+ python -m lidar_slam --result /working/result.json --no-model /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e Lidar SLAM 0.0.16 ===================================================== The recording path: /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.022260615 Adjusted end_distance from 9.223372036854776e+18 to 23.002260615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022260615 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [0, True] SLAMing on 0.082260615 meters Centerline goodness : 0.988649 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.02 [[ 0.99929755 -0.0374755 0. 0.05901869] [ 0.0374755 0.99929755 0. 0.01279185] [ 0. 0. 1. -0.01595943] [ 0. 0. 0. 1. ]] SLAMing on 0.142260615 meters Centerline goodness : 0.983938 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.04 [[ 0.99870892 -0.0507986 0. 0.11923324] [ 0.0507986 0.99870892 0. 0.01324189] [ 0. 0. 1. -0.03514177] [ 0. 0. 0. 1. ]] SLAMing on 0.202260615 meters Centerline goodness : 0.306150 with order 1 Centerline is valid? [True, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99861396 -0.05260991 -0.00153818 0.12188278] [ 0.05261261 0.99861343 0.00177077 0.01057696] [ 0.00144288 -0.00184924 0.99999725 -0.03350283] [ 0. 0. 0. 1. ]] SLAMing on 0.262260615 meters Centerline goodness : 0.240328 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99847916 -0.05510385 -0.00171015 0.12020529] [ 0.0551077 0.99847778 0.00229289 0.01004292] [ 0.0015812 -0.00238365 0.99999591 -0.02892408] [ 0. 0. 0. 1. ]] SLAMing on 0.322260615 meters Centerline goodness : 0.160692 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.03 [[ 0.99799507 -0.06323134 -0.00276414 0.12059154] [ 0.06322052 0.9979922 -0.00383962 0.02014298] [ 0.00300137 0.00365718 0.99998881 -0.02559337] [ 0. 0. 0. 1. ]] SLAMing on 0.38226061499999997 meters Centerline goodness : 0.155247 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.03 [[ 0.99780556 -0.06610922 -0.00369164 0.12232134] [ 0.06608503 0.99779391 -0.00633084 0.0257477 ] [ 0.00410202 0.00607298 0.99997315 -0.02522007] [ 0. 0. 0. 1. ]] SLAMing on 0.44226061499999997 meters Centerline goodness : 0.162645 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.02 [[ 0.99742968 -0.07136716 -0.00638526 0.12469797] [ 0.07130152 0.99740491 -0.0099765 0.04329244] [ 0.00708068 0.00949557 0.99992985 -0.02146172] [ 0. 0. 0. 1. ]] SLAMing on 0.502260615 meters Centerline goodness : 0.165007 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 0.99732906 -0.07229243 -0.01041914 0.13043363] [ 0.07216124 0.99731513 -0.01246123 0.06838114] [ 0.01129202 0.01167609 0.99986807 -0.02005005] [ 0. 0. 0. 1. ]] SLAMing on 0.562260615 meters Centerline goodness : 0.180038 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.02 [[ 0.99755431 -0.06870045 -0.01287042 0.13300974] [ 0.06838047 0.99737441 -0.02384122 0.11242249] [ 0.01447453 0.02290283 0.99963291 -0.017225 ] [ 0. 0. 0. 1. ]] SLAMing on 0.622260615 meters Centerline goodness : 0.126646 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.15, Z:-0.01 [[ 0.99775736 -0.06391689 -0.01987166 0.12365991] [ 0.06336337 0.99761602 -0.02733791 0.14514205] [ 0.02157164 0.02601747 0.99942871 -0.01375608] [ 0. 0. 0. 1. ]] SLAMing on 0.6822606149999999 meters Centerline goodness : 0.125490 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.18, Z:-0.01 [[ 0.99771283 -0.06360571 -0.02287822 0.12555232] [ 0.06302512 0.99769217 -0.02526186 0.17823547] [ 0.02443222 0.02376217 0.99941904 -0.01070807] [ 0. 0. 0. 1. ]] SLAMing on 0.742260615 meters Centerline goodness : 0.121531 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.22, Z:-0.01 [[ 0.99687341 -0.07584891 -0.02214383 0.17023772] [ 0.07534356 0.99689629 -0.02282834 0.21924042] [ 0.02380661 0.02108857 0.99949413 -0.00918169] [ 0. 0. 0. 1. ]] SLAMing on 0.802260615 meters Centerline goodness : 0.208115 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.25, Z:-0.02 [[ 0.99643987 -0.07882393 -0.02990617 0.19294395] [ 0.07899716 0.99686398 0.0046541 0.24786707] [ 0.02944553 -0.00700003 0.99954188 -0.01749246] [ 0. 0. 0. 1. ]] SLAMing on 0.862260615 meters Centerline goodness : 0.117397 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.28, Z:-0.02 [[ 0.9967901 -0.07188148 -0.0352498 0.20723876] [ 0.07276997 0.99704521 0.02460431 0.28056435] [ 0.03337705 -0.02709046 0.99907561 -0.02024535] [ 0. 0. 0. 1. ]] SLAMing on 0.9222606149999999 meters Centerline goodness : 0.117294 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.31, Z:-0.02 [[ 0.99737686 -0.05966428 -0.04098257 0.21672899] [ 0.06126976 0.99735496 0.03910381 0.31425634] [ 0.03854107 -0.04151223 0.99839437 -0.02222194] [ 0. 0. 0. 1. ]] SLAMing on 0.982260615 meters Centerline goodness : 0.122842 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.03 [[ 0.9976422 -0.0523018 -0.04443605 0.22385734] [ 0.05425551 0.9975589 0.04396111 0.33985324] [ 0.04202834 -0.04626836 0.99804452 -0.02688349] [ 0. 0. 0. 1. ]] SLAMing on 1.042260615 meters Centerline goodness : 0.126409 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.02 [[ 0.99760255 -0.05257596 -0.04499922 0.22300027] [ 0.05462562 0.99746513 0.04560006 0.33828343] [ 0.04248768 -0.04794884 0.99794574 -0.02401664] [ 0. 0. 0. 1. ]] SLAMing on 1.102260615 meters Centerline goodness : 0.126334 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.02 [[ 0.99758099 -0.05271598 -0.04531208 0.22234067] [ 0.05476582 0.99747319 0.0452541 0.3392871 ] [ 0.04281197 -0.04762618 0.99794733 -0.02260947] [ 0. 0. 0. 1. ]] SLAMing on 1.1622606149999999 meters Centerline goodness : 0.894970 with order 3 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.02 [[ 0.99789424 -0.04696358 -0.04473819 0.22049673] [ 0.0491588 0.99757344 0.04930155 0.33862253] [ 0.04231426 -0.05139701 0.99778146 -0.02230043] [ 0. 0. 0. 1. ]] SLAMing on 1.222260615 meters Centerline goodness : 0.165925 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.03 [[ 0.99810522 -0.04488498 -0.0420868 0.21810609] [ 0.0466832 0.99799394 0.04276425 0.33974529] [ 0.0400829 -0.04464797 0.99819834 -0.02699718] [ 0. 0. 0. 1. ]] SLAMing on 1.282260615 meters Centerline goodness : 0.168268 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.02 [[ 0.99814597 -0.04307094 -0.04300596 0.21682026] [ 0.04517079 0.99777133 0.04911176 0.33736199] [ 0.04079482 -0.05096332 0.99786699 -0.02235883] [ 0. 0. 0. 1. ]] SLAMing on 1.3422606149999998 meters Centerline goodness : 0.908380 with order 2 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.02 [[ 0.99770026 -0.05023532 -0.04550395 0.21856663] [ 0.05234698 0.99754724 0.04646827 0.33925694] [ 0.04305799 -0.0487434 0.9978828 -0.01767083] [ 0. 0. 0. 1. ]] SLAMing on 1.4022606149999999 meters Centerline goodness : 0.903992 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.02 [[ 0.99727306 -0.05852949 -0.04495265 0.21868063] [ 0.0602035 0.99750628 0.03683424 0.34032305] [ 0.04268467 -0.0394401 0.99830982 -0.01846462] [ 0. 0. 0. 1. ]] SLAMing on 1.462260615 meters Centerline goodness : 0.143553 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.34, Z:-0.02 [[ 0.99708628 -0.0619148 -0.04455907 0.21872397] [ 0.06336486 0.99748047 0.0318998 0.34180443] [ 0.04247173 -0.03463033 0.99849732 -0.01935134] [ 0. 0. 0. 1. ]] SLAMing on 1.522260615 meters Centerline goodness : 0.923579 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.35, Z:-0.02 [[ 0.99703754 -0.06121761 -0.04656763 0.22044556] [ 0.06283204 0.99744371 0.0340319 0.34635709] [ 0.04436524 -0.03685702 0.99833526 -0.0172206 ] [ 0. 0. 0. 1. ]] SLAMing on 1.582260615 meters Centerline goodness : 0.121459 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.35, Z:-0.02 [[ 0.99682921 -0.06496109 -0.04595204 0.21865485] [ 0.06636149 0.99735548 0.02963453 0.34665604] [ 0.04390542 -0.03259001 0.99850398 -0.01580817] [ 0. 0. 0. 1. ]] SLAMing on 1.6422606149999999 meters Centerline goodness : 0.130302 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.36, Z:-0.00 [[ 0.99681257 -0.06839441 -0.04107199 0.24370514] [ 0.06865732 0.99762765 0.00502351 0.35854583] [ 0.04063098 -0.00782739 0.99914356 -0.00351893] [ 0. 0. 0. 1. ]] SLAMing on 1.702260615 meters Centerline goodness : 0.133098 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.36, Z:-0.01 [[ 0.99695903 -0.06577654 -0.04178689 0.24579056] [ 0.06614764 0.99778121 0.00755944 0.35993078] [ 0.04119694 -0.01030056 0.99909795 -0.00505177] [ 0. 0. 0. 1. ]] SLAMing on 1.762260615 meters Centerline goodness : 0.146690 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.36, Z:-0.01 [[ 0.99740355 -0.05939343 -0.04072556 0.24597597] [ 0.05986035 0.99815318 0.01034217 0.3611463 ] [ 0.04003609 -0.01275316 0.99911684 -0.00913704] [ 0. 0. 0. 1. ]] SLAMing on 1.8222606149999998 meters Centerline goodness : 0.945416 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:0.36, Z:-0.01 [[ 0.99805817 -0.04943793 -0.03789174 0.24124867] [ 0.04999797 0.99865151 0.01397722 0.36085374] [ 0.03714964 -0.01584459 0.99918409 -0.01112569] [ 0. 0. 0. 1. ]] SLAMing on 1.8822606149999999 meters Centerline goodness : 0.952109 with order 1 Centerline is valid? [False, True] Translation: X:0.22, Y:0.36, Z:-0.01 [[ 0.99912087 -0.03045733 -0.02880694 0.22091668] [ 0.03055998 0.99952803 0.00312972 0.3636381 ] [ 0.02869802 -0.00400731 0.99958009 -0.01056784] [ 0. 0. 0. 1. ]] SLAMing on 1.942260615 meters Centerline goodness : 0.957773 with order 1 Centerline is valid? [True, True] Translation: X:0.28, Y:0.38, Z:-0.00 [[ 0.99959501 0.00117097 -0.02843305 0.27945027] [-0.00122985 0.99999714 -0.00205324 0.3809221 ] [ 0.02843057 0.00208737 0.99959359 -0.00208908] [ 0. 0. 0. 1. ]] SLAMing on 2.002260615 meters Centerline goodness : 0.897764 with order 2 Centerline is valid? [True, False] Translation: X:0.31, Y:0.38, Z:-0.01 [[ 0.9994163 0.02536466 -0.02288457 0.31457239] [-0.02529582 0.99967459 0.00329231 0.37863495] [ 0.02296063 -0.0027115 0.99973269 -0.00606016] [ 0. 0. 0. 1. ]] SLAMing on 2.062260615 meters Centerline goodness : 0.960011 with order 1 Centerline is valid? [False, True] Translation: X:0.33, Y:0.36, Z:0.00 [[ 9.99702102e-01 1.54714930e-02 -1.88769647e-02 3.30993581e-01] [-1.54876431e-02 9.99879807e-01 -7.09645940e-04 3.61333580e-01] [ 1.88637166e-02 1.00179423e-03 9.99821562e-01 4.16663703e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.122260615 meters Centerline goodness : 0.247796 with order 1 Centerline is valid? [True, False] Translation: X:0.34, Y:0.35, Z:-0.00 [[ 0.99990916 0.00324521 -0.0130823 0.34255638] [-0.00327608 0.9999919 -0.00233916 0.34896127] [ 0.0130746 0.00238181 0.99991169 -0.00110706] [ 0. 0. 0. 1. ]] SLAMing on 2.182260615 meters Centerline goodness : 0.843982 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:-0.00 [[ 0.9999216 -0.00175908 -0.01239777 0.34673951] [ 0.00167301 0.99997446 -0.00694878 0.32730682] [ 0.01240968 0.00692749 0.999899 -0.0028546 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2422606149999997 meters Centerline goodness : 0.824968 with order 2 Centerline is valid? [False, False] Translation: X:0.37, Y:0.31, Z:-0.01 [[ 0.99993887 -0.00135261 -0.01097413 0.37245964] [ 0.00137606 0.99999679 0.00212963 0.30589622] [ 0.01097122 -0.0021446 0.99993751 -0.01046809] [ 0. 0. 0. 1. ]] SLAMing on 2.302260615 meters Centerline goodness : 0.644715 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:0.28, Z:-0.02 [[ 9.99922555e-01 -1.24112910e-02 9.18911245e-04 3.96791695e-01] [ 1.24013687e-02 9.99871952e-01 1.01136369e-02 2.83687961e-01] [-1.04431687e-03 -1.01014579e-02 9.99948434e-01 -1.83028728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.362260615 meters Centerline goodness : 0.607414 with order 2 Centerline is valid? [False, False] Translation: X:0.42, Y:0.27, Z:-0.02 [[ 0.99957457 -0.02913576 -0.00133538 0.4190995 ] [ 0.0291455 0.99954341 0.00796931 0.2693238 ] [ 0.00110258 -0.00800484 0.99996735 -0.01887108] [ 0. 0. 0. 1. ]] SLAMing on 2.422260615 meters Centerline goodness : 0.347616 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.26, Z:-0.02 [[ 9.99149551e-01 -4.12266380e-02 -7.34488842e-04 4.39428497e-01] [ 4.12307012e-02 9.99126287e-01 6.83312619e-03 2.64707316e-01] [ 4.52140290e-04 -6.85759845e-03 9.99976384e-01 -2.31140411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.482260615 meters Centerline goodness : 0.247243 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.27, Z:-0.02 [[ 0.99908861 -0.04224838 0.00608551 0.47335355] [ 0.04223895 0.99910614 0.00167077 0.26912415] [-0.00615066 -0.0014122 0.99998009 -0.02490281] [ 0. 0. 0. 1. ]] SLAMing on 2.542260615 meters Centerline goodness : 0.215017 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-0.02 [[ 0.99911235 -0.04060364 0.01121884 0.50800692] [ 0.04052542 0.99915318 0.00711393 0.28444993] [-0.01149819 -0.00665297 0.99991176 -0.02299039] [ 0. 0. 0. 1. ]] SLAMing on 2.602260615 meters Centerline goodness : 0.201772 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.30, Z:-0.02 [[ 0.99872642 -0.04256678 0.02708523 0.54331119] [ 0.04245035 0.99908676 0.00485936 0.30203432] [-0.02726735 -0.00370339 0.99962132 -0.02418176] [ 0. 0. 0. 1. ]] SLAMing on 2.6622606149999997 meters Centerline goodness : 0.188067 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.32, Z:-0.03 [[ 0.9982717 -0.05175215 0.02784487 0.58635486] [ 0.05162284 0.99865236 0.0053433 0.31930488] [-0.02808387 -0.00389663 0.99959798 -0.03095443] [ 0. 0. 0. 1. ]] SLAMing on 2.7222606149999997 meters Centerline goodness : 0.453408 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.34, Z:-0.04 [[ 0.9974721 -0.06343722 0.03201769 0.6293231 ] [ 0.06309732 0.99794091 0.01151803 0.33726452] [-0.03268243 -0.00946868 0.99942093 -0.03632783] [ 0. 0. 0. 1. ]] SLAMing on 2.7822606149999998 meters Centerline goodness : 0.407054 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.35, Z:-0.05 [[ 0.99746842 -0.05899225 0.03970731 0.68616019] [ 0.05847798 0.99819064 0.01399164 0.35482198] [-0.04046087 -0.01163421 0.99911339 -0.04584808] [ 0. 0. 0. 1. ]] SLAMing on 2.842260615 meters Centerline goodness : 0.411499 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:0.36, Z:-0.05 [[ 0.997972 -0.0378808 0.05115596 0.66819405] [ 0.03705882 0.99916979 0.01692258 0.36175718] [-0.05175453 -0.01499248 0.99854729 -0.04598331] [ 0. 0. 0. 1. ]] SLAMing on 2.902260615 meters Centerline goodness : 0.417876 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:0.36, Z:-0.05 [[ 0.99731752 -0.04608667 0.05686644 0.71017259] [ 0.04547889 0.99889398 0.0119368 0.36284069] [-0.05735367 -0.00931855 0.99831043 -0.05095759] [ 0. 0. 0. 1. ]] SLAMing on 2.962260615 meters Centerline goodness : 0.436178 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:0.36, Z:-0.06 [[ 0.99545745 -0.0687181 0.06589599 0.76452416] [ 0.06876659 0.9976316 0.00153468 0.36009648] [-0.06584539 0.00300373 0.99782532 -0.05551742] [ 0. 0. 0. 1. ]] SLAMing on 3.022260615 meters Centerline goodness : 0.453850 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:0.36, Z:-0.06 [[ 0.99448657 -0.0797999 0.06803258 0.80139957] [ 0.08019174 0.99677481 -0.00304387 0.36008964] [-0.06757026 0.00848274 0.99767846 -0.05549723] [ 0. 0. 0. 1. ]] SLAMing on 3.082260615 meters Centerline goodness : 0.470922 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:0.36, Z:-0.06 [[ 0.99491348 -0.07640258 0.06564923 0.84888538] [ 0.07743537 0.99690825 -0.01333029 0.35866756] [-0.06442779 0.01834606 0.99775372 -0.0611629 ] [ 0. 0. 0. 1. ]] SLAMing on 3.142260615 meters Centerline goodness : 0.471108 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.36, Z:-0.07 [[ 0.99499107 -0.06675038 0.07441203 0.9006095 ] [ 0.06741115 0.99770475 -0.00640118 0.36088377] [-0.07381396 0.01138532 0.99720704 -0.06979821] [ 0. 0. 0. 1. ]] SLAMing on 3.2022606149999997 meters Centerline goodness : 0.473513 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.36, Z:-0.07 [[ 9.94789104e-01 -6.38649077e-02 7.94727141e-02 9.48808839e-01] [ 6.40095216e-02 9.97949021e-01 7.29149061e-04 3.62626542e-01] [-7.93562843e-02 4.36166087e-03 9.96836775e-01 -6.88110634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2622606149999998 meters Centerline goodness : 0.513068 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:0.35, Z:-0.08 [[ 0.99315596 -0.07915981 0.08587763 1.02495996] [ 0.08013373 0.99675243 -0.00794796 0.34729186] [-0.08496958 0.01477526 0.99627399 -0.07661577] [ 0. 0. 0. 1. ]] SLAMing on 3.322260615 meters Centerline goodness : 0.524939 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.33, Z:-0.08 [[ 0.9923824 -0.08218206 0.09177843 1.07730893] [ 0.08361056 0.99642836 -0.01182323 0.33473558] [-0.09047898 0.01940681 0.99570926 -0.08433003] [ 0. 0. 0. 1. ]] SLAMing on 3.382260615 meters Centerline goodness : 0.557152 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.31, Z:-0.10 [[ 0.99196745 -0.08694287 0.09187768 1.17364662] [ 0.08903635 0.99584848 -0.0189299 0.30607035] [-0.08985043 0.0269583 0.99559035 -0.09941537] [ 0. 0. 0. 1. ]] SLAMing on 3.442260615 meters Centerline goodness : 0.575899 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.28, Z:-0.11 [[ 0.99266112 -0.08118626 0.08962531 1.22305879] [ 0.08385456 0.99612789 -0.02641291 0.28134953] [-0.0871339 0.03373456 0.99562526 -0.10712681] [ 0. 0. 0. 1. ]] SLAMing on 3.502260615 meters Centerline goodness : 0.625472 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.24, Z:-0.12 [[ 0.993326 -0.08372634 0.07933068 1.29956791] [ 0.085861 0.99602079 -0.02388467 0.24038538] [-0.07701524 0.03053668 0.99656217 -0.1238189 ] [ 0. 0. 0. 1. ]] SLAMing on 3.562260615 meters Centerline goodness : 0.652589 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:0.20, Z:-0.14 [[ 0.99445901 -0.08650274 0.05973733 1.37209606] [ 0.08731761 0.99611798 -0.01116301 0.19645997] [-0.0585398 0.01631728 0.99815171 -0.13658596] [ 0. 0. 0. 1. ]] SLAMing on 3.6222606149999996 meters Centerline goodness : 0.560583 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:-0.15 [[ 0.99374326 -0.10288101 0.04347218 1.43413048] [ 0.10424391 0.99408898 -0.03033658 0.14574106] [-0.04009415 0.03467848 0.99859394 -0.15466044] [ 0. 0. 0. 1. ]] SLAMing on 3.6822606149999997 meters Centerline goodness : 0.634507 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.18 [[ 0.99373932 -0.10891293 0.02490264 1.50167328] [ 0.10968946 0.99344125 -0.03229098 0.09014153] [-0.0212224 0.03482037 0.99916823 -0.1774158 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7422606149999997 meters Centerline goodness : 0.583725 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:-0.19 [[ 0.99388566 -0.11037555 -0.0029213 1.56519697] [ 0.11035625 0.99387337 -0.00610154 0.05090753] [ 0.00357686 0.00574185 0.99997712 -0.19095313] [ 0. 0. 0. 1. ]] SLAMing on 3.802260615 meters Centerline goodness : 0.413512 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:-0.21 [[ 9.92859180e-01 -1.14488847e-01 -3.35104759e-02 1.62470829e+00] [ 1.14570441e-01 9.93414991e-01 5.18569480e-04 1.71179421e-02] [ 3.32304387e-02 -4.35417647e-03 9.99438232e-01 -2.07141972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.862260615 meters Centerline goodness : 0.388210 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.22 [[ 0.99093452 -0.12470021 -0.0499863 1.68320304] [ 0.12504447 0.99214383 0.00380783 -0.00696989] [ 0.04911876 -0.01002382 0.99874264 -0.21885338] [ 0. 0. 0. 1. ]] SLAMing on 3.922260615 meters Centerline goodness : 0.432355 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.01, Z:-0.22 [[ 0.98973529 -0.134181 -0.04918853 1.72296325] [ 0.13532647 0.99058412 0.02073277 -0.01372233] [ 0.04594344 -0.02717646 0.9985743 -0.22296516] [ 0. 0. 0. 1. ]] SLAMing on 3.982260615 meters Centerline goodness : 0.381824 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.02, Z:-0.22 [[ 9.84542151e-01 -1.70909324e-01 -3.82982584e-02 1.66595821e+00] [ 1.71021017e-01 9.85267313e-01 -3.64786742e-04 -2.22017604e-02] [ 3.77963676e-02 -6.19065915e-03 9.99266286e-01 -2.18257940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.042260615 meters Centerline goodness : 0.523904 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:-0.21 [[ 0.99267854 -0.11857353 0.02301369 1.81642989] [ 0.11924344 0.99240196 -0.03032094 0.0443099 ] [-0.01924357 0.03284317 0.99927524 -0.20738382] [ 0. 0. 0. 1. ]] SLAMing on 4.1022606150000005 meters Centerline goodness : 0.611264 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.08, Z:-0.20 [[ 0.98911159 -0.14138601 0.04084425 1.84637043] [ 0.14219943 0.98967916 -0.0177338 0.07589099] [-0.03791539 0.02334874 0.99900814 -0.20183656] [ 0. 0. 0. 1. ]] SLAMing on 4.162260615 meters Centerline goodness : 0.635316 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.11, Z:-0.20 [[ 0.98671811 -0.15790192 0.03813607 1.87063444] [ 0.15830734 0.98735878 -0.007837 0.10930184] [-0.03641651 0.01377013 0.99924182 -0.19838285] [ 0. 0. 0. 1. ]] SLAMing on 4.222260615000001 meters Centerline goodness : 0.669481 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:0.14, Z:-0.21 [[ 0.98616217 -0.16271548 0.03174674 1.88590198] [ 0.16341298 0.98633933 -0.0207587 0.13642287] [-0.0279353 0.02565927 0.99928035 -0.20665757] [ 0. 0. 0. 1. ]] SLAMing on 4.282260615 meters Centerline goodness : 0.122728 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.17, Z:-0.21 [[ 9.84873127e-01 -1.72519461e-01 1.61851407e-02 1.91342424e+00] [ 1.72543532e-01 9.85001889e-01 -9.22406841e-05 1.69465161e-01] [-1.59264808e-02 2.88348672e-03 9.99869008e-01 -2.08213604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.342260615000001 meters Centerline goodness : 0.697290 with order 2 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.21 [[ 0.98486231 -0.17318698 0.00724519 1.95396477] [ 0.17327214 0.9847813 -0.01351149 0.17801727] [-0.00479491 0.01456235 0.99988247 -0.2129493 ] [ 0. 0. 0. 1. ]] SLAMing on 4.402260615 meters Centerline goodness : 0.691837 with order 2 Centerline is valid? [False, False] Translation: X:1.98, Y:0.18, Z:-0.22 [[ 9.85076488e-01 -1.72089535e-01 3.08313258e-03 1.98253638e+00] [ 1.72115803e-01 9.84981616e-01 -1.36881544e-02 1.76929426e-01] [-6.81240793e-04 1.40145349e-02 9.99901560e-01 -2.17497279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.462260615 meters Centerline goodness : 0.781260 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.18, Z:-0.21 [[ 9.87313111e-01 -1.58068703e-01 1.50700469e-02 1.96908149e+00] [ 1.58055986e-01 9.87428047e-01 2.03867715e-03 1.84721901e-01] [-1.52028380e-02 3.69098442e-04 9.99884362e-01 -2.08622962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.522260615 meters Centerline goodness : 0.852352 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:-0.20 [[ 9.87678884e-01 -1.54902375e-01 2.22637879e-02 1.97631934e+00] [ 1.54841761e-01 9.87929345e-01 4.43160505e-03 1.93697367e-01] [-2.26815155e-02 -9.29638610e-04 9.99742309e-01 -2.00010844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.582260615 meters Centerline goodness : 0.861960 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:-0.20 [[ 9.86815486e-01 -1.60665276e-01 1.95414051e-02 2.00094336e+00] [ 1.60733501e-01 9.86995893e-01 -1.96200637e-03 1.98161678e-01] [-1.89720603e-02 5.07709672e-03 9.99807123e-01 -2.01345634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6422606150000005 meters Centerline goodness : 0.886978 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:-0.20 [[ 0.985644 -0.16737637 0.0221596 1.99774102] [ 0.16758749 0.98582453 -0.00802711 0.20448974] [-0.02050193 0.01162555 0.99972222 -0.20155072] [ 0. 0. 0. 1. ]] SLAMing on 4.702260615 meters Centerline goodness : 0.902246 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:-0.20 [[ 0.9847874 -0.17223852 0.0229711 1.99802912] [ 0.17257101 0.98490645 -0.0133616 0.21335281] [-0.020323 0.01712249 0.99964684 -0.20224433] [ 0. 0. 0. 1. ]] SLAMing on 4.762260615000001 meters Centerline goodness : 0.909133 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:-0.20 [[ 0.98434609 -0.17493233 0.02148135 2.02122567] [ 0.1752895 0.98438627 -0.01603964 0.21849681] [-0.0183401 0.01955401 0.99964058 -0.20402444] [ 0. 0. 0. 1. ]] SLAMing on 4.822260615 meters Centerline goodness : 0.925841 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.21, Z:-0.20 [[ 0.98268751 -0.18364791 0.02446841 2.01627344] [ 0.18417404 0.98266242 -0.02131869 0.21196013] [-0.02012906 0.02545605 0.99947327 -0.19559997] [ 0. 0. 0. 1. ]] SLAMing on 4.882260615 meters Centerline goodness : 0.943326 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:-0.19 [[ 0.98262482 -0.18285088 0.03184368 2.0227498 ] [ 0.18352425 0.98281843 -0.01966686 0.21819738] [-0.02770045 0.02516924 0.99929935 -0.18715227] [ 0. 0. 0. 1. ]] SLAMing on 4.942260615 meters Centerline goodness : 0.953462 with order 1 Centerline is valid? [False, True] Translation: X:2.05, Y:0.23, Z:-0.18 [[ 0.98354612 -0.17842052 0.02833971 2.05243221] [ 0.17859003 0.98391718 -0.00354685 0.22983344] [-0.02725109 0.00854968 0.99959206 -0.18304286] [ 0. 0. 0. 1. ]] SLAMing on 5.002260615 meters Centerline goodness : 0.956598 with order 1 Centerline is valid? [True, True] Translation: X:2.11, Y:0.25, Z:-0.21 [[ 9.82808181e-01 -1.82837391e-01 2.56625745e-02 2.10849708e+00] [ 1.82724286e-01 9.83141331e-01 6.70517479e-03 2.51695821e-01] [-2.64558943e-02 -1.90072502e-03 9.99648175e-01 -2.10619623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0622606150000005 meters Centerline goodness : 0.954676 with order 1 Centerline is valid? [True, True] Translation: X:2.17, Y:0.25, Z:-0.24 [[ 9.83582611e-01 -1.78624417e-01 2.56625112e-02 2.16951369e+00] [ 1.78509880e-01 9.83915271e-01 6.70541705e-03 2.52357625e-01] [-2.64474879e-02 -2.01431982e-03 9.99648175e-01 -2.43399185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122260615 meters Centerline goodness : 0.965464 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:0.26, Z:-0.24 [[ 9.84217034e-01 -1.75095027e-01 2.56624417e-02 2.22942218e+00] [ 1.74979290e-01 9.84549279e-01 6.70568297e-03 2.63224821e-01] [-2.64400702e-02 -2.10945157e-03 9.99648175e-01 -2.38444735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182260615000001 meters Centerline goodness : 0.970142 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:0.26, Z:-0.24 [[ 0.98557407 -0.16728776 0.02566245 2.29130737] [ 0.1671694 0.98590538 0.00670565 0.26233523] [-0.02642252 -0.00231894 0.99964817 -0.24329958] [ 0. 0. 0. 1. ]] SLAMing on 5.242260615 meters Centerline goodness : 0.978332 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:0.27, Z:-0.24 [[ 0.98596089 -0.16499264 0.02566239 2.35200291] [ 0.1648735 0.98629192 0.00670588 0.2681031 ] [-0.02641703 -0.00238068 0.99964817 -0.2385103 ] [ 0. 0. 0. 1. ]] SLAMing on 5.302260615 meters Centerline goodness : 0.983102 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:0.27, Z:-0.20 [[ 9.84710386e-01 -1.72298878e-01 2.56622855e-02 2.41474316e+00] [ 1.72182183e-01 9.85042294e-01 6.70628097e-03 2.71183699e-01] [-2.64339212e-02 -2.18515619e-03 9.99648175e-01 -2.02474625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362260615 meters Centerline goodness : 0.985744 with order 1 Centerline is valid? [True, True] Translation: X:2.48, Y:0.28, Z:-0.18 [[ 9.85493677e-01 -1.67760722e-01 2.56622666e-02 2.47534335e+00] [ 1.67642497e-01 9.85825044e-01 6.70635332e-03 2.78845103e-01] [-2.64235677e-02 -2.30698234e-03 9.99648175e-01 -1.80504714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422260615 meters Centerline goodness : 0.988171 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:0.31, Z:-0.17 [[ 9.83645306e-01 -1.78278904e-01 2.56621282e-02 2.53019584e+00] [ 1.78164213e-01 9.83977912e-01 6.70688271e-03 3.09477565e-01] [-2.64466630e-02 -2.02512083e-03 9.99648175e-01 -1.73884699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482260615 meters Centerline goodness : 0.989812 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:0.33, Z:-0.17 [[ 9.82388478e-01 -1.85079265e-01 2.56621136e-02 2.58617095e+00] [ 1.84966876e-01 9.82721869e-01 6.70693865e-03 3.32853762e-01] [-2.64600355e-02 -1.84217828e-03 9.99648175e-01 -1.71899597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.542260615 meters Centerline goodness : 0.985231 with order 3 Centerline is valid? [True, True] Translation: X:2.43, Y:0.26, Z:-0.17 [[ 0.99095925 -0.13168616 0.02566183 2.42734339] [ 0.13155588 0.99128606 0.00670801 0.25603561] [-0.02632157 -0.0032714 0.99964817 -0.17146058] [ 0. 0. 0. 1. ]] SLAMing on 5.6022606150000005 meters Centerline goodness : 0.145325 with order 1 Centerline is valid? [True, False] Translation: X:2.46, Y:0.27, Z:-0.17 [[ 0.990781 -0.13158995 0.03220391 2.45500932] [ 0.13237796 0.99091613 -0.02369183 0.26768749] [-0.02879376 0.0277365 0.99920048 -0.17318333] [ 0. 0. 0. 1. ]] SLAMing on 5.662260615 meters Centerline goodness : 0.993965 with order 1 Centerline is valid? [False, True] Translation: X:2.48, Y:0.28, Z:-0.17 [[ 0.99116889 -0.12849818 0.03274821 2.47960665] [ 0.1298914 0.99051939 -0.04471645 0.2769006 ] [-0.02669175 0.04857527 0.99846282 -0.17268574] [ 0. 0. 0. 1. ]] SLAMing on 5.722260615000001 meters Centerline goodness : 0.996009 with order 1 Centerline is valid? [True, True] Translation: X:2.54, Y:0.26, Z:-0.18 [[ 9.89704350e-01 -1.41214256e-01 2.33202407e-02 2.54177256e+00] [ 1.41147722e-01 9.89978395e-01 4.48317303e-03 2.58341191e-01] [-2.37196224e-02 -1.14541700e-03 9.99717994e-01 -1.76959378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782260615 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:2.60, Y:0.26, Z:-0.20 [[ 9.92839217e-01 -1.17160094e-01 2.33195443e-02 2.60176479e+00] [ 1.17086846e-01 9.93111544e-01 4.48679218e-03 2.61168001e-01] [-2.36845817e-02 -1.72425135e-03 9.99717994e-01 -1.97808805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842260615 meters Centerline goodness : 0.997775 with order 1 Centerline is valid? [True, True] Translation: X:2.66, Y:0.29, Z:-0.16 [[ 9.90957845e-01 -1.32131564e-01 2.33195229e-02 2.65882575e+00] [ 1.32062431e-01 9.91231245e-01 4.48690371e-03 2.86108302e-01] [-2.37079013e-02 -1.36669955e-03 9.99717994e-01 -1.62907852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902260615 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:0.32, Z:-0.16 [[ 9.92609130e-01 -1.19093727e-01 2.33194892e-02 2.71305341e+00] [ 1.19021002e-01 9.92881598e-01 4.48707851e-03 3.18263027e-01] [-2.36878746e-02 -1.67840611e-03 9.99717994e-01 -1.56184463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962260615 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:0.33, Z:-0.16 [[ 9.92343654e-01 -1.21286201e-01 2.33180067e-02 2.77225443e+00] [ 1.21213899e-01 9.92616234e-01 4.49476991e-03 3.31899675e-01] [-2.36909855e-02 -1.63388990e-03 9.99717994e-01 -1.57753399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022260615 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:2.83, Y:0.34, Z:-0.16 [[ 9.89693002e-01 -1.41294131e-01 2.33180067e-02 2.83091861e+00] [ 1.41227346e-01 9.89966986e-01 4.49476991e-03 3.37153930e-01] [-2.37191414e-02 -1.15530213e-03 9.99717994e-01 -1.56669896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.082260615 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:0.34, Z:-0.15 [[ 9.90487242e-01 -1.35614560e-01 2.33176952e-02 2.88993118e+00] [ 1.35546166e-01 9.90760829e-01 4.49638493e-03 3.38688960e-01] [-2.37120343e-02 -1.29298771e-03 9.99717994e-01 -1.48700049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1422606150000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:0.36, Z:-0.15 [[ 9.91790872e-01 -1.25726587e-01 2.33171921e-02 2.94651550e+00] [ 1.25655406e-01 9.92063747e-01 4.49899251e-03 3.56857756e-01] [-2.36977839e-02 -1.53212846e-03 9.99717994e-01 -1.49221786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:0.37, Z:-0.16 [[ 9.91379165e-01 -1.28933034e-01 2.33157443e-02 3.00323773e+00] [ 1.28862561e-01 9.91652223e-01 4.50648320e-03 3.72083049e-01] [-2.37021442e-02 -1.46310703e-03 9.99717994e-01 -1.56446191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262260615000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:0.37, Z:-0.16 [[ 9.89175945e-01 -1.44870269e-01 2.33142834e-02 3.06222682e+00] [ 1.44804022e-01 9.89450059e-01 4.51402851e-03 3.70857921e-01] [-2.37222676e-02 -1.08916642e-03 9.99717994e-01 -1.57273701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:0.38, Z:-0.14 [[ 9.86216264e-01 -1.63810873e-01 2.33126256e-02 3.11980979e+00] [ 1.63749692e-01 9.86491553e-01 4.52257391e-03 3.78901979e-01] [-2.37385550e-02 -6.42800684e-04 9.99717994e-01 -1.43601124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:0.39, Z:-0.14 [[ 9.83792821e-01 -1.77787038e-01 2.33121230e-02 3.17819845e+00] [ 1.77729708e-01 9.84068938e-01 4.52516323e-03 3.89831780e-01] [-2.37452515e-02 -3.08566296e-04 9.99717994e-01 -1.38362475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.23, Y:0.41, Z:-0.13 [[ 9.84473060e-01 -1.73981053e-01 2.33106617e-02 3.23291306e+00] [ 1.73922477e-01 9.84748916e-01 4.53267833e-03 4.13568430e-01] [-2.37437490e-02 -4.08051671e-04 9.99717994e-01 -1.31277526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.502260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.29, Y:0.45, Z:-0.13 [[ 9.85685874e-01 -1.66973043e-01 2.33101130e-02 3.28664151e+00] [ 1.66912440e-01 9.85961291e-01 4.53549859e-03 4.47361018e-01] [-2.37401751e-02 -5.79829072e-04 9.99717994e-01 -1.30663051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5622606150000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.34, Y:0.47, Z:-0.13 [[ 9.87185892e-01 -1.57862998e-01 2.33085506e-02 3.34155150e+00] [ 1.57799665e-01 9.87460694e-01 4.54351384e-03 4.69862183e-01] [-2.37335302e-02 -8.07211292e-04 9.99717994e-01 -1.28357645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622260615 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:3.40, Y:0.48, Z:-0.13 [[ 9.89115704e-01 -1.45281988e-01 2.33081204e-02 3.40014118e+00] [ 1.45215109e-01 9.89389665e-01 4.54571970e-03 4.82887701e-01] [-2.37212246e-02 -1.11155148e-03 9.99717994e-01 -1.27153132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682260615000001 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:3.46, Y:0.50, Z:-0.13 [[ 9.89121850e-01 -1.45240154e-01 2.33080162e-02 3.45824859e+00] [ 1.45173252e-01 9.89395805e-01 4.54625377e-03 4.99911923e-01] [-2.37211520e-02 -1.11309844e-03 9.99717994e-01 -1.26841663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.52, Y:0.50, Z:-0.12 [[ 9.87806310e-01 -1.53933252e-01 2.33076980e-02 3.51729579e+00] [ 1.53868723e-01 9.88080833e-01 4.54788445e-03 5.00201336e-01] [-2.37299603e-02 -9.06103231e-04 9.99717994e-01 -1.16478231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.58, Y:0.51, Z:-0.12 [[ 9.87139212e-01 -1.58154837e-01 2.33071564e-02 3.57629799e+00] [ 1.58091417e-01 9.87413994e-01 4.55065859e-03 5.07247016e-01] [-2.37335210e-02 -8.07472171e-04 9.99717994e-01 -1.18305445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:0.52, Z:-0.12 [[ 9.86003453e-01 -1.65087951e-01 2.33057909e-02 3.63491262e+00] [ 1.65026298e-01 9.86278637e-01 4.55764106e-03 5.18609423e-01] [-2.37384153e-02 -6.47781426e-04 9.99717994e-01 -1.19475629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:0.53, Z:-0.11 [[ 9.84944226e-01 -1.71294253e-01 2.33055831e-02 3.69342201e+00] [ 1.71234309e-01 9.85219787e-01 4.55870351e-03 5.34104115e-01] [-2.37420013e-02 -4.99353279e-04 9.99717994e-01 -1.08502114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:0.55, Z:-0.11 [[ 9.82126083e-01 -1.86775833e-01 2.33054777e-02 3.75013483e+00] [ 1.86720221e-01 9.82402551e-01 4.55924205e-03 5.48924498e-01] [-2.37469170e-02 -1.26146581e-04 9.99717994e-01 -1.12828703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:0.56, Z:-0.13 [[ 9.80780023e-01 -1.93720081e-01 2.33039910e-02 3.80945475e+00] [ 1.93666247e-01 9.81056843e-01 4.56682874e-03 5.61101480e-01] [-2.37472262e-02 3.41420613e-05 9.99717994e-01 -1.28494335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1022606150000005 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:0.59, Z:-0.12 [[ 9.82012386e-01 -1.87372883e-01 2.33039917e-02 3.86465943e+00] [ 1.87317260e-01 9.82288852e-01 4.56682495e-03 5.91811711e-01] [-2.37469504e-02 -1.19438800e-04 9.99717994e-01 -1.22475238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162260615 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:0.62, Z:-0.12 [[ 9.82522291e-01 -1.84680470e-01 2.33038961e-02 3.91972052e+00] [ 1.84624077e-01 9.82798601e-01 4.56731265e-03 6.19231508e-01] [-2.37465300e-02 -1.85026178e-04 9.99717994e-01 -1.20163340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222260615 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:0.64, Z:-0.12 [[ 9.83703827e-01 -1.78280046e-01 2.33024696e-02 3.97624082e+00] [ 1.78221684e-01 9.83979728e-01 4.57457948e-03 6.36457297e-01] [-2.37447139e-02 -3.47025994e-04 9.99717994e-01 -1.20515724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282260615 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:4.03, Y:0.66, Z:-0.13 [[ 9.86449209e-01 -1.62403889e-01 2.33009725e-02 4.03301090e+00] [ 1.62340908e-01 9.86724092e-01 4.58219223e-03 6.55808212e-01] [-2.37357968e-02 -7.37398879e-04 9.99717994e-01 -1.28544924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342260615 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:4.09, Y:0.67, Z:-0.14 [[ 9.88549216e-01 -1.49088959e-01 2.33008675e-02 4.09165919e+00] [ 1.49022265e-01 9.88823221e-01 4.58272613e-03 6.70485252e-01] [-2.37236727e-02 -1.05790227e-03 9.99717994e-01 -1.41400597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402260615 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:4.15, Y:0.68, Z:-0.16 [[ 9.89847763e-01 -1.40208688e-01 2.33008675e-02 4.15085683e+00] [ 1.40139537e-01 9.90121159e-01 4.58272613e-03 6.82778589e-01] [-2.37132199e-02 -1.27082844e-03 9.99717994e-01 -1.55369705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.462260615 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:4.21, Y:0.69, Z:-0.16 [[ 9.90672130e-01 -1.34260179e-01 2.33009763e-02 4.21128905e+00] [ 1.34189400e-01 9.90945109e-01 4.58217261e-03 6.88860278e-01] [-2.37051918e-02 -1.41268667e-03 9.99717994e-01 -1.61041149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.522260615 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:4.27, Y:0.69, Z:-0.16 [[ 9.89062392e-01 -1.45645609e-01 2.33010831e-02 4.27294370e+00] [ 1.45577987e-01 9.89336170e-01 4.58162962e-03 6.92221534e-01] [-2.37198986e-02 -1.13939277e-03 9.99717994e-01 -1.62342738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582260615 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:4.33, Y:0.69, Z:-0.17 [[ 9.88435503e-01 -1.49840938e-01 2.33012960e-02 4.33428495e+00] [ 1.49774504e-01 9.88709571e-01 4.58054653e-03 6.94442892e-01] [-2.37245678e-02 -1.03763477e-03 9.99717994e-01 -1.69825631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6422606150000005 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:4.39, Y:0.70, Z:-0.18 [[ 9.89442800e-01 -1.43038440e-01 2.33012960e-02 4.39366940e+00] [ 1.42970122e-01 9.89716405e-01 4.58054653e-03 6.96502998e-01] [-2.37168692e-02 -1.20079965e-03 9.99717994e-01 -1.77208817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702260615 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:4.45, Y:0.70, Z:-0.17 [[ 9.90302020e-01 -1.36963597e-01 2.32998323e-02 4.45376596e+00] [ 1.36893428e-01 9.90575156e-01 4.58798000e-03 7.02716608e-01] [-2.37086213e-02 -1.35389195e-03 9.99717994e-01 -1.74848724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762260615 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:4.51, Y:0.71, Z:-0.18 [[ 9.89735908e-01 -1.40996316e-01 2.32996186e-02 4.51316673e+00] [ 1.40927234e-01 9.90009321e-01 4.58906484e-03 7.07492605e-01] [-2.37138808e-02 -1.25841146e-03 9.99717994e-01 -1.79142435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:4.57, Y:0.71, Z:-0.18 [[ 9.90826931e-01 -1.33113222e-01 2.32994082e-02 4.57249042e+00] [ 1.33041941e-01 9.91099779e-01 4.59013317e-03 7.13411613e-01] [-2.37030457e-02 -1.44822908e-03 9.99717994e-01 -1.76783091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.63, Y:0.72, Z:-0.17 [[ 9.92649247e-01 -1.18763133e-01 2.32978888e-02 4.63193434e+00] [ 1.18687731e-01 9.92920985e-01 4.59783178e-03 7.21936834e-01] [-2.36790156e-02 -1.79886069e-03 9.99717994e-01 -1.74855150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.69, Y:0.73, Z:-0.18 [[ 9.93076498e-01 -1.15135933e-01 2.32977856e-02 4.69250274e+00] [ 1.15059527e-01 9.93347955e-01 4.59835463e-03 7.32018283e-01] [-2.36722436e-02 -1.88588572e-03 9.99717994e-01 -1.76334097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002260614999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.75, Y:0.73, Z:-0.18 [[ 9.92995936e-01 -1.15828637e-01 2.32980135e-02 4.75384559e+00] [ 1.15752447e-01 9.93267455e-01 4.59719964e-03 7.33851881e-01] [-2.36736460e-02 -1.86819847e-03 9.99717994e-01 -1.78570617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.81, Y:0.75, Z:-0.18 [[ 9.92187876e-01 -1.22557773e-01 2.32983044e-02 4.81329623e+00] [ 1.22483460e-01 9.92459914e-01 4.59572491e-03 7.47819070e-01] [-2.36858750e-02 -1.70616558e-03 9.99717994e-01 -1.84665594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.87, Y:0.75, Z:-0.18 [[ 9.90935027e-01 -1.32306281e-01 2.32985232e-02 4.87426213e+00] [ 1.32234672e-01 9.91207789e-01 4.59461574e-03 7.53675559e-01] [-2.37015742e-02 -1.47209310e-03 9.99717994e-01 -1.84011181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.93, Y:0.77, Z:-0.19 [[ 9.89244162e-01 -1.44406253e-01 2.32985232e-02 4.93180292e+00] [ 1.44337983e-01 9.89517780e-01 4.59461574e-03 7.66255746e-01] [-2.37177942e-02 -1.18233496e-03 9.99717994e-01 -1.87389212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:0.78, Z:-0.18 [[ 9.87403629e-01 -1.56496860e-01 2.32982063e-02 4.99024872e+00] [ 1.56431905e-01 9.87678052e-01 4.59622201e-03 7.76262501e-01] [-2.37304213e-02 -8.93743503e-04 9.99717994e-01 -1.80152641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.79, Z:-0.18 [[ 9.86241898e-01 -1.63658731e-01 2.32967302e-02 5.04666986e+00] [ 1.63595593e-01 9.86516745e-01 4.60369150e-03 7.87875266e-01] [-2.37360488e-02 -7.29111052e-04 9.99717994e-01 -1.75517710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:0.81, Z:-0.17 [[ 9.88592344e-01 -1.48803447e-01 2.32961708e-02 5.10428070e+00] [ 1.48736114e-01 9.88866193e-01 4.60652092e-03 8.05825513e-01] [-2.37222619e-02 -1.08898940e-03 9.99717994e-01 -1.70230580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:0.82, Z:-0.17 [[ 9.92369697e-01 -1.21077162e-01 2.32960566e-02 5.16027795e+00] [ 1.21002178e-01 9.92641550e-01 4.60709828e-03 8.23505759e-01] [-2.36824481e-02 -1.75307114e-03 9.99717994e-01 -1.65011035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:0.83, Z:-0.18 [[ 9.93666634e-01 -1.09926973e-01 2.32954988e-02 5.21962896e+00] [ 1.09848875e-01 9.93937610e-01 4.60991677e-03 8.31181502e-01] [-2.36610266e-02 -2.02173614e-03 9.99717994e-01 -1.75755315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:0.84, Z:-0.18 [[ 9.94153866e-01 -1.05429674e-01 2.32953601e-02 5.27930811e+00] [ 1.05350335e-01 9.94424481e-01 4.61061793e-03 8.37537478e-01] [-2.36515723e-02 -2.12948966e-03 9.99717994e-01 -1.83816835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:0.84, Z:-0.19 [[ 9.94623219e-01 -1.00905818e-01 2.32952570e-02 5.34101687e+00] [ 1.00825237e-01 9.94893466e-01 4.61113866e-03 8.37923741e-01] [-2.36415897e-02 -2.23759578e-03 9.99717994e-01 -1.94093299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662260615000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:0.84, Z:-0.20 [[ 9.93810226e-01 -1.08621151e-01 2.32955155e-02 5.40317656e+00] [ 1.08542700e-01 9.94081099e-01 4.60983229e-03 8.35814089e-01] [-2.36583569e-02 -2.05274032e-03 9.99717994e-01 -2.04942247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:0.84, Z:-0.21 [[ 9.93463405e-01 -1.11748723e-01 2.32956181e-02 5.46240150e+00] [ 1.11671137e-01 9.93734528e-01 4.60931371e-03 8.41220968e-01] [-2.36647450e-02 -1.97773634e-03 9.99717994e-01 -2.09406664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.52, Y:0.85, Z:-0.22 [[ 9.93404607e-01 -1.12270254e-01 2.32954158e-02 5.52149852e+00] [ 1.12192786e-01 9.93675764e-01 4.61033587e-03 8.47109770e-01] [-2.36656937e-02 -1.96635130e-03 9.99717994e-01 -2.19010792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:0.86, Z:-0.21 [[ 9.93109494e-01 -1.14851495e-01 2.32952081e-02 5.57929487e+00] [ 1.14774708e-01 9.93380844e-01 4.61138507e-03 8.56477777e-01] [-2.36706380e-02 -1.90590958e-03 9.99717994e-01 -2.09997559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:0.86, Z:-0.20 [[ 9.90918375e-01 -1.32431776e-01 2.32937627e-02 5.63867498e+00] [ 1.32359639e-01 9.91190998e-01 4.61867492e-03 8.61580449e-01] [-2.37002272e-02 -1.49357584e-03 9.99717994e-01 -2.04968518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:0.87, Z:-0.20 [[ 9.89405966e-01 -1.43294295e-01 2.32933370e-02 5.69617851e+00] [ 1.43225102e-01 9.89679351e-01 4.62082097e-03 8.69546060e-01] [-2.37150719e-02 -1.23567727e-03 9.99717994e-01 -1.95036493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:0.88, Z:-0.18 [[ 9.89427071e-01 -1.43148616e-01 2.32926037e-02 5.75433617e+00] [ 1.43079296e-01 9.89700424e-01 4.62451435e-03 8.81748337e-01] [-2.37146926e-02 -1.24293035e-03 9.99717994e-01 -1.83348091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082260615000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:0.90, Z:-0.19 [[ 9.90742071e-01 -1.33744581e-01 2.32924032e-02 5.81136420e+00] [ 1.33672644e-01 9.91014747e-01 4.62552392e-03 8.96962662e-01] [-2.37017538e-02 -1.46914402e-03 9.99717994e-01 -1.85509936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:0.91, Z:-0.20 [[ 9.90430185e-01 -1.36035221e-01 2.32909104e-02 5.87125788e+00] [ 1.35963739e-01 9.90702981e-01 4.63302859e-03 9.05312445e-01] [-2.37046294e-02 -1.42197210e-03 9.99717995e-01 -1.95215251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:0.92, Z:-0.20 [[ 9.88607418e-01 -1.48704092e-01 2.32909104e-02 5.92854628e+00] [ 1.48636108e-01 9.88881106e-01 4.63302859e-03 9.16917952e-01] [-2.37208915e-02 -1.11837615e-03 9.99717995e-01 -2.00892997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:0.93, Z:-0.21 [[ 9.87401636e-01 -1.56510733e-01 2.32894782e-02 5.98621568e+00] [ 1.56444745e-01 9.87675812e-01 4.64021689e-03 9.30165338e-01] [-2.37286980e-02 -9.38241271e-04 9.99717995e-01 -2.07064033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.04, Y:0.94, Z:-0.21 [[ 9.85718578e-01 -1.66782793e-01 2.32891678e-02 6.04330014e+00] [ 1.66719626e-01 9.85993418e-01 4.64177417e-03 9.44110705e-01] [-2.37371342e-02 -6.92721690e-04 9.99717995e-01 -2.07250297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:0.96, Z:-0.21 [[ 9.82721085e-01 -1.83621761e-01 2.32877170e-02 6.09760396e+00] [ 1.83563133e-01 9.82996929e-01 4.64904143e-03 9.64491150e-01] [-2.37454195e-02 -2.93944741e-04 9.99717995e-01 -2.11738032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.15, Y:1.00, Z:-0.23 [[ 9.80345926e-01 -1.95907061e-01 2.32871007e-02 6.15022322e+00] [ 1.95851817e-01 9.80622467e-01 4.65212615e-03 1.00134999e+00] [-2.37472385e-02 1.28070518e-07 9.99717995e-01 -2.25047167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:1.03, Z:-0.23 [[ 9.79798122e-01 -1.98628847e-01 2.32856434e-02 6.20301536e+00] [ 1.98574198e-01 9.80074782e-01 4.65940935e-03 1.03287584e+00] [-2.37471650e-02 5.86474308e-05 9.99717995e-01 -2.33676791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:1.06, Z:-0.24 [[ 9.80262075e-01 -1.96326569e-01 2.32839785e-02 6.25763887e+00] [ 1.96271073e-01 9.80538565e-01 4.66771439e-03 1.05782285e+00] [-2.37472352e-02 -5.61195286e-06 9.99717995e-01 -2.35135949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.31, Y:1.08, Z:-0.22 [[ 9.81165518e-01 -1.91760677e-01 2.32823980e-02 6.31420106e+00] [ 1.91703708e-01 9.81441709e-01 4.67558439e-03 1.08280592e+00] [-2.37469097e-02 -1.24200154e-04 9.99717995e-01 -2.19966349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682260615 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:1.11, Z:-0.21 [[ 9.79476786e-01 -2.00207792e-01 2.32822912e-02 6.36825439e+00] [ 2.00153192e-01 9.79753456e-01 4.67611612e-03 1.11177452e+00] [-2.37471002e-02 7.98777182e-05 9.99717995e-01 -2.12008614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742260615 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:6.42, Y:1.14, Z:-0.21 [[ 9.77957602e-01 -2.07501646e-01 2.32807794e-02 6.42207680e+00] [ 2.07448931e-01 9.78234637e-01 4.68363073e-03 1.13587052e+00] [-2.37459259e-02 2.49180532e-04 9.99717995e-01 -2.14549736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802260615 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:6.48, Y:1.17, Z:-0.22 [[ 9.76118362e-01 -2.15988490e-01 2.32790752e-02 6.47569471e+00] [ 2.15937982e-01 9.76395807e-01 4.69208589e-03 1.16816161e+00] [-2.37430280e-02 4.46805328e-04 9.99717995e-01 -2.16895864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862260615 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:1.20, Z:-0.22 [[ 9.74578276e-01 -2.22834773e-01 2.32776087e-02 6.52952486e+00] [ 2.22786039e-01 9.74856039e-01 4.69935000e-03 1.19928009e+00] [-2.37394960e-02 6.06041839e-04 9.99717995e-01 -2.22495267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922260615 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:6.59, Y:1.23, Z:-0.22 [[ 9.73675401e-01 -2.26747363e-01 2.32775943e-02 6.58550657e+00] [ 2.26699744e-01 9.73953357e-01 4.69942159e-03 1.23403213e+00] [-2.37368726e-02 7.01313458e-04 9.99717995e-01 -2.23524727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982260615 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:1.28, Z:-0.22 [[ 9.75758183e-01 -2.17609998e-01 2.32778066e-02 6.63992591e+00] [ 2.17559801e-01 9.76035685e-01 4.69836947e-03 1.27898707e+00] [-2.37423821e-02 4.79842511e-04 9.99717995e-01 -2.17335887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042260615 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:1.31, Z:-0.21 [[ 9.79523845e-01 -1.99977903e-01 2.32782198e-02 6.69605048e+00] [ 1.99922758e-01 9.79800406e-01 4.69632152e-03 1.31449418e+00] [-2.37471698e-02 5.36869996e-05 9.99717995e-01 -2.12808223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102260615 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:1.33, Z:-0.21 [[ 9.82795493e-01 -1.83224226e-01 2.32787900e-02 6.75457347e+00] [ 1.83164434e-01 9.83071087e-01 4.69349374e-03 1.33211966e+00] [-2.37446671e-02 -3.48898104e-04 9.99717995e-01 -2.14152276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162260615 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:1.36, Z:-0.21 [[ 9.86131615e-01 -1.64324432e-01 2.32791332e-02 6.81246688e+00] [ 1.64259401e-01 9.86406020e-01 4.69179052e-03 1.36228170e+00] [-2.37336530e-02 -8.02906497e-04 9.99717995e-01 -2.12462063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222260615 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:1.38, Z:-0.22 [[ 9.88906468e-01 -1.46703947e-01 2.32797935e-02 6.87175267e+00] [ 1.46634107e-01 9.89179689e-01 4.68851217e-03 1.38417858e+00] [-2.37157221e-02 -1.22288828e-03 9.99717995e-01 -2.16880865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282260615 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:1.40, Z:-0.23 [[ 9.89600652e-01 -1.41945673e-01 2.32803665e-02 6.93109893e+00] [ 1.41874586e-01 9.89873551e-01 4.68566511e-03 1.40426374e+00] [-2.37097290e-02 -1.33404488e-03 9.99717995e-01 -2.31241293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342260615 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:1.42, Z:-0.23 [[ 9.88421104e-01 -1.49938888e-01 2.32819814e-02 6.99084241e+00] [ 1.49870198e-01 9.88694616e-01 4.67762738e-03 1.42276947e+00] [-2.37201279e-02 -1.13419046e-03 9.99717995e-01 -2.29928844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402260615 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:7.05, Y:1.44, Z:-0.24 [[ 9.82984787e-01 -1.82205345e-01 2.32834838e-02 7.05159326e+00] [ 1.82145821e-01 9.83260438e-01 4.67013699e-03 1.43548543e+00] [-2.37446524e-02 -3.49684358e-04 9.99717995e-01 -2.39182982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462260615 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:1.44, Z:-0.25 [[ 9.78357285e-01 -2.05608430e-01 2.32851112e-02 7.11382749e+00] [ 2.05555693e-01 9.78634315e-01 4.66200887e-03 1.43803972e+00] [-2.37461571e-02 2.25276818e-04 9.99717995e-01 -2.50654814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522260615 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:7.17, Y:1.46, Z:-0.25 [[ 9.78301508e-01 -2.05873562e-01 2.32859427e-02 7.17363682e+00] [ 2.05820999e-01 9.78578572e-01 4.65785194e-03 1.45928934e+00] [-2.37460531e-02 2.35952415e-04 9.99717995e-01 -2.47067593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582260615 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:7.23, Y:1.48, Z:-0.24 [[ 9.78725630e-01 -2.03847656e-01 2.32867710e-02 7.23360438e+00] [ 2.03794618e-01 9.79002603e-01 4.65370703e-03 1.47874129e+00] [-2.37464567e-02 1.91016256e-04 9.99717995e-01 -2.38919177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642260615 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:7.29, Y:1.50, Z:-0.24 [[ 9.78832919e-01 -2.03331685e-01 2.32882575e-02 7.29374640e+00] [ 2.03278678e-01 9.79109897e-01 4.64625651e-03 1.49642400e+00] [-2.37464945e-02 1.86097381e-04 9.99717995e-01 -2.39067800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702260615 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:7.35, Y:1.52, Z:-0.23 [[ 9.80152006e-01 -1.96874663e-01 2.32897450e-02 7.35154882e+00] [ 1.96820009e-01 9.80428664e-01 4.63878815e-03 1.52386701e+00] [-2.37471934e-02 3.71703087e-05 9.99717995e-01 -2.33182785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762260615 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:7.41, Y:1.54, Z:-0.24 [[ 9.83047120e-01 -1.81867750e-01 2.32912428e-02 7.41194680e+00] [ 1.81809051e-01 9.83322948e-01 4.63125561e-03 1.54235721e+00] [-2.37450895e-02 -3.18183746e-04 9.99717995e-01 -2.36388467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822260615 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:7.47, Y:1.56, Z:-0.23 [[ 9.85604215e-01 -1.67456764e-01 2.32929855e-02 7.47243581e+00] [ 1.67394241e-01 9.85879202e-01 4.62247376e-03 1.56260589e+00] [-2.37381345e-02 -6.56817987e-04 9.99717995e-01 -2.34024709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882260615 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:7.53, Y:1.57, Z:-0.25 [[ 9.86911758e-01 -1.59569855e-01 2.32947028e-02 7.53125940e+00] [ 1.59505340e-01 9.87186284e-01 4.61380335e-03 1.57478549e+00] [-2.37324350e-02 -8.37787299e-04 9.99717995e-01 -2.50721955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942260615 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:7.59, Y:1.58, Z:-0.24 [[ 9.87045101e-01 -1.58742938e-01 2.32948097e-02 7.59447027e+00] [ 1.58678205e-01 9.87319576e-01 4.61326369e-03 1.57619413e+00] [-2.37317446e-02 -8.57120733e-04 9.99717995e-01 -2.44309524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002260615 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:7.66, Y:1.58, Z:-0.24 [[ 9.85155795e-01 -1.70074530e-01 2.32962360e-02 7.65851766e+00] [ 1.70013126e-01 9.85431033e-01 4.60604984e-03 1.57565300e+00] [-2.37402056e-02 -5.77010780e-04 9.99717995e-01 -2.44926525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062260615 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:7.72, Y:1.57, Z:-0.25 [[ 9.79374779e-01 -2.00704520e-01 2.32967556e-02 7.72258482e+00] [ 2.00651789e-01 9.79651810e-01 4.60341996e-03 1.57437155e+00] [-2.37466360e-02 1.66062285e-04 9.99717995e-01 -2.45099086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122260615 meters Centerline goodness : 0.998397 with order 1 Centerline is valid? [True, True] Translation: X:7.79, Y:1.57, Z:-0.26 [[ 9.79108459e-01 -2.01999657e-01 2.32972804e-02 7.78541707e+00] [ 2.01947356e-01 9.79385572e-01 4.60076289e-03 1.57420681e+00] [-2.37463728e-02 2.00178291e-04 9.99717995e-01 -2.59479383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182260615 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:7.85, Y:1.59, Z:-0.26 [[ 9.79868402e-01 -1.98280317e-01 2.32987379e-02 7.84646622e+00] [ 1.98227140e-01 9.80145347e-01 4.59336988e-03 1.58535081e+00] [-2.37469244e-02 1.17544167e-04 9.99717995e-01 -2.64513318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242260615 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:7.91, Y:1.60, Z:-0.27 [[ 9.80544578e-01 -1.94908885e-01 2.32992948e-02 7.90729627e+00] [ 1.94854823e-01 9.80821352e-01 4.59054325e-03 1.60358072e+00] [-2.37471835e-02 3.87476604e-05 9.99717995e-01 -2.73388792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302260615 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:1.63, Z:-0.28 [[ 9.81289186e-01 -1.91124549e-01 2.33010832e-02 7.96489229e+00] [ 1.91069635e-01 9.81565792e-01 4.58144732e-03 1.62549289e+00] [-2.37471733e-02 -4.35952302e-05 9.99717995e-01 -2.82159499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362260615 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:8.03, Y:1.64, Z:-0.28 [[ 9.82964333e-01 -1.82313217e-01 2.33025818e-02 8.02524951e+00] [ 1.82256005e-01 9.83240474e-01 4.57381235e-03 1.64321403e+00] [-2.37459080e-02 -2.48858945e-04 9.99717995e-01 -2.79998307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422260615 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:8.09, Y:1.66, Z:-0.28 [[ 9.84946294e-01 -1.71282560e-01 2.33041219e-02 8.08557285e+00] [ 1.71222442e-01 9.85221816e-01 4.56595208e-03 1.66271607e+00] [-2.37417973e-02 -5.07028917e-04 9.99717995e-01 -2.77954061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482260615 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:8.15, Y:1.67, Z:-0.27 [[ 9.84387669e-01 -1.74464195e-01 2.33058451e-02 8.14711160e+00] [ 1.74405176e-01 9.84663428e-01 4.55713946e-03 1.67070038e+00] [-2.37434710e-02 -4.21331876e-04 9.99717995e-01 -2.69765094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542260615 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:1.68, Z:-0.26 [[ 9.83900860e-01 -1.77188776e-01 2.33074066e-02 8.20850246e+00] [ 1.77130709e-01 9.84176822e-01 4.54913927e-03 1.67759316e+00] [-2.37446657e-02 -3.47444576e-04 9.99717995e-01 -2.57558470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602260615 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:1.70, Z:-0.26 [[ 9.83823024e-01 -1.77620274e-01 2.33086938e-02 8.26680568e+00] [ 1.77562486e-01 9.84099044e-01 4.54253415e-03 1.70451702e+00] [-2.37449095e-02 -3.30300079e-04 9.99717995e-01 -2.62915359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662260615 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:1.72, Z:-0.27 [[ 9.82509310e-01 -1.84748861e-01 2.33091157e-02 8.32742719e+00] [ 1.84693126e-01 9.82785752e-01 4.54036816e-03 1.71628927e+00] [-2.37466947e-02 -1.55920538e-04 9.99717995e-01 -2.66374663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722260615 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:1.74, Z:-0.27 [[ 9.80053755e-01 -1.97360703e-01 2.33107490e-02 8.38787176e+00] [ 1.97308725e-01 9.80330928e-01 4.53196719e-03 1.73632821e+00] [-2.37466804e-02 1.57842713e-04 9.99717995e-01 -2.68569542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782260615 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:1.77, Z:-0.26 [[ 9.79293518e-01 -2.01098827e-01 2.33123681e-02 8.44540451e+00] [ 2.01048106e-01 9.79570924e-01 4.52362305e-03 1.76709225e+00] [-2.37458133e-02 2.56952737e-04 9.99717995e-01 -2.59579190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:1.79, Z:-0.26 [[ 9.81112443e-01 -1.92028342e-01 2.33128973e-02 8.50469997e+00] [ 1.91975121e-01 9.81389380e-01 4.52089435e-03 1.78658655e+00] [-2.37471696e-02 3.99905788e-05 9.99717995e-01 -2.62875243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:1.83, Z:-0.26 [[ 9.84939038e-01 -1.71322885e-01 2.33143778e-02 8.56048485e+00] [ 1.71264025e-01 9.85214832e-01 4.51324638e-03 1.82815040e+00] [-2.37428932e-02 -4.52358360e-04 9.99717995e-01 -2.64393522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:1.86, Z:-0.26 [[ 9.87172082e-01 -1.57948402e-01 2.33148732e-02 8.61825517e+00] [ 1.57885867e-01 9.87447065e-01 4.51068546e-03 1.85584673e+00] [-2.37346587e-02 -7.71733779e-04 9.99717995e-01 -2.61129827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022260615 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:1.88, Z:-0.26 [[ 9.88600316e-01 -1.48747326e-01 2.33162561e-02 8.67816706e+00] [ 1.48682402e-01 9.88874745e-01 4.50352589e-03 1.88066976e+00] [-2.37267443e-02 -9.85470161e-04 9.99717995e-01 -2.60546003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082260615 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:1.90, Z:-0.26 [[ 9.87240032e-01 -1.57522681e-01 2.33178769e-02 8.73726772e+00] [ 1.57460394e-01 9.87515072e-01 4.49511846e-03 1.90372894e+00] [-2.37348380e-02 -7.66118810e-04 9.99717996e-01 -2.62937891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142260615 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:8.80, Y:1.92, Z:-0.26 [[ 9.84367572e-01 -1.74575743e-01 2.33193651e-02 8.79837078e+00] [ 1.74518406e-01 9.84643686e-01 4.48738450e-03 1.91735358e+00] [-2.37446541e-02 -3.47577354e-04 9.99717996e-01 -2.62318613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202260615 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:8.86, Y:1.93, Z:-0.26 [[ 9.80044020e-01 -1.97407852e-01 2.33207607e-02 8.85761527e+00] [ 1.97357122e-01 9.80321424e-01 4.48012014e-03 1.93263731e+00] [-2.37462522e-02 2.11803242e-04 9.99717996e-01 -2.55001996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262260615 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:8.92, Y:1.94, Z:-0.26 [[ 9.79381398e-01 -2.00669342e-01 2.33215074e-02 8.91868298e+00] [ 2.00619628e-01 9.79658986e-01 4.47622936e-03 1.94458543e+00] [-2.37453663e-02 2.94816385e-04 9.99717996e-01 -2.61055982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322260615 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:1.97, Z:-0.25 [[ 9.82425042e-01 -1.85194699e-01 2.33229384e-02 8.97733180e+00] [ 1.85140790e-01 9.82701846e-01 4.46876127e-03 1.97025294e+00] [-2.37470855e-02 -7.21957504e-05 9.99717996e-01 -2.49963370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:1.99, Z:-0.24 [[ 9.82848501e-01 -1.82933858e-01 2.33243818e-02 9.03605758e+00] [ 1.82879491e-01 9.83125215e-01 4.46121457e-03 1.99453349e+00] [-2.37468951e-02 -1.19146981e-04 9.99717996e-01 -2.40011736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442260615 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:2.00, Z:-0.26 [[ 9.82370371e-01 -1.85484244e-01 2.33248440e-02 9.09797670e+00] [ 1.85430653e-01 9.82647237e-01 4.45879702e-03 1.99611967e+00] [-2.37471301e-02 -5.50490414e-05 9.99717996e-01 -2.61006190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502260615 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:9.16, Y:2.01, Z:-0.27 [[ 9.82258421e-01 -1.86076150e-01 2.33251217e-02 9.15939335e+00] [ 1.86022760e-01 9.82535325e-01 4.45734333e-03 2.00657067e+00] [-2.37471614e-02 -3.92594894e-05 9.99717996e-01 -2.74047457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562260615 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:9.22, Y:2.02, Z:-0.28 [[ 9.82704356e-01 -1.83706354e-01 2.33264680e-02 9.22100882e+00] [ 1.83652464e-01 9.82981163e-01 4.45028701e-03 2.01738608e+00] [-2.37470246e-02 -8.93531076e-05 9.99717996e-01 -2.77070849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622260615 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:9.28, Y:2.03, Z:-0.28 [[ 9.82156479e-01 -1.86613138e-01 2.33278128e-02 9.28230603e+00] [ 1.86560234e-01 9.82433477e-01 4.44322642e-03 2.03321096e+00] [-2.37471887e-02 -1.19013959e-05 9.99717996e-01 -2.78682907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682260615 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:2.03, Z:-0.28 [[ 9.77322620e-01 -2.10466719e-01 2.33293143e-02 9.34669750e+00] [ 2.10420763e-01 9.77600854e-01 4.43532891e-03 2.03412765e+00] [-2.37402467e-02 5.74224840e-04 9.99717996e-01 -2.82140239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742260615 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:2.05, Z:-0.28 [[ 9.74598303e-01 -2.22741596e-01 2.33308440e-02 9.40746224e+00] [ 2.22699336e-01 9.74877123e-01 4.42726741e-03 2.05459646e+00] [-2.37308427e-02 8.80956157e-04 9.99717996e-01 -2.78107815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802260615 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:9.47, Y:2.08, Z:-0.27 [[ 9.78655435e-01 -2.04179192e-01 2.33323353e-02 9.46613730e+00] [ 2.04131828e-01 9.78933433e-01 4.41939432e-03 2.08346675e+00] [-2.37431514e-02 4.37807972e-04 9.99717996e-01 -2.66357226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862260615 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:9.53, Y:2.11, Z:-0.26 [[ 9.85779367e-01 -1.66416890e-01 2.33336378e-02 9.52534383e+00] [ 1.66359040e-01 9.86055374e-01 4.41250634e-03 2.11194525e+00] [-2.37425745e-02 -4.67996128e-04 9.99717996e-01 -2.62581203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922260615 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:9.59, Y:2.13, Z:-0.26 [[ 9.87290609e-01 -1.57202807e-01 2.33351633e-02 9.58653707e+00] [ 1.57142572e-01 9.87566106e-01 4.40442401e-03 2.13148794e+00] [-2.37374042e-02 -6.81498868e-04 9.99717996e-01 -2.59214477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982260615 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:9.65, Y:2.14, Z:-0.25 [[ 9.88058847e-01 -1.52299434e-01 2.33366215e-02 9.64720169e+00] [ 1.52238015e-01 9.88334081e-01 4.39668433e-03 2.14384570e+00] [-2.37339909e-02 -7.91461907e-04 9.99717996e-01 -2.50720454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042260615 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:2.15, Z:-0.26 [[ 9.85763817e-01 -1.66508501e-01 2.33370189e-02 9.70987065e+00] [ 1.66451101e-01 9.86039917e-01 4.39457420e-03 2.14766823e+00] [-2.37429661e-02 -4.47539754e-04 9.99717996e-01 -2.63790038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102260615 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:2.16, Z:-0.25 [[ 9.81446872e-01 -1.90308598e-01 2.33382876e-02 9.77107385e+00] [ 1.90258054e-01 9.81724309e-01 4.38782613e-03 2.15874449e+00] [-2.37468053e-02 1.33878959e-04 9.99717996e-01 -2.50385711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162260615 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:2.18, Z:-0.24 [[ 9.82518378e-01 -1.84696910e-01 2.33385678e-02 9.83080164e+00] [ 1.84644817e-01 9.82795529e-01 4.38633506e-03 2.17707902e+00] [-2.37471826e-02 -3.09222246e-07 9.99717996e-01 -2.44347025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222260615 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:2.20, Z:-0.25 [[ 9.84690723e-01 -1.72741070e-01 2.33388654e-02 9.89056518e+00] [ 1.72685650e-01 9.84967228e-01 4.38475123e-03 2.19501378e+00] [-2.37454441e-02 -2.87336715e-04 9.99717996e-01 -2.49127769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282260615 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:2.21, Z:-0.25 [[ 9.84437488e-01 -1.74178355e-01 2.33395281e-02 9.95100423e+00] [ 1.74123422e-01 9.84714090e-01 4.38122078e-03 2.20915365e+00] [-2.37458760e-02 -2.49079473e-04 9.99717996e-01 -2.50653453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342260615 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:2.22, Z:-0.25 [[ 9.84981007e-01 -1.71077818e-01 2.33408578e-02 1.00131726e+01] [ 1.71022183e-01 9.85257469e-01 4.37412498e-03 2.22161880e+00] [-2.37450703e-02 -3.16625577e-04 9.99717996e-01 -2.54637796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402260615 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:2.23, Z:-0.27 [[ 9.83188253e-01 -1.81096642e-01 2.33423387e-02 1.00722587e+01] [ 1.81044013e-01 9.83465303e-01 4.36620793e-03 2.23137800e+00] [-2.37470858e-02 -6.68136776e-05 9.99717996e-01 -2.70374013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462260615 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:2.24, Z:-0.28 [[ 9.80667111e-01 -1.94286253e-01 2.33424311e-02 1.01330393e+01] [ 1.94237361e-01 9.80944845e-01 4.36571408e-03 2.24284528e+00] [-2.37458357e-02 2.52660000e-04 9.99717996e-01 -2.79741959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:2.27, Z:-0.27 [[ 9.82157007e-01 -1.86608378e-01 2.33436633e-02 1.01914926e+01] [ 1.86557472e-01 9.82434378e-01 4.35911541e-03 2.26831295e+00] [-2.37470648e-02 7.35990763e-05 9.99717996e-01 -2.70453547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582260615 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:2.28, Z:-0.28 [[ 9.83812860e-01 -1.77671796e-01 2.33449978e-02 1.02526062e+01] [ 1.77618540e-01 9.84089790e-01 4.35195702e-03 2.27652374e+00] [-2.37467940e-02 -1.35006855e-04 9.99717996e-01 -2.75725085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642260615 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:2.28, Z:-0.27 [[ 9.84368503e-01 -1.74566973e-01 2.33457237e-02 1.03136343e+01] [ 1.74512936e-01 9.84645281e-01 4.34805966e-03 2.28465331e+00] [-2.37462842e-02 -2.05962191e-04 9.99717996e-01 -2.67938083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702260615 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:2.29, Z:-0.27 [[ 9.87440328e-01 -1.56258016e-01 2.33459053e-02 1.03758657e+01] [ 1.56198872e-01 9.87716060e-01 4.34708388e-03 2.29050520e+00] [-2.37383923e-02 -6.45881857e-04 9.99717996e-01 -2.69691747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762260615 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:2.30, Z:-0.28 [[ 9.89835826e-01 -1.40285235e-01 2.33471740e-02 1.04366485e+01] [ 1.40221805e-01 9.90110604e-01 4.34025967e-03 2.30388284e+00] [-2.37251589e-02 -1.02236165e-03 9.99717996e-01 -2.75897235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822260615 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:2.30, Z:-0.28 [[ 9.91106249e-01 -1.31008761e-01 2.33475351e-02 1.04998937e+01] [ 1.30942806e-01 9.91380432e-01 4.33831635e-03 2.30426416e+00] [-2.37146468e-02 -1.24254070e-03 9.99717996e-01 -2.84886687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882260615 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:2.30, Z:-0.29 [[ 9.91428594e-01 -1.28546404e-01 2.33487852e-02 1.05636896e+01] [ 1.28479926e-01 9.91702650e-01 4.33157764e-03 2.30393616e+00] [-2.37118609e-02 -1.29459974e-03 9.99717996e-01 -2.86113694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942260615 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:2.30, Z:-0.28 [[ 9.90470475e-01 -1.35731403e-01 2.33500460e-02 1.06271821e+01] [ 1.35667074e-01 9.90745044e-01 4.32477070e-03 2.30230139e+00] [-2.37209495e-02 -1.11572528e-03 9.99717996e-01 -2.84396242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002260614999999 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:2.29, Z:-0.29 [[ 9.89783983e-01 -1.40649863e-01 2.33512941e-02 1.06920295e+01] [ 1.40587058e-01 9.90058904e-01 4.31802063e-03 2.29228807e+00] [-2.37264857e-02 -9.91017913e-04 9.99717996e-01 -2.86765486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062260615 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:10.75, Y:2.30, Z:-0.27 [[ 9.89060552e-01 -1.45649865e-01 2.33525236e-02 1.07533619e+01] [ 1.45588607e-01 9.89335822e-01 4.31136125e-03 2.30156685e+00] [-2.37314373e-02 -8.64335949e-04 9.99717996e-01 -2.71918520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122260615 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:10.82, Y:2.30, Z:-0.28 [[ 9.89123917e-01 -1.45218882e-01 2.33527919e-02 1.08165278e+01] [ 1.45157538e-01 9.89399168e-01 4.30990782e-03 2.29549803e+00] [-2.37311128e-02 -8.73199121e-04 9.99717996e-01 -2.83109459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:2.30, Z:-0.29 [[ 9.90427102e-01 -1.36047009e-01 2.33530830e-02 1.08782240e+01] [ 1.35983154e-01 9.90701782e-01 4.30832968e-03 2.30163398e+00] [-2.37220763e-02 -1.09146059e-03 9.99717996e-01 -2.88791661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242260615 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:10.94, Y:2.31, Z:-0.28 [[ 9.90975874e-01 -1.31990097e-01 2.33544879e-02 1.09401792e+01] [ 1.31925298e-01 9.91250332e-01 4.30070038e-03 2.31124382e+00] [-2.37177938e-02 -1.18084255e-03 9.99717996e-01 -2.82353177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.00, Y:2.31, Z:-0.29 [[ 9.90442014e-01 -1.35937947e-01 2.33557397e-02 1.10040014e+01] [ 1.35874401e-01 9.90716766e-01 4.29389178e-03 2.30524121e+00] [-2.37226257e-02 -1.07940368e-03 9.99717996e-01 -2.90827410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362260615 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:2.31, Z:-0.28 [[ 9.90232544e-01 -1.37455304e-01 2.33569626e-02 1.10667031e+01] [ 1.37392337e-01 9.90507428e-01 4.28722938e-03 2.31231375e+00] [-2.37245473e-02 -1.03628639e-03 9.99717996e-01 -2.81015750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422260614999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:2.32, Z:-0.28 [[ 9.90360410e-01 -1.36530897e-01 2.33574717e-02 1.11284679e+01] [ 1.36467739e-01 9.90635251e-01 4.28445385e-03 2.32304269e+00] [-2.37236951e-02 -1.05561213e-03 9.99717996e-01 -2.81373061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.19, Y:2.32, Z:-0.29 [[ 9.90750971e-01 -1.33666991e-01 2.33591203e-02 1.11919024e+01] [ 1.33603250e-01 9.91025677e-01 4.27544661e-03 2.32033484e+00] [-2.37209741e-02 -1.11504849e-03 9.99717996e-01 -2.91852023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542260615 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:2.32, Z:-0.29 [[ 9.91081213e-01 -1.31195704e-01 2.33605606e-02 1.12551181e+01] [ 1.31131463e-01 9.91355803e-01 4.26756241e-03 2.31643431e+00] [-2.37185131e-02 -1.16619644e-03 9.99717996e-01 -2.93542781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602260615 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:2.33, Z:-0.29 [[ 9.91859740e-01 -1.25173793e-01 2.33618713e-02 1.13156057e+01] [ 1.25108054e-01 9.92133975e-01 4.26037508e-03 2.33079026e+00] [-2.37113935e-02 -1.30293626e-03 9.99717996e-01 -2.88098577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662260615 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:2.32, Z:-0.30 [[ 9.92782653e-01 -1.17629768e-01 2.33632399e-02 1.13805810e+01] [ 1.17562123e-01 9.93056424e-01 4.25285686e-03 2.31747649e+00] [-2.37012780e-02 -1.47553043e-03 9.99717996e-01 -2.97677783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722260615 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:2.30, Z:-0.30 [[ 9.93004102e-01 -1.15745168e-01 2.33646912e-02 1.14462743e+01] [ 1.15677190e-01 9.93277790e-01 4.24486830e-03 2.30415770e+00] [-2.36989519e-02 -1.51240980e-03 9.99717996e-01 -3.01950581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782260615 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:2.30, Z:-0.31 [[ 9.93687832e-01 -1.09720166e-01 2.33661466e-02 1.15106102e+01] [ 1.09650718e-01 9.93961151e-01 4.23684185e-03 2.30398764e+00] [-2.36899090e-02 -1.64798345e-03 9.99717996e-01 -3.05366082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842260615 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:11.58, Y:2.29, Z:-0.32 [[ 9.93834780e-01 -1.08380682e-01 2.33678932e-02 1.15756837e+01] [ 1.08311091e-01 9.94108062e-01 4.22718667e-03 2.28699555e+00] [-2.36883564e-02 -1.67012312e-03 9.99717996e-01 -3.17923591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902260615 meters Centerline goodness : 0.998103 with order 1 Centerline is valid? [True, True] Translation: X:11.64, Y:2.27, Z:-0.32 [[ 9.93936986e-01 -1.07439027e-01 2.33692672e-02 1.16416155e+01] [ 1.07369355e-01 9.94210248e-01 4.21957706e-03 2.27469611e+00] [-2.36873122e-02 -1.68485056e-03 9.99717996e-01 -3.18569374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962260615 meters Centerline goodness : 0.998120 with order 1 Centerline is valid? [True, True] Translation: X:11.70, Y:2.28, Z:-0.33 [[ 9.93977041e-01 -1.07067458e-01 2.33709414e-02 1.17033903e+01] [ 1.06997901e-01 9.94250332e-01 4.21028385e-03 2.27901014e+00] [-2.36873506e-02 -1.68428380e-03 9.99717997e-01 -3.27268607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022260615 meters Centerline goodness : 0.997778 with order 1 Centerline is valid? [True, True] Translation: X:11.77, Y:2.27, Z:-0.33 [[ 9.93672597e-01 -1.09856870e-01 2.33717228e-02 1.17694397e+01] [ 1.09788182e-01 9.93946108e-01 4.20594149e-03 2.26916684e+00] [-2.36922845e-02 -1.61338984e-03 9.99717997e-01 -3.27943768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082260615 meters Centerline goodness : 0.998114 with order 1 Centerline is valid? [True, True] Translation: X:11.83, Y:2.26, Z:-0.32 [[ 9.94336317e-01 -1.03677502e-01 2.33723107e-02 1.18343349e+01] [ 1.03607192e-01 9.94609414e-01 4.20267189e-03 2.26033748e+00] [-2.36820428e-02 -1.75732981e-03 9.99717997e-01 -3.20979954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142260615 meters Centerline goodness : 0.997882 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:2.26, Z:-0.33 [[ 9.94661812e-01 -1.00506693e-01 2.33727065e-02 1.18977249e+01] [ 1.00435564e-01 9.94934698e-01 4.20046994e-03 2.25531114e+00] [-2.36764920e-02 -1.83059608e-03 9.99717997e-01 -3.27106509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202260615 meters Centerline goodness : 0.998111 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:2.25, Z:-0.33 [[ 9.94536107e-01 -1.01742987e-01 2.33729925e-02 1.19618863e+01] [ 1.01672234e-01 9.94809090e-01 4.19887758e-03 2.25159704e+00] [-2.36788718e-02 -1.79955100e-03 9.99717997e-01 -3.33599815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262260615 meters Centerline goodness : 0.998439 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:2.24, Z:-0.33 [[ 9.93373183e-01 -1.12531791e-01 2.33733740e-02 1.20265594e+01] [ 1.12464055e-01 9.93646931e-01 4.19675316e-03 2.24078033e+00] [-2.36971495e-02 -1.54027763e-03 9.99717997e-01 -3.33968074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322260615 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:2.24, Z:-0.34 [[ 9.93559521e-01 -1.10874460e-01 2.33737597e-02 1.20891792e+01] [ 1.10806317e-01 9.93833168e-01 4.19460405e-03 2.24105939e+00] [-2.36946921e-02 -1.57762856e-03 9.99717997e-01 -3.35601558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382260615 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:2.24, Z:-0.33 [[ 9.93528070e-01 -1.11155875e-01 2.33740416e-02 1.21525035e+01] [ 1.11087847e-01 9.93801745e-01 4.19303259e-03 2.24070961e+00] [-2.36952435e-02 -1.56932362e-03 9.99717997e-01 -3.33345824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442260615 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:2.23, Z:-0.33 [[ 9.93657071e-01 -1.09996644e-01 2.33744160e-02 1.22154504e+01] [ 1.09928346e-01 9.93930679e-01 4.19094432e-03 2.23410971e+00] [-2.36935390e-02 -1.59485058e-03 9.99717997e-01 -3.33066483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502260614999999 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:2.23, Z:-0.34 [[ 9.93958334e-01 -1.07240172e-01 2.33746889e-02 1.22800325e+01] [ 1.07171151e-01 9.94231760e-01 4.18942155e-03 2.22615448e+00] [-2.36891324e-02 -1.65901814e-03 9.99717997e-01 -3.38124213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562260615 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:12.34, Y:2.22, Z:-0.35 [[ 9.93722190e-01 -1.09406622e-01 2.33752041e-02 1.23434053e+01] [ 1.09338265e-01 9.93995783e-01 4.18654469e-03 2.22137552e+00] [-2.36928901e-02 -1.60445810e-03 9.99717997e-01 -3.47380105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.41, Y:2.22, Z:-0.36 [[ 9.92405884e-01 -1.20764823e-01 2.33756251e-02 1.24060461e+01] [ 1.20699654e-01 9.92680254e-01 4.18419311e-03 2.21524486e+00] [-2.37098248e-02 -1.33098799e-03 9.99717997e-01 -3.55917455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682260615 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:12.47, Y:2.21, Z:-0.36 [[ 9.90570067e-01 -1.34998123e-01 2.33762506e-02 1.24682148e+01] [ 1.34936982e-01 9.90845363e-01 4.18069554e-03 2.21347090e+00] [-2.37266356e-02 -9.86951149e-04 9.99717997e-01 -3.56451901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742260615 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:12.53, Y:2.22, Z:-0.36 [[ 9.90406634e-01 -1.36191957e-01 2.33762506e-02 1.25272891e+01] [ 1.36131148e-01 9.90682004e-01 4.18069554e-03 2.21786245e+00] [-2.37278079e-02 -9.58352767e-04 9.99717997e-01 -3.62293065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802260615 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:12.59, Y:2.23, Z:-0.36 [[ 9.91133108e-01 -1.30800520e-01 2.33749271e-02 1.25856364e+01] [ 1.30738039e-01 9.91408102e-01 4.18808229e-03 2.22694360e+00] [-2.37218955e-02 -1.09495489e-03 9.99717997e-01 -3.64588498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862260615 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:2.23, Z:-0.37 [[ 9.92149794e-01 -1.22851383e-01 2.33735636e-02 1.26445359e+01] [ 1.22786522e-01 9.92424237e-01 4.19567814e-03 2.23256187e+00] [-2.37119359e-02 -1.29278262e-03 9.99717997e-01 -3.65885703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922260614999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:2.24, Z:-0.37 [[ 9.92678300e-01 -1.18505409e-01 2.33722081e-02 1.27023593e+01] [ 1.18439169e-01 9.92952414e-01 4.20321558e-03 2.24083522e+00] [-2.37055942e-02 -1.40425599e-03 9.99717997e-01 -3.65065003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982260615 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:2.25, Z:-0.36 [[ 9.93068480e-01 -1.15190047e-01 2.33719276e-02 1.27627499e+01] [ 1.15122856e-01 9.93342362e-01 4.20477492e-03 2.24510540e+00] [-2.37006739e-02 -1.48498639e-03 9.99717997e-01 -3.63246843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042260615 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:2.25, Z:-0.38 [[ 9.93683948e-01 -1.09754149e-01 2.33717404e-02 1.28205995e+01] [ 1.09685436e-01 9.93957452e-01 4.20581491e-03 2.25220106e+00] [-2.36921212e-02 -1.61571122e-03 9.99717997e-01 -3.77110125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:2.26, Z:-0.39 [[ 9.93940846e-01 -1.07403067e-01 2.33703935e-02 1.28793223e+01] [ 1.07333532e-01 9.94214142e-01 4.21328604e-03 2.26234437e+00] [-2.36876956e-02 -1.67933021e-03 9.99717997e-01 -3.93879244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:2.27, Z:-0.40 [[ 9.93635612e-01 -1.10191180e-01 2.33703935e-02 1.29391542e+01] [ 1.10122413e-01 9.93909102e-01 4.21328604e-03 2.26695604e+00] [-2.36923138e-02 -1.61286693e-03 9.99717997e-01 -4.04554211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:2.27, Z:-0.40 [[ 9.94050817e-01 -1.06380479e-01 2.33702070e-02 1.29976384e+01] [ 1.06310639e-01 9.94324035e-01 4.21432015e-03 2.27292233e+00] [-2.36858799e-02 -1.70474674e-03 9.99717997e-01 -3.99548502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:2.28, Z:-0.39 [[ 9.94574597e-01 -1.01366744e-01 2.33699391e-02 1.30580664e+01] [ 1.01295492e-01 9.94847451e-01 4.21580523e-03 2.27701405e+00] [-2.36768668e-02 -1.82566331e-03 9.99717997e-01 -3.90435932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:2.29, Z:-0.39 [[ 9.94643278e-01 -1.00690638e-01 2.33697546e-02 1.31168646e+01] [ 1.00619177e-01 9.94916077e-01 4.21682788e-03 2.28803097e+00] [-2.36755396e-02 -1.84279403e-03 9.99717997e-01 -3.86209224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:2.30, Z:-0.38 [[ 9.94109008e-01 -1.05835452e-01 2.33695595e-02 1.31760778e+01] [ 1.05765379e-01 9.94382167e-01 4.21790875e-03 2.29513823e+00] [-2.36846775e-02 -1.72137078e-03 9.99717997e-01 -3.82865646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462260614999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:2.29, Z:-0.38 [[ 9.94449178e-01 -1.02589985e-01 2.33693731e-02 1.32362941e+01] [ 1.02518996e-01 9.94722100e-01 4.21894107e-03 2.28551528e+00] [-2.36788530e-02 -1.79971781e-03 9.99717997e-01 -3.79617658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:2.29, Z:-0.38 [[ 9.94762419e-01 -9.95069513e-02 2.33687209e-02 1.32956506e+01] [ 9.94350324e-02 9.95035097e-01 4.22255060e-03 2.28685795e+00] [-2.36728706e-02 -1.87676513e-03 9.99717997e-01 -3.82728205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582260615 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:2.28, Z:-0.39 [[ 9.94291467e-01 -1.04107840e-01 2.33674077e-02 1.33569089e+01] [ 1.04037014e-01 9.94564432e-01 4.22980568e-03 2.27694601e+00] [-2.36807485e-02 -1.77458438e-03 9.99717997e-01 -3.91563633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.42, Y:2.27, Z:-0.40 [[ 9.93132422e-01 -1.14638632e-01 2.33661252e-02 1.34161090e+01] [ 1.14570537e-01 9.93406081e-01 4.23687866e-03 2.27462222e+00] [-2.36977608e-02 -1.53071206e-03 9.99717997e-01 -3.97372795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.48, Y:2.28, Z:-0.40 [[ 9.91241130e-01 -1.29981206e-01 2.33646815e-02 1.34751203e+01] [ 1.29917164e-01 9.91515765e-01 4.24482507e-03 2.28197789e+00] [-2.37181975e-02 -1.17217205e-03 9.99717997e-01 -3.96132575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.53, Y:2.29, Z:-0.38 [[ 9.89547905e-01 -1.42299297e-01 2.33634984e-02 1.35326596e+01] [ 1.42238522e-01 9.89823282e-01 4.25132659e-03 2.29093754e+00] [-2.37306955e-02 -8.83701835e-04 9.99717997e-01 -3.78178434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822260615 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:13.59, Y:2.30, Z:-0.38 [[ 9.89327513e-01 -1.43823641e-01 2.33630491e-02 1.35904730e+01] [ 1.43763232e-01 9.89602970e-01 4.25379465e-03 2.30374134e+00] [-2.37319390e-02 -8.49648633e-04 9.99717997e-01 -3.80139115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.65, Y:2.33, Z:-0.39 [[ 9.89956526e-01 -1.39428495e-01 2.33617503e-02 1.36456085e+01] [ 1.39366695e-01 9.90231674e-01 4.26091529e-03 2.32687965e+00] [-2.37276382e-02 -9.62270964e-04 9.99717997e-01 -3.90824200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.70, Y:2.34, Z:-0.40 [[ 9.93000513e-01 -1.15776807e-01 2.33604651e-02 1.37031192e+01] [ 1.15708298e-01 9.93274068e-01 4.26794979e-03 2.33995470e+00] [-2.36974738e-02 -1.53507667e-03 9.99717997e-01 -4.03468676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:2.36, Z:-0.41 [[ 9.94536904e-01 -1.01738364e-01 2.33592010e-02 1.37583641e+01] [ 1.01665836e-01 9.94809421e-01 4.27485720e-03 2.35592923e+00] [-2.36728702e-02 -1.87667054e-03 9.99717997e-01 -4.07137536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.82, Y:2.36, Z:-0.40 [[ 9.93512857e-01 -1.11295007e-01 2.33585884e-02 1.38165157e+01] [ 1.11225024e-01 9.93786039e-01 4.27820196e-03 2.36318230e+00] [-2.36895816e-02 -1.65238910e-03 9.99717997e-01 -4.00781119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122260615 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:13.88, Y:2.37, Z:-0.39 [[ 9.92399376e-01 -1.20821879e-01 2.33570668e-02 1.38762436e+01] [ 1.20754326e-01 9.92673168e-01 4.28649331e-03 2.37031518e+00] [-2.37038357e-02 -1.43344643e-03 9.99717997e-01 -3.85811188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:2.37, Z:-0.38 [[ 9.93277840e-01 -1.13373672e-01 2.33568765e-02 1.39349826e+01] [ 1.13304042e-01 9.93551111e-01 4.28752979e-03 2.37495106e+00] [-2.36923436e-02 -1.61227980e-03 9.99717997e-01 -3.84551677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:2.38, Z:-0.39 [[ 9.93289526e-01 -1.13271508e-01 2.33555591e-02 1.39939279e+01] [ 1.13201683e-01 9.93562748e-01 4.29469422e-03 2.38115663e+00] [-2.36916800e-02 -1.62198620e-03 9.99717997e-01 -3.93156576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:2.39, Z:-0.40 [[ 9.92906595e-01 -1.16580766e-01 2.33541842e-02 1.40508357e+01] [ 1.16511677e-01 9.93180004e-01 4.30215802e-03 2.39127272e+00] [-2.36964576e-02 -1.55060590e-03 9.99717997e-01 -4.03095741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:2.39, Z:-0.40 [[ 9.92789170e-01 -1.17576644e-01 2.33537140e-02 1.41094364e+01] [ 1.17507769e-01 9.93062633e-01 4.30470868e-03 2.39262422e+00] [-2.36978340e-02 -1.52942532e-03 9.99717997e-01 -4.02351893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:2.41, Z:-0.40 [[ 9.90851071e-01 -1.32924152e-01 2.33522102e-02 1.41674228e+01] [ 1.32859326e-01 9.91125521e-01 4.31285158e-03 2.40516812e+00] [-2.37182536e-02 -1.17083470e-03 9.99717997e-01 -3.96849556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.22, Y:2.43, Z:-0.39 [[ 9.87884789e-01 -1.53422217e-01 2.33509621e-02 1.42228746e+01] [ 1.53362931e-01 9.88160489e-01 4.31959819e-03 2.42557702e+00] [-2.37372205e-02 -6.86093349e-04 9.99717997e-01 -3.93076347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.28, Y:2.44, Z:-0.39 [[ 9.83264576e-01 -1.80680860e-01 2.33495390e-02 1.42804515e+01] [ 1.80629038e-01 9.83541776e-01 4.32727710e-03 2.43698285e+00] [-2.37471032e-02 -3.72535154e-05 9.99717997e-01 -3.90333973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:2.46, Z:-0.40 [[ 9.82174716e-01 -1.86514584e-01 2.33481732e-02 1.43360384e+01] [ 1.86464233e-01 9.82452187e-01 4.33463423e-03 2.46149723e+00] [-2.37469363e-02 9.62310638e-05 9.99717997e-01 -3.95663364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:2.49, Z:-0.39 [[ 9.83573216e-01 -1.78993456e-01 2.33467662e-02 1.43901575e+01] [ 1.78940804e-01 9.83850260e-01 4.34219899e-03 2.49429274e+00] [-2.37469472e-02 -9.31814977e-05 9.99717997e-01 -3.93122857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.44, Y:2.53, Z:-0.39 [[ 9.84864628e-01 -1.71745776e-01 2.33463521e-02 1.44427338e+01] [ 1.71691033e-01 9.85141267e-01 4.34442430e-03 2.52714282e+00] [-2.37455914e-02 -2.70310517e-04 9.99717997e-01 -3.88641634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:2.56, Z:-0.39 [[ 9.84093422e-01 -1.76111066e-01 2.33458526e-02 1.44966568e+01] [ 1.76057486e-01 9.84370288e-01 4.34710700e-03 2.56153322e+00] [-2.37465373e-02 -1.67747281e-04 9.99717997e-01 -3.87738524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:2.59, Z:-0.40 [[ 9.81997565e-01 -1.87445425e-01 2.33451400e-02 1.45518061e+01] [ 1.87394949e-01 9.82275014e-01 4.35093040e-03 2.58712475e+00] [-2.37469097e-02 1.02158275e-04 9.99717997e-01 -3.97277125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:2.62, Z:-0.40 [[ 9.79872557e-01 -1.98254357e-01 2.33448375e-02 1.46059918e+01] [ 1.98206903e-01 9.80150539e-01 4.35255303e-03 2.61790828e+00] [-2.37443676e-02 3.62160680e-04 9.99717997e-01 -3.99932886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962260614999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.66, Y:2.65, Z:-0.39 [[ 9.77856795e-01 -2.07969166e-01 2.33434163e-02 1.46598811e+01] [ 2.07924292e-01 9.78135204e-01 4.36016150e-03 2.65456216e+00] [-2.37397965e-02 5.90049773e-04 9.99717997e-01 -3.90059169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022260615 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:14.71, Y:2.70, Z:-0.38 [[ 9.78805848e-01 -2.03455653e-01 2.33432728e-02 1.47113862e+01] [ 2.03409477e-01 9.79084045e-01 4.36092959e-03 2.69755917e+00] [-2.37422818e-02 4.79739525e-04 9.99717997e-01 -3.83331857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082260615 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:14.76, Y:2.75, Z:-0.38 [[ 9.80509104e-01 -1.95082048e-01 2.33428904e-02 1.47646376e+01] [ 1.95033447e-01 9.80786888e-01 4.36297581e-03 2.74536040e+00] [-2.37455391e-02 2.74706868e-04 9.99717997e-01 -3.80781702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142260615 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:14.82, Y:2.79, Z:-0.38 [[ 9.83485807e-01 -1.79473604e-01 2.33429360e-02 1.48178966e+01] [ 1.79420600e-01 9.83762784e-01 4.36273180e-03 2.79083094e+00] [-2.37469069e-02 -1.02481231e-04 9.99717997e-01 -3.82730748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202260615 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:2.82, Z:-0.39 [[ 9.86027110e-01 -1.64941311e-01 2.33431307e-02 1.48733633e+01] [ 1.64884250e-01 9.86303280e-01 4.36168988e-03 2.82297538e+00] [-2.37428292e-02 -4.51829865e-04 9.99717997e-01 -3.92385180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262260615 meters Centerline goodness : 0.997968 with order 1 Centerline is valid? [True, True] Translation: X:14.93, Y:2.85, Z:-0.39 [[ 9.86731311e-01 -1.60674870e-01 2.33432292e-02 1.49317248e+01] [ 1.60616628e-01 9.87007234e-01 4.36116251e-03 2.84831369e+00] [-2.37406653e-02 -5.53984843e-04 9.99717997e-01 -3.90963232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322260615 meters Centerline goodness : 0.997719 with order 1 Centerline is valid? [True, True] Translation: X:14.99, Y:2.87, Z:-0.40 [[ 9.86732151e-01 -1.60669634e-01 2.33437599e-02 1.49895689e+01] [ 1.60611458e-01 9.87008087e-01 4.35831995e-03 2.86752178e+00] [-2.37407295e-02 -5.51219113e-04 9.99717997e-01 -3.97550090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382260615 meters Centerline goodness : 0.997972 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:2.88, Z:-0.39 [[ 9.83947522e-01 -1.76924656e-01 2.33439738e-02 1.50485344e+01] [ 1.76871066e-01 9.84224386e-01 4.35717382e-03 2.87919369e+00] [-2.37465998e-02 -1.58356854e-04 9.99717997e-01 -3.88887546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442260615 meters Centerline goodness : 0.997992 with order 1 Centerline is valid? [True, True] Translation: X:15.11, Y:2.89, Z:-0.39 [[ 9.79149528e-01 -2.01795095e-01 2.33439738e-02 1.51077165e+01] [ 2.01748536e-01 9.79427661e-01 4.35717382e-03 2.89407954e+00] [-2.37429900e-02 4.43287863e-04 9.99717997e-01 -3.87499701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502260615 meters Centerline goodness : 0.997950 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:2.93, Z:-0.39 [[ 9.77287049e-01 -2.10630198e-01 2.33440383e-02 1.51623681e+01] [ 2.10586162e-01 9.77565592e-01 4.35682828e-03 2.92834887e+00] [-2.37380083e-02 6.58059579e-04 9.99717997e-01 -3.90959649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562260615 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:2.97, Z:-0.40 [[ 9.80578584e-01 -1.94732329e-01 2.33444013e-02 1.52168993e+01] [ 1.94683821e-01 9.80856383e-01 4.35488282e-03 2.96833079e+00] [-2.37455415e-02 2.74472412e-04 9.99717997e-01 -3.99959989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622260615 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:3.01, Z:-0.40 [[ 9.84891269e-01 -1.71593177e-01 2.33445918e-02 1.52708833e+01] [ 1.71538167e-01 9.85167854e-01 4.35386119e-03 3.00971579e+00] [-2.37454343e-02 -2.83591383e-04 9.99717997e-01 -4.01848207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682260615 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:3.05, Z:-0.41 [[ 9.85461273e-01 -1.68288741e-01 2.33447828e-02 1.53258617e+01] [ 1.68232828e-01 9.85737677e-01 4.35283679e-03 3.05275914e+00] [-2.37443654e-02 -3.62193252e-04 9.99717997e-01 -4.05204434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742260615 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:15.38, Y:3.08, Z:-0.40 [[ 9.83736094e-01 -1.78096188e-01 2.33461914e-02 1.53827059e+01] [ 1.78043210e-01 9.84013076e-01 4.34526870e-03 3.07862405e+00] [-2.37468334e-02 -1.17966798e-04 9.99717997e-01 -4.03879231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802260614999998 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:15.44, Y:3.10, Z:-0.40 [[ 9.80318458e-01 -1.96037419e-01 2.33463141e-02 1.54412542e+01] [ 1.95989526e-01 9.80596364e-01 4.34460952e-03 3.09860072e+00] [-2.37450167e-02 3.16532124e-04 9.99717997e-01 -3.99954670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862260615 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:3.14, Z:-0.40 [[ 9.78736166e-01 -2.03790243e-01 2.33464184e-02 1.54975131e+01] [ 2.03744564e-01 9.79014444e-01 4.34404880e-03 3.13513445e+00] [-2.37417556e-02 5.05028169e-04 9.99717997e-01 -3.99542585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922260615 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:3.17, Z:-0.40 [[ 9.77796320e-01 -2.08252825e-01 2.33477598e-02 1.55532525e+01] [ 2.08208588e-01 9.78074831e-01 4.33682715e-03 3.17146136e+00] [-2.37390128e-02 6.20670478e-04 9.99717997e-01 -4.01269994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982260615 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:3.20, Z:-0.41 [[ 9.79286136e-01 -2.01130648e-01 2.33479480e-02 1.56099368e+01] [ 2.01084410e-01 9.79564322e-01 4.33581397e-03 3.19624019e+00] [-2.37428819e-02 4.48905835e-04 9.99717997e-01 -4.14787372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042260615 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:3.22, Z:-0.42 [[ 9.81055663e-01 -1.92313949e-01 2.33480339e-02 1.56688331e+01] [ 1.92265222e-01 9.81333424e-01 4.33535097e-03 3.22125993e+00] [-2.37459546e-02 2.35794299e-04 9.99717997e-01 -4.15219002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102260615 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:3.24, Z:-0.41 [[ 9.82236133e-01 -1.86190844e-01 2.33484062e-02 1.57280426e+01] [ 1.86140433e-01 9.82513594e-01 4.33334540e-03 3.23960689e+00] [-2.37469557e-02 8.97139940e-05 9.99717997e-01 -4.09513063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162260615 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:3.24, Z:-0.43 [[ 9.81324558e-01 -1.90936921e-01 2.33495908e-02 1.57899100e+01] [ 1.90888003e-01 9.81602286e-01 4.32695293e-03 3.24253519e+00] [-2.37461867e-02 2.11011578e-04 9.99717997e-01 -4.25435235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222260615 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:3.24, Z:-0.43 [[ 9.78639700e-01 -2.04252483e-01 2.33508088e-02 1.58500271e+01] [ 2.04207500e-01 9.78918092e-01 4.32036951e-03 3.24385881e+00] [-2.37409754e-02 5.40325177e-04 9.99717997e-01 -4.34304098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282260615 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:3.25, Z:-0.45 [[ 9.77373725e-01 -2.10226881e-01 2.33507954e-02 1.59102601e+01] [ 2.10183598e-01 9.77652386e-01 4.32044229e-03 3.25382850e+00] [-2.37372339e-02 6.85267418e-04 9.99717997e-01 -4.45140791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342260615 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:3.27, Z:-0.45 [[ 9.78275815e-01 -2.05988257e-01 2.33509727e-02 1.59695748e+01] [ 2.05943789e-01 9.78554290e-01 4.31948338e-03 3.27249554e+00] [-2.37399574e-02 5.83341691e-04 9.99717997e-01 -4.51734399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402260615 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:3.29, Z:-0.46 [[ 9.78148335e-01 -2.06592682e-01 2.33516465e-02 1.60285915e+01] [ 2.06548473e-01 9.78426850e-01 4.31583782e-03 3.28603959e+00] [-2.37394985e-02 6.01717366e-04 9.99717997e-01 -4.61199156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462260614999998 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:3.30, Z:-0.47 [[ 9.77735364e-01 -2.08538314e-01 2.33522946e-02 1.60880202e+01] [ 2.08494743e-01 9.78013980e-01 4.31232854e-03 3.29915028e+00] [-2.37381563e-02 6.52514547e-04 9.99717997e-01 -4.67403614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522260615 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:3.31, Z:-0.46 [[ 9.77767065e-01 -2.08389502e-01 2.33534358e-02 1.61498550e+01] [ 2.08346036e-01 9.78045697e-01 4.30613945e-03 3.30855031e+00] [-2.37380816e-02 6.55194449e-04 9.99717997e-01 -4.64460887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582260615 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:3.30, Z:-0.47 [[ 9.77360462e-01 -2.10288102e-01 2.33546730e-02 1.62137675e+01] [ 2.10245338e-01 9.77639204e-01 4.29941844e-03 3.30470442e+00] [-2.37365605e-02 7.08129532e-04 9.99717997e-01 -4.67860356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642260615 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:3.31, Z:-0.46 [[ 9.76523001e-01 -2.14143245e-01 2.33559281e-02 1.62752888e+01] [ 2.14101745e-01 9.76801933e-01 4.29258987e-03 3.30541297e+00] [-2.37333448e-02 8.08732207e-04 9.99717997e-01 -4.64885030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702260615 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:3.32, Z:-0.46 [[ 9.76415539e-01 -2.14632644e-01 2.33564572e-02 1.63347689e+01] [ 2.14591352e-01 9.76694502e-01 4.28970896e-03 3.31762425e+00] [-2.37328349e-02 8.23555248e-04 9.99717997e-01 -4.56972401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762260615 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:3.32, Z:-0.46 [[ 9.76107367e-01 -2.16029809e-01 2.33565826e-02 1.63965158e+01] [ 2.15988933e-01 9.76386391e-01 4.28902621e-03 3.32170667e+00] [-2.37316069e-02 8.58213262e-04 9.99717997e-01 -4.60356468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822260615 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:16.46, Y:3.33, Z:-0.46 [[ 9.75651785e-01 -2.18078098e-01 2.33567675e-02 1.64584663e+01] [ 2.18037832e-01 9.75930898e-01 4.28801908e-03 3.33054327e+00] [-2.37297141e-02 9.09045459e-04 9.99717997e-01 -4.58846961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882260615 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:3.34, Z:-0.46 [[ 9.75723352e-01 -2.17757533e-01 2.33580333e-02 1.65197886e+01] [ 2.17717340e-01 9.76002475e-01 4.28111278e-03 3.34060781e+00] [-2.37297428e-02 9.08267160e-04 9.99717997e-01 -4.58280745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942260615 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:16.58, Y:3.35, Z:-0.47 [[ 9.76101277e-01 -2.16057024e-01 2.33593652e-02 1.65810344e+01] [ 2.16016519e-01 9.76380355e-01 4.27383272e-03 3.34740728e+00] [-2.37310169e-02 8.74315186e-04 9.99717997e-01 -4.70042716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002260615 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:16.64, Y:3.37, Z:-0.47 [[ 9.76315702e-01 -2.15085880e-01 2.33605060e-02 1.66392026e+01] [ 2.15045247e-01 9.76594762e-01 4.26758793e-03 3.36614371e+00] [-2.37316458e-02 8.57052678e-04 9.99717997e-01 -4.74898101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062260615 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:3.39, Z:-0.48 [[ 9.77162921e-01 -2.11203476e-01 2.33605940e-02 1.66971611e+01] [ 2.11161745e-01 9.77441819e-01 4.26710615e-03 3.38692728e+00] [-2.37348492e-02 7.63205882e-04 9.99717997e-01 -4.81439536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122260615 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:16.76, Y:3.41, Z:-0.49 [[ 9.77934133e-01 -2.07603240e-01 2.33608052e-02 1.67570461e+01] [ 2.07560510e-01 9.78212879e-01 4.26594971e-03 3.40544471e+00] [-2.37374655e-02 6.76962811e-04 9.99717997e-01 -4.86416723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182260615 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:16.82, Y:3.41, Z:-0.49 [[ 9.78518245e-01 -2.04832271e-01 2.33620390e-02 1.68197552e+01] [ 2.04788913e-01 9.78796894e-01 4.25918233e-03 3.41485479e+00] [-2.37391092e-02 6.16598958e-04 9.99717997e-01 -4.90524743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242260615 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:16.88, Y:3.42, Z:-0.49 [[ 9.78055534e-01 -2.07030242e-01 2.33634397e-02 1.68818431e+01] [ 2.06987694e-01 9.78334309e-01 4.25148473e-03 3.41888650e+00] [-2.37374406e-02 6.77756347e-04 9.99717998e-01 -4.92582654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302260614999998 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:16.94, Y:3.43, Z:-0.50 [[ 9.77881074e-01 -2.07852598e-01 2.33645596e-02 1.69441330e+01] [ 2.07810432e-01 9.78159906e-01 4.24532148e-03 3.42537237e+00] [-2.37366765e-02 7.03979690e-04 9.99717998e-01 -4.95014278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362260615 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:17.01, Y:3.42, Z:-0.50 [[ 9.76620395e-01 -2.13697552e-01 2.33657746e-02 1.70083264e+01] [ 2.13657214e-01 9.76899498e-01 4.23862360e-03 3.41815680e+00] [-2.37317970e-02 8.52740054e-04 9.99717998e-01 -5.04565445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422260615 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:17.07, Y:3.44, Z:-0.51 [[ 9.73588346e-01 -2.27111681e-01 2.33670129e-02 1.70657942e+01] [ 2.27075349e-01 9.73867998e-01 4.23178637e-03 3.44164974e+00] [-2.37174741e-02 1.18605472e-03 9.99717998e-01 -5.05167387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482260615 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:17.12, Y:3.47, Z:-0.50 [[ 9.73295537e-01 -2.28363256e-01 2.33671064e-02 1.71247288e+01] [ 2.28327296e-01 9.73575237e-01 4.23126971e-03 3.46679937e+00] [-2.37159027e-02 1.21707230e-03 9.99717998e-01 -5.01081208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542260615 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:3.48, Z:-0.51 [[ 9.76102415e-01 -2.16050903e-01 2.33683895e-02 1.71852858e+01] [ 2.16011583e-01 9.76381663e-01 4.22417145e-03 3.48125296e+00] [-2.37291031e-02 9.24618863e-04 9.99717998e-01 -5.11142053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602260615 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:3.48, Z:-0.52 [[ 9.77283297e-01 -2.10644756e-01 2.33697339e-02 1.72480234e+01] [ 2.10604069e-01 9.77562349e-01 4.21672087e-03 3.47593385e+00] [-2.37336021e-02 8.00830171e-04 9.99717998e-01 -5.17657847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662260615 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:3.47, Z:-0.52 [[ 9.75195114e-01 -2.20109716e-01 2.33709594e-02 1.73119397e+01] [ 2.20071899e-01 9.75474570e-01 4.20991767e-03 3.47025119e+00] [-2.37244203e-02 1.03780026e-03 9.99717998e-01 -5.21400454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722260615 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:17.37, Y:3.47, Z:-0.52 [[ 9.76147037e-01 -2.15848788e-01 2.33722608e-02 1.73745096e+01] [ 2.15809924e-01 9.76426349e-01 4.20268028e-03 3.47023640e+00] [-2.37284347e-02 9.41531908e-04 9.99717998e-01 -5.21395131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782260615 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:3.49, Z:-0.51 [[ 9.77590328e-01 -2.09214849e-01 2.33729939e-02 1.74351986e+01] [ 2.09174186e-01 9.77869384e-01 4.19859890e-03 3.48506083e+00] [-2.37341444e-02 7.84517311e-04 9.99717998e-01 -5.13329901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842260615 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:17.50, Y:3.49, Z:-0.51 [[ 9.79280062e-01 -2.01157167e-01 2.33742088e-02 1.74969430e+01] [ 2.01114369e-01 9.79558798e-01 4.19182444e-03 3.49403191e+00] [-2.37396274e-02 5.95919166e-04 9.99717998e-01 -5.11451514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902260615 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:17.56, Y:3.51, Z:-0.50 [[ 9.81577669e-01 -1.89628238e-01 2.33754304e-02 1.75568628e+01] [ 1.89582328e-01 9.81855909e-01 4.18500105e-03 3.50943201e+00] [-2.37448989e-02 3.23664945e-04 9.99717998e-01 -5.02993277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962260614999998 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:17.62, Y:3.52, Z:-0.50 [[ 9.83215249e-01 -1.80945725e-01 2.33756025e-02 1.76182307e+01] [ 1.80897381e-01 9.83493077e-01 4.18403951e-03 3.52119041e+00] [-2.37468273e-02 1.14773821e-04 9.99717998e-01 -5.01515390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022260615 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.68, Y:3.54, Z:-0.49 [[ 9.84153784e-01 -1.75769317e-01 2.33768248e-02 1.76782621e+01] [ 1.75719674e-01 9.84431383e-01 4.17719940e-03 3.53811002e+00] [-2.37471034e-02 -3.23857173e-06 9.99717998e-01 -4.94120378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082260615 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:17.74, Y:3.55, Z:-0.48 [[ 9.84956248e-01 -1.71215363e-01 2.33770886e-02 1.77377900e+01] [ 1.71164472e-01 9.85233621e-01 4.17572268e-03 3.55089414e+00] [-2.37468415e-02 -1.11577132e-04 9.99717998e-01 -4.81926011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142260614999998 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:17.80, Y:3.55, Z:-0.48 [[ 9.85400448e-01 -1.68640051e-01 2.33771233e-02 1.78010573e+01] [ 1.68588439e-01 9.85677687e-01 4.17552850e-03 3.55223727e+00] [-2.37464701e-02 -1.73454943e-04 9.99717998e-01 -4.84899762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202260615 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:17.86, Y:3.56, Z:-0.48 [[ 9.86081757e-01 -1.64609300e-01 2.33783525e-02 1.78611612e+01] [ 1.64556718e-01 9.86358813e-01 4.16863475e-03 3.56103186e+00] [-2.37456401e-02 -2.63549713e-04 9.99717998e-01 -4.83180546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262260615 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:17.92, Y:3.57, Z:-0.47 [[ 9.86734921e-01 -1.60647576e-01 2.33784354e-02 1.79213450e+01] [ 1.60593894e-01 9.87011767e-01 4.16816987e-03 3.57227095e+00] [-2.37443972e-02 -3.58444810e-04 9.99717998e-01 -4.68580208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322260615 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:17.98, Y:3.58, Z:-0.47 [[ 9.86618514e-01 -1.61360862e-01 2.33790592e-02 1.79818433e+01] [ 1.61307463e-01 9.86895414e-01 4.16466806e-03 3.58179067e+00] [-2.37447007e-02 -3.37721894e-04 9.99717998e-01 -4.65522946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382260615 meters Centerline goodness : 0.998060 with order 1 Centerline is valid? [True, True] Translation: X:18.04, Y:3.59, Z:-0.45 [[ 9.86222031e-01 -1.63766668e-01 2.33791443e-02 1.80417709e+01] [ 1.63713955e-01 9.86499063e-01 4.16418993e-03 3.58538374e+00] [-2.37454595e-02 -2.79323659e-04 9.99717998e-01 -4.53582357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442260615 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:3.59, Z:-0.45 [[ 9.85110436e-01 -1.70325697e-01 2.33791976e-02 1.81013870e+01] [ 1.70274836e-01 9.85387813e-01 4.16389102e-03 3.59253018e+00] [-2.37467940e-02 -1.21003470e-04 9.99717998e-01 -4.51363893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502260615 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:3.61, Z:-0.45 [[ 9.84120394e-01 -1.75955855e-01 2.33791974e-02 1.81619968e+01] [ 1.75906581e-01 9.84398058e-01 4.16389190e-03 3.60507568e+00] [-2.37470977e-02 1.47837453e-05 9.99717998e-01 -4.49524961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562260615 meters Centerline goodness : 0.993660 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:3.62, Z:-0.44 [[ 9.83135525e-01 -1.81377892e-01 2.33794550e-02 1.82213461e+01] [ 1.81330184e-01 9.83413463e-01 4.16244528e-03 3.61977806e+00] [-2.37466463e-02 1.47153045e-04 9.99717998e-01 -4.38892982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622260615 meters Centerline goodness : 0.997743 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:3.63, Z:-0.45 [[ 9.79171335e-01 -2.01685143e-01 2.33794634e-02 1.82807548e+01] [ 2.01643198e-01 9.79450200e-01 4.16239807e-03 3.62768857e+00] [-2.37385139e-02 6.38608886e-04 9.99717998e-01 -4.48541577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682260615 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:3.65, Z:-0.46 [[ 9.78535617e-01 -2.04747250e-01 2.33796653e-02 1.83389002e+01] [ 2.04706205e-01 9.78814617e-01 4.16126341e-03 3.64663198e+00] [-2.37363654e-02 7.14018105e-04 9.99717998e-01 -4.61808264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742260615 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:3.67, Z:-0.46 [[ 9.80190523e-01 -1.96672126e-01 2.33797658e-02 1.83977662e+01] [ 1.96628795e-01 9.80469176e-01 4.16069885e-03 3.66821645e+00] [-2.37414332e-02 5.18857591e-04 9.99717998e-01 -4.62059245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802260614999998 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:18.46, Y:3.69, Z:-0.47 [[ 9.80811489e-01 -1.93551432e-01 2.33808837e-02 1.84565981e+01] [ 1.93507364e-01 9.81090027e-01 4.15440756e-03 3.68745829e+00] [-2.37428433e-02 4.49682499e-04 9.99717998e-01 -4.65836235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862260615 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:18.52, Y:3.70, Z:-0.47 [[ 9.81499088e-01 -1.90033862e-01 2.33810022e-02 1.85165358e+01] [ 1.89988812e-01 9.81777469e-01 4.15374048e-03 3.69642289e+00] [-2.37442925e-02 3.65236333e-04 9.99717998e-01 -4.74111095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922260615 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:18.58, Y:3.71, Z:-0.47 [[ 9.82074347e-01 -1.87038224e-01 2.33811761e-02 1.85767450e+01] [ 1.86992348e-01 9.82352593e-01 4.15276140e-03 3.70814319e+00] [-2.37452841e-02 2.93780574e-04 9.99717998e-01 -4.69227723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982260615 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:3.72, Z:-0.47 [[ 9.81505813e-01 -1.89999098e-01 2.33812440e-02 1.86368539e+01] [ 1.89954071e-01 9.81784197e-01 4.15237879e-03 3.72282207e+00] [-2.37442841e-02 3.65778559e-04 9.99717998e-01 -4.69363785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042260615 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:3.73, Z:-0.47 [[ 9.81334930e-01 -1.90879592e-01 2.33824080e-02 1.86956066e+01] [ 1.90834971e-01 9.81613379e-01 4.14581404e-03 3.73362378e+00] [-2.37438358e-02 3.93749009e-04 9.99717998e-01 -4.72677115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102260615 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:3.74, Z:-0.49 [[ 9.81649385e-01 -1.89255776e-01 2.33824080e-02 1.87560345e+01] [ 1.89210694e-01 9.81927760e-01 4.14581404e-03 3.74209281e+00] [-2.37444547e-02 3.54465829e-04 9.99717998e-01 -4.85715211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162260615 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:18.82, Y:3.75, Z:-0.49 [[ 9.83262375e-01 -1.80688559e-01 2.33825935e-02 1.88165387e+01] [ 1.80641076e-01 9.83540351e-01 4.14476721e-03 3.75482966e+00] [-2.37466363e-02 1.48463206e-04 9.99717998e-01 -4.85683202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222260615 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:18.88, Y:3.77, Z:-0.48 [[ 9.83537503e-01 -1.79184867e-01 2.33829824e-02 1.88764282e+01] [ 1.79137011e-01 9.83815415e-01 4.14257207e-03 3.77232585e+00] [-2.37468248e-02 1.14382588e-04 9.99717998e-01 -4.82997813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282260615 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:18.94, Y:3.79, Z:-0.49 [[ 9.83440314e-01 -1.79717361e-01 2.33841379e-02 1.89364688e+01] [ 1.79669811e-01 9.83718279e-01 4.13603917e-03 3.78592685e+00] [-2.37467220e-02 1.33875996e-04 9.99717998e-01 -4.86389966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342260615 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:19.00, Y:3.79, Z:-0.48 [[ 9.83495950e-01 -1.79412625e-01 2.33843133e-02 1.89975162e+01] [ 1.79365013e-01 9.83773904e-01 4.13504729e-03 3.78737230e+00] [-2.37467569e-02 1.27525389e-04 9.99717998e-01 -4.80644276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402260615 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:19.06, Y:3.80, Z:-0.49 [[ 9.82282327e-01 -1.85942469e-01 2.33843671e-02 1.90572924e+01] [ 1.85896711e-01 9.82560592e-01 4.13474295e-03 3.79883572e+00] [-2.37453819e-02 2.85592021e-04 9.99717998e-01 -4.86832175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462260614999998 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:19.12, Y:3.80, Z:-0.48 [[ 9.83084470e-01 -1.81653770e-01 2.33844552e-02 1.91176215e+01] [ 1.81606810e-01 9.83362535e-01 4.13424499e-03 3.80392766e+00] [-2.37463983e-02 1.82464269e-04 9.99717998e-01 -4.80916832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522260615 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:3.82, Z:-0.48 [[ 9.83321189e-01 -1.80367967e-01 2.33845180e-02 1.91773103e+01] [ 1.80320652e-01 9.83599193e-01 4.13388946e-03 3.81852124e+00] [-2.37466143e-02 1.51770440e-04 9.99717998e-01 -4.82001159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582260615 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:3.82, Z:-0.49 [[ 9.82707848e-01 -1.83680267e-01 2.33847003e-02 1.92400613e+01] [ 1.83633914e-01 9.82986015e-01 4.13285840e-03 3.82284520e+00] [-2.37459578e-02 2.32831638e-04 9.99717998e-01 -4.86675898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642260614999998 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:19.30, Y:3.83, Z:-0.48 [[ 9.82408062e-01 -1.85276813e-01 2.33859344e-02 1.93000732e+01] [ 1.85231078e-01 9.82686331e-01 4.12586299e-03 3.83269826e+00] [-2.37454648e-02 2.78520786e-04 9.99717998e-01 -4.82681062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702260615 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:3.84, Z:-0.48 [[ 9.82123256e-01 -1.86780633e-01 2.33860214e-02 1.93601067e+01] [ 1.86735336e-01 9.82401596e-01 4.12537002e-03 3.84308626e+00] [-2.37450040e-02 3.15374731e-04 9.99717998e-01 -4.79947851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762260615 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:3.86, Z:-0.48 [[ 9.81937104e-01 -1.87756728e-01 2.33866248e-02 1.94194943e+01] [ 1.87711789e-01 9.82215503e-01 4.12194633e-03 3.85827345e+00] [-2.37446286e-02 3.42453136e-04 9.99717998e-01 -4.77554387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822260615 meters Centerline goodness : 0.995840 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:3.87, Z:-0.46 [[ 9.82722264e-01 -1.83602871e-01 2.33866919e-02 1.94789868e+01] [ 1.83556764e-01 9.83000471e-01 4.12156568e-03 3.87399261e+00] [-2.37458605e-02 2.42431140e-04 9.99717998e-01 -4.61919347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882260615 meters Centerline goodness : 0.992824 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:3.89, Z:-0.45 [[ 9.84243651e-01 -1.75264070e-01 2.33867586e-02 1.95371894e+01] [ 1.75215615e-01 9.84521459e-01 4.12118746e-03 3.89339282e+00] [-2.37470617e-02 4.14726974e-05 9.99717998e-01 -4.51625434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942260615 meters Centerline goodness : 0.987646 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:3.91, Z:-0.44 [[ 9.85070180e-01 -1.70557312e-01 2.33868463e-02 1.95942127e+01] [ 1.70507542e-01 9.85347755e-01 4.12068933e-03 3.91280190e+00] [-2.37469902e-02 -7.15344972e-05 9.99717998e-01 -4.43295696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 503.36 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%| | 0/766 [00:00