.88, Y:-8.13, Z:-0.02 [[ 9.69751827e-01 2.44093004e-01 0.00000000e+00 5.38758715e+01] [-2.44093004e-01 9.69751827e-01 0.00000000e+00 -8.12929108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69600955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.644340127999996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.15, Z:-0.01 [[ 9.70221872e-01 2.42217916e-01 0.00000000e+00 5.39337778e+01] [-2.42217916e-01 9.70221872e-01 0.00000000e+00 -8.15132383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34600119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.704340128 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:-8.18, Z:-0.01 [[ 9.70898896e-01 2.39489736e-01 0.00000000e+00 5.39895189e+01] [-2.39489736e-01 9.70898896e-01 0.00000000e+00 -8.18344436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21149205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76434012799999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:54.05, Y:-8.21, Z:-0.01 [[ 9.71416979e-01 2.37379555e-01 0.00000000e+00 5.40454261e+01] [-2.37379555e-01 9.71416979e-01 0.00000000e+00 -8.21019040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15293075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.10, Y:-8.24, Z:-0.01 [[ 9.72634315e-01 2.32341320e-01 0.00000000e+00 5.41005451e+01] [-2.32341320e-01 9.72634315e-01 0.00000000e+00 -8.24440899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14323331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.884340128 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:-8.28, Z:-0.02 [[ 9.72847769e-01 2.31445930e-01 0.00000000e+00 5.41549814e+01] [-2.31445930e-01 9.72847769e-01 0.00000000e+00 -8.27704302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80813050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94434012799999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:-8.30, Z:-0.02 [[ 9.72275198e-01 2.33839558e-01 0.00000000e+00 5.42113888e+01] [-2.33839558e-01 9.72275198e-01 0.00000000e+00 -8.30236202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04957017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:-8.33, Z:-0.02 [[ 9.71260318e-01 2.38019736e-01 0.00000000e+00 5.42676213e+01] [-2.38019736e-01 9.71260318e-01 0.00000000e+00 -8.33364733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62197728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064340128 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:-8.36, Z:-0.01 [[ 9.70525290e-01 2.40999298e-01 0.00000000e+00 5.43225396e+01] [-2.40999298e-01 9.70525290e-01 0.00000000e+00 -8.36462926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75101898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:-8.38, Z:-0.00 [[ 9.68549212e-01 2.48822073e-01 0.00000000e+00 5.43816689e+01] [-2.48822073e-01 9.68549212e-01 0.00000000e+00 -8.38307470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59876935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.184340127999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:54.44, Y:-8.40, Z:-0.00 [[ 9.66228712e-01 2.57686002e-01 0.00000000e+00 5.44398254e+01] [-2.57686002e-01 9.66228712e-01 0.00000000e+00 -8.40399547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41573214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.50, Y:-8.42, Z:-0.00 [[ 9.64462368e-01 2.64220250e-01 0.00000000e+00 5.44986265e+01] [-2.64220250e-01 9.64462368e-01 0.00000000e+00 -8.41947907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87011905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.56, Y:-8.44, Z:-0.00 [[ 9.61880055e-01 2.73471679e-01 0.00000000e+00 5.45590324e+01] [-2.73471679e-01 9.61880055e-01 0.00000000e+00 -8.43518538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50148597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.62, Y:-8.45, Z:-0.01 [[ 9.60706551e-01 2.77566069e-01 0.00000000e+00 5.46174830e+01] [-2.77566069e-01 9.60706551e-01 0.00000000e+00 -8.45125288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50439782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.68, Y:-8.46, Z:-0.00 [[ 9.60697944e-01 2.77595857e-01 0.00000000e+00 5.46784766e+01] [-2.77595857e-01 9.60697944e-01 0.00000000e+00 -8.46496831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92611852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.74, Y:-8.48, Z:-0.00 [[ 9.60739987e-01 2.77450314e-01 0.00000000e+00 5.47389334e+01] [-2.77450314e-01 9.60739987e-01 0.00000000e+00 -8.47780207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06826221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.80, Y:-8.50, Z:-0.00 [[ 9.61372446e-01 2.75250831e-01 0.00000000e+00 5.47988108e+01] [-2.75250831e-01 9.61372446e-01 0.00000000e+00 -8.49571465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55258704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:-8.51, Z:0.00 [[ 9.62193980e-01 2.72365095e-01 0.00000000e+00 5.48586499e+01] [-2.72365095e-01 9.62193980e-01 0.00000000e+00 -8.51228006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00236166e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:-8.53, Z:0.00 [[ 9.62148247e-01 2.72526604e-01 0.00000000e+00 5.49188262e+01] [-2.72526604e-01 9.62148247e-01 0.00000000e+00 -8.52717373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52135674e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:-8.54, Z:0.00 [[ 9.63011033e-01 2.69461963e-01 0.00000000e+00 5.49801449e+01] [-2.69461963e-01 9.63011033e-01 0.00000000e+00 -8.54069493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34339436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:-8.56, Z:0.00 [[ 9.63418280e-01 2.68002273e-01 0.00000000e+00 5.50409441e+01] [-2.68002273e-01 9.63418280e-01 0.00000000e+00 -8.55608280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46155160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844340128 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:55.10, Y:-8.57, Z:0.00 [[ 9.64876573e-01 2.62703633e-01 0.00000000e+00 5.51011743e+01] [-2.62703633e-01 9.64876573e-01 0.00000000e+00 -8.57031716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95632672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.904340127999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.16, Y:-8.59, Z:0.01 [[ 9.65411675e-01 2.60730315e-01 0.00000000e+00 5.51619480e+01] [-2.60730315e-01 9.65411675e-01 0.00000000e+00 -8.58751168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95315245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964340127999996 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:-8.60, Z:0.00 [[ 9.65913774e-01 2.58864019e-01 0.00000000e+00 5.52235212e+01] [-2.58864019e-01 9.65913774e-01 0.00000000e+00 -8.60254778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52651949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:-8.62, Z:0.00 [[ 9.66057710e-01 2.58326344e-01 0.00000000e+00 5.52836323e+01] [-2.58326344e-01 9.66057710e-01 0.00000000e+00 -8.62068080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43774298e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.084340127999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.34, Y:-8.64, Z:0.00 [[ 9.66622680e-01 2.56204205e-01 0.00000000e+00 5.53429931e+01] [-2.56204205e-01 9.66622680e-01 0.00000000e+00 -8.64015118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59952739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144340127999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:-8.66, Z:0.01 [[ 9.67092838e-01 2.54423746e-01 0.00000000e+00 5.54026565e+01] [-2.54423746e-01 9.67092838e-01 0.00000000e+00 -8.65674373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14381737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204340128 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:55.46, Y:-8.67, Z:0.01 [[ 9.67291865e-01 2.53666017e-01 0.00000000e+00 5.54632687e+01] [-2.53666017e-01 9.67291865e-01 0.00000000e+00 -8.67444473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22344686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26434012799999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:55.52, Y:-8.69, Z:0.01 [[ 9.66850126e-01 2.55344540e-01 0.00000000e+00 5.55234532e+01] [-2.55344540e-01 9.66850126e-01 0.00000000e+00 -8.69425573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03874960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324340127999996 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:55.58, Y:-8.71, Z:0.01 [[ 9.65244205e-01 2.61349622e-01 0.00000000e+00 5.55838858e+01] [-2.61349622e-01 9.65244205e-01 0.00000000e+00 -8.71077829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02859928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384340128 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:-8.72, Z:0.01 [[ 9.65982779e-01 2.58606402e-01 0.00000000e+00 5.56457402e+01] [-2.58606402e-01 9.65982779e-01 0.00000000e+00 -8.72480709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01149242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.71, Y:-8.74, Z:0.01 [[ 9.64563584e-01 2.63850510e-01 0.00000000e+00 5.57057609e+01] [-2.63850510e-01 9.64563584e-01 0.00000000e+00 -8.74356953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21482553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.504340127999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.77, Y:-8.76, Z:0.01 [[ 9.65405661e-01 2.60752582e-01 0.00000000e+00 5.57671268e+01] [-2.60752582e-01 9.65405661e-01 0.00000000e+00 -8.75620390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62466473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.83, Y:-8.77, Z:0.01 [[ 9.64985708e-01 2.62302467e-01 0.00000000e+00 5.58288657e+01] [-2.62302467e-01 9.64985708e-01 0.00000000e+00 -8.77071854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58606516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624340128 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.89, Y:-8.78, Z:0.00 [[ 9.65832120e-01 2.59168509e-01 0.00000000e+00 5.58901203e+01] [-2.59168509e-01 9.65832120e-01 0.00000000e+00 -8.78425858e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27887944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.95, Y:-8.80, Z:0.01 [[ 9.65663779e-01 2.59795048e-01 0.00000000e+00 5.59501352e+01] [-2.59795048e-01 9.65663779e-01 0.00000000e+00 -8.80158491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85974579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.01, Y:-8.82, Z:0.01 [[ 9.66154576e-01 2.57963827e-01 0.00000000e+00 5.60117099e+01] [-2.57963827e-01 9.66154576e-01 0.00000000e+00 -8.81663339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08127537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.07, Y:-8.83, Z:0.01 [[ 9.66381031e-01 2.57114183e-01 0.00000000e+00 5.60716984e+01] [-2.57114183e-01 9.66381031e-01 0.00000000e+00 -8.83203300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58318609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.13, Y:-8.84, Z:0.01 [[ 9.66189758e-01 2.57832020e-01 0.00000000e+00 5.61337778e+01] [-2.57832020e-01 9.66189758e-01 0.00000000e+00 -8.84487258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43284186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924340128 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:56.20, Y:-8.86, Z:0.01 [[ 9.65899922e-01 2.58915701e-01 0.00000000e+00 5.61950926e+01] [-2.58915701e-01 9.65899922e-01 0.00000000e+00 -8.86063599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76097484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:-8.88, Z:0.01 [[ 9.65704221e-01 2.59644674e-01 0.00000000e+00 5.62564190e+01] [-2.59644674e-01 9.65704221e-01 0.00000000e+00 -8.87654692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54682364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:-8.89, Z:0.01 [[ 9.66210509e-01 2.57754248e-01 0.00000000e+00 5.63183932e+01] [-2.57754248e-01 9.66210509e-01 0.00000000e+00 -8.89014881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98209887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.104340128 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:56.38, Y:-8.90, Z:0.01 [[ 9.66289703e-01 2.57457200e-01 0.00000000e+00 5.63783129e+01] [-2.57457200e-01 9.66289703e-01 0.00000000e+00 -8.90438779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24782439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.44, Y:-8.92, Z:0.01 [[ 9.66433468e-01 2.56917014e-01 0.00000000e+00 5.64394724e+01] [-2.56917014e-01 9.66433468e-01 0.00000000e+00 -8.92072561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93659035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.224340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.50, Y:-8.93, Z:0.01 [[ 9.66652853e-01 2.56090340e-01 0.00000000e+00 5.64998659e+01] [-2.56090340e-01 9.66652853e-01 0.00000000e+00 -8.93407063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94719164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.56, Y:-8.95, Z:0.01 [[ 9.66599028e-01 2.56293423e-01 0.00000000e+00 5.65606253e+01] [-2.56293423e-01 9.66599028e-01 0.00000000e+00 -8.94612617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84560216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:-8.96, Z:0.01 [[ 9.66412360e-01 2.56996400e-01 0.00000000e+00 5.66218372e+01] [-2.56996400e-01 9.66412360e-01 0.00000000e+00 -8.95897980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14529414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.404340127999994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:-8.97, Z:0.01 [[ 9.67044517e-01 2.54607348e-01 0.00000000e+00 5.66830532e+01] [-2.54607348e-01 9.67044517e-01 0.00000000e+00 -8.97323115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24792517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:-8.99, Z:0.01 [[ 9.68115491e-01 2.50504283e-01 0.00000000e+00 5.67446838e+01] [-2.50504283e-01 9.68115491e-01 0.00000000e+00 -8.98624733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86947935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.81, Y:-9.00, Z:0.01 [[ 9.68211194e-01 2.50134133e-01 0.00000000e+00 5.68051894e+01] [-2.50134133e-01 9.68211194e-01 0.00000000e+00 -9.00153523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85110291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.584340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.87, Y:-9.02, Z:0.01 [[ 9.68790529e-01 2.47880841e-01 0.00000000e+00 5.68662877e+01] [-2.47880841e-01 9.68790529e-01 0.00000000e+00 -9.01548955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51061581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.644340127999996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:56.93, Y:-9.03, Z:0.01 [[ 9.69989320e-01 2.43147524e-01 0.00000000e+00 5.69278211e+01] [-2.43147524e-01 9.69989320e-01 0.00000000e+00 -9.02750644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96550189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:-9.04, Z:0.01 [[ 9.69414135e-01 2.45430713e-01 0.00000000e+00 5.69899281e+01] [-2.45430713e-01 9.69414135e-01 0.00000000e+00 -9.03894231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88816435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.05, Y:-9.05, Z:0.01 [[ 9.68332329e-01 2.49664776e-01 0.00000000e+00 5.70503342e+01] [-2.49664776e-01 9.68332329e-01 0.00000000e+00 -9.05367874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02349559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:-9.06, Z:0.01 [[ 9.67923414e-01 2.51245429e-01 0.00000000e+00 5.71132393e+01] [-2.51245429e-01 9.67923414e-01 0.00000000e+00 -9.06426536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96059827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:-9.08, Z:0.01 [[ 9.66879783e-01 2.55232219e-01 0.00000000e+00 5.71727185e+01] [-2.55232219e-01 9.66879783e-01 0.00000000e+00 -9.07760290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61553699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:-9.09, Z:0.01 [[ 9.65238081e-01 2.61372240e-01 0.00000000e+00 5.72346016e+01] [-2.61372240e-01 9.65238081e-01 0.00000000e+00 -9.09083321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23794171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.30, Y:-9.10, Z:0.01 [[ 9.65289023e-01 2.61184040e-01 0.00000000e+00 5.72961414e+01] [-2.61184040e-01 9.65289023e-01 0.00000000e+00 -9.10341493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12144001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:-9.12, Z:0.01 [[ 9.64070847e-01 2.65645257e-01 0.00000000e+00 5.73543735e+01] [-2.65645257e-01 9.64070847e-01 0.00000000e+00 -9.12043827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17168118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.42, Y:-9.14, Z:0.00 [[ 9.64225543e-01 2.65083200e-01 0.00000000e+00 5.74160774e+01] [-2.65083200e-01 9.64225543e-01 0.00000000e+00 -9.13530718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64108064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.184340127999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:57.48, Y:-9.15, Z:0.01 [[ 9.64576871e-01 2.63801933e-01 0.00000000e+00 5.74758349e+01] [-2.63801933e-01 9.64576871e-01 0.00000000e+00 -9.14874027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32216115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.54, Y:-9.17, Z:0.00 [[ 9.64475616e-01 2.64171889e-01 0.00000000e+00 5.75350025e+01] [-2.64171889e-01 9.64475616e-01 0.00000000e+00 -9.16708494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20253549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.59, Y:-9.18, Z:0.00 [[ 9.65160930e-01 2.61656987e-01 0.00000000e+00 5.75939343e+01] [-2.61656987e-01 9.65160930e-01 0.00000000e+00 -9.18239008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.17563278e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.364340127999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:57.65, Y:-9.20, Z:0.01 [[ 9.66190794e-01 2.57828139e-01 0.00000000e+00 5.76533307e+01] [-2.57828139e-01 9.66190794e-01 0.00000000e+00 -9.20130770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69681495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.71, Y:-9.22, Z:0.01 [[ 9.66472374e-01 2.56770618e-01 0.00000000e+00 5.77137726e+01] [-2.56770618e-01 9.66472374e-01 0.00000000e+00 -9.22008254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96099261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.77, Y:-9.24, Z:0.01 [[ 9.67129425e-01 2.54284635e-01 0.00000000e+00 5.77744925e+01] [-2.54284635e-01 9.67129425e-01 0.00000000e+00 -9.23785811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73162588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.83, Y:-9.26, Z:0.01 [[ 9.66953667e-01 2.54952165e-01 0.00000000e+00 5.78338149e+01] [-2.54952165e-01 9.66953667e-01 0.00000000e+00 -9.25539558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53258154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.89, Y:-9.27, Z:0.01 [[ 9.66398028e-01 2.57050291e-01 0.00000000e+00 5.78941880e+01] [-2.57050291e-01 9.66398028e-01 0.00000000e+00 -9.27264779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50581551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.95, Y:-9.29, Z:0.01 [[ 9.65134290e-01 2.61755232e-01 0.00000000e+00 5.79548065e+01] [-2.61755232e-01 9.65134290e-01 0.00000000e+00 -9.28901021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26876163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.02, Y:-9.30, Z:0.00 [[ 9.64250957e-01 2.64990741e-01 0.00000000e+00 5.80162813e+01] [-2.64990741e-01 9.64250957e-01 0.00000000e+00 -9.30395215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49059135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.08, Y:-9.32, Z:0.01 [[ 9.63705986e-01 2.66965863e-01 0.00000000e+00 5.80757174e+01] [-2.66965863e-01 9.63705986e-01 0.00000000e+00 -9.32089621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64997319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.13, Y:-9.34, Z:0.00 [[ 9.63528167e-01 2.67606934e-01 0.00000000e+00 5.81346646e+01] [-2.67606934e-01 9.63528167e-01 0.00000000e+00 -9.34147163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98578094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.904340127999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:58.19, Y:-9.36, Z:0.00 [[ 9.63343064e-01 2.68272511e-01 0.00000000e+00 5.81946795e+01] [-2.68272511e-01 9.63343064e-01 0.00000000e+00 -9.36092967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77749793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.25, Y:-9.38, Z:0.00 [[ 9.62460879e-01 2.71420442e-01 0.00000000e+00 5.82539185e+01] [-2.71420442e-01 9.62460879e-01 0.00000000e+00 -9.37889676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55377402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:-9.40, Z:-0.00 [[ 9.60937007e-01 2.76767173e-01 0.00000000e+00 5.83106593e+01] [-2.76767173e-01 9.60937007e-01 0.00000000e+00 -9.40265402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19537714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.084340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:-9.43, Z:-0.00 [[ 9.60077717e-01 2.79733403e-01 0.00000000e+00 5.83690792e+01] [-2.79733403e-01 9.60077717e-01 0.00000000e+00 -9.42518831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88788209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144340127999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:58.43, Y:-9.45, Z:-0.01 [[ 9.60788170e-01 2.77283416e-01 0.00000000e+00 5.84271594e+01] [-2.77283416e-01 9.60788170e-01 0.00000000e+00 -9.44541683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47361556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:-9.47, Z:-0.00 [[ 9.61577456e-01 2.74533779e-01 0.00000000e+00 5.84829175e+01] [-2.74533779e-01 9.61577456e-01 0.00000000e+00 -9.47135313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34662937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:-9.50, Z:-0.00 [[ 9.63077469e-01 2.69224422e-01 0.00000000e+00 5.85392116e+01] [-2.69224422e-01 9.63077469e-01 0.00000000e+00 -9.50116733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87716429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.324340127999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:-9.53, Z:-0.00 [[ 9.64142410e-01 2.65385406e-01 0.00000000e+00 5.85955942e+01] [-2.65385406e-01 9.64142410e-01 0.00000000e+00 -9.52861279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67736823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.65, Y:-9.55, Z:-0.00 [[ 9.64754946e-01 2.63149946e-01 0.00000000e+00 5.86505616e+01] [-2.63149946e-01 9.64754946e-01 0.00000000e+00 -9.55450473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12134674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.71, Y:-9.58, Z:-0.00 [[ 9.64944917e-01 2.62452485e-01 0.00000000e+00 5.87090422e+01] [-2.62452485e-01 9.64944917e-01 0.00000000e+00 -9.57708829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26732107e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.504340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.77, Y:-9.60, Z:-0.00 [[ 9.64422548e-01 2.64365559e-01 0.00000000e+00 5.87674384e+01] [-2.64365559e-01 9.64422548e-01 0.00000000e+00 -9.60245106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45276610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.82, Y:-9.63, Z:-0.00 [[ 9.63406926e-01 2.68043086e-01 0.00000000e+00 5.88242028e+01] [-2.68043086e-01 9.63406926e-01 0.00000000e+00 -9.62681421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52028807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.88, Y:-9.65, Z:-0.00 [[ 9.63413278e-01 2.68020254e-01 0.00000000e+00 5.88824894e+01] [-2.68020254e-01 9.63413278e-01 0.00000000e+00 -9.64751791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32641279e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.684340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.94, Y:-9.67, Z:-0.00 [[ 9.62591155e-01 2.70958057e-01 0.00000000e+00 5.89410429e+01] [-2.70958057e-01 9.62591155e-01 0.00000000e+00 -9.66904116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93945305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.744340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.00, Y:-9.69, Z:-0.00 [[ 9.63024303e-01 2.69414534e-01 0.00000000e+00 5.89986035e+01] [-2.69414534e-01 9.63024303e-01 0.00000000e+00 -9.68861695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90598116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.804340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.06, Y:-9.71, Z:-0.00 [[ 9.62192744e-01 2.72369461e-01 0.00000000e+00 5.90576341e+01] [-2.72369461e-01 9.62192744e-01 0.00000000e+00 -9.71064953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16748887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.864340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.12, Y:-9.73, Z:-0.00 [[ 9.62066746e-01 2.72814178e-01 0.00000000e+00 5.91159309e+01] [-2.72814178e-01 9.62066746e-01 0.00000000e+00 -9.72909438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51020543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924340128 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:-9.75, Z:-0.01 [[ 9.61597103e-01 2.74464955e-01 0.00000000e+00 5.91752635e+01] [-2.74464955e-01 9.61597103e-01 0.00000000e+00 -9.74643471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69756099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.984340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:-9.76, Z:-0.01 [[ 9.60361782e-01 2.78756610e-01 0.00000000e+00 5.92336824e+01] [-2.78756610e-01 9.60361782e-01 0.00000000e+00 -9.76316305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18267871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.044340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:-9.78, Z:-0.01 [[ 9.59838016e-01 2.80554778e-01 0.00000000e+00 5.92931385e+01] [-2.80554778e-01 9.59838016e-01 0.00000000e+00 -9.78191355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41244495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:-9.80, Z:-0.02 [[ 9.59461275e-01 2.81840489e-01 0.00000000e+00 5.93533597e+01] [-2.81840489e-01 9.59461275e-01 0.00000000e+00 -9.79565295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68883839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164340128 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:-9.81, Z:-0.02 [[ 9.57744598e-01 2.87620035e-01 0.00000000e+00 5.94131226e+01] [-2.87620035e-01 9.57744598e-01 0.00000000e+00 -9.81438285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87197684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224340127999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:-9.83, Z:-0.02 [[ 9.57755492e-01 2.87583756e-01 0.00000000e+00 5.94747448e+01] [-2.87583756e-01 9.57755492e-01 0.00000000e+00 -9.82942415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45962628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.284340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:-9.85, Z:-0.03 [[ 9.57141063e-01 2.89622144e-01 0.00000000e+00 5.95346942e+01] [-2.89622144e-01 9.57141063e-01 0.00000000e+00 -9.84585167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71842432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:-9.86, Z:-0.03 [[ 9.57010356e-01 2.90053750e-01 0.00000000e+00 5.95935168e+01] [-2.90053750e-01 9.57010356e-01 0.00000000e+00 -9.86236488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13012608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.404340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-9.88, Z:-0.03 [[ 9.57008361e-01 2.90060334e-01 0.00000000e+00 5.96533561e+01] [-2.90060334e-01 9.57008361e-01 0.00000000e+00 -9.87812444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26053078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.464340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-9.89, Z:-0.04 [[ 9.57683064e-01 2.87824858e-01 0.00000000e+00 5.97135114e+01] [-2.87824858e-01 9.57683064e-01 0.00000000e+00 -9.89322928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56535662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.524340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:-9.91, Z:-0.04 [[ 9.57656428e-01 2.87913470e-01 0.00000000e+00 5.97735984e+01] [-2.87913470e-01 9.57656428e-01 0.00000000e+00 -9.91027012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51707983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.584340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-9.93, Z:-0.04 [[ 9.58863561e-01 2.83867348e-01 0.00000000e+00 5.98332518e+01] [-2.83867348e-01 9.58863561e-01 0.00000000e+00 -9.92674631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69453315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.644340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-9.94, Z:-0.04 [[ 9.60975193e-01 2.76634559e-01 0.00000000e+00 5.98924141e+01] [-2.76634559e-01 9.60975193e-01 0.00000000e+00 -9.94452453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57127995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.704340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:-9.96, Z:-0.03 [[ 9.62749758e-01 2.70393977e-01 0.00000000e+00 5.99523134e+01] [-2.70393977e-01 9.62749758e-01 0.00000000e+00 -9.96375645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36635436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.01, Y:-9.98, Z:-0.03 [[ 9.63154711e-01 2.68947956e-01 0.00000000e+00 6.00123641e+01] [-2.68947956e-01 9.63154711e-01 0.00000000e+00 -9.98261564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38937481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.824340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.07, Y:-10.00, Z:-0.03 [[ 9.62900621e-01 2.69856245e-01 0.00000000e+00 6.00692633e+01] [-2.69856245e-01 9.62900621e-01 0.00000000e+00 -1.00041080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02669680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.13, Y:-10.03, Z:-0.03 [[ 9.61729362e-01 2.74001159e-01 0.00000000e+00 6.01285644e+01] [-2.74001159e-01 9.61729362e-01 0.00000000e+00 -1.00261442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02567506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:-10.05, Z:-0.03 [[ 9.58237420e-01 2.85973855e-01 0.00000000e+00 6.01855032e+01] [-2.85973855e-01 9.58237420e-01 0.00000000e+00 -1.00473059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92929870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.004340127999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.25, Y:-10.07, Z:-0.03 [[ 9.57717044e-01 2.87711771e-01 0.00000000e+00 6.02451091e+01] [-2.87711771e-01 9.57717044e-01 0.00000000e+00 -1.00658758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90569790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:-10.09, Z:-0.03 [[ 9.56918092e-01 2.90357996e-01 0.00000000e+00 6.03034314e+01] [-2.90357996e-01 9.56918092e-01 0.00000000e+00 -1.00880184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55943444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12434012799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:-10.11, Z:-0.03 [[ 9.57025124e-01 2.90005022e-01 0.00000000e+00 6.03624561e+01] [-2.90005022e-01 9.57025124e-01 0.00000000e+00 -1.01079948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67010758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.184340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.42, Y:-10.13, Z:-0.03 [[ 9.56580999e-01 2.91466624e-01 0.00000000e+00 6.04225745e+01] [-2.91466624e-01 9.56580999e-01 0.00000000e+00 -1.01260933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65381496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.48, Y:-10.14, Z:-0.03 [[ 9.55768016e-01 2.94121573e-01 0.00000000e+00 6.04826192e+01] [-2.94121573e-01 9.55768016e-01 0.00000000e+00 -1.01427022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80295170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.54, Y:-10.16, Z:-0.03 [[ 9.55814874e-01 2.93969262e-01 0.00000000e+00 6.05412709e+01] [-2.93969262e-01 9.55814874e-01 0.00000000e+00 -1.01626845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86773343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.364340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.60, Y:-10.18, Z:-0.03 [[ 9.56357372e-01 2.92199549e-01 0.00000000e+00 6.05996875e+01] [-2.92199549e-01 9.56357372e-01 0.00000000e+00 -1.01792010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12290598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.66, Y:-10.20, Z:-0.03 [[ 9.56815516e-01 2.90695835e-01 0.00000000e+00 6.06603658e+01] [-2.90695835e-01 9.56815516e-01 0.00000000e+00 -1.01973971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04083142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.484340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.72, Y:-10.21, Z:-0.03 [[ 9.59200919e-01 2.82725303e-01 0.00000000e+00 6.07204961e+01] [-2.82725303e-01 9.59200919e-01 0.00000000e+00 -1.02147320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74347804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.544340127999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.78, Y:-10.23, Z:-0.03 [[ 9.60861776e-01 2.77028243e-01 0.00000000e+00 6.07797058e+01] [-2.77028243e-01 9.60861776e-01 0.00000000e+00 -1.02345915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80116406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:-10.25, Z:-0.03 [[ 9.61702086e-01 2.74096878e-01 0.00000000e+00 6.08398881e+01] [-2.74096878e-01 9.61702086e-01 0.00000000e+00 -1.02512937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80974019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664340128 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:-10.27, Z:-0.03 [[ 9.61633904e-01 2.74335990e-01 0.00000000e+00 6.08982356e+01] [-2.74335990e-01 9.61633904e-01 0.00000000e+00 -1.02690713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58806804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.724340127999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.96, Y:-10.28, Z:-0.02 [[ 9.62374046e-01 2.71728165e-01 0.00000000e+00 6.09582135e+01] [-2.71728165e-01 9.62374046e-01 0.00000000e+00 -1.02844041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42051467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784340128 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:61.02, Y:-10.30, Z:-0.03 [[ 9.63035884e-01 2.69373135e-01 0.00000000e+00 6.10165682e+01] [-2.69373135e-01 9.63035884e-01 0.00000000e+00 -1.03038280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73527235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844340128 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:61.08, Y:-10.32, Z:-0.03 [[ 9.64241880e-01 2.65023768e-01 0.00000000e+00 6.10757304e+01] [-2.65023768e-01 9.64241880e-01 0.00000000e+00 -1.03187573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97892152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.904340127999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:61.13, Y:-10.34, Z:-0.03 [[ 9.64664514e-01 2.63481263e-01 0.00000000e+00 6.11343968e+01] [-2.63481263e-01 9.64664514e-01 0.00000000e+00 -1.03386090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64657528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964340127999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:61.19, Y:-10.36, Z:-0.02 [[ 9.64081729e-01 2.65605761e-01 0.00000000e+00 6.11930761e+01] [-2.65605761e-01 9.64081729e-01 0.00000000e+00 -1.03573971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21444828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 888.75 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%| | 0/2000 [00:00