+ python -m lidar_slam --result /working/result.json --no-model /working/19d1f8fd-585c-4b42-ac0f-550b32eeb740
Lidar SLAM 0.0.25
=====================================================
 The recording path: /working/19d1f8fd-585c-4b42-ac0f-550b32eeb740
 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 Registration only: 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
=====================================================
direction of movement:  1 downstream
Adjusted start_distance from 0.0 to 0.006066493
Adjusted end_distance from 9.223372036854776e+18 to 330.616066493
Slamming from 0.006066493 to 330.616066493 meters!
 -=-=-> Lidar cleaning parameters file not found.
 --> Creating a generic default one.
=====================================================
Averaging over 500 frames

  0%|          | 0/32 [00:00<?, ?it/s]
  3%|▎         | 1/32 [00:02<01:25,  2.75s/it]
  6%|▋         | 2/32 [00:03<00:38,  1.29s/it]
  9%|▉         | 3/32 [00:03<00:24,  1.18it/s]
 12%|█▎        | 4/32 [00:03<00:17,  1.60it/s]
 16%|█▌        | 5/32 [00:03<00:13,  1.98it/s]
 19%|█▉        | 6/32 [00:04<00:11,  2.31it/s]
 22%|██▏       | 7/32 [00:04<00:09,  2.54it/s]
 25%|██▌       | 8/32 [00:04<00:08,  2.72it/s]
 28%|██▊       | 9/32 [00:05<00:07,  3.02it/s]
 31%|███▏      | 10/32 [00:05<00:06,  3.32it/s]
 34%|███▍      | 11/32 [00:05<00:05,  3.53it/s]
 38%|███▊      | 12/32 [00:05<00:05,  3.76it/s]
 41%|████      | 13/32 [00:06<00:04,  4.00it/s]
 44%|████▍     | 14/32 [00:06<00:04,  4.16it/s]
 47%|████▋     | 15/32 [00:06<00:04,  4.11it/s]
 50%|█████     | 16/32 [00:06<00:04,  3.96it/s]
 53%|█████▎    | 17/32 [00:07<00:03,  3.77it/s]
 56%|█████▋    | 18/32 [00:07<00:03,  3.55it/s]
 59%|█████▉    | 19/32 [00:07<00:03,  3.56it/s]
 62%|██████▎   | 20/32 [00:07<00:03,  3.53it/s]
 66%|██████▌   | 21/32 [00:08<00:03,  3.47it/s]
 69%|██████▉   | 22/32 [00:08<00:02,  3.46it/s]
 72%|███████▏  | 23/32 [00:08<00:02,  3.45it/s]
 75%|███████▌  | 24/32 [00:09<00:02,  3.25it/s]
 78%|███████▊  | 25/32 [00:09<00:02,  3.31it/s]
 81%|████████▏ | 26/32 [00:09<00:01,  3.44it/s]
 84%|████████▍ | 27/32 [00:10<00:01,  3.45it/s]
 88%|████████▊ | 28/32 [00:10<00:01,  3.34it/s]
 91%|█████████ | 29/32 [00:10<00:00,  3.53it/s]
 94%|█████████▍| 30/32 [00:10<00:00,  3.66it/s]
 97%|█████████▋| 31/32 [00:11<00:00,  3.67it/s]
100%|██████████| 32/32 [00:11<00:00,  4.35it/s]
100%|██████████| 32/32 [00:11<00:00,  2.85it/s]
Averaged over 500 frames
Shape size (median max width): 2.5763
=====================================================
 Detecting centerlines in parallel with 20 job(s)
Centerline goodness : 0.960495 with order 1
Centerline goodness : 0.982206 with order 1
Centerline goodness : 0.967421 with order 1
Centerline goodness : 0.976703 with order 1
Centerline goodness : 0.956619 with order 1
Centerline goodness : 0.965301 with order 1
Centerline goodness : 0.961296 with order 1
Centerline goodness : 0.987772 with order 1
Centerline goodness : 0.989143 with order 1
Centerline goodness : 0.988845 with order 1
Centerline goodness : 0.985349 with order 1
Centerline goodness : 0.974187 with order 1
Centerline goodness : 0.956673 with order 1
Centerline goodness : 0.959285 with order 1
Centerline goodness : 0.958473 with order 1
Centerline goodness : 0.971170 with order 1
Centerline goodness : 0.963375 with order 1
Centerline goodness : 0.978705 with order 1
Centerline goodness : 0.972337 with order 1
Centerline goodness : 0.970045 with order 1
SLAMing on frame at distance 0.006066493
Centerline is valid?  [0, True]
SLAMing on frame at distance 0.066066493
Centerline is valid?  [True, True]
Translation: X:0.06, Y:-0.02, Z:0.00
[[ 0.99995076 -0.00992363  0.          0.06174431]
 [ 0.00992363  0.99995076  0.         -0.02101341]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.126066493
Centerline is valid?  [True, True]
Translation: X:0.12, Y:-0.03, Z:0.00
[[ 0.99976424 -0.02171315  0.          0.12314243]
 [ 0.02171315  0.99976424  0.         -0.02764903]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.18606649300000003
Centerline is valid?  [True, True]
Translation: X:0.19, Y:-0.04, Z:0.00
[[ 0.99966736 -0.0257907   0.          0.1857743 ]
 [ 0.0257907   0.99966736  0.         -0.03591791]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.24606649300000003
Centerline is valid?  [True, True]
Translation: X:0.25, Y:-0.05, Z:0.00
[[ 0.99958357 -0.02885628  0.          0.24826133]
 [ 0.02885628  0.99958357  0.         -0.04825376]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.30606649300000005
Centerline is valid?  [True, True]
Translation: X:0.31, Y:-0.06, Z:0.00
[[ 0.99963611 -0.02697511  0.          0.3105483 ]
 [ 0.02697511  0.99963611  0.         -0.05572343]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.36606649300000005
Centerline is valid?  [True, True]
Translation: X:0.37, Y:-0.06, Z:0.00
[[ 0.99959367 -0.02850418  0.          0.37317267]
 [ 0.02850418  0.99959367  0.         -0.05664617]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.42606649300000005
Centerline is valid?  [True, True]
Translation: X:0.43, Y:-0.06, Z:0.00
[[ 0.99963224 -0.02711783  0.          0.43390778]
 [ 0.02711783  0.99963224  0.         -0.05526252]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.48606649300000004
Centerline is valid?  [True, True]
Translation: X:0.50, Y:-0.06, Z:0.00
[[ 0.99969965 -0.02450714  0.          0.49644992]
 [ 0.02450714  0.99969965  0.         -0.05645986]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.546066493
Centerline is valid?  [True, True]
Translation: X:0.56, Y:-0.06, Z:0.00
[[ 0.99983952 -0.01791487  0.          0.55644651]
 [ 0.01791487  0.99983952  0.         -0.06163163]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.606066493
Centerline is valid?  [True, True]
Translation: X:0.62, Y:-0.06, Z:0.00
[[ 0.99978127 -0.0209142   0.          0.61829652]
 [ 0.0209142   0.99978127  0.         -0.05624702]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.666066493
Centerline is valid?  [True, True]
Translation: X:0.68, Y:-0.06, Z:0.00
[[ 0.99988722 -0.01501828  0.          0.67981416]
 [ 0.01501828  0.99988722  0.         -0.06115913]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.726066493
Centerline is valid?  [True, True]
Translation: X:0.74, Y:-0.07, Z:0.00
[[ 0.99987435 -0.01585208  0.          0.74047134]
 [ 0.01585208  0.99987435  0.         -0.06562843]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.786066493
Centerline is valid?  [True, True]
Translation: X:0.80, Y:-0.07, Z:0.00
[[ 0.99972306 -0.02353317  0.          0.80244347]
 [ 0.02353317  0.99972306  0.         -0.07190381]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.846066493
Centerline is valid?  [True, True]
Translation: X:0.86, Y:-0.07, Z:0.00
[[ 0.99956435 -0.02951455  0.          0.86364475]
 [ 0.02951455  0.99956435  0.         -0.07346666]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.906066493
Centerline is valid?  [True, True]
Translation: X:0.92, Y:-0.08, Z:0.00
[[ 0.99922382 -0.03939238  0.          0.92402193]
 [ 0.03939238  0.99922382  0.         -0.08217553]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.966066493
Centerline is valid?  [True, True]
Translation: X:0.98, Y:-0.08, Z:0.00
[[ 0.9988745  -0.04743129  0.          0.98493649]
 [ 0.04743129  0.9988745   0.         -0.07952288]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.026066493
Centerline is valid?  [True, True]
Translation: X:1.04, Y:-0.07, Z:0.00
[[ 0.99827961 -0.05863289  0.          1.04413458]
 [ 0.05863289  0.99827961  0.         -0.07123497]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.0860664930000001
Centerline is valid?  [True, True]
Translation: X:1.11, Y:-0.07, Z:0.00
[[ 0.99804337 -0.06252552  0.          1.10615192]
 [ 0.06252552  0.99804337  0.         -0.06642865]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.1460664930000002
Centerline is valid?  [True, True]
Translation: X:1.17, Y:-0.06, Z:0.00
[[ 0.9978347  -0.06577165  0.          1.16709335]
 [ 0.06577165  0.9978347   0.         -0.05932965]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997636 with order 1
Centerline goodness : 0.998736 with order 1
Centerline goodness : 0.992606 with order 1
Centerline goodness : 0.993919 with order 1
Centerline goodness : 0.993464 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.979753 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.993079 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997232 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.982671 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.996469 with order 1
Centerline goodness : 0.999301 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.987657 with order 1
SLAMing on frame at distance 1.2060664930000002
Centerline is valid?  [True, True]
Translation: X:1.23, Y:-0.04, Z:0.00
[[ 0.99748489 -0.07087949  0.          1.22800366]
 [ 0.07087949  0.99748489  0.         -0.0436438 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.266066493
Centerline is valid?  [True, True]
Translation: X:1.29, Y:-0.03, Z:0.00
[[ 0.99743551 -0.07157094  0.          1.29002457]
 [ 0.07157094  0.99743551  0.         -0.03241384]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.3260664930000001
Centerline is valid?  [True, True]
Translation: X:1.35, Y:-0.02, Z:0.00
[[ 0.99743252 -0.07161256  0.          1.35162762]
 [ 0.07161256  0.99743252  0.         -0.01942607]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.3860664930000002
Centerline is valid?  [True, True]
Translation: X:1.41, Y:-0.01, Z:0.00
[[ 0.99790504 -0.06469564  0.          1.41127096]
 [ 0.06469564  0.99790504  0.         -0.00577942]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.4460664930000002
Centerline is valid?  [True, True]
Translation: X:1.47, Y:0.02, Z:0.00
[[ 0.99849298 -0.05487958  0.          1.47132036]
 [ 0.05487958  0.99849298  0.          0.02171371]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.5060664930000003
Centerline is valid?  [True, True]
Translation: X:1.53, Y:0.04, Z:0.00
[[ 0.99854093 -0.05400013  0.          1.53195473]
 [ 0.05400013  0.99854093  0.          0.04240625]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.5660664930000001
Centerline is valid?  [True, True]
Translation: X:1.59, Y:0.05, Z:0.00
[[ 0.99860755 -0.05275377  0.          1.5923958 ]
 [ 0.05275377  0.99860755  0.          0.05372906]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.6260664930000002
Centerline is valid?  [True, True]
Translation: X:1.65, Y:0.05, Z:0.00
[[ 0.99824434 -0.05923031  0.          1.65180048]
 [ 0.05923031  0.99824434  0.          0.05380948]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.6860664930000002
Centerline is valid?  [True, True]
Translation: X:1.71, Y:0.07, Z:0.00
[[ 0.99868717 -0.05122443  0.          1.71200774]
 [ 0.05122443  0.99868717  0.          0.07059612]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.7460664930000003
Centerline is valid?  [True, True]
Translation: X:1.77, Y:0.09, Z:0.00
[[ 0.99898471 -0.04505047  0.          1.77272102]
 [ 0.04505047  0.99898471  0.          0.09268625]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.806066493
Centerline is valid?  [True, True]
Translation: X:1.83, Y:0.12, Z:0.00
[[ 0.99922062 -0.03947341  0.          1.83322839]
 [ 0.03947341  0.99922062  0.          0.11672866]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.8660664930000002
Centerline is valid?  [True, True]
Translation: X:1.89, Y:0.12, Z:0.00
[[ 0.99914782 -0.04127516  0.          1.89439295]
 [ 0.04127516  0.99914782  0.          0.12346164]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.9260664930000002
Centerline is valid?  [True, True]
Translation: X:1.96, Y:0.14, Z:0.00
[[ 0.99927671 -0.03802716  0.          1.95623643]
 [ 0.03802716  0.99927671  0.          0.13733332]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.9860664930000003
Centerline is valid?  [True, True]
Translation: X:2.02, Y:0.17, Z:0.00
[[ 0.99890951 -0.04668827  0.          2.01515475]
 [ 0.04668827  0.99890951  0.          0.17376582]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.046066493
Centerline is valid?  [True, True]
Translation: X:2.07, Y:0.19, Z:0.00
[[ 0.9993078  -0.0372012   0.          2.07493807]
 [ 0.0372012   0.9993078   0.          0.19409568]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.106066493
Centerline is valid?  [True, True]
Translation: X:2.14, Y:0.20, Z:0.00
[[ 0.99953925 -0.03035278  0.          2.13700565]
 [ 0.03035278  0.99953925  0.          0.19830933]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.166066493
Centerline is valid?  [True, True]
Translation: X:2.20, Y:0.21, Z:0.00
[[ 0.99966365 -0.02593431  0.          2.19630028]
 [ 0.02593431  0.99966365  0.          0.21231045]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.2260664930000003
Centerline is valid?  [True, True]
Translation: X:2.26, Y:0.22, Z:0.00
[[ 0.99973479 -0.02302942  0.          2.25715968]
 [ 0.02302942  0.99973479  0.          0.22365005]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.2860664930000003
Centerline is valid?  [True, True]
Translation: X:2.32, Y:0.23, Z:0.00
[[ 0.99975594 -0.022092    0.          2.3171531 ]
 [ 0.022092    0.99975594  0.          0.23460931]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.3460664930000004
Centerline is valid?  [True, True]
Translation: X:2.38, Y:0.25, Z:0.00
[[ 0.99989905 -0.0142089   0.          2.37773332]
 [ 0.0142089   0.99989905  0.          0.24530374]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 2.4060664930000004
Centerline is valid?  [True, True]
Translation: X:2.44, Y:0.26, Z:0.00
[[ 0.99987756 -0.01564829  0.          2.43835538]
 [ 0.01564829  0.99987756  0.          0.25626946]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.4660664930000005
Centerline is valid?  [True, True]
Translation: X:2.50, Y:0.27, Z:0.00
[[ 0.99994799 -0.01019889  0.          2.49955893]
 [ 0.01019889  0.99994799  0.          0.27139498]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.526066493
Centerline is valid?  [True, True]
Translation: X:2.56, Y:0.28, Z:0.00
[[ 0.99982764 -0.018566    0.          2.55908193]
 [ 0.018566    0.99982764  0.          0.27581455]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.586066493
Centerline is valid?  [True, True]
Translation: X:2.62, Y:0.29, Z:0.00
[[ 0.99992131 -0.0125445   0.          2.62221938]
 [ 0.0125445   0.99992131  0.          0.2923561 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.646066493
Centerline is valid?  [True, True]
Translation: X:2.68, Y:0.30, Z:0.00
[[ 0.99987231 -0.01598001  0.          2.68436974]
 [ 0.01598001  0.99987231  0.          0.29753242]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.7060664930000002
Centerline is valid?  [True, True]
Translation: X:2.75, Y:0.29, Z:0.00
[[ 0.99985884 -0.0168019   0.          2.74651977]
 [ 0.0168019   0.99985884  0.          0.29380447]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.7660664930000003
Centerline is valid?  [True, True]
Translation: X:2.81, Y:0.29, Z:0.00
[[ 0.99988043 -0.01546396  0.          2.80714542]
 [ 0.01546396  0.99988043  0.          0.29174546]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.8260664930000003
Centerline is valid?  [True, True]
Translation: X:2.87, Y:0.29, Z:0.00
[[ 0.9997887  -0.02055611  0.          2.86768276]
 [ 0.02055611  0.9997887   0.          0.29105164]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.8860664930000004
Centerline is valid?  [True, True]
Translation: X:2.93, Y:0.29, Z:0.00
[[ 0.99971376 -0.0239249   0.          2.93030006]
 [ 0.0239249   0.99971376  0.          0.29005707]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.9460664930000005
Centerline is valid?  [True, True]
Translation: X:2.99, Y:0.29, Z:0.00
[[ 0.99965223 -0.02637065  0.          2.99234276]
 [ 0.02637065  0.99965223  0.          0.29124037]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.0060664930000005
Centerline is valid?  [True, True]
Translation: X:3.06, Y:0.29, Z:0.00
[[ 0.9997036  -0.02434549  0.          3.05508728]
 [ 0.02434549  0.9997036   0.          0.2891024 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.066066493
Centerline is valid?  [True, True]
Translation: X:3.12, Y:0.29, Z:0.00
[[ 0.99969533 -0.02468283  0.          3.11832748]
 [ 0.02468283  0.99969533  0.          0.28863576]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.126066493
Centerline is valid?  [True, True]
Translation: X:3.18, Y:0.29, Z:0.00
[[ 0.99973649 -0.02295537  0.          3.18017282]
 [ 0.02295537  0.99973649  0.          0.2905257 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.186066493
Centerline is valid?  [True, True]
Translation: X:3.24, Y:0.30, Z:0.00
[[ 0.99978531 -0.02072024  0.          3.24242491]
 [ 0.02072024  0.99978531  0.          0.29842959]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.2460664930000003
Centerline is valid?  [True, True]
Translation: X:3.30, Y:0.30, Z:0.00
[[ 0.99973398 -0.02306429  0.          3.30459456]
 [ 0.02306429  0.99973398  0.          0.30066   ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.3060664930000003
Centerline is valid?  [True, True]
Translation: X:3.37, Y:0.30, Z:0.00
[[ 0.99969542 -0.02467943  0.          3.36695715]
 [ 0.02467943  0.99969542  0.          0.29890955]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.3660664930000004
Centerline is valid?  [True, True]
Translation: X:3.43, Y:0.30, Z:0.00
[[ 0.99969611 -0.02465126  0.          3.42796812]
 [ 0.02465126  0.99969611  0.          0.30162782]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.4260664930000004
Centerline is valid?  [True, True]
Translation: X:3.49, Y:0.30, Z:0.00
[[ 0.99973581 -0.02298483  0.          3.48880148]
 [ 0.02298483  0.99973581  0.          0.30166214]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.4860664930000005
Centerline is valid?  [True, True]
Translation: X:3.55, Y:0.30, Z:0.00
[[ 0.9998566  -0.01693462  0.          3.55017577]
 [ 0.01693462  0.9998566   0.          0.30161103]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.5460664930000005
Centerline is valid?  [True, True]
Translation: X:3.61, Y:0.31, Z:0.00
[[ 0.99993445 -0.01144958  0.          3.61085875]
 [ 0.01144958  0.99993445  0.          0.31093812]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 3.606066493
Centerline is valid?  [True, True]
Translation: X:3.67, Y:0.31, Z:0.00
[[ 0.99990017 -0.01412951  0.          3.6724389 ]
 [ 0.01412951  0.99990017  0.          0.31053538]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.666066493
Centerline is valid?  [True, True]
Translation: X:3.74, Y:0.31, Z:0.00
[[ 0.99985515 -0.01701999  0.          3.73524709]
 [ 0.01701999  0.99985515  0.          0.30545754]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.7260664930000003
Centerline is valid?  [True, True]
Translation: X:3.80, Y:0.30, Z:0.00
[[ 0.99975326 -0.02221286  0.          3.79820129]
 [ 0.02221286  0.99975326  0.          0.29715608]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.7860664930000003
Centerline is valid?  [True, True]
Translation: X:3.86, Y:0.30, Z:0.00
[[ 0.99968044 -0.02527868  0.          3.85985838]
 [ 0.02527868  0.99968044  0.          0.30004068]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.8460664930000004
Centerline is valid?  [True, True]
Translation: X:3.92, Y:0.31, Z:0.00
[[ 0.99962143 -0.02751364  0.          3.92157203]
 [ 0.02751364  0.99962143  0.          0.30617579]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.9060664930000004
Centerline is valid?  [True, True]
Translation: X:3.98, Y:0.31, Z:0.00
[[ 0.99974664 -0.02250881  0.          3.98327114]
 [ 0.02250881  0.99974664  0.          0.31091366]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.9660664930000005
Centerline is valid?  [True, True]
Translation: X:4.05, Y:0.31, Z:0.00
[[ 0.99984735 -0.01747227  0.          4.0454194 ]
 [ 0.01747227  0.99984735  0.          0.31018212]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.026066493
Centerline is valid?  [True, True]
Translation: X:4.11, Y:0.31, Z:0.00
[[ 0.99986941 -0.01616077  0.          4.10773722]
 [ 0.01616077  0.99986941  0.          0.30936386]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.086066493
Centerline is valid?  [True, True]
Translation: X:4.17, Y:0.31, Z:0.00
[[ 0.9998884  -0.01493937  0.          4.16827416]
 [ 0.01493937  0.9998884   0.          0.31077372]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.146066493
Centerline is valid?  [True, True]
Translation: X:4.23, Y:0.31, Z:0.00
[[ 0.99988041 -0.01546511  0.          4.22981717]
 [ 0.01546511  0.99988041  0.          0.31450682]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.206066493
Centerline is valid?  [True, True]
Translation: X:4.29, Y:0.32, Z:0.00
[[ 0.99988424 -0.01521529  0.          4.29007986]
 [ 0.01521529  0.99988424  0.          0.31844472]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.266066493
Centerline is valid?  [True, True]
Translation: X:4.35, Y:0.31, Z:0.00
[[ 0.99986557 -0.01639648  0.          4.35235911]
 [ 0.01639648  0.99986557  0.          0.31281447]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.326066493
Centerline is valid?  [True, True]
Translation: X:4.41, Y:0.31, Z:0.00
[[ 0.99987063 -0.0160848   0.          4.41350775]
 [ 0.0160848   0.99987063  0.          0.31277562]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.386066493
Centerline is valid?  [True, True]
Translation: X:4.48, Y:0.31, Z:0.00
[[ 0.99970782 -0.0241716   0.          4.47539331]
 [ 0.0241716   0.99970782  0.          0.31400315]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.446066493
Centerline is valid?  [True, True]
Translation: X:4.53, Y:0.30, Z:0.00
[[ 0.99912436 -0.04183908  0.          4.53496601]
 [ 0.04183908  0.99912436  0.          0.30060223]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.506066493
Centerline is valid?  [True, True]
Translation: X:4.60, Y:0.29, Z:0.00
[[ 0.99869404 -0.0510902   0.          4.59604647]
 [ 0.0510902   0.99869404  0.          0.2892602 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.566066493
Centerline is valid?  [True, True]
Translation: X:4.66, Y:0.29, Z:0.00
[[ 0.99791419 -0.0645544   0.          4.65567191]
 [ 0.0645544   0.99791419  0.          0.28523703]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.626066493
Centerline is valid?  [True, True]
Translation: X:4.72, Y:0.29, Z:0.00
[[ 0.99747921 -0.07095938  0.          4.71610981]
 [ 0.07095938  0.99747921  0.          0.28896424]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.686066493
Centerline is valid?  [True, True]
Translation: X:4.78, Y:0.29, Z:0.00
[[ 0.99704747 -0.0767877   0.          4.77676702]
 [ 0.0767877   0.99704747  0.          0.29081969]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.746066493
Centerline is valid?  [True, True]
Translation: X:4.84, Y:0.29, Z:0.00
[[ 0.99656715 -0.08278842  0.          4.8368829 ]
 [ 0.08278842  0.99656715  0.          0.28949136]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 4.806066493
Centerline is valid?  [True, True]
Translation: X:4.90, Y:0.29, Z:0.00
[[ 0.99641199 -0.08463543  0.          4.89775746]
 [ 0.08463543  0.99641199  0.          0.29203056]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.866066493
Centerline is valid?  [True, True]
Translation: X:4.96, Y:0.30, Z:0.00
[[ 0.99596336 -0.08976068  0.          4.95833778]
 [ 0.08976068  0.99596336  0.          0.29766322]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.926066493
Centerline is valid?  [True, True]
Translation: X:5.02, Y:0.30, Z:0.00
[[ 0.99599842 -0.08937086  0.          5.02072773]
 [ 0.08937086  0.99599842  0.          0.30353551]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.986066493
Centerline is valid?  [True, True]
Translation: X:5.08, Y:0.31, Z:0.00
[[ 0.99607486 -0.08851487  0.          5.08160659]
 [ 0.08851487  0.99607486  0.          0.30595127]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.046066493
Centerline is valid?  [True, True]
Translation: X:5.14, Y:0.31, Z:0.00
[[ 0.99628231 -0.08614843  0.          5.14304077]
 [ 0.08614843  0.99628231  0.          0.30580044]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.106066493
Centerline is valid?  [True, True]
Translation: X:5.20, Y:0.31, Z:0.00
[[ 0.99668939 -0.08130354  0.          5.20307077]
 [ 0.08130354  0.99668939  0.          0.31192727]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.166066493
Centerline is valid?  [True, True]
Translation: X:5.26, Y:0.32, Z:0.00
[[ 0.99676738 -0.08034171  0.          5.2638632 ]
 [ 0.08034171  0.99676738  0.          0.31963024]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.226066493
Centerline is valid?  [True, True]
Translation: X:5.33, Y:0.32, Z:0.00
[[ 0.99662724 -0.08206183  0.          5.32524497]
 [ 0.08206183  0.99662724  0.          0.3226468 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.286066493
Centerline is valid?  [True, True]
Translation: X:5.39, Y:0.32, Z:0.00
[[ 0.99642441 -0.08448901  0.          5.3863052 ]
 [ 0.08448901  0.99642441  0.          0.32313103]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.346066493
Centerline is valid?  [True, True]
Translation: X:5.45, Y:0.33, Z:0.00
[[ 0.9969247  -0.07836543  0.          5.44648151]
 [ 0.07836543  0.9969247   0.          0.329219  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.406066493
Centerline is valid?  [True, True]
Translation: X:5.51, Y:0.34, Z:0.00
[[ 0.99788449 -0.06501195  0.          5.5076367 ]
 [ 0.06501195  0.99788449  0.          0.33563341]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.4660664930000005
Centerline is valid?  [True, True]
Translation: X:5.57, Y:0.33, Z:0.00
[[ 0.99834093 -0.05757943  0.          5.56713519]
 [ 0.05757943  0.99834093  0.          0.32780497]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.526066493
Centerline is valid?  [True, True]
Translation: X:5.63, Y:0.32, Z:0.00
[[ 0.99847666 -0.05517577  0.          5.62833014]
 [ 0.05517577  0.99847666  0.          0.32409867]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.586066493
Centerline is valid?  [True, True]
Translation: X:5.69, Y:0.33, Z:0.00
[[ 0.9989782  -0.04519461  0.          5.68893632]
 [ 0.04519461  0.9989782   0.          0.32541899]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.646066493
Centerline is valid?  [True, True]
Translation: X:5.75, Y:0.34, Z:0.00
[[ 0.9995674  -0.02941124  0.          5.74865282]
 [ 0.02941124  0.9995674   0.          0.33919511]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.706066493
Centerline is valid?  [True, True]
Translation: X:5.81, Y:0.35, Z:0.00
[[ 0.99985282 -0.0171565   0.          5.81049207]
 [ 0.0171565   0.99985282  0.          0.35428101]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.766066493
Centerline is valid?  [True, True]
Translation: X:5.87, Y:0.35, Z:0.00
[[ 0.99980782 -0.01960432  0.          5.87181948]
 [ 0.01960432  0.99980782  0.          0.35247934]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.826066493
Centerline is valid?  [True, True]
Translation: X:5.94, Y:0.35, Z:0.00
[[ 0.9997454  -0.02256412  0.          5.9352805 ]
 [ 0.02256412  0.9997454   0.          0.34828633]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.886066493
Centerline is valid?  [True, True]
Translation: X:6.00, Y:0.35, Z:0.00
[[ 0.99978035 -0.02095815  0.          5.99623162]
 [ 0.02095815  0.99978035  0.          0.35432827]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.946066493
Centerline is valid?  [True, True]
Translation: X:6.06, Y:0.36, Z:0.00
[[ 0.99986965 -0.01614545  0.          6.05884822]
 [ 0.01614545  0.99986965  0.          0.35846372]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 6.0060664930000005
Centerline is valid?  [True, True]
Translation: X:6.12, Y:0.36, Z:0.00
[[ 0.99990258 -0.01395781  0.          6.11956386]
 [ 0.01395781  0.99990258  0.          0.35785831]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.066066493
Centerline is valid?  [True, True]
Translation: X:6.18, Y:0.36, Z:0.00
[[ 0.99995508 -0.00947848  0.          6.18084364]
 [ 0.00947848  0.99995508  0.          0.35686813]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.126066493
Centerline is valid?  [True, True]
Translation: X:6.24, Y:0.36, Z:0.00
[[ 0.99997916 -0.00645655  0.          6.24270596]
 [ 0.00645655  0.99997916  0.          0.36115813]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.186066493
Centerline is valid?  [True, True]
Translation: X:6.30, Y:0.36, Z:0.00
[[ 0.99997812 -0.00661456  0.          6.3045164 ]
 [ 0.00661456  0.99997812  0.          0.36029509]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.246066493
Centerline is valid?  [True, True]
Translation: X:6.37, Y:0.36, Z:0.00
[[ 0.99996992 -0.00775593  0.          6.36675562]
 [ 0.00775593  0.99996992  0.          0.36099033]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.306066493
Centerline is valid?  [True, True]
Translation: X:6.43, Y:0.36, Z:0.00
[[ 0.99972363 -0.02350894  0.          6.42886005]
 [ 0.02350894  0.99972363  0.          0.35902479]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.366066493
Centerline is valid?  [True, True]
Translation: X:6.49, Y:0.36, Z:0.00
[[ 0.99964424 -0.02667206  0.          6.48936823]
 [ 0.02667206  0.99964424  0.          0.35910135]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.426066493
Centerline is valid?  [True, True]
Translation: X:6.55, Y:0.37, Z:0.00
[[ 0.99994043 -0.01091524  0.          6.54843114]
 [ 0.01091524  0.99994043  0.          0.36775224]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.486066493
Centerline is valid?  [True, True]
Translation: X:6.61, Y:0.37, Z:0.00
[[ 9.99978725e-01 -6.52302983e-03  0.00000000e+00  6.61090490e+00]
 [ 6.52302983e-03  9.99978725e-01  0.00000000e+00  3.70611634e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.5460664930000005
Centerline is valid?  [True, True]
Translation: X:6.67, Y:0.37, Z:0.00
[[ 9.99984422e-01 -5.58173962e-03  0.00000000e+00  6.67264468e+00]
 [ 5.58173962e-03  9.99984422e-01  0.00000000e+00  3.71783972e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.606066493
Centerline is valid?  [True, True]
Translation: X:6.73, Y:0.38, Z:0.00
[[ 9.99996362e-01 -2.69725086e-03  0.00000000e+00  6.73249945e+00]
 [ 2.69725086e-03  9.99996362e-01  0.00000000e+00  3.76307717e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.666066493
Centerline is valid?  [True, True]
Translation: X:6.79, Y:0.38, Z:0.00
[[ 9.99999147e-01  1.30651354e-03  0.00000000e+00  6.79398803e+00]
 [-1.30651354e-03  9.99999147e-01  0.00000000e+00  3.77654095e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.726066493
Centerline is valid?  [True, True]
Translation: X:6.85, Y:0.38, Z:0.00
[[ 9.99995199e-01  3.09886063e-03  0.00000000e+00  6.85394059e+00]
 [-3.09886063e-03  9.99995199e-01  0.00000000e+00  3.77307213e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.786066493
Centerline is valid?  [True, True]
Translation: X:6.91, Y:0.37, Z:0.00
[[ 9.99992484e-01 -3.87698997e-03  0.00000000e+00  6.91264463e+00]
 [ 3.87698997e-03  9.99992484e-01  0.00000000e+00  3.71579443e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.846066493
Centerline is valid?  [True, True]
Translation: X:6.98, Y:0.37, Z:0.00
[[ 0.99996351 -0.00854261  0.          6.9753231 ]
 [ 0.00854261  0.99996351  0.          0.36886464]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.906066493
Centerline is valid?  [True, True]
Translation: X:7.04, Y:0.37, Z:0.00
[[ 9.99997814e-01 -2.09096993e-03  0.00000000e+00  7.03604946e+00]
 [ 2.09096993e-03  9.99997814e-01  0.00000000e+00  3.72000371e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.9660664930000005
Centerline is valid?  [True, True]
Translation: X:7.10, Y:0.38, Z:0.00
[[ 0.99991248  0.01323026  0.          7.09533238]
 [-0.01323026  0.99991248  0.          0.38150473]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.026066493
Centerline is valid?  [True, True]
Translation: X:7.16, Y:0.38, Z:0.00
[[ 0.99955243  0.02991555  0.          7.15568854]
 [-0.02991555  0.99955243  0.          0.38366203]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.086066493000001
Centerline is valid?  [True, True]
Translation: X:7.22, Y:0.38, Z:0.00
[[ 0.9995448   0.03016936  0.          7.2158905 ]
 [-0.03016936  0.9995448   0.          0.38121434]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.146066493
Centerline is valid?  [True, True]
Translation: X:7.28, Y:0.38, Z:0.00
[[ 0.99971974  0.02367344  0.          7.27667481]
 [-0.02367344  0.99971974  0.          0.37744687]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995788 with order 1
Centerline goodness : 0.996255 with order 1
Centerline goodness : 0.996524 with order 1
Centerline goodness : 0.999008 with order 1
Centerline goodness : 0.996961 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997290 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997821 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994653 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.996683 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 7.206066493
Centerline is valid?  [True, True]
Translation: X:7.34, Y:0.37, Z:0.00
[[ 0.99992832  0.01197294  0.          7.33661386]
 [-0.01197294  0.99992832  0.          0.3717879 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.266066493
Centerline is valid?  [True, True]
Translation: X:7.40, Y:0.37, Z:0.00
[[ 9.99983823e-01  5.68796093e-03  0.00000000e+00  7.39725337e+00]
 [-5.68796093e-03  9.99983823e-01  0.00000000e+00  3.71585167e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.326066493
Centerline is valid?  [True, True]
Translation: X:7.45, Y:0.37, Z:0.00
[[ 9.99998268e-01  1.86140693e-03  0.00000000e+00  7.45473125e+00]
 [-1.86140693e-03  9.99998268e-01  0.00000000e+00  3.71470141e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.386066493
Centerline is valid?  [True, True]
Translation: X:7.51, Y:0.38, Z:0.00
[[ 0.99996178  0.00874318  0.          7.5141136 ]
 [-0.00874318  0.99996178  0.          0.3782207 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.446066493
Centerline is valid?  [True, True]
Translation: X:7.57, Y:0.38, Z:0.00
[[ 9.99981919e-01  6.01352724e-03  0.00000000e+00  7.57252425e+00]
 [-6.01352724e-03  9.99981919e-01  0.00000000e+00  3.81904621e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.5060664930000005
Centerline is valid?  [True, True]
Translation: X:7.63, Y:0.38, Z:0.00
[[ 9.99995323e-01  3.05857250e-03  0.00000000e+00  7.63201153e+00]
 [-3.05857250e-03  9.99995323e-01  0.00000000e+00  3.82268800e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.566066493
Centerline is valid?  [True, True]
Translation: X:7.69, Y:0.38, Z:0.00
[[ 9.99988414e-01  4.81377238e-03  0.00000000e+00  7.68942041e+00]
 [-4.81377238e-03  9.99988414e-01  0.00000000e+00  3.78830103e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.626066493000001
Centerline is valid?  [True, True]
Translation: X:7.75, Y:0.38, Z:0.00
[[ 0.99995315  0.00968006  0.          7.74983931]
 [-0.00968006  0.99995315  0.          0.3777469 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.686066493
Centerline is valid?  [True, True]
Translation: X:7.81, Y:0.37, Z:0.00
[[ 0.99983802  0.01799837  0.          7.80964917]
 [-0.01799837  0.99983802  0.          0.37330914]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.746066493
Centerline is valid?  [True, True]
Translation: X:7.87, Y:0.38, Z:0.00
[[ 0.99979028  0.02047925  0.          7.86865424]
 [-0.02047925  0.99979028  0.          0.37503559]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.806066493
Centerline is valid?  [True, True]
Translation: X:7.93, Y:0.38, Z:0.00
[[ 0.99970198  0.02441227  0.          7.92855877]
 [-0.02441227  0.99970198  0.          0.37766476]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.866066493
Centerline is valid?  [True, True]
Translation: X:7.99, Y:0.38, Z:0.00
[[ 0.99968894  0.02494046  0.          7.98922054]
 [-0.02494046  0.99968894  0.          0.37600697]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.926066493
Centerline is valid?  [True, True]
Translation: X:8.05, Y:0.39, Z:0.00
[[ 0.99976265  0.0217864   0.          8.04786425]
 [-0.0217864   0.99976265  0.          0.38902759]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.986066493
Centerline is valid?  [True, True]
Translation: X:8.11, Y:0.40, Z:0.00
[[ 0.99963545  0.02699954  0.          8.10783595]
 [-0.02699954  0.99963545  0.          0.39668128]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.046066493000001
Centerline is valid?  [True, True]
Translation: X:8.17, Y:0.39, Z:0.00
[[ 0.99962273  0.02746642  0.          8.16588904]
 [-0.02746642  0.99962273  0.          0.39173804]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.106066493000002
Centerline is valid?  [True, True]
Translation: X:8.23, Y:0.39, Z:0.00
[[ 0.99941809  0.03410987  0.          8.22624051]
 [-0.03410987  0.99941809  0.          0.3926468 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.166066493
Centerline is valid?  [True, True]
Translation: X:8.29, Y:0.39, Z:0.00
[[ 0.99894307  0.04596451  0.          8.28549473]
 [-0.04596451  0.99894307  0.          0.39225172]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.226066493000001
Centerline is valid?  [True, True]
Translation: X:8.35, Y:0.39, Z:0.00
[[ 0.99857677  0.05333325  0.          8.34513283]
 [-0.05333325  0.99857677  0.          0.39004954]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.286066493000002
Centerline is valid?  [True, True]
Translation: X:8.41, Y:0.40, Z:0.00
[[ 0.99718431  0.07498971  0.          8.40545832]
 [-0.07498971  0.99718431  0.          0.39752287]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.346066493
Centerline is valid?  [True, True]
Translation: X:8.46, Y:0.40, Z:0.00
[[ 0.99620776  0.08700637  0.          8.46455439]
 [-0.08700637  0.99620776  0.          0.40243197]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 8.406066493
Centerline is valid?  [True, True]
Translation: X:8.53, Y:0.40, Z:0.00
[[ 0.99589823  0.09048043  0.          8.52519671]
 [-0.09048043  0.99589823  0.          0.40295692]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.466066493000001
Centerline is valid?  [True, True]
Translation: X:8.58, Y:0.40, Z:0.00
[[ 0.99548744  0.09489335  0.          8.58417254]
 [-0.09489335  0.99548744  0.          0.40257367]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.526066493000002
Centerline is valid?  [True, True]
Translation: X:8.64, Y:0.40, Z:0.00
[[ 0.99526817  0.09716617  0.          8.6445702 ]
 [-0.09716617  0.99526817  0.          0.4044116 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.586066493
Centerline is valid?  [True, True]
Translation: X:8.70, Y:0.41, Z:0.00
[[ 0.99536154  0.09620506  0.          8.70230552]
 [-0.09620506  0.99536154  0.          0.40939942]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.646066493000001
Centerline is valid?  [True, True]
Translation: X:8.76, Y:0.41, Z:0.00
[[ 0.99553159  0.09442911  0.          8.76210504]
 [-0.09442911  0.99553159  0.          0.41120519]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.706066493000002
Centerline is valid?  [True, True]
Translation: X:8.82, Y:0.41, Z:0.00
[[ 0.99612294  0.08797208  0.          8.82210906]
 [-0.08797208  0.99612294  0.          0.41087624]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.766066493000002
Centerline is valid?  [True, True]
Translation: X:8.88, Y:0.41, Z:0.00
[[ 0.995826    0.09127199  0.          8.88158637]
 [-0.09127199  0.995826    0.          0.41439062]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.826066493
Centerline is valid?  [True, True]
Translation: X:8.94, Y:0.42, Z:0.00
[[ 0.9968373   0.07946944  0.          8.94121395]
 [-0.07946944  0.9968373   0.          0.41690316]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.886066493000001
Centerline is valid?  [True, True]
Translation: X:9.00, Y:0.42, Z:0.00
[[ 0.99658419  0.08258298  0.          9.00085237]
 [-0.08258298  0.99658419  0.          0.42067975]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.946066493000002
Centerline is valid?  [True, True]
Translation: X:9.06, Y:0.42, Z:0.00
[[ 0.99619919  0.08710434  0.          9.06139641]
 [-0.08710434  0.99619919  0.          0.41566056]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.006066493
Centerline is valid?  [True, True]
Translation: X:9.12, Y:0.41, Z:0.00
[[ 0.99538091  0.09600444  0.          9.12063338]
 [-0.09600444  0.99538091  0.          0.41242942]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.066066493000001
Centerline is valid?  [True, True]
Translation: X:9.18, Y:0.41, Z:0.00
[[ 0.99431398  0.10648809  0.          9.18126179]
 [-0.10648809  0.99431398  0.          0.4107869 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.126066493000002
Centerline is valid?  [True, True]
Translation: X:9.24, Y:0.41, Z:0.00
[[ 0.99237839  0.12322796  0.          9.2412459 ]
 [-0.12322796  0.99237839  0.          0.41055087]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.186066493000002
Centerline is valid?  [True, True]
Translation: X:9.30, Y:0.41, Z:0.00
[[ 0.98862016  0.15043333  0.          9.301583  ]
 [-0.15043333  0.98862016  0.          0.40578045]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.246066493
Centerline is valid?  [True, True]
Translation: X:9.36, Y:0.41, Z:0.00
[[ 0.98671696  0.16244887  0.          9.361386  ]
 [-0.16244887  0.98671696  0.          0.406332  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.306066493000001
Centerline is valid?  [True, True]
Translation: X:9.42, Y:0.41, Z:0.00
[[ 0.98711742  0.15999751  0.          9.420163  ]
 [-0.15999751  0.98711742  0.          0.40697299]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.366066493000002
Centerline is valid?  [True, True]
Translation: X:9.48, Y:0.41, Z:0.00
[[ 0.99026839  0.13917085  0.          9.48041203]
 [-0.13917085  0.99026839  0.          0.40826138]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.426066493
Centerline is valid?  [True, True]
Translation: X:9.54, Y:0.41, Z:0.00
[[ 0.99187391  0.12722476  0.          9.54036068]
 [-0.12722476  0.99187391  0.          0.4053378 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.486066493000001
Centerline is valid?  [True, True]
Translation: X:9.60, Y:0.40, Z:0.00
[[ 0.9947611   0.10222696  0.          9.5994288 ]
 [-0.10222696  0.9947611   0.          0.40257068]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.546066493000001
Centerline is valid?  [True, True]
Translation: X:9.66, Y:0.40, Z:0.00
[[ 0.99495693  0.10030311  0.          9.65932024]
 [-0.10030311  0.99495693  0.          0.39944498]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 9.606066493000002
Centerline is valid?  [True, True]
Translation: X:9.72, Y:0.41, Z:0.00
[[ 0.99330034  0.11556142  0.          9.71918918]
 [-0.11556142  0.99330034  0.          0.40876094]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.666066493
Centerline is valid?  [True, True]
Translation: X:9.78, Y:0.43, Z:0.00
[[ 0.99430955  0.10652942  0.          9.77736907]
 [-0.10652942  0.99430955  0.          0.42807316]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.726066493000001
Centerline is valid?  [True, True]
Translation: X:9.84, Y:0.43, Z:0.00
[[ 0.99518939  0.09796977  0.          9.83700888]
 [-0.09796977  0.99518939  0.          0.42873173]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.786066493000002
Centerline is valid?  [True, True]
Translation: X:9.90, Y:0.42, Z:0.00
[[ 0.995239    0.09746452  0.          9.89631302]
 [-0.09746452  0.995239    0.          0.41614018]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.846066493000002
Centerline is valid?  [True, True]
Translation: X:9.96, Y:0.42, Z:0.00
[[ 0.99425766  0.10701263  0.          9.95661885]
 [-0.10701263  0.99425766  0.          0.42039641]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.906066493
Centerline is valid?  [True, True]
Translation: X:10.02, Y:0.43, Z:0.00
[[ 0.99230571  0.12381189  0.         10.01679348]
 [-0.12381189  0.99230571  0.          0.43292122]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.966066493000001
Centerline is valid?  [True, True]
Translation: X:10.08, Y:0.43, Z:0.00
[[ 0.99197159  0.12646095  0.         10.07728889]
 [-0.12646095  0.99197159  0.          0.43251112]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.026066493000002
Centerline is valid?  [True, True]
Translation: X:10.14, Y:0.43, Z:0.00
[[ 0.99202496  0.12604155  0.         10.13718791]
 [-0.12604155  0.99202496  0.          0.42828515]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.086066493
Centerline is valid?  [True, True]
Translation: X:10.20, Y:0.43, Z:0.00
[[ 0.99328256  0.11571414  0.         10.19684404]
 [-0.11571414  0.99328256  0.          0.42658142]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.146066493000001
Centerline is valid?  [True, True]
Translation: X:10.26, Y:0.43, Z:0.00
[[ 0.99499841  0.09989078  0.         10.25579751]
 [-0.09989078  0.99499841  0.          0.4266239 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.206066493000002
Centerline is valid?  [True, True]
Translation: X:10.31, Y:0.43, Z:0.00
[[ 0.99644812  0.08420894  0.         10.31440894]
 [-0.08420894  0.99644812  0.          0.42875456]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.266066493000002
Centerline is valid?  [True, True]
Translation: X:10.37, Y:0.44, Z:0.00
[[ 0.99695627  0.07796278  0.         10.37418824]
 [-0.07796278  0.99695627  0.          0.43991517]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.326066493
Centerline is valid?  [True, True]
Translation: X:10.43, Y:0.45, Z:0.00
[[ 0.99777568  0.0666611   0.         10.43384813]
 [-0.0666611   0.99777568  0.          0.45167285]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.386066493000001
Centerline is valid?  [True, True]
Translation: X:10.49, Y:0.46, Z:0.00
[[ 0.99890165  0.04685599  0.         10.4930717 ]
 [-0.04685599  0.99890165  0.          0.46068961]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.446066493000002
Centerline is valid?  [True, True]
Translation: X:10.55, Y:0.45, Z:0.00
[[ 0.99944531  0.03330265  0.         10.55271814]
 [-0.03330265  0.99944531  0.          0.4541125 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.506066493
Centerline is valid?  [True, True]
Translation: X:10.61, Y:0.45, Z:0.00
[[ 0.99953031  0.03064556  0.         10.61252454]
 [-0.03064556  0.99953031  0.          0.45047218]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.566066493000001
Centerline is valid?  [True, True]
Translation: X:10.67, Y:0.45, Z:0.00
[[ 0.99914004  0.04146297  0.         10.67259639]
 [-0.04146297  0.99914004  0.          0.44542098]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.626066493000002
Centerline is valid?  [True, True]
Translation: X:10.73, Y:0.44, Z:0.00
[[ 0.99884284  0.0480934   0.         10.73313338]
 [-0.0480934   0.99884284  0.          0.43896736]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.686066493000002
Centerline is valid?  [True, True]
Translation: X:10.79, Y:0.44, Z:0.00
[[ 0.99875432  0.04989791  0.         10.79384533]
 [-0.04989791  0.99875432  0.          0.43955615]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.746066493
Centerline is valid?  [True, True]
Translation: X:10.85, Y:0.44, Z:0.00
[[ 0.99832865  0.05779201  0.         10.85302064]
 [-0.05779201  0.99832865  0.          0.44123884]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 10.806066493000001
Centerline is valid?  [True, True]
Translation: X:10.91, Y:0.44, Z:0.00
[[ 0.99781906  0.06600854  0.         10.91342331]
 [-0.06600854  0.99781906  0.          0.43600348]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.866066493000002
Centerline is valid?  [True, True]
Translation: X:10.97, Y:0.44, Z:0.00
[[ 0.99640844  0.08467719  0.         10.97328905]
 [-0.08467719  0.99640844  0.          0.4400308 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.926066493000002
Centerline is valid?  [True, True]
Translation: X:11.03, Y:0.45, Z:0.00
[[ 0.99379887  0.11119263  0.         11.03242999]
 [-0.11119263  0.99379887  0.          0.4455663 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.986066493000001
Centerline is valid?  [True, True]
Translation: X:11.09, Y:0.44, Z:0.00
[[ 0.99373523  0.11176002  0.         11.09111518]
 [-0.11176002  0.99373523  0.          0.43934627]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.046066493000001
Centerline is valid?  [True, True]
Translation: X:11.15, Y:0.45, Z:0.00
[[ 0.99491826  0.10068591  0.         11.15079159]
 [-0.10068591  0.99491826  0.          0.45172978]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.106066493000002
Centerline is valid?  [True, True]
Translation: X:11.21, Y:0.44, Z:0.00
[[ 0.99215076  0.12504745  0.         11.21141962]
 [-0.12504745  0.99215076  0.          0.44025311]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.166066493
Centerline is valid?  [True, True]
Translation: X:11.27, Y:0.44, Z:0.00
[[ 0.99159902  0.12934988  0.         11.2706713 ]
 [-0.12934988  0.99159902  0.          0.43911648]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.226066493000001
Centerline is valid?  [True, True]
Translation: X:11.33, Y:0.45, Z:0.00
[[ 0.99066726  0.13630254  0.         11.32930451]
 [-0.13630254  0.99066726  0.          0.44501612]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.286066493000002
Centerline is valid?  [True, True]
Translation: X:11.39, Y:0.45, Z:0.00
[[ 0.99049217  0.13756908  0.         11.38930353]
 [-0.13756908  0.99049217  0.          0.45238904]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.346066493000002
Centerline is valid?  [True, True]
Translation: X:11.45, Y:0.46, Z:0.00
[[ 0.99142395  0.13068495  0.         11.44887552]
 [-0.13068495  0.99142395  0.          0.46068632]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.406066493
Centerline is valid?  [True, True]
Translation: X:11.51, Y:0.46, Z:0.00
[[ 0.9920034   0.12621118  0.         11.50827073]
 [-0.12621118  0.9920034   0.          0.46404999]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.466066493000001
Centerline is valid?  [True, True]
Translation: X:11.57, Y:0.48, Z:0.00
[[ 0.9930798   0.11744153  0.         11.56819806]
 [-0.11744153  0.9930798   0.          0.47510233]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.526066493000002
Centerline is valid?  [True, True]
Translation: X:11.63, Y:0.48, Z:0.00
[[ 0.99413166  0.10817687  0.         11.6285815 ]
 [-0.10817687  0.99413166  0.          0.47850336]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.586066493
Centerline is valid?  [True, True]
Translation: X:11.69, Y:0.48, Z:0.00
[[ 0.99569778  0.09266027  0.         11.68847449]
 [-0.09266027  0.99569778  0.          0.47710991]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.646066493000001
Centerline is valid?  [True, True]
Translation: X:11.75, Y:0.48, Z:0.00
[[ 0.99627582  0.08622345  0.         11.74887686]
 [-0.08622345  0.99627582  0.          0.47822637]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.706066493000002
Centerline is valid?  [True, True]
Translation: X:11.81, Y:0.49, Z:0.00
[[ 0.99651183  0.08345166  0.         11.80778049]
 [-0.08345166  0.99651183  0.          0.48521666]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.766066493000002
Centerline is valid?  [True, True]
Translation: X:11.87, Y:0.48, Z:0.00
[[ 0.9972027   0.07474474  0.         11.86813351]
 [-0.07474474  0.9972027   0.          0.48177347]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.826066493
Centerline is valid?  [True, True]
Translation: X:11.93, Y:0.48, Z:0.00
[[ 0.99781218  0.06611239  0.         11.92843705]
 [-0.06611239  0.99781218  0.          0.48178288]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.886066493000001
Centerline is valid?  [True, True]
Translation: X:11.99, Y:0.48, Z:0.00
[[ 0.99860755  0.05275386  0.         11.98805351]
 [-0.05275386  0.99860755  0.          0.48252617]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.946066493000002
Centerline is valid?  [True, True]
Translation: X:12.05, Y:0.48, Z:0.00
[[ 0.99883443  0.04826791  0.         12.04830884]
 [-0.04826791  0.99883443  0.          0.47828236]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 12.006066493000002
Centerline is valid?  [True, True]
Translation: X:12.11, Y:0.48, Z:0.00
[[ 0.99919889  0.04001979  0.         12.10874803]
 [-0.04001979  0.99919889  0.          0.47910989]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.066066493000001
Centerline is valid?  [True, True]
Translation: X:12.17, Y:0.48, Z:0.00
[[ 0.99949815  0.03167722  0.         12.16832678]
 [-0.03167722  0.99949815  0.          0.48392625]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.126066493000002
Centerline is valid?  [True, True]
Translation: X:12.23, Y:0.48, Z:0.00
[[ 0.99978813  0.02058398  0.         12.22875176]
 [-0.02058398  0.99978813  0.          0.47958989]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.186066493000002
Centerline is valid?  [True, True]
Translation: X:12.29, Y:0.48, Z:0.00
[[ 0.99953161  0.03060335  0.         12.28768695]
 [-0.03060335  0.99953161  0.          0.48017478]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.246066493
Centerline is valid?  [True, True]
Translation: X:12.35, Y:0.49, Z:0.00
[[ 0.99886168  0.04770061  0.         12.3477958 ]
 [-0.04770061  0.99886168  0.          0.488578  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.306066493000001
Centerline is valid?  [True, True]
Translation: X:12.41, Y:0.50, Z:0.00
[[ 0.9974236   0.0717367   0.         12.4070297 ]
 [-0.0717367   0.9974236   0.          0.49675442]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.366066493000002
Centerline is valid?  [True, True]
Translation: X:12.47, Y:0.49, Z:0.00
[[ 0.99729429  0.07351255  0.         12.46803152]
 [-0.07351255  0.99729429  0.          0.48500756]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.426066493000002
Centerline is valid?  [True, True]
Translation: X:12.53, Y:0.47, Z:0.00
[[ 0.99742883  0.07166401  0.         12.52882732]
 [-0.07166401  0.99742883  0.          0.47201086]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.486066493000001
Centerline is valid?  [True, True]
Translation: X:12.59, Y:0.47, Z:0.00
[[ 0.9972748   0.07377645  0.         12.58802612]
 [-0.07377645  0.9972748   0.          0.468773  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.546066493000001
Centerline is valid?  [True, True]
Translation: X:12.65, Y:0.47, Z:0.00
[[ 0.99688518  0.0788666   0.         12.64779607]
 [-0.0788666   0.99688518  0.          0.47400224]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.606066493000002
Centerline is valid?  [True, True]
Translation: X:12.71, Y:0.47, Z:0.00
[[ 0.99627195  0.08626814  0.         12.70837629]
 [-0.08626814  0.99627195  0.          0.4704069 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.666066493
Centerline is valid?  [True, True]
Translation: X:12.77, Y:0.47, Z:0.00
[[ 0.99580373  0.09151464  0.         12.76733936]
 [-0.09151464  0.99580373  0.          0.47160539]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.726066493000001
Centerline is valid?  [True, True]
Translation: X:12.83, Y:0.49, Z:0.00
[[ 0.99614884  0.08767837  0.         12.82560793]
 [-0.08767837  0.99614884  0.          0.48566789]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.786066493000002
Centerline is valid?  [True, True]
Translation: X:12.89, Y:0.49, Z:0.00
[[ 0.99725148  0.07409111  0.         12.88506951]
 [-0.07409111  0.99725148  0.          0.49333959]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.846066493000002
Centerline is valid?  [True, True]
Translation: X:12.95, Y:0.50, Z:0.00
[[ 0.99791931  0.06447515  0.         12.94527808]
 [-0.06447515  0.99791931  0.          0.50146918]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.906066493
Centerline is valid?  [True, True]
Translation: X:13.01, Y:0.51, Z:0.00
[[ 0.99921218  0.03968651  0.         13.00511947]
 [-0.03968651  0.99921218  0.          0.51185319]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 12.966066493000001
Centerline is valid?  [True, True]
Translation: X:13.07, Y:0.52, Z:0.00
[[ 0.99964397  0.02668196  0.         13.06512265]
 [-0.02668196  0.99964397  0.          0.51641383]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.026066493000002
Centerline is valid?  [True, True]
Translation: X:13.13, Y:0.52, Z:0.00
[[ 0.99985962  0.01675555  0.         13.12587843]
 [-0.01675555  0.99985962  0.          0.51580358]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.086066493000002
Centerline is valid?  [True, True]
Translation: X:13.19, Y:0.52, Z:0.00
[[ 0.99975531  0.02212072  0.         13.18658684]
 [-0.02212072  0.99975531  0.          0.51674346]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.146066493000001
Centerline is valid?  [True, True]
Translation: X:13.25, Y:0.53, Z:0.00
[[ 0.99923958  0.03899045  0.         13.24530962]
 [-0.03899045  0.99923958  0.          0.52762842]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 13.206066493000002
Centerline is valid?  [True, True]
Translation: X:13.31, Y:0.52, Z:0.00
[[ 0.99873604  0.05026245  0.         13.30575078]
 [-0.05026245  0.99873604  0.          0.52025985]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.266066493000002
Centerline is valid?  [True, True]
Translation: X:13.37, Y:0.51, Z:0.00
[[ 0.99840364  0.05648154  0.         13.36602218]
 [-0.05648154  0.99840364  0.          0.51187149]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.326066493
Centerline is valid?  [True, True]
Translation: X:13.43, Y:0.51, Z:0.00
[[ 0.99796528  0.06375971  0.         13.42671496]
 [-0.06375971  0.99796528  0.          0.50634621]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.386066493000001
Centerline is valid?  [True, True]
Translation: X:13.49, Y:0.50, Z:0.00
[[ 0.9976698   0.06822737  0.         13.4857588 ]
 [-0.06822737  0.9976698   0.          0.50037577]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.446066493000002
Centerline is valid?  [True, True]
Translation: X:13.54, Y:0.49, Z:0.00
[[ 0.99766884  0.06824132  0.         13.54419566]
 [-0.06824132  0.99766884  0.          0.4919246 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.506066493000002
Centerline is valid?  [True, True]
Translation: X:13.60, Y:0.49, Z:0.00
[[ 0.99766494  0.06829839  0.         13.6032215 ]
 [-0.06829839  0.99766494  0.          0.49200791]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.566066493000001
Centerline is valid?  [True, True]
Translation: X:13.66, Y:0.50, Z:0.00
[[ 0.9975442   0.07003982  0.         13.66264573]
 [-0.07003982  0.9975442   0.          0.4964709 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.626066493000002
Centerline is valid?  [True, True]
Translation: X:13.72, Y:0.50, Z:0.00
[[ 0.99742809  0.07167431  0.         13.72270007]
 [-0.07167431  0.99742809  0.          0.50200838]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.686066493000002
Centerline is valid?  [True, True]
Translation: X:13.78, Y:0.51, Z:0.00
[[ 0.99788909  0.06494116  0.         13.78301129]
 [-0.06494116  0.99788909  0.          0.50817951]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.746066493
Centerline is valid?  [True, True]
Translation: X:13.84, Y:0.52, Z:0.00
[[ 0.99786312  0.06533914  0.         13.84133716]
 [-0.06533914  0.99786312  0.          0.51535025]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.806066493000001
Centerline is valid?  [True, True]
Translation: X:13.90, Y:0.53, Z:0.00
[[ 0.997729    0.06735615  0.         13.900233  ]
 [-0.06735615  0.997729    0.          0.52708653]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.866066493000002
Centerline is valid?  [True, True]
Translation: X:13.96, Y:0.53, Z:0.00
[[ 0.9983465   0.05748273  0.         13.95887483]
 [-0.05748273  0.9983465   0.          0.53218611]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.926066493000002
Centerline is valid?  [True, True]
Translation: X:14.02, Y:0.53, Z:0.00
[[ 0.99864369  0.0520651   0.         14.01955455]
 [-0.0520651   0.99864369  0.          0.5300834 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 13.986066493000001
Centerline is valid?  [True, True]
Translation: X:14.08, Y:0.52, Z:0.00
[[ 0.99896451  0.04549634  0.         14.07888529]
 [-0.04549634  0.99896451  0.          0.52287337]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.046066493000001
Centerline is valid?  [True, True]
Translation: X:14.14, Y:0.53, Z:0.00
[[ 0.99903513  0.0439182   0.         14.13858978]
 [-0.0439182   0.99903513  0.          0.52664706]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.106066493000002
Centerline is valid?  [True, True]
Translation: X:14.20, Y:0.53, Z:0.00
[[ 0.9992886   0.03771322  0.         14.19800181]
 [-0.03771322  0.9992886   0.          0.52581739]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.166066493000002
Centerline is valid?  [True, True]
Translation: X:14.26, Y:0.52, Z:0.00
[[ 0.99943177  0.03370661  0.         14.2585039 ]
 [-0.03370661  0.99943177  0.          0.52451069]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.226066493000001
Centerline is valid?  [True, True]
Translation: X:14.32, Y:0.52, Z:0.00
[[ 0.9995736   0.02919964  0.         14.31813207]
 [-0.02919964  0.9995736   0.          0.52434943]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.286066493000002
Centerline is valid?  [True, True]
Translation: X:14.38, Y:0.53, Z:0.00
[[ 0.99960046  0.02826531  0.         14.37599829]
 [-0.02826531  0.99960046  0.          0.52978578]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.346066493000002
Centerline is valid?  [True, True]
Translation: X:14.44, Y:0.53, Z:0.00
[[ 0.99952551  0.030802    0.         14.4350586 ]
 [-0.030802    0.99952551  0.          0.53377799]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 14.406066493
Centerline is valid?  [True, True]
Translation: X:14.50, Y:0.53, Z:0.00
[[ 0.99968238  0.02520197  0.         14.49543534]
 [-0.02520197  0.99968238  0.          0.53262311]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.466066493000001
Centerline is valid?  [True, True]
Translation: X:14.56, Y:0.54, Z:0.00
[[ 0.99963442  0.02703754  0.         14.55551267]
 [-0.02703754  0.99963442  0.          0.53716198]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.526066493000002
Centerline is valid?  [True, True]
Translation: X:14.62, Y:0.55, Z:0.00
[[ 0.99942106  0.03402272  0.         14.61603327]
 [-0.03402272  0.99942106  0.          0.5463623 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.586066493000002
Centerline is valid?  [True, True]
Translation: X:14.67, Y:0.55, Z:0.00
[[ 0.99944865  0.03320246  0.         14.67423857]
 [-0.03320246  0.99944865  0.          0.55484384]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.646066493000001
Centerline is valid?  [True, True]
Translation: X:14.73, Y:0.55, Z:0.00
[[ 0.99945936  0.03287836  0.         14.73098416]
 [-0.03287836  0.99945936  0.          0.55347476]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.706066493000002
Centerline is valid?  [True, True]
Translation: X:14.79, Y:0.56, Z:0.00
[[ 0.99948454  0.03210371  0.         14.79053024]
 [-0.03210371  0.99948454  0.          0.55821931]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.766066493000002
Centerline is valid?  [True, True]
Translation: X:14.85, Y:0.56, Z:0.00
[[ 0.99951069  0.03127915  0.         14.85036119]
 [-0.03127915  0.99951069  0.          0.560365  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.826066493
Centerline is valid?  [True, True]
Translation: X:14.91, Y:0.56, Z:0.00
[[ 0.99944261  0.03338363  0.         14.90840884]
 [-0.03338363  0.99944261  0.          0.55754943]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.886066493000001
Centerline is valid?  [True, True]
Translation: X:14.97, Y:0.55, Z:0.00
[[ 0.99931394  0.03703583  0.         14.96884389]
 [-0.03703583  0.99931394  0.          0.5510412 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.946066493000002
Centerline is valid?  [True, True]
Translation: X:15.03, Y:0.55, Z:0.00
[[ 0.9990233   0.04418657  0.         15.02797894]
 [-0.04418657  0.9990233   0.          0.55470624]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.006066493000002
Centerline is valid?  [True, True]
Translation: X:15.09, Y:0.56, Z:0.00
[[ 0.99892116  0.04643826  0.         15.08869378]
 [-0.04643826  0.99892116  0.          0.55579047]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.066066493000001
Centerline is valid?  [True, True]
Translation: X:15.15, Y:0.55, Z:0.00
[[ 0.99879008  0.049177    0.         15.14850639]
 [-0.049177    0.99879008  0.          0.55338124]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.126066493000002
Centerline is valid?  [True, True]
Translation: X:15.21, Y:0.56, Z:0.00
[[ 0.9993012   0.03737789  0.         15.20868438]
 [-0.03737789  0.9993012   0.          0.55672653]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.186066493000002
Centerline is valid?  [True, True]
Translation: X:15.27, Y:0.55, Z:0.00
[[ 0.99959896  0.02831806  0.         15.26884943]
 [-0.02831806  0.99959896  0.          0.55337103]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.246066493000002
Centerline is valid?  [True, True]
Translation: X:15.33, Y:0.54, Z:0.00
[[ 0.99972367  0.02350729  0.         15.32892922]
 [-0.02350729  0.99972367  0.          0.54385489]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.306066493000001
Centerline is valid?  [True, True]
Translation: X:15.39, Y:0.55, Z:0.00
[[ 0.99973055  0.02321271  0.         15.38925713]
 [-0.02321271  0.99973055  0.          0.54535212]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.366066493000002
Centerline is valid?  [True, True]
Translation: X:15.45, Y:0.54, Z:0.00
[[ 0.99968093  0.02525928  0.         15.44963141]
 [-0.02525928  0.99968093  0.          0.54234255]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.426066493000002
Centerline is valid?  [True, True]
Translation: X:15.51, Y:0.53, Z:0.00
[[ 0.99937601  0.03532136  0.         15.5094168 ]
 [-0.03532136  0.99937601  0.          0.53290667]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.486066493000001
Centerline is valid?  [True, True]
Translation: X:15.57, Y:0.54, Z:0.00
[[ 0.9985093   0.05458192  0.         15.56998192]
 [-0.05458192  0.9985093   0.          0.54056578]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.546066493000001
Centerline is valid?  [True, True]
Translation: X:15.63, Y:0.54, Z:0.00
[[ 0.9978858   0.06499182  0.         15.6305587 ]
 [-0.06499182  0.9978858   0.          0.54308751]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 15.606066493000002
Centerline is valid?  [True, True]
Translation: X:15.69, Y:0.55, Z:0.00
[[ 0.99764306  0.0686172   0.         15.68938349]
 [-0.0686172   0.99764306  0.          0.54580234]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.666066493000002
Centerline is valid?  [True, True]
Translation: X:15.75, Y:0.55, Z:0.00
[[ 0.99836001  0.0572476   0.         15.74877133]
 [-0.0572476   0.99836001  0.          0.5496648 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.726066493000001
Centerline is valid?  [True, True]
Translation: X:15.81, Y:0.55, Z:0.00
[[ 0.99926021  0.03845808  0.         15.80906073]
 [-0.03845808  0.99926021  0.          0.55371339]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.786066493000002
Centerline is valid?  [True, True]
Translation: X:15.87, Y:0.55, Z:0.00
[[ 0.99972522  0.02344097  0.         15.86976918]
 [-0.02344097  0.99972522  0.          0.54886925]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.846066493000002
Centerline is valid?  [True, True]
Translation: X:15.93, Y:0.55, Z:0.00
[[ 0.9997171   0.02378495  0.         15.92778475]
 [-0.02378495  0.9997171   0.          0.55157839]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.906066493000003
Centerline is valid?  [True, True]
Translation: X:15.99, Y:0.56, Z:0.00
[[ 0.99934447  0.03620254  0.         15.9872705 ]
 [-0.03620254  0.99934447  0.          0.55742872]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.966066493000001
Centerline is valid?  [True, True]
Translation: X:16.05, Y:0.57, Z:0.00
[[ 0.99890475  0.04679004  0.         16.04688303]
 [-0.04679004  0.99890475  0.          0.56715352]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.026066493
Centerline is valid?  [True, True]
Translation: X:16.11, Y:0.58, Z:0.00
[[ 0.99874182  0.05014757  0.         16.10541208]
 [-0.05014757  0.99874182  0.          0.58413691]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.086066493
Centerline is valid?  [True, True]
Translation: X:16.17, Y:0.59, Z:0.00
[[ 0.99890109  0.04686802  0.         16.16578824]
 [-0.04686802  0.99890109  0.          0.59465584]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.146066493
Centerline is valid?  [True, True]
Translation: X:16.23, Y:0.59, Z:0.00
[[ 0.99925765  0.03852466  0.         16.22629991]
 [-0.03852466  0.99925765  0.          0.59473185]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.206066493
Centerline is valid?  [True, True]
Translation: X:16.29, Y:0.60, Z:0.00
[[ 0.99973812  0.02288444  0.         16.2854677 ]
 [-0.02288444  0.99973812  0.          0.59712124]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.266066493
Centerline is valid?  [True, True]
Translation: X:16.34, Y:0.60, Z:0.00
[[ 0.99985204  0.01720145  0.         16.34407133]
 [-0.01720145  0.99985204  0.          0.60138226]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.326066493
Centerline is valid?  [True, True]
Translation: X:16.40, Y:0.61, Z:0.00
[[ 0.9998042   0.01978785  0.         16.40269044]
 [-0.01978785  0.9998042   0.          0.60641805]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.386066493
Centerline is valid?  [True, True]
Translation: X:16.46, Y:0.61, Z:0.00
[[ 0.99970663  0.02422101  0.         16.46275415]
 [-0.02422101  0.99970663  0.          0.60855696]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.446066493
Centerline is valid?  [True, True]
Translation: X:16.52, Y:0.61, Z:0.00
[[ 0.99962288  0.02746075  0.         16.52263774]
 [-0.02746075  0.99962288  0.          0.60898925]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.506066493
Centerline is valid?  [True, True]
Translation: X:16.58, Y:0.60, Z:0.00
[[ 0.99971601  0.02383043  0.         16.58172157]
 [-0.02383043  0.99971601  0.          0.60155294]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.566066493
Centerline is valid?  [True, True]
Translation: X:16.64, Y:0.61, Z:0.00
[[ 0.99962197  0.02749396  0.         16.64169581]
 [-0.02749396  0.99962197  0.          0.61111165]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.626066493
Centerline is valid?  [True, True]
Translation: X:16.70, Y:0.61, Z:0.00
[[ 0.99952786  0.03072561  0.         16.70176644]
 [-0.03072561  0.99952786  0.          0.60748953]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.686066493
Centerline is valid?  [True, True]
Translation: X:16.76, Y:0.62, Z:0.00
[[ 0.99952391  0.03085374  0.         16.7603615 ]
 [-0.03085374  0.99952391  0.          0.61623712]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.746066493
Centerline is valid?  [True, True]
Translation: X:16.82, Y:0.61, Z:0.00
[[ 0.99960788  0.02800166  0.         16.82086118]
 [-0.02800166  0.99960788  0.          0.60586787]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 16.806066493
Centerline is valid?  [True, True]
Translation: X:16.88, Y:0.60, Z:0.00
[[ 0.99969338  0.02476161  0.         16.88101223]
 [-0.02476161  0.99969338  0.          0.60074988]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.866066493
Centerline is valid?  [True, True]
Translation: X:16.94, Y:0.60, Z:0.00
[[ 0.99966467  0.02589496  0.         16.94039868]
 [-0.02589496  0.99966467  0.          0.60404104]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.926066493
Centerline is valid?  [True, True]
Translation: X:17.00, Y:0.61, Z:0.00
[[ 0.99956377  0.02953413  0.         16.99980308]
 [-0.02953413  0.99956377  0.          0.61173317]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.986066493
Centerline is valid?  [True, True]
Translation: X:17.06, Y:0.59, Z:0.00
[[ 0.99955905  0.02969348  0.         17.05766097]
 [-0.02969348  0.99955905  0.          0.5939071 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.046066493
Centerline is valid?  [True, True]
Translation: X:17.12, Y:0.61, Z:0.00
[[ 0.99971796  0.02374869  0.         17.11821669]
 [-0.02374869  0.99971796  0.          0.60724636]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.106066493
Centerline is valid?  [True, True]
Translation: X:17.18, Y:0.61, Z:0.00
[[ 0.99979615  0.02019076  0.         17.17840734]
 [-0.02019076  0.99979615  0.          0.60765209]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.166066493
Centerline is valid?  [True, True]
Translation: X:17.24, Y:0.60, Z:0.00
[[ 9.99947376e-01  1.02588888e-02  0.00000000e+00  1.72384385e+01]
 [-1.02588888e-02  9.99947376e-01  0.00000000e+00  5.99549488e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.226066493
Centerline is valid?  [True, True]
Translation: X:17.30, Y:0.59, Z:0.00
[[ 9.99989922e-01  4.48960687e-03  0.00000000e+00  1.72981986e+01]
 [-4.48960687e-03  9.99989922e-01  0.00000000e+00  5.93520714e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.286066493
Centerline is valid?  [True, True]
Translation: X:17.36, Y:0.60, Z:0.00
[[ 9.99940995e-01  1.08630510e-02  0.00000000e+00  1.73578186e+01]
 [-1.08630510e-02  9.99940995e-01  0.00000000e+00  5.99708404e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.346066493
Centerline is valid?  [True, True]
Translation: X:17.42, Y:0.60, Z:0.00
[[ 0.99957767  0.0290598   0.         17.41813468]
 [-0.0290598   0.99957767  0.          0.59942526]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.406066493
Centerline is valid?  [True, True]
Translation: X:17.48, Y:0.60, Z:0.00
[[ 0.99913385  0.0416118   0.         17.47830357]
 [-0.0416118   0.99913385  0.          0.60495101]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.466066493
Centerline is valid?  [True, True]
Translation: X:17.54, Y:0.60, Z:0.00
[[ 0.99870178  0.05093866  0.         17.53900325]
 [-0.05093866  0.99870178  0.          0.60102213]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.526066493000002
Centerline is valid?  [True, True]
Translation: X:17.60, Y:0.60, Z:0.00
[[ 0.99885701  0.04779827  0.         17.59865031]
 [-0.04779827  0.99885701  0.          0.59696856]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.586066493
Centerline is valid?  [True, True]
Translation: X:17.66, Y:0.61, Z:0.00
[[ 0.99942578  0.03388384  0.         17.65838807]
 [-0.03388384  0.99942578  0.          0.60794077]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.646066493
Centerline is valid?  [True, True]
Translation: X:17.72, Y:0.60, Z:0.00
[[ 0.9998059   0.01970168  0.         17.71787639]
 [-0.01970168  0.9998059   0.          0.59765672]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.706066493
Centerline is valid?  [True, True]
Translation: X:17.78, Y:0.59, Z:0.00
[[ 9.99879083e-01  1.55505546e-02  0.00000000e+00  1.77771582e+01]
 [-1.55505546e-02  9.99879083e-01  0.00000000e+00  5.90721590e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.766066493
Centerline is valid?  [True, True]
Translation: X:17.84, Y:0.60, Z:0.00
[[ 9.99965666e-01  8.28655420e-03  0.00000000e+00  1.78374935e+01]
 [-8.28655420e-03  9.99965666e-01  0.00000000e+00  6.01592216e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.826066493
Centerline is valid?  [True, True]
Translation: X:17.90, Y:0.61, Z:0.00
[[ 9.99973825e-01  7.23523976e-03  0.00000000e+00  1.78965182e+01]
 [-7.23523976e-03  9.99973825e-01  0.00000000e+00  6.05954960e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.886066493
Centerline is valid?  [True, True]
Translation: X:17.96, Y:0.61, Z:0.00
[[ 9.99892380e-01  1.46706784e-02  0.00000000e+00  1.79569209e+01]
 [-1.46706784e-02  9.99892380e-01  0.00000000e+00  6.10510013e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.946066493
Centerline is valid?  [True, True]
Translation: X:18.02, Y:0.61, Z:0.00
[[ 0.99963519  0.02700914  0.         18.01600445]
 [-0.02700914  0.99963519  0.          0.60662797]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 18.006066493
Centerline is valid?  [True, True]
Translation: X:18.08, Y:0.62, Z:0.00
[[ 0.99957552  0.0291339   0.         18.07577994]
 [-0.0291339   0.99957552  0.          0.62194105]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.066066493
Centerline is valid?  [True, True]
Translation: X:18.13, Y:0.63, Z:0.00
[[ 0.99963613  0.02697437  0.         18.13497647]
 [-0.02697437  0.99963613  0.          0.62678081]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.126066493
Centerline is valid?  [True, True]
Translation: X:18.19, Y:0.62, Z:0.00
[[ 0.99967914  0.02533019  0.         18.1936649 ]
 [-0.02533019  0.99967914  0.          0.62022694]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.186066493
Centerline is valid?  [True, True]
Translation: X:18.25, Y:0.63, Z:0.00
[[ 0.99978934  0.02052492  0.         18.25373535]
 [-0.02052492  0.99978934  0.          0.63309592]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.246066493
Centerline is valid?  [True, True]
Translation: X:18.31, Y:0.64, Z:0.00
[[ 0.99969461  0.02471192  0.         18.31425188]
 [-0.02471192  0.99969461  0.          0.63919472]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.306066493
Centerline is valid?  [True, True]
Translation: X:18.37, Y:0.64, Z:0.00
[[ 0.99973751  0.02291076  0.         18.37358309]
 [-0.02291076  0.99973751  0.          0.64426557]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.366066493
Centerline is valid?  [True, True]
Translation: X:18.43, Y:0.64, Z:0.00
[[ 9.99859205e-01  1.67800609e-02  0.00000000e+00  1.84339004e+01]
 [-1.67800609e-02  9.99859205e-01  0.00000000e+00  6.36784027e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.426066493
Centerline is valid?  [True, True]
Translation: X:18.49, Y:0.63, Z:0.00
[[ 9.99895234e-01  1.44748708e-02  0.00000000e+00  1.84930029e+01]
 [-1.44748708e-02  9.99895234e-01  0.00000000e+00  6.32640676e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.486066493
Centerline is valid?  [True, True]
Translation: X:18.55, Y:0.64, Z:0.00
[[ 9.99907498e-01  1.36013378e-02  0.00000000e+00  1.85510351e+01]
 [-1.36013378e-02  9.99907498e-01  0.00000000e+00  6.42978573e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.546066493
Centerline is valid?  [True, True]
Translation: X:18.61, Y:0.64, Z:0.00
[[ 0.99978424  0.02077179  0.         18.61111133]
 [-0.02077179  0.99978424  0.          0.64242152]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.606066493
Centerline is valid?  [True, True]
Translation: X:18.67, Y:0.64, Z:0.00
[[ 0.99945928  0.0328808   0.         18.6711054 ]
 [-0.0328808   0.99945928  0.          0.63933784]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.666066493
Centerline is valid?  [True, True]
Translation: X:18.73, Y:0.64, Z:0.00
[[ 0.99937509  0.03534722  0.         18.73000208]
 [-0.03534722  0.99937509  0.          0.63666698]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.726066493
Centerline is valid?  [True, True]
Translation: X:18.79, Y:0.63, Z:0.00
[[ 0.99946535  0.0326958   0.         18.79070804]
 [-0.0326958   0.99946535  0.          0.62792068]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.786066493
Centerline is valid?  [True, True]
Translation: X:18.85, Y:0.63, Z:0.00
[[ 0.99947607  0.0323663   0.         18.84959342]
 [-0.0323663   0.99947607  0.          0.62526674]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.846066493
Centerline is valid?  [True, True]
Translation: X:18.91, Y:0.62, Z:0.00
[[ 0.99955377  0.02987074  0.         18.90991635]
 [-0.02987074  0.99955377  0.          0.61843745]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.906066493
Centerline is valid?  [True, True]
Translation: X:18.97, Y:0.62, Z:0.00
[[ 0.999708    0.02416426  0.         18.97028197]
 [-0.02416426  0.999708    0.          0.6175508 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.966066493
Centerline is valid?  [True, True]
Translation: X:19.03, Y:0.61, Z:0.00
[[ 9.99825228e-01  1.86952911e-02  0.00000000e+00  1.90310500e+01]
 [-1.86952911e-02  9.99825228e-01  0.00000000e+00  6.14752782e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.026066493000002
Centerline is valid?  [True, True]
Translation: X:19.09, Y:0.61, Z:0.00
[[ 9.99852454e-01  1.71776048e-02  0.00000000e+00  1.90910259e+01]
 [-1.71776048e-02  9.99852454e-01  0.00000000e+00  6.12338467e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.086066493
Centerline is valid?  [True, True]
Translation: X:19.15, Y:0.61, Z:0.00
[[ 9.99853060e-01  1.71422722e-02  0.00000000e+00  1.91479911e+01]
 [-1.71422722e-02  9.99853060e-01  0.00000000e+00  6.05686423e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.146066493
Centerline is valid?  [True, True]
Translation: X:19.21, Y:0.61, Z:0.00
[[ 9.99893172e-01  1.46165728e-02  0.00000000e+00  1.92062340e+01]
 [-1.46165728e-02  9.99893172e-01  0.00000000e+00  6.14851943e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 19.206066493
Centerline is valid?  [True, True]
Translation: X:19.27, Y:0.61, Z:0.00
[[ 9.99854979e-01  1.70299750e-02  0.00000000e+00  1.92660167e+01]
 [-1.70299750e-02  9.99854979e-01  0.00000000e+00  6.14625069e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.266066493
Centerline is valid?  [True, True]
Translation: X:19.32, Y:0.61, Z:0.00
[[ 9.99856627e-01  1.69329982e-02  0.00000000e+00  1.93236638e+01]
 [-1.69329982e-02  9.99856627e-01  0.00000000e+00  6.09554352e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.326066493
Centerline is valid?  [True, True]
Translation: X:19.38, Y:0.62, Z:0.00
[[ 9.99878052e-01  1.56166661e-02  0.00000000e+00  1.93827459e+01]
 [-1.56166661e-02  9.99878052e-01  0.00000000e+00  6.18869410e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.386066493
Centerline is valid?  [True, True]
Translation: X:19.44, Y:0.62, Z:0.00
[[ 9.99853543e-01  1.71140983e-02  0.00000000e+00  1.94401062e+01]
 [-1.71140983e-02  9.99853543e-01  0.00000000e+00  6.15874655e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.446066493
Centerline is valid?  [True, True]
Translation: X:19.50, Y:0.61, Z:0.00
[[ 9.99935273e-01  1.13775987e-02  0.00000000e+00  1.95007629e+01]
 [-1.13775987e-02  9.99935273e-01  0.00000000e+00  6.12212282e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.506066493
Centerline is valid?  [True, True]
Translation: X:19.56, Y:0.62, Z:0.00
[[ 9.99977917e-01  6.64576188e-03  0.00000000e+00  1.95610154e+01]
 [-6.64576188e-03  9.99977917e-01  0.00000000e+00  6.21207064e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.566066493
Centerline is valid?  [True, True]
Translation: X:19.62, Y:0.62, Z:0.00
[[ 9.99951176e-01  9.88162242e-03  0.00000000e+00  1.96213598e+01]
 [-9.88162242e-03  9.99951176e-01  0.00000000e+00  6.23934936e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.626066493
Centerline is valid?  [True, True]
Translation: X:19.68, Y:0.63, Z:0.00
[[ 9.99885575e-01  1.51273744e-02  0.00000000e+00  1.96810333e+01]
 [-1.51273744e-02  9.99885575e-01  0.00000000e+00  6.31563380e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.686066493000002
Centerline is valid?  [True, True]
Translation: X:19.74, Y:0.62, Z:0.00
[[ 0.99971349  0.023936    0.         19.74196273]
 [-0.023936    0.99971349  0.          0.61608116]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.746066493
Centerline is valid?  [True, True]
Translation: X:19.80, Y:0.61, Z:0.00
[[ 0.9996901   0.02489393  0.         19.80129102]
 [-0.02489393  0.9996901   0.          0.61222582]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.806066493
Centerline is valid?  [True, True]
Translation: X:19.86, Y:0.65, Z:0.00
[[ 0.99960143  0.02823068  0.         19.86014265]
 [-0.02823068  0.99960143  0.          0.64915809]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.866066493
Centerline is valid?  [True, True]
Translation: X:19.92, Y:0.64, Z:0.00
[[ 0.99947445  0.03241648  0.         19.92047998]
 [-0.03241648  0.99947445  0.          0.63765374]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.926066493
Centerline is valid?  [True, True]
Translation: X:19.98, Y:0.62, Z:0.00
[[ 0.99923525  0.03910133  0.         19.97997155]
 [-0.03910133  0.99923525  0.          0.61980277]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.986066493
Centerline is valid?  [True, True]
Translation: X:20.04, Y:0.64, Z:0.00
[[ 0.99928592  0.03778431  0.         20.03861413]
 [-0.03778431  0.99928592  0.          0.64122067]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.046066493
Centerline is valid?  [True, True]
Translation: X:20.10, Y:0.65, Z:0.00
[[ 0.9990325   0.0439779   0.         20.09762048]
 [-0.0439779   0.9990325   0.          0.64897038]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.106066493
Centerline is valid?  [True, True]
Translation: X:20.16, Y:0.63, Z:0.00
[[ 0.99874078  0.05016825  0.         20.15858001]
 [-0.05016825  0.99874078  0.          0.63402176]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.166066493
Centerline is valid?  [True, True]
Translation: X:20.22, Y:0.63, Z:0.00
[[ 0.9987044   0.05088743  0.         20.21668502]
 [-0.05088743  0.9987044   0.          0.63095092]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.226066493
Centerline is valid?  [True, True]
Translation: X:20.28, Y:0.63, Z:0.00
[[ 0.99857726  0.05332402  0.         20.2758528 ]
 [-0.05332402  0.99857726  0.          0.62702943]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.286066493
Centerline is valid?  [True, True]
Translation: X:20.34, Y:0.62, Z:0.00
[[ 0.99861557  0.0526017   0.         20.33617285]
 [-0.0526017   0.99861557  0.          0.61691635]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.346066493
Centerline is valid?  [True, True]
Translation: X:20.40, Y:0.62, Z:0.00
[[ 0.99894452  0.04593296  0.         20.39512176]
 [-0.04593296  0.99894452  0.          0.61520119]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 20.406066493
Centerline is valid?  [True, True]
Translation: X:20.46, Y:0.61, Z:0.00
[[ 0.99922145  0.03945248  0.         20.45514141]
 [-0.03945248  0.99922145  0.          0.61137865]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.466066493
Centerline is valid?  [True, True]
Translation: X:20.51, Y:0.60, Z:0.00
[[ 0.99931068  0.03712351  0.         20.51429485]
 [-0.03712351  0.99931068  0.          0.6048503 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.526066493000002
Centerline is valid?  [True, True]
Translation: X:20.57, Y:0.59, Z:0.00
[[ 0.99941202  0.03428719  0.         20.57477188]
 [-0.03428719  0.99941202  0.          0.58744389]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.586066493
Centerline is valid?  [True, True]
Translation: X:20.63, Y:0.59, Z:0.00
[[ 0.99935676  0.03586169  0.         20.63368384]
 [-0.03586169  0.99935676  0.          0.59039024]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.646066493
Centerline is valid?  [True, True]
Translation: X:20.69, Y:0.59, Z:0.00
[[ 0.99953671  0.03043641  0.         20.69334179]
 [-0.03043641  0.99953671  0.          0.58765693]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.706066493
Centerline is valid?  [True, True]
Translation: X:20.75, Y:0.56, Z:0.00
[[ 0.99976858  0.02151252  0.         20.75400556]
 [-0.02151252  0.99976858  0.          0.56210144]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.766066493
Centerline is valid?  [True, True]
Translation: X:20.81, Y:0.56, Z:0.00
[[ 9.99962984e-01  8.60409651e-03  0.00000000e+00  2.08145479e+01]
 [-8.60409651e-03  9.99962984e-01  0.00000000e+00  5.61670125e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.826066493
Centerline is valid?  [True, True]
Translation: X:20.87, Y:0.57, Z:0.00
[[ 9.99998120e-01 -1.93918833e-03  0.00000000e+00  2.08747594e+01]
 [ 1.93918833e-03  9.99998120e-01  0.00000000e+00  5.67661494e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.886066493
Centerline is valid?  [True, True]
Translation: X:20.93, Y:0.56, Z:0.00
[[ 9.99954818e-01 -9.50589674e-03  0.00000000e+00  2.09344297e+01]
 [ 9.50589674e-03  9.99954818e-01  0.00000000e+00  5.56836631e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.946066493
Centerline is valid?  [True, True]
Translation: X:20.99, Y:0.57, Z:0.00
[[ 9.99999253e-01  1.22250007e-03  0.00000000e+00  2.09939798e+01]
 [-1.22250007e-03  9.99999253e-01  0.00000000e+00  5.73943164e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.006066493
Centerline is valid?  [True, True]
Translation: X:21.05, Y:0.58, Z:0.00
[[ 9.99882287e-01  1.53431786e-02  0.00000000e+00  2.10542913e+01]
 [-1.53431786e-02  9.99882287e-01  0.00000000e+00  5.78424312e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.066066493
Centerline is valid?  [True, True]
Translation: X:21.11, Y:0.58, Z:0.00
[[ 0.99955983  0.02966725  0.         21.11476389]
 [-0.02966725  0.99955983  0.          0.57889536]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.126066493
Centerline is valid?  [True, True]
Translation: X:21.17, Y:0.57, Z:0.00
[[ 0.99836344  0.0571878   0.         21.17473159]
 [-0.0571878   0.99836344  0.          0.57154802]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.186066493000002
Centerline is valid?  [True, True]
Translation: X:21.23, Y:0.58, Z:0.00
[[ 0.99776736  0.06678541  0.         21.23364897]
 [-0.06678541  0.99776736  0.          0.58298245]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.246066493
Centerline is valid?  [True, True]
Translation: X:21.29, Y:0.57, Z:0.00
[[ 0.99765732  0.06840957  0.         21.2947345 ]
 [-0.06840957  0.99765732  0.          0.56515575]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.306066493
Centerline is valid?  [True, True]
Translation: X:21.36, Y:0.55, Z:0.00
[[ 0.99772217  0.06745723  0.         21.35552244]
 [-0.06745723  0.99772217  0.          0.5491383 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.366066493
Centerline is valid?  [True, True]
Translation: X:21.42, Y:0.53, Z:0.00
[[ 0.99760447  0.06917596  0.         21.4165897 ]
 [-0.06917596  0.99760447  0.          0.53111441]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.426066493
Centerline is valid?  [True, True]
Translation: X:21.48, Y:0.52, Z:0.00
[[ 0.99700811  0.07729696  0.         21.47722196]
 [-0.07729696  0.99700811  0.          0.52047841]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.486066493
Centerline is valid?  [True, True]
Translation: X:21.54, Y:0.49, Z:0.00
[[ 0.9962746   0.08623756  0.         21.53870286]
 [-0.08623756  0.9962746   0.          0.49285146]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.546066493
Centerline is valid?  [True, True]
Translation: X:21.60, Y:0.48, Z:0.00
[[ 0.99603323  0.08898206  0.         21.59961136]
 [-0.08898206  0.99603323  0.          0.47933304]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 21.606066493
Centerline is valid?  [True, True]
Translation: X:21.66, Y:0.46, Z:0.00
[[ 0.99617357  0.08739687  0.         21.65933806]
 [-0.08739687  0.99617357  0.          0.46088064]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.666066493
Centerline is valid?  [True, True]
Translation: X:21.72, Y:0.43, Z:0.00
[[ 0.99697316  0.07774651  0.         21.7199847 ]
 [-0.07774651  0.99697316  0.          0.43043723]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.726066493
Centerline is valid?  [True, True]
Translation: X:21.78, Y:0.40, Z:0.00
[[ 0.99785895  0.06540271  0.         21.78134407]
 [-0.06540271  0.99785895  0.          0.40331525]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.786066493
Centerline is valid?  [True, True]
Translation: X:21.84, Y:0.39, Z:0.00
[[ 0.99802624  0.06279821  0.         21.84139512]
 [-0.06279821  0.99802624  0.          0.39267599]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.846066493000002
Centerline is valid?  [True, True]
Translation: X:21.90, Y:0.36, Z:0.00
[[ 0.99854278  0.05396585  0.         21.90220118]
 [-0.05396585  0.99854278  0.          0.36207679]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.906066493
Centerline is valid?  [True, True]
Translation: X:21.96, Y:0.35, Z:0.00
[[ 0.99900962  0.04449475  0.         21.96211738]
 [-0.04449475  0.99900962  0.          0.34897817]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.966066493
Centerline is valid?  [True, True]
Translation: X:22.02, Y:0.34, Z:0.00
[[ 0.99919546  0.04010518  0.         22.02265431]
 [-0.04010518  0.99919546  0.          0.34451531]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.026066493000002
Centerline is valid?  [True, True]
Translation: X:22.08, Y:0.32, Z:0.00
[[ 0.99927429  0.03809062  0.         22.08191029]
 [-0.03809062  0.99927429  0.          0.32188647]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.086066493
Centerline is valid?  [True, True]
Translation: X:22.14, Y:0.32, Z:0.00
[[ 0.99922437  0.03937829  0.         22.14177278]
 [-0.03937829  0.99922437  0.          0.32253101]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.146066493
Centerline is valid?  [True, True]
Translation: X:22.20, Y:0.33, Z:0.00
[[ 0.99905729  0.04341129  0.         22.20180871]
 [-0.04341129  0.99905729  0.          0.33330297]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.206066493
Centerline is valid?  [True, True]
Translation: X:22.26, Y:0.33, Z:0.00
[[ 0.99932279  0.03679625  0.         22.26202967]
 [-0.03679625  0.99932279  0.          0.32524888]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.266066493
Centerline is valid?  [True, True]
Translation: X:22.32, Y:0.32, Z:0.00
[[ 0.99948985  0.03193816  0.         22.32247244]
 [-0.03193816  0.99948985  0.          0.31701132]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.326066493
Centerline is valid?  [True, True]
Translation: X:22.38, Y:0.32, Z:0.00
[[ 0.99920732  0.0398086   0.         22.38245701]
 [-0.0398086   0.99920732  0.          0.324314  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.386066493
Centerline is valid?  [True, True]
Translation: X:22.44, Y:0.33, Z:0.00
[[ 0.99862937  0.05233914  0.         22.44220654]
 [-0.05233914  0.99862937  0.          0.32757171]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.446066493
Centerline is valid?  [True, True]
Translation: X:22.50, Y:0.32, Z:0.00
[[ 0.99841109  0.05634976  0.         22.50169908]
 [-0.05634976  0.99841109  0.          0.3239168 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.506066493
Centerline is valid?  [True, True]
Translation: X:22.56, Y:0.32, Z:0.00
[[ 0.9980046   0.06314128  0.         22.56080509]
 [-0.06314128  0.9980046   0.          0.31996415]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.566066493
Centerline is valid?  [True, True]
Translation: X:22.62, Y:0.32, Z:0.00
[[ 0.99810412  0.06154802  0.         22.61958871]
 [-0.06154802  0.99810412  0.          0.31630347]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.626066493
Centerline is valid?  [True, True]
Translation: X:22.68, Y:0.32, Z:0.00
[[ 0.99831221  0.05807522  0.         22.67973889]
 [-0.05807522  0.99831221  0.          0.31690358]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.686066493000002
Centerline is valid?  [True, True]
Translation: X:22.74, Y:0.30, Z:0.00
[[ 0.99899578  0.04480445  0.         22.73907078]
 [-0.04480445  0.99899578  0.          0.30258874]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.746066493
Centerline is valid?  [True, True]
Translation: X:22.80, Y:0.31, Z:0.00
[[ 0.99890049  0.04688071  0.         22.79991588]
 [-0.04688071  0.99890049  0.          0.30577674]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 22.806066493
Centerline is valid?  [True, True]
Translation: X:22.86, Y:0.31, Z:0.00
[[ 0.99816726  0.06051544  0.         22.85918432]
 [-0.06051544  0.99816726  0.          0.30973734]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.866066493
Centerline is valid?  [True, True]
Translation: X:22.92, Y:0.30, Z:0.00
[[ 0.99697362  0.07774064  0.         22.91951521]
 [-0.07774064  0.99697362  0.          0.29977224]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.926066493
Centerline is valid?  [True, True]
Translation: X:22.98, Y:0.29, Z:0.00
[[ 0.99670373  0.08112747  0.         22.98029316]
 [-0.08112747  0.99670373  0.          0.28727645]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.986066493
Centerline is valid?  [True, True]
Translation: X:23.04, Y:0.29, Z:0.00
[[ 0.99674757  0.08058707  0.         23.04076014]
 [-0.08058707  0.99674757  0.          0.29010919]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.046066493
Centerline is valid?  [True, True]
Translation: X:23.10, Y:0.26, Z:0.00
[[ 0.9975477   0.06998994  0.         23.10085611]
 [-0.06998994  0.9975477   0.          0.26481639]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.106066493
Centerline is valid?  [True, True]
Translation: X:23.16, Y:0.25, Z:0.00
[[ 0.99788092  0.06506666  0.         23.161884  ]
 [-0.06506666  0.99788092  0.          0.25197846]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.166066493
Centerline is valid?  [True, True]
Translation: X:23.22, Y:0.25, Z:0.00
[[ 0.99785763  0.0654228   0.         23.22125562]
 [-0.0654228   0.99785763  0.          0.2545422 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.226066493
Centerline is valid?  [True, True]
Translation: X:23.28, Y:0.24, Z:0.00
[[ 0.99815071  0.0607879   0.         23.28200985]
 [-0.0607879   0.99815071  0.          0.23762242]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.286066493
Centerline is valid?  [True, True]
Translation: X:23.34, Y:0.22, Z:0.00
[[ 0.99868213  0.05132252  0.         23.34248109]
 [-0.05132252  0.99868213  0.          0.22190387]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.346066493000002
Centerline is valid?  [True, True]
Translation: X:23.40, Y:0.22, Z:0.00
[[ 0.99864692  0.05200323  0.         23.40221954]
 [-0.05200323  0.99864692  0.          0.22414484]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.406066493
Centerline is valid?  [True, True]
Translation: X:23.46, Y:0.21, Z:0.00
[[ 0.99860948  0.0527173   0.         23.46285797]
 [-0.0527173   0.99860948  0.          0.21337956]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.466066493
Centerline is valid?  [True, True]
Translation: X:23.52, Y:0.19, Z:0.00
[[ 0.99869183  0.05113337  0.         23.52303764]
 [-0.05113337  0.99869183  0.          0.19495359]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.526066493000002
Centerline is valid?  [True, True]
Translation: X:23.58, Y:0.20, Z:0.00
[[ 0.99823932  0.05931489  0.         23.58326646]
 [-0.05931489  0.99823932  0.          0.19793003]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.586066493
Centerline is valid?  [True, True]
Translation: X:23.64, Y:0.19, Z:0.00
[[ 0.99793021  0.0643063   0.         23.64300578]
 [-0.0643063   0.99793021  0.          0.1890551 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.646066493
Centerline is valid?  [True, True]
Translation: X:23.70, Y:0.18, Z:0.00
[[ 0.99744318  0.07146393  0.         23.7038981 ]
 [-0.07146393  0.99744318  0.          0.18178093]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.706066493
Centerline is valid?  [True, True]
Translation: X:23.76, Y:0.17, Z:0.00
[[ 0.99646278  0.08403527  0.         23.76478896]
 [-0.08403527  0.99646278  0.          0.17405145]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.766066493
Centerline is valid?  [True, True]
Translation: X:23.83, Y:0.17, Z:0.00
[[ 0.9962685   0.08630803  0.         23.82566485]
 [-0.08630803  0.9962685   0.          0.16829816]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.826066493
Centerline is valid?  [True, True]
Translation: X:23.89, Y:0.15, Z:0.00
[[ 0.99684457  0.07937828  0.         23.88658299]
 [-0.07937828  0.99684457  0.          0.15409847]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.886066493
Centerline is valid?  [True, True]
Translation: X:23.95, Y:0.15, Z:0.00
[[ 0.99726972  0.07384515  0.         23.94660232]
 [-0.07384515  0.99726972  0.          0.14776086]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.946066493
Centerline is valid?  [True, True]
Translation: X:24.01, Y:0.13, Z:0.00
[[ 0.99805838  0.06228546  0.         24.00739481]
 [-0.06228546  0.99805838  0.          0.12731014]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 24.006066493000002
Centerline is valid?  [True, True]
Translation: X:24.07, Y:0.12, Z:0.00
[[ 0.99833221  0.05773032  0.         24.06800451]
 [-0.05773032  0.99833221  0.          0.12279199]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.066066493
Centerline is valid?  [True, True]
Translation: X:24.13, Y:0.12, Z:0.00
[[ 0.99858165  0.05324183  0.         24.12900615]
 [-0.05324183  0.99858165  0.          0.12018789]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.126066493
Centerline is valid?  [True, True]
Translation: X:24.19, Y:0.13, Z:0.00
[[ 0.99831378  0.05804818  0.         24.18874955]
 [-0.05804818  0.99831378  0.          0.12963065]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.186066493000002
Centerline is valid?  [True, True]
Translation: X:24.25, Y:0.13, Z:0.00
[[ 0.9979651   0.06376246  0.         24.24812468]
 [-0.06376246  0.9979651   0.          0.12992493]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.246066493
Centerline is valid?  [True, True]
Translation: X:24.31, Y:0.13, Z:0.00
[[ 0.99790703  0.06466499  0.         24.30812538]
 [-0.06466499  0.99790703  0.          0.13109966]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.306066493
Centerline is valid?  [True, True]
Translation: X:24.37, Y:0.14, Z:0.00
[[ 0.99870809  0.05081495  0.         24.36752006]
 [-0.05081495  0.99870809  0.          0.13538026]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.366066493
Centerline is valid?  [True, True]
Translation: X:24.43, Y:0.14, Z:0.00
[[ 0.99897427  0.04528141  0.         24.42798409]
 [-0.04528141  0.99897427  0.          0.14083207]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.426066493
Centerline is valid?  [True, True]
Translation: X:24.49, Y:0.14, Z:0.00
[[ 0.99855226  0.05379017  0.         24.48842487]
 [-0.05379017  0.99855226  0.          0.14187568]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.486066493
Centerline is valid?  [True, True]
Translation: X:24.55, Y:0.15, Z:0.00
[[ 0.99794376  0.06409561  0.         24.54817634]
 [-0.06409561  0.99794376  0.          0.15018115]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.546066493
Centerline is valid?  [True, True]
Translation: X:24.61, Y:0.16, Z:0.00
[[ 0.99705731  0.07665978  0.         24.60706895]
 [-0.07665978  0.99705731  0.          0.1582073 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.606066493
Centerline is valid?  [True, True]
Translation: X:24.67, Y:0.16, Z:0.00
[[ 0.9965151   0.08341261  0.         24.66740355]
 [-0.08341261  0.9965151   0.          0.16008914]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.666066493000002
Centerline is valid?  [True, True]
Translation: X:24.73, Y:0.16, Z:0.00
[[ 0.99622295  0.08683217  0.         24.72744827]
 [-0.08683217  0.99622295  0.          0.16082505]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.726066493
Centerline is valid?  [True, True]
Translation: X:24.79, Y:0.16, Z:0.00
[[ 0.9959138   0.09030895  0.         24.78811684]
 [-0.09030895  0.9959138   0.          0.15704755]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.786066493
Centerline is valid?  [True, True]
Translation: X:24.85, Y:0.15, Z:0.00
[[ 0.99500017  0.09987322  0.         24.84864007]
 [-0.09987322  0.99500017  0.          0.1489575 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.846066493000002
Centerline is valid?  [True, True]
Translation: X:24.91, Y:0.14, Z:0.00
[[ 0.99484572  0.10140015  0.         24.90797708]
 [-0.10140015  0.99484572  0.          0.14109034]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.906066493
Centerline is valid?  [True, True]
Translation: X:24.97, Y:0.12, Z:0.00
[[ 0.99511363  0.09873631  0.         24.96866932]
 [-0.09873631  0.99511363  0.          0.12246824]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.966066493
Centerline is valid?  [True, True]
Translation: X:25.03, Y:0.11, Z:0.00
[[ 0.99466116  0.10319488  0.         25.02992469]
 [-0.10319488  0.99466116  0.          0.10816148]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.026066493000002
Centerline is valid?  [True, True]
Translation: X:25.09, Y:0.10, Z:0.00
[[ 0.99392985  0.11001574  0.         25.09088845]
 [-0.11001574  0.99392985  0.          0.09638936]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.086066493
Centerline is valid?  [True, True]
Translation: X:25.15, Y:0.07, Z:0.00
[[ 0.99391452  0.1101541   0.         25.15015806]
 [-0.1101541   0.99391452  0.          0.07287868]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.146066493
Centerline is valid?  [True, True]
Translation: X:25.21, Y:0.06, Z:0.00
[[ 0.99442084  0.10548555  0.         25.20964186]
 [-0.10548555  0.99442084  0.          0.05592235]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 25.206066493
Centerline is valid?  [True, True]
Translation: X:25.27, Y:0.03, Z:0.00
[[ 0.99523751  0.09747978  0.         25.27041231]
 [-0.09747978  0.99523751  0.          0.03398284]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.266066493
Centerline is valid?  [True, True]
Translation: X:25.33, Y:0.02, Z:0.00
[[ 9.95274211e-01  9.71043042e-02  0.00000000e+00  2.53283809e+01]
 [-9.71043042e-02  9.95274211e-01  0.00000000e+00  1.80156253e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.326066493
Centerline is valid?  [True, True]
Translation: X:25.39, Y:-0.00, Z:0.00
[[ 9.94954509e-01  1.00327086e-01  0.00000000e+00  2.53896052e+01]
 [-1.00327086e-01  9.94954509e-01  0.00000000e+00 -1.83549141e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.386066493
Centerline is valid?  [True, True]
Translation: X:25.45, Y:-0.02, Z:0.00
[[ 9.94923009e-01  1.00638986e-01  0.00000000e+00  2.54497721e+01]
 [-1.00638986e-01  9.94923009e-01  0.00000000e+00 -1.57720023e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.446066493
Centerline is valid?  [True, True]
Translation: X:25.51, Y:-0.04, Z:0.00
[[ 0.99582994  0.09122895  0.         25.50956907]
 [-0.09122895  0.99582994  0.         -0.04024507]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.506066493000002
Centerline is valid?  [True, True]
Translation: X:25.57, Y:-0.05, Z:0.00
[[ 0.9963746   0.08507443  0.         25.57030389]
 [-0.08507443  0.9963746   0.         -0.04875931]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.566066493
Centerline is valid?  [True, True]
Translation: X:25.63, Y:-0.07, Z:0.00
[[ 0.99661561  0.08220298  0.         25.63071053]
 [-0.08220298  0.99661561  0.         -0.06829054]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.626066493
Centerline is valid?  [True, True]
Translation: X:25.69, Y:-0.08, Z:0.00
[[ 0.99697738  0.07769231  0.         25.69180719]
 [-0.07769231  0.99697738  0.         -0.07588026]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.686066493000002
Centerline is valid?  [True, True]
Translation: X:25.75, Y:-0.08, Z:0.00
[[ 0.99769709  0.06782706  0.         25.75125326]
 [-0.06782706  0.99769709  0.         -0.07962512]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.746066493
Centerline is valid?  [True, True]
Translation: X:25.81, Y:-0.09, Z:0.00
[[ 0.99813477  0.06104892  0.         25.81188181]
 [-0.06104892  0.99813477  0.         -0.08862156]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.806066493
Centerline is valid?  [True, True]
Translation: X:25.87, Y:-0.09, Z:0.00
[[ 0.99883041  0.04835086  0.         25.87228444]
 [-0.04835086  0.99883041  0.         -0.09047359]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.866066493
Centerline is valid?  [True, True]
Translation: X:25.93, Y:-0.09, Z:0.00
[[ 0.9991462   0.04131427  0.         25.93323511]
 [-0.04131427  0.9991462   0.         -0.08588562]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.926066493
Centerline is valid?  [True, True]
Translation: X:25.99, Y:-0.08, Z:0.00
[[ 0.99920212  0.03993891  0.         25.99400906]
 [-0.03993891  0.99920212  0.         -0.08245012]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.986066493
Centerline is valid?  [True, True]
Translation: X:26.05, Y:-0.08, Z:0.00
[[ 0.99939253  0.03485079  0.         26.05462297]
 [-0.03485079  0.99939253  0.         -0.08268792]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.046066493
Centerline is valid?  [True, True]
Translation: X:26.11, Y:-0.07, Z:0.00
[[ 9.99743438e-01  2.26507850e-02  0.00000000e+00  2.61141013e+01]
 [-2.26507850e-02  9.99743438e-01  0.00000000e+00 -7.18322786e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.106066493
Centerline is valid?  [True, True]
Translation: X:26.17, Y:-0.06, Z:0.00
[[ 9.99836493e-01  1.80827762e-02  0.00000000e+00  2.61741982e+01]
 [-1.80827762e-02  9.99836493e-01  0.00000000e+00 -5.93323629e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.166066493000002
Centerline is valid?  [True, True]
Translation: X:26.23, Y:-0.05, Z:0.00
[[ 9.99832622e-01  1.82955576e-02  0.00000000e+00  2.62338297e+01]
 [-1.82955576e-02  9.99832622e-01  0.00000000e+00 -4.79885072e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.226066493
Centerline is valid?  [True, True]
Translation: X:26.29, Y:-0.03, Z:0.00
[[ 9.99723654e-01  2.35077596e-02  0.00000000e+00  2.62936927e+01]
 [-2.35077596e-02  9.99723654e-01  0.00000000e+00 -3.16199102e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.286066493
Centerline is valid?  [True, True]
Translation: X:26.35, Y:-0.01, Z:0.00
[[ 9.99563421e-01  2.95460340e-02  0.00000000e+00  2.63539009e+01]
 [-2.95460340e-02  9.99563421e-01  0.00000000e+00 -9.13394524e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.346066493000002
Centerline is valid?  [True, True]
Translation: X:26.41, Y:0.01, Z:0.00
[[ 9.99603238e-01  2.81667808e-02  0.00000000e+00  2.64127472e+01]
 [-2.81667808e-02  9.99603238e-01  0.00000000e+00  5.31032150e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 26.406066493
Centerline is valid?  [True, True]
Translation: X:26.47, Y:0.02, Z:0.00
[[ 9.99701003e-01  2.44520739e-02  0.00000000e+00  2.64727499e+01]
 [-2.44520739e-02  9.99701003e-01  0.00000000e+00  1.53761749e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.466066493
Centerline is valid?  [True, True]
Translation: X:26.53, Y:0.03, Z:0.00
[[ 9.99679339e-01  2.53222972e-02  0.00000000e+00  2.65317361e+01]
 [-2.53222972e-02  9.99679339e-01  0.00000000e+00  3.21440583e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.526066493000002
Centerline is valid?  [True, True]
Translation: X:26.59, Y:0.04, Z:0.00
[[ 0.99935656  0.03586747  0.         26.59165832]
 [-0.03586747  0.99935656  0.          0.04249734]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.586066493
Centerline is valid?  [True, True]
Translation: X:26.65, Y:0.06, Z:0.00
[[ 0.99852401  0.05431212  0.         26.65183726]
 [-0.05431212  0.99852401  0.          0.05654522]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.646066493
Centerline is valid?  [True, True]
Translation: X:26.71, Y:0.07, Z:0.00
[[ 0.99765104  0.06850116  0.         26.71215607]
 [-0.06850116  0.99765104  0.          0.06792395]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.706066493
Centerline is valid?  [True, True]
Translation: X:26.77, Y:0.07, Z:0.00
[[ 0.99703835  0.07690591  0.         26.77178205]
 [-0.07690591  0.99703835  0.          0.07370398]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.766066493
Centerline is valid?  [True, True]
Translation: X:26.83, Y:0.08, Z:0.00
[[ 0.99737625  0.07239205  0.         26.83205342]
 [-0.07239205  0.99737625  0.          0.07636971]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.826066493000003
Centerline is valid?  [True, True]
Translation: X:26.89, Y:0.08, Z:0.00
[[ 0.99780787  0.06617741  0.         26.89159153]
 [-0.06617741  0.99780787  0.          0.08027713]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.886066493
Centerline is valid?  [True, True]
Translation: X:26.95, Y:0.08, Z:0.00
[[ 0.99837122  0.05705183  0.         26.95123355]
 [-0.05705183  0.99837122  0.          0.08275567]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.946066493
Centerline is valid?  [True, True]
Translation: X:27.01, Y:0.08, Z:0.00
[[ 0.99856761  0.0535044   0.         27.01169925]
 [-0.0535044   0.99856761  0.          0.08296183]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.006066493000002
Centerline is valid?  [True, True]
Translation: X:27.07, Y:0.09, Z:0.00
[[ 0.99876187  0.04974666  0.         27.07246114]
 [-0.04974666  0.99876187  0.          0.08986961]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.066066493
Centerline is valid?  [True, True]
Translation: X:27.13, Y:0.09, Z:0.00
[[ 0.99887017  0.04752236  0.         27.13260655]
 [-0.04752236  0.99887017  0.          0.08737535]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.126066493
Centerline is valid?  [True, True]
Translation: X:27.19, Y:0.09, Z:0.00
[[ 0.99886995  0.04752698  0.         27.19111601]
 [-0.04752698  0.99886995  0.          0.09021149]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.186066493000002
Centerline is valid?  [True, True]
Translation: X:27.25, Y:0.10, Z:0.00
[[ 0.99873102  0.05036221  0.         27.25000639]
 [-0.05036221  0.99873102  0.          0.10158692]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.246066493
Centerline is valid?  [True, True]
Translation: X:27.31, Y:0.11, Z:0.00
[[ 0.99889114  0.04707966  0.         27.30915089]
 [-0.04707966  0.99889114  0.          0.108064  ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.306066493
Centerline is valid?  [True, True]
Translation: X:27.37, Y:0.11, Z:0.00
[[ 0.99913959  0.04147394  0.         27.36947645]
 [-0.04147394  0.99913959  0.          0.1102757 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.366066493
Centerline is valid?  [True, True]
Translation: X:27.43, Y:0.13, Z:0.00
[[ 0.99926743  0.03827026  0.         27.42937995]
 [-0.03827026  0.99926743  0.          0.12930417]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.426066493
Centerline is valid?  [True, True]
Translation: X:27.49, Y:0.15, Z:0.00
[[ 9.99636552e-01  2.69585479e-02  0.00000000e+00  2.74882192e+01]
 [-2.69585479e-02  9.99636552e-01  0.00000000e+00  1.48365305e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.486066493
Centerline is valid?  [True, True]
Translation: X:27.55, Y:0.15, Z:0.00
[[ 9.99950853e-01  9.91424577e-03  0.00000000e+00  2.75481196e+01]
 [-9.91424577e-03  9.99950853e-01  0.00000000e+00  1.54336555e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.546066493
Centerline is valid?  [True, True]
Translation: X:27.61, Y:0.17, Z:0.00
[[ 9.99970098e-01  7.73328320e-03  0.00000000e+00  2.76063128e+01]
 [-7.73328320e-03  9.99970098e-01  0.00000000e+00  1.70479410e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 27.606066493
Centerline is valid?  [True, True]
Translation: X:27.67, Y:0.20, Z:0.00
[[ 9.99844145e-01  1.76546429e-02  0.00000000e+00  2.76658407e+01]
 [-1.76546429e-02  9.99844145e-01  0.00000000e+00  1.96364127e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.666066493000002
Centerline is valid?  [True, True]
Translation: X:27.73, Y:0.21, Z:0.00
[[ 9.99775713e-01  2.11783548e-02  0.00000000e+00  2.77261528e+01]
 [-2.11783548e-02  9.99775713e-01  0.00000000e+00  2.05629325e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.726066493
Centerline is valid?  [True, True]
Translation: X:27.79, Y:0.22, Z:0.00
[[ 9.99673020e-01  2.55705492e-02  0.00000000e+00  2.77857115e+01]
 [-2.55705492e-02  9.99673020e-01  0.00000000e+00  2.21646857e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.786066493
Centerline is valid?  [True, True]
Translation: X:27.85, Y:0.23, Z:0.00
[[ 9.99612288e-01  2.78437287e-02  0.00000000e+00  2.78462047e+01]
 [-2.78437287e-02  9.99612288e-01  0.00000000e+00  2.28551469e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.846066493000002
Centerline is valid?  [True, True]
Translation: X:27.91, Y:0.24, Z:0.00
[[ 0.99954368  0.03020637  0.         27.90580613]
 [-0.03020637  0.99954368  0.          0.2378331 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.906066493
Centerline is valid?  [True, True]
Translation: X:27.96, Y:0.26, Z:0.00
[[ 0.99946813  0.03261062  0.         27.96315355]
 [-0.03261062  0.99946813  0.          0.25559843]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.966066493
Centerline is valid?  [True, True]
Translation: X:28.02, Y:0.26, Z:0.00
[[ 0.9994333   0.03366116  0.         28.02380478]
 [-0.03366116  0.9994333   0.          0.26027754]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.026066493000002
Centerline is valid?  [True, True]
Translation: X:28.08, Y:0.28, Z:0.00
[[ 0.99912843  0.04174189  0.         28.08405068]
 [-0.04174189  0.99912843  0.          0.27518627]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.086066493
Centerline is valid?  [True, True]
Translation: X:28.14, Y:0.29, Z:0.00
[[ 0.99875468  0.04989071  0.         28.14425959]
 [-0.04989071  0.99875468  0.          0.28519158]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.146066493
Centerline is valid?  [True, True]
Translation: X:28.20, Y:0.29, Z:0.00
[[ 0.99830251  0.05824175  0.         28.20462923]
 [-0.05824175  0.99830251  0.          0.29390628]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.206066493
Centerline is valid?  [True, True]
Translation: X:28.26, Y:0.30, Z:0.00
[[ 0.99820509  0.05988827  0.         28.26428932]
 [-0.05988827  0.99820509  0.          0.29877596]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.266066493
Centerline is valid?  [True, True]
Translation: X:28.32, Y:0.30, Z:0.00
[[ 0.9982921   0.05841997  0.         28.32329321]
 [-0.05841997  0.9982921   0.          0.29923723]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.326066493000003
Centerline is valid?  [True, True]
Translation: X:28.38, Y:0.30, Z:0.00
[[ 0.99804934  0.06243008  0.         28.38241381]
 [-0.06243008  0.99804934  0.          0.3025089 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.386066493
Centerline is valid?  [True, True]
Translation: X:28.44, Y:0.31, Z:0.00
[[ 0.99806148  0.06223576  0.         28.44070673]
 [-0.06223576  0.99806148  0.          0.30561387]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.446066493
Centerline is valid?  [True, True]
Translation: X:28.50, Y:0.30, Z:0.00
[[ 0.99824378  0.05923976  0.         28.50062869]
 [-0.05923976  0.99824378  0.          0.30098415]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.506066493000002
Centerline is valid?  [True, True]
Translation: X:28.56, Y:0.30, Z:0.00
[[ 0.9982148   0.0597261   0.         28.56010465]
 [-0.0597261   0.9982148   0.          0.30071353]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.566066493
Centerline is valid?  [True, True]
Translation: X:28.62, Y:0.31, Z:0.00
[[ 0.99809265  0.06173375  0.         28.62000171]
 [-0.06173375  0.99809265  0.          0.30522821]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.626066493
Centerline is valid?  [True, True]
Translation: X:28.68, Y:0.30, Z:0.00
[[ 0.99821724  0.05968537  0.         28.68054476]
 [-0.05968537  0.99821724  0.          0.30384956]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.686066493000002
Centerline is valid?  [True, True]
Translation: X:28.74, Y:0.29, Z:0.00
[[ 0.99872846  0.05041286  0.         28.74169435]
 [-0.05041286  0.99872846  0.          0.29221336]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.746066493
Centerline is valid?  [True, True]
Translation: X:28.80, Y:0.30, Z:0.00
[[ 0.99900336  0.04463506  0.         28.80197008]
 [-0.04463506  0.99900336  0.          0.29632142]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 28.806066493
Centerline is valid?  [True, True]
Translation: X:28.86, Y:0.30, Z:0.00
[[ 0.99922625  0.0393306   0.         28.86121985]
 [-0.0393306   0.99922625  0.          0.30212766]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.866066493
Centerline is valid?  [True, True]
Translation: X:28.92, Y:0.29, Z:0.00
[[ 9.99612793e-01  2.78256083e-02  0.00000000e+00  2.89207489e+01]
 [-2.78256083e-02  9.99612793e-01  0.00000000e+00  2.89325062e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.926066493
Centerline is valid?  [True, True]
Translation: X:28.98, Y:0.29, Z:0.00
[[ 9.99862188e-01  1.66013686e-02  0.00000000e+00  2.89808188e+01]
 [-1.66013686e-02  9.99862188e-01  0.00000000e+00  2.88632004e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.986066493000003
Centerline is valid?  [True, True]
Translation: X:29.04, Y:0.30, Z:0.00
[[ 9.99863630e-01  1.65142764e-02  0.00000000e+00  2.90393283e+01]
 [-1.65142764e-02  9.99863630e-01  0.00000000e+00  2.96468412e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.046066493
Centerline is valid?  [True, True]
Translation: X:29.10, Y:0.29, Z:0.00
[[ 9.99789133e-01  2.05351027e-02  0.00000000e+00  2.90994850e+01]
 [-2.05351027e-02  9.99789133e-01  0.00000000e+00  2.90262592e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.106066493
Centerline is valid?  [True, True]
Translation: X:29.16, Y:0.30, Z:0.00
[[ 9.99667013e-01  2.58043415e-02  0.00000000e+00  2.91599103e+01]
 [-2.58043415e-02  9.99667013e-01  0.00000000e+00  2.95519209e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.166066493000002
Centerline is valid?  [True, True]
Translation: X:29.22, Y:0.31, Z:0.00
[[ 0.99954119  0.03028879  0.         29.21964406]
 [-0.03028879  0.99954119  0.          0.30773802]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.226066493
Centerline is valid?  [True, True]
Translation: X:29.28, Y:0.31, Z:0.00
[[ 0.99939194  0.0348675   0.         29.27999164]
 [-0.0348675   0.99939194  0.          0.31264589]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.286066493
Centerline is valid?  [True, True]
Translation: X:29.34, Y:0.32, Z:0.00
[[ 0.99941796  0.03411358  0.         29.33771325]
 [-0.03411358  0.99941796  0.          0.3183662 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.346066493000002
Centerline is valid?  [True, True]
Translation: X:29.40, Y:0.32, Z:0.00
[[ 0.99950005  0.0316171   0.         29.39688509]
 [-0.0316171   0.99950005  0.          0.32431387]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.406066493
Centerline is valid?  [True, True]
Translation: X:29.46, Y:0.33, Z:0.00
[[ 0.99953138  0.0306109   0.         29.45603311]
 [-0.0306109   0.99953138  0.          0.32870693]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.466066493
Centerline is valid?  [True, True]
Translation: X:29.52, Y:0.33, Z:0.00
[[ 0.99932976  0.03660632  0.         29.51526722]
 [-0.03660632  0.99932976  0.          0.33319087]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.526066493000002
Centerline is valid?  [True, True]
Translation: X:29.57, Y:0.34, Z:0.00
[[ 0.99912676  0.04178179  0.         29.57483728]
 [-0.04178179  0.99912676  0.          0.34216527]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.586066493
Centerline is valid?  [True, True]
Translation: X:29.64, Y:0.34, Z:0.00
[[ 0.99872549  0.05047177  0.         29.63513643]
 [-0.05047177  0.99872549  0.          0.33878977]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.646066493
Centerline is valid?  [True, True]
Translation: X:29.70, Y:0.34, Z:0.00
[[ 0.99845364  0.05559067  0.         29.69588343]
 [-0.05559067  0.99845364  0.          0.34253965]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.706066493
Centerline is valid?  [True, True]
Translation: X:29.76, Y:0.35, Z:0.00
[[ 0.99812296  0.06124173  0.         29.756146  ]
 [-0.06124173  0.99812296  0.          0.3471751 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.766066493
Centerline is valid?  [True, True]
Translation: X:29.82, Y:0.35, Z:0.00
[[ 0.99746976  0.071092    0.         29.81631094]
 [-0.071092    0.99746976  0.          0.35299671]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.826066493000003
Centerline is valid?  [True, True]
Translation: X:29.88, Y:0.34, Z:0.00
[[ 0.99778774  0.06648021  0.         29.8765226 ]
 [-0.06648021  0.99778774  0.          0.33669723]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.886066493
Centerline is valid?  [True, True]
Translation: X:29.94, Y:0.34, Z:0.00
[[ 0.99787065  0.06522397  0.         29.93649991]
 [-0.06522397  0.99787065  0.          0.33701121]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.946066493
Centerline is valid?  [True, True]
Translation: X:30.00, Y:0.34, Z:0.00
[[ 0.99760168  0.06921629  0.         29.99640748]
 [-0.06921629  0.99760168  0.          0.34436959]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 30.006066493000002
Centerline is valid?  [True, True]
Translation: X:30.06, Y:0.32, Z:0.00
[[ 0.99745861  0.0712483   0.         30.05584442]
 [-0.0712483   0.99745861  0.          0.32362743]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.066066493
Centerline is valid?  [True, True]
Translation: X:30.12, Y:0.31, Z:0.00
[[ 0.99738864  0.07222115  0.         30.11672396]
 [-0.07222115  0.99738864  0.          0.31193457]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.126066493
Centerline is valid?  [True, True]
Translation: X:30.18, Y:0.31, Z:0.00
[[ 0.99743401  0.07159187  0.         30.17679368]
 [-0.07159187  0.99743401  0.          0.31016829]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.186066493000002
Centerline is valid?  [True, True]
Translation: X:30.24, Y:0.30, Z:0.00
[[ 0.99745521  0.07129587  0.         30.23577407]
 [-0.07129587  0.99745521  0.          0.29555413]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.246066493
Centerline is valid?  [True, True]
Translation: X:30.29, Y:0.27, Z:0.00
[[ 0.99751406  0.07046767  0.         30.29423332]
 [-0.07046767  0.99751406  0.          0.27244138]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.306066493
Centerline is valid?  [True, True]
Translation: X:30.35, Y:0.26, Z:0.00
[[ 0.99714408  0.07552268  0.         30.3546627 ]
 [-0.07552268  0.99714408  0.          0.26387136]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.366066493
Centerline is valid?  [True, True]
Translation: X:30.42, Y:0.25, Z:0.00
[[ 0.99698788  0.0775575   0.         30.41513932]
 [-0.0775575   0.99698788  0.          0.25377182]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.426066493
Centerline is valid?  [True, True]
Translation: X:30.47, Y:0.25, Z:0.00
[[ 0.99695911  0.07792641  0.         30.47431557]
 [-0.07792641  0.99695911  0.          0.24646742]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.486066493000003
Centerline is valid?  [True, True]
Translation: X:30.53, Y:0.22, Z:0.00
[[ 0.99699456  0.07747154  0.         30.53282334]
 [-0.07747154  0.99699456  0.          0.2223837 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.546066493
Centerline is valid?  [True, True]
Translation: X:30.59, Y:0.21, Z:0.00
[[ 0.99661707  0.08218525  0.         30.59387108]
 [-0.08218525  0.99661707  0.          0.21101424]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.606066493
Centerline is valid?  [True, True]
Translation: X:30.65, Y:0.21, Z:0.00
[[ 0.99565408  0.09312873  0.         30.65435289]
 [-0.09312873  0.99565408  0.          0.2122187 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.666066493000002
Centerline is valid?  [True, True]
Translation: X:30.71, Y:0.19, Z:0.00
[[ 0.99591699  0.09027379  0.         30.71480183]
 [-0.09027379  0.99591699  0.          0.19357917]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.726066493
Centerline is valid?  [True, True]
Translation: X:30.78, Y:0.17, Z:0.00
[[ 0.9966599   0.08166419  0.         30.77603773]
 [-0.08166419  0.9966599   0.          0.17254486]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.786066493
Centerline is valid?  [True, True]
Translation: X:30.84, Y:0.16, Z:0.00
[[ 0.99783354  0.06578929  0.         30.83567015]
 [-0.06578929  0.99783354  0.          0.16316235]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.846066493000002
Centerline is valid?  [True, True]
Translation: X:30.90, Y:0.15, Z:0.00
[[ 0.99821191  0.05977447  0.         30.89531561]
 [-0.05977447  0.99821191  0.          0.15341853]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.906066493
Centerline is valid?  [True, True]
Translation: X:30.96, Y:0.14, Z:0.00
[[ 0.99894985  0.045817    0.         30.95500339]
 [-0.045817    0.99894985  0.          0.13609224]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.966066493
Centerline is valid?  [True, True]
Translation: X:31.02, Y:0.14, Z:0.00
[[ 0.99935005  0.03604815  0.         31.01529036]
 [-0.03604815  0.99935005  0.          0.13605186]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.026066493000002
Centerline is valid?  [True, True]
Translation: X:31.08, Y:0.13, Z:0.00
[[ 9.99711277e-01  2.40283733e-02  0.00000000e+00  3.10752193e+01]
 [-2.40283733e-02  9.99711277e-01  0.00000000e+00  1.28914932e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.086066493
Centerline is valid?  [True, True]
Translation: X:31.14, Y:0.13, Z:0.00
[[ 9.99746665e-01  2.25078934e-02  0.00000000e+00  3.11351330e+01]
 [-2.25078934e-02  9.99746665e-01  0.00000000e+00  1.31790504e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.146066493000003
Centerline is valid?  [True, True]
Translation: X:31.19, Y:0.14, Z:0.00
[[ 9.99745816e-01  2.25455835e-02  0.00000000e+00  3.11937265e+01]
 [-2.25455835e-02  9.99745816e-01  0.00000000e+00  1.35911945e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 31.206066493
Centerline is valid?  [True, True]
Translation: X:31.25, Y:0.14, Z:0.00
[[ 9.99752265e-01  2.22577707e-02  0.00000000e+00  3.12522459e+01]
 [-2.22577707e-02  9.99752265e-01  0.00000000e+00  1.41562294e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.266066493
Centerline is valid?  [True, True]
Translation: X:31.31, Y:0.15, Z:0.00
[[ 9.99698421e-01  2.45574182e-02  0.00000000e+00  3.13105231e+01]
 [-2.45574182e-02  9.99698421e-01  0.00000000e+00  1.46977984e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.326066493000003
Centerline is valid?  [True, True]
Translation: X:31.37, Y:0.15, Z:0.00
[[ 9.99671821e-01  2.56173712e-02  0.00000000e+00  3.13695832e+01]
 [-2.56173712e-02  9.99671821e-01  0.00000000e+00  1.52577515e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.386066493
Centerline is valid?  [True, True]
Translation: X:31.43, Y:0.16, Z:0.00
[[ 9.99518044e-01  3.10431995e-02  0.00000000e+00  3.14297874e+01]
 [-3.10431995e-02  9.99518044e-01  0.00000000e+00  1.55906868e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.446066493
Centerline is valid?  [True, True]
Translation: X:31.49, Y:0.17, Z:0.00
[[ 0.99909714  0.04248416  0.         31.48897154]
 [-0.04248416  0.99909714  0.          0.17344065]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.506066493000002
Centerline is valid?  [True, True]
Translation: X:31.55, Y:0.18, Z:0.00
[[ 0.99899221  0.04488396  0.         31.54754659]
 [-0.04488396  0.99899221  0.          0.17888272]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.566066493
Centerline is valid?  [True, True]
Translation: X:31.61, Y:0.18, Z:0.00
[[ 0.9991176   0.04200025  0.         31.60695483]
 [-0.04200025  0.9991176   0.          0.17560607]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.626066493
Centerline is valid?  [True, True]
Translation: X:31.67, Y:0.18, Z:0.00
[[ 0.99921334  0.0396574   0.         31.6659712 ]
 [-0.0396574   0.99921334  0.          0.17977501]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.686066493000002
Centerline is valid?  [True, True]
Translation: X:31.72, Y:0.19, Z:0.00
[[ 0.99928131  0.0379061   0.         31.7245787 ]
 [-0.0379061   0.99928131  0.          0.19034917]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.746066493
Centerline is valid?  [True, True]
Translation: X:31.78, Y:0.19, Z:0.00
[[ 0.9991061   0.04227302  0.         31.78461192]
 [-0.04227302  0.9991061   0.          0.18897489]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.806066493000003
Centerline is valid?  [True, True]
Translation: X:31.84, Y:0.19, Z:0.00
[[ 0.99903516  0.04391747  0.         31.84366797]
 [-0.04391747  0.99903516  0.          0.18893499]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.866066493
Centerline is valid?  [True, True]
Translation: X:31.90, Y:0.19, Z:0.00
[[ 0.99940217  0.03457316  0.         31.90319124]
 [-0.03457316  0.99940217  0.          0.19405544]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.926066493
Centerline is valid?  [True, True]
Translation: X:31.96, Y:0.19, Z:0.00
[[ 9.99794039e-01  2.02947971e-02  0.00000000e+00  3.19628695e+01]
 [-2.02947971e-02  9.99794039e-01  0.00000000e+00  1.94519136e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.986066493000003
Centerline is valid?  [True, True]
Translation: X:32.02, Y:0.19, Z:0.00
[[ 9.99998812e-01  1.54128243e-03  0.00000000e+00  3.20230836e+01]
 [-1.54128243e-03  9.99998812e-01  0.00000000e+00  1.93550926e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.046066493
Centerline is valid?  [True, True]
Translation: X:32.08, Y:0.20, Z:0.00
[[ 9.99963375e-01 -8.55856649e-03  0.00000000e+00  3.20834940e+01]
 [ 8.55856649e-03  9.99963375e-01  0.00000000e+00  2.02584588e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.106066493
Centerline is valid?  [True, True]
Translation: X:32.14, Y:0.22, Z:0.00
[[ 9.99903774e-01 -1.38723643e-02  0.00000000e+00  3.21441640e+01]
 [ 1.38723643e-02  9.99903774e-01  0.00000000e+00  2.21538765e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.166066493
Centerline is valid?  [True, True]
Translation: X:32.21, Y:0.24, Z:0.00
[[ 9.99916579e-01 -1.29164852e-02  0.00000000e+00  3.22058130e+01]
 [ 1.29164852e-02  9.99916579e-01  0.00000000e+00  2.39138063e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.226066493000005
Centerline is valid?  [True, True]
Translation: X:32.27, Y:0.26, Z:0.00
[[ 9.99977883e-01 -6.65079866e-03  0.00000000e+00  3.22661746e+01]
 [ 6.65079866e-03  9.99977883e-01  0.00000000e+00  2.64903487e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.286066493
Centerline is valid?  [True, True]
Translation: X:32.33, Y:0.28, Z:0.00
[[ 9.99990867e-01 -4.27381169e-03  0.00000000e+00  3.23266568e+01]
 [ 4.27381169e-03  9.99990867e-01  0.00000000e+00  2.83921026e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.346066493
Centerline is valid?  [True, True]
Translation: X:32.39, Y:0.31, Z:0.00
[[ 9.99995848e-01 -2.88152276e-03  0.00000000e+00  3.23873679e+01]
 [ 2.88152276e-03  9.99995848e-01  0.00000000e+00  3.09449791e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 32.406066493000004
Centerline is valid?  [True, True]
Translation: X:32.45, Y:0.32, Z:0.00
[[ 9.99999849e-01 -5.49526091e-04  0.00000000e+00  3.24478127e+01]
 [ 5.49526091e-04  9.99999849e-01  0.00000000e+00  3.21358460e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.466066493
Centerline is valid?  [True, True]
Translation: X:32.51, Y:0.35, Z:0.00
[[ 9.99942968e-01  1.06799077e-02  0.00000000e+00  3.25066821e+01]
 [-1.06799077e-02  9.99942968e-01  0.00000000e+00  3.47258612e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.526066493
Centerline is valid?  [True, True]
Translation: X:32.57, Y:0.36, Z:0.00
[[ 9.99909295e-01  1.34685161e-02  0.00000000e+00  3.25662305e+01]
 [-1.34685161e-02  9.99909295e-01  0.00000000e+00  3.61612694e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.586066493000004
Centerline is valid?  [True, True]
Translation: X:32.63, Y:0.38, Z:0.00
[[ 9.99905875e-01  1.37201181e-02  0.00000000e+00  3.26259866e+01]
 [-1.37201181e-02  9.99905875e-01  0.00000000e+00  3.79519014e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.646066493
Centerline is valid?  [True, True]
Translation: X:32.69, Y:0.40, Z:0.00
[[ 9.99915751e-01  1.29804422e-02  0.00000000e+00  3.26861351e+01]
 [-1.29804422e-02  9.99915751e-01  0.00000000e+00  3.96562024e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.706066493
Centerline is valid?  [True, True]
Translation: X:32.75, Y:0.41, Z:0.00
[[ 9.99955571e-01  9.42630836e-03  0.00000000e+00  3.27455171e+01]
 [-9.42630836e-03  9.99955571e-01  0.00000000e+00  4.14924738e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.766066493000004
Centerline is valid?  [True, True]
Translation: X:32.81, Y:0.43, Z:0.00
[[ 9.99997360e-01 -2.29777741e-03  0.00000000e+00  3.28058354e+01]
 [ 2.29777741e-03  9.99997360e-01  0.00000000e+00  4.25487015e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.826066493
Centerline is valid?  [True, True]
Translation: X:32.87, Y:0.44, Z:0.00
[[ 9.99949572e-01 -1.00425439e-02  0.00000000e+00  3.28660398e+01]
 [ 1.00425439e-02  9.99949572e-01  0.00000000e+00  4.38826579e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.886066493
Centerline is valid?  [True, True]
Translation: X:32.93, Y:0.45, Z:0.00
[[ 9.99879897e-01 -1.54981000e-02  0.00000000e+00  3.29274471e+01]
 [ 1.54981000e-02  9.99879897e-01  0.00000000e+00  4.54643765e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.946066493000004
Centerline is valid?  [True, True]
Translation: X:32.99, Y:0.46, Z:0.00
[[ 9.99854140e-01 -1.70791891e-02  0.00000000e+00  3.29893405e+01]
 [ 1.70791891e-02  9.99854140e-01  0.00000000e+00  4.63371032e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.006066493
Centerline is valid?  [True, True]
Translation: X:33.05, Y:0.48, Z:0.00
[[ 9.99836071e-01 -1.81061002e-02  0.00000000e+00  3.30498141e+01]
 [ 1.81061002e-02  9.99836071e-01  0.00000000e+00  4.79188929e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.066066493
Centerline is valid?  [True, True]
Translation: X:33.11, Y:0.50, Z:0.00
[[ 9.99758811e-01 -2.19617942e-02  0.00000000e+00  3.31115947e+01]
 [ 2.19617942e-02  9.99758811e-01  0.00000000e+00  4.98821594e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.126066493
Centerline is valid?  [True, True]
Translation: X:33.17, Y:0.51, Z:0.00
[[ 9.99601827e-01 -2.82167910e-02  0.00000000e+00  3.31732027e+01]
 [ 2.82167910e-02  9.99601827e-01  0.00000000e+00  5.10599668e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.186066493
Centerline is valid?  [True, True]
Translation: X:33.23, Y:0.53, Z:0.00
[[ 0.99933694 -0.03640985  0.         33.2349856 ]
 [ 0.03640985  0.99933694  0.          0.53277864]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.246066493
Centerline is valid?  [True, True]
Translation: X:33.30, Y:0.55, Z:0.00
[[ 0.99930711 -0.03721954  0.         33.29636288]
 [ 0.03721954  0.99930711  0.          0.54721532]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.306066493
Centerline is valid?  [True, True]
Translation: X:33.36, Y:0.57, Z:0.00
[[ 0.99908534 -0.04276084  0.         33.35658447]
 [ 0.04276084  0.99908534  0.          0.56804178]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.366066493
Centerline is valid?  [True, True]
Translation: X:33.42, Y:0.59, Z:0.00
[[ 0.99914402 -0.04136708  0.         33.41688157]
 [ 0.04136708  0.99914402  0.          0.58667051]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.426066493
Centerline is valid?  [True, True]
Translation: X:33.48, Y:0.60, Z:0.00
[[ 0.99920718 -0.03981226  0.         33.47888969]
 [ 0.03981226  0.99920718  0.          0.59876088]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.486066493
Centerline is valid?  [True, True]
Translation: X:33.54, Y:0.62, Z:0.00
[[ 9.99679820e-01 -2.53033020e-02  0.00000000e+00  3.35394805e+01]
 [ 2.53033020e-02  9.99679820e-01  0.00000000e+00  6.23716085e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.546066493
Centerline is valid?  [True, True]
Translation: X:33.60, Y:0.63, Z:0.00
[[ 9.99850088e-01 -1.73147874e-02  0.00000000e+00  3.35990825e+01]
 [ 1.73147874e-02  9.99850088e-01  0.00000000e+00  6.29815976e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 33.606066493
Centerline is valid?  [True, True]
Translation: X:33.66, Y:0.64, Z:0.00
[[ 9.99957731e-01 -9.19432617e-03  0.00000000e+00  3.36605805e+01]
 [ 9.19432617e-03  9.99957731e-01  0.00000000e+00  6.35238723e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.666066493
Centerline is valid?  [True, True]
Translation: X:33.72, Y:0.66, Z:0.00
[[ 9.99927608e-01  1.20323775e-02  0.00000000e+00  3.37208907e+01]
 [-1.20323775e-02  9.99927608e-01  0.00000000e+00  6.60290542e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.726066493000005
Centerline is valid?  [True, True]
Translation: X:33.78, Y:0.68, Z:0.00
[[ 9.99455740e-01  3.29882253e-02  0.00000000e+00  3.37796257e+01]
 [-3.29882253e-02  9.99455740e-01  0.00000000e+00  6.77359197e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.786066493
Centerline is valid?  [True, True]
Translation: X:33.84, Y:0.68, Z:0.00
[[ 0.99921036  0.03973222  0.         33.83858099]
 [-0.03973222  0.99921036  0.          0.67627448]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.846066493
Centerline is valid?  [True, True]
Translation: X:33.90, Y:0.69, Z:0.00
[[ 0.99901782  0.04431025  0.         33.89876402]
 [-0.04431025  0.99901782  0.          0.68823567]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.906066493000004
Centerline is valid?  [True, True]
Translation: X:33.96, Y:0.70, Z:0.00
[[ 0.99856139  0.05362044  0.         33.95894648]
 [-0.05362044  0.99856139  0.          0.69859301]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.966066493
Centerline is valid?  [True, True]
Translation: X:34.02, Y:0.69, Z:0.00
[[ 0.99859282  0.05303187  0.         34.01728421]
 [-0.05303187  0.99859282  0.          0.68606248]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.026066493
Centerline is valid?  [True, True]
Translation: X:34.08, Y:0.68, Z:0.00
[[ 0.99873985  0.0501867   0.         34.07730164]
 [-0.0501867   0.99873985  0.          0.68497021]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.086066493000004
Centerline is valid?  [True, True]
Translation: X:34.14, Y:0.69, Z:0.00
[[ 0.99856701  0.05351563  0.         34.13708556]
 [-0.05351563  0.99856701  0.          0.68539417]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.146066493
Centerline is valid?  [True, True]
Translation: X:34.20, Y:0.67, Z:0.00
[[ 0.99851372  0.05450102  0.         34.19613944]
 [-0.05450102  0.99851372  0.          0.66940676]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.206066493
Centerline is valid?  [True, True]
Translation: X:34.26, Y:0.66, Z:0.00
[[ 0.99844488  0.0557478   0.         34.25669106]
 [-0.0557478   0.99844488  0.          0.65723035]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.266066493000004
Centerline is valid?  [True, True]
Translation: X:34.32, Y:0.66, Z:0.00
[[ 0.9979448   0.06407945  0.         34.31578754]
 [-0.06407945  0.9979448   0.          0.66178457]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.326066493
Centerline is valid?  [True, True]
Translation: X:34.38, Y:0.64, Z:0.00
[[ 0.99829684  0.05833883  0.         34.37655802]
 [-0.05833883  0.99829684  0.          0.64270409]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.386066493
Centerline is valid?  [True, True]
Translation: X:34.44, Y:0.63, Z:0.00
[[ 0.9989471   0.04587698  0.         34.43753107]
 [-0.04587698  0.9989471   0.          0.6312442 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.446066493000004
Centerline is valid?  [True, True]
Translation: X:34.50, Y:0.62, Z:0.00
[[ 9.99666726e-01  2.58154402e-02  0.00000000e+00  3.44970397e+01]
 [-2.58154402e-02  9.99666726e-01  0.00000000e+00  6.18951417e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.506066493
Centerline is valid?  [True, True]
Translation: X:34.56, Y:0.61, Z:0.00
[[ 9.99732817e-01  2.31148130e-02  0.00000000e+00  3.45576610e+01]
 [-2.31148130e-02  9.99732817e-01  0.00000000e+00  6.12123404e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.566066493
Centerline is valid?  [True, True]
Translation: X:34.62, Y:0.61, Z:0.00
[[ 9.99525616e-01  3.07984293e-02  0.00000000e+00  3.46179621e+01]
 [-3.07984293e-02  9.99525616e-01  0.00000000e+00  6.07378433e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.626066493
Centerline is valid?  [True, True]
Translation: X:34.68, Y:0.60, Z:0.00
[[ 0.99921556  0.03960131  0.         34.67833718]
 [-0.03960131  0.99921556  0.          0.60279385]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.686066493
Centerline is valid?  [True, True]
Translation: X:34.74, Y:0.60, Z:0.00
[[ 0.99898416  0.04506264  0.         34.73915928]
 [-0.04506264  0.99898416  0.          0.59762404]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.746066493
Centerline is valid?  [True, True]
Translation: X:34.80, Y:0.59, Z:0.00
[[ 0.99877645  0.04945308  0.         34.79867515]
 [-0.04945308  0.99877645  0.          0.59030619]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 34.806066493
Centerline is valid?  [True, True]
Translation: X:34.86, Y:0.57, Z:0.00
[[ 0.99897667  0.04522845  0.         34.85895156]
 [-0.04522845  0.99897667  0.          0.57480984]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.866066493
Centerline is valid?  [True, True]
Translation: X:34.92, Y:0.57, Z:0.00
[[ 0.99886516  0.04762764  0.         34.91913255]
 [-0.04762764  0.99886516  0.          0.57073396]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.926066493
Centerline is valid?  [True, True]
Translation: X:34.98, Y:0.57, Z:0.00
[[ 0.99864919  0.05195954  0.         34.97934389]
 [-0.05195954  0.99864919  0.          0.57072934]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.986066493
Centerline is valid?  [True, True]
Translation: X:35.04, Y:0.55, Z:0.00
[[ 0.99849326  0.05487455  0.         35.03968237]
 [-0.05487455  0.99849326  0.          0.55060544]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.046066493000005
Centerline is valid?  [True, True]
Translation: X:35.10, Y:0.54, Z:0.00
[[ 0.99836927  0.05708583  0.         35.10043927]
 [-0.05708583  0.99836927  0.          0.53766974]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.106066493
Centerline is valid?  [True, True]
Translation: X:35.16, Y:0.53, Z:0.00
[[ 0.99826379  0.05890158  0.         35.16129141]
 [-0.05890158  0.99826379  0.          0.53081458]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.166066493
Centerline is valid?  [True, True]
Translation: X:35.22, Y:0.50, Z:0.00
[[ 0.9987356   0.05027118  0.         35.22133626]
 [-0.05027118  0.9987356   0.          0.5031237 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.226066493000005
Centerline is valid?  [True, True]
Translation: X:35.28, Y:0.49, Z:0.00
[[ 0.99928456  0.03782012  0.         35.28177522]
 [-0.03782012  0.99928456  0.          0.49368962]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.286066493
Centerline is valid?  [True, True]
Translation: X:35.34, Y:0.48, Z:0.00
[[ 9.99767079e-01  2.15821280e-02  0.00000000e+00  3.53425423e+01]
 [-2.15821280e-02  9.99767079e-01  0.00000000e+00  4.78988843e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.346066493
Centerline is valid?  [True, True]
Translation: X:35.40, Y:0.47, Z:0.00
[[ 9.99942634e-01  1.07111715e-02  0.00000000e+00  3.54029424e+01]
 [-1.07111715e-02  9.99942634e-01  0.00000000e+00  4.68391063e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.406066493000004
Centerline is valid?  [True, True]
Translation: X:35.46, Y:0.47, Z:0.00
[[ 9.99995290e-01 -3.06910981e-03  0.00000000e+00  3.54626037e+01]
 [ 3.06910981e-03  9.99995290e-01  0.00000000e+00  4.65443925e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.466066493
Centerline is valid?  [True, True]
Translation: X:35.52, Y:0.47, Z:0.00
[[ 9.99952362e-01 -9.76080661e-03  0.00000000e+00  3.55235860e+01]
 [ 9.76080661e-03  9.99952362e-01  0.00000000e+00  4.65098513e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.526066493
Centerline is valid?  [True, True]
Translation: X:35.58, Y:0.46, Z:0.00
[[ 9.99696025e-01 -2.46547563e-02  0.00000000e+00  3.55845695e+01]
 [ 2.46547563e-02  9.99696025e-01  0.00000000e+00  4.62121310e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.586066493000004
Centerline is valid?  [True, True]
Translation: X:35.65, Y:0.47, Z:0.00
[[ 0.99931669 -0.03696142  0.         35.64586874]
 [ 0.03696142  0.99931669  0.          0.4678756 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.646066493
Centerline is valid?  [True, True]
Translation: X:35.71, Y:0.49, Z:0.00
[[ 9.99526215e-01 -3.07789662e-02  0.00000000e+00  3.57074189e+01]
 [ 3.07789662e-02  9.99526215e-01  0.00000000e+00  4.86179295e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.706066493
Centerline is valid?  [True, True]
Translation: X:35.77, Y:0.49, Z:0.00
[[ 9.99658747e-01 -2.61226041e-02  0.00000000e+00  3.57678335e+01]
 [ 2.61226041e-02  9.99658747e-01  0.00000000e+00  4.89449011e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.766066493000004
Centerline is valid?  [True, True]
Translation: X:35.83, Y:0.51, Z:0.00
[[ 9.99838594e-01 -1.79662634e-02  0.00000000e+00  3.58285163e+01]
 [ 1.79662634e-02  9.99838594e-01  0.00000000e+00  5.08331534e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.826066493
Centerline is valid?  [True, True]
Translation: X:35.89, Y:0.52, Z:0.00
[[ 9.99905230e-01 -1.37670019e-02  0.00000000e+00  3.58890468e+01]
 [ 1.37670019e-02  9.99905230e-01  0.00000000e+00  5.24317971e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.886066493
Centerline is valid?  [True, True]
Translation: X:35.95, Y:0.53, Z:0.00
[[ 9.99901112e-01 -1.40629287e-02  0.00000000e+00  3.59499480e+01]
 [ 1.40629287e-02  9.99901112e-01  0.00000000e+00  5.28095943e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.946066493000004
Centerline is valid?  [True, True]
Translation: X:36.01, Y:0.54, Z:0.00
[[ 9.99912362e-01 -1.32388836e-02  0.00000000e+00  3.60102986e+01]
 [ 1.32388836e-02  9.99912362e-01  0.00000000e+00  5.35540235e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 36.006066493
Centerline is valid?  [True, True]
Translation: X:36.07, Y:0.57, Z:0.00
[[ 9.99950920e-01 -9.90749682e-03  0.00000000e+00  3.60705640e+01]
 [ 9.90749682e-03  9.99950920e-01  0.00000000e+00  5.65876367e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.066066493
Centerline is valid?  [True, True]
Translation: X:36.13, Y:0.57, Z:0.00
[[ 9.99960025e-01 -8.94135066e-03  0.00000000e+00  3.61314662e+01]
 [ 8.94135066e-03  9.99960025e-01  0.00000000e+00  5.70559836e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.126066493
Centerline is valid?  [True, True]
Translation: X:36.19, Y:0.58, Z:0.00
[[ 9.99991295e-01 -4.17257905e-03  0.00000000e+00  3.61916013e+01]
 [ 4.17257905e-03  9.99991295e-01  0.00000000e+00  5.79136933e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.186066493
Centerline is valid?  [True, True]
Translation: X:36.25, Y:0.59, Z:0.00
[[ 9.99989224e-01  4.64237515e-03  0.00000000e+00  3.62507999e+01]
 [-4.64237515e-03  9.99989224e-01  0.00000000e+00  5.93723105e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.246066493
Centerline is valid?  [True, True]
Translation: X:36.31, Y:0.61, Z:0.00
[[ 9.99866333e-01  1.63498325e-02  0.00000000e+00  3.63109291e+01]
 [-1.63498325e-02  9.99866333e-01  0.00000000e+00  6.14592607e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.306066493
Centerline is valid?  [True, True]
Translation: X:36.37, Y:0.61, Z:0.00
[[ 9.99865584e-01  1.63955328e-02  0.00000000e+00  3.63702269e+01]
 [-1.63955328e-02  9.99865584e-01  0.00000000e+00  6.14828218e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.366066493
Centerline is valid?  [True, True]
Translation: X:36.43, Y:0.63, Z:0.00
[[ 9.99850021e-01  1.73186246e-02  0.00000000e+00  3.64304336e+01]
 [-1.73186246e-02  9.99850021e-01  0.00000000e+00  6.26170366e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.426066493
Centerline is valid?  [True, True]
Translation: X:36.49, Y:0.64, Z:0.00
[[ 9.99754914e-01  2.21384652e-02  0.00000000e+00  3.64897461e+01]
 [-2.21384652e-02  9.99754914e-01  0.00000000e+00  6.38448941e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.486066493
Centerline is valid?  [True, True]
Translation: X:36.55, Y:0.64, Z:0.00
[[ 9.99407175e-01  3.44281669e-02  0.00000000e+00  3.65497110e+01]
 [-3.44281669e-02  9.99407175e-01  0.00000000e+00  6.38791196e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.546066493000005
Centerline is valid?  [True, True]
Translation: X:36.61, Y:0.64, Z:0.00
[[ 0.99923818  0.0390264   0.         36.61034514]
 [-0.0390264   0.99923818  0.          0.64107452]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 36.606066493
Centerline is valid?  [True, True]
Translation: X:36.67, Y:0.64, Z:0.00
[[ 9.99427256e-01  3.38402196e-02  0.00000000e+00  3.66699877e+01]
 [-3.38402196e-02  9.99427256e-01  0.00000000e+00  6.44569895e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.666066493
Centerline is valid?  [True, True]
Translation: X:36.73, Y:0.64, Z:0.00
[[ 9.99734429e-01  2.30450061e-02  0.00000000e+00  3.67308201e+01]
 [-2.30450061e-02  9.99734429e-01  0.00000000e+00  6.38719148e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.726066493000005
Centerline is valid?  [True, True]
Translation: X:36.79, Y:0.63, Z:0.00
[[ 9.99854935e-01  1.70325969e-02  0.00000000e+00  3.67913285e+01]
 [-1.70325969e-02  9.99854935e-01  0.00000000e+00  6.33630799e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.786066493
Centerline is valid?  [True, True]
Translation: X:36.85, Y:0.64, Z:0.00
[[ 9.99901017e-01  1.40696616e-02  0.00000000e+00  3.68494750e+01]
 [-1.40696616e-02  9.99901017e-01  0.00000000e+00  6.41009294e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.846066493
Centerline is valid?  [True, True]
Translation: X:36.91, Y:0.64, Z:0.00
[[ 9.99898269e-01  1.42636227e-02  0.00000000e+00  3.69085859e+01]
 [-1.42636227e-02  9.99898269e-01  0.00000000e+00  6.36683241e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.906066493000004
Centerline is valid?  [True, True]
Translation: X:36.97, Y:0.64, Z:0.00
[[ 9.99950515e-01  9.94827228e-03  0.00000000e+00  3.69667814e+01]
 [-9.94827228e-03  9.99950515e-01  0.00000000e+00  6.36704518e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.966066493
Centerline is valid?  [True, True]
Translation: X:37.03, Y:0.64, Z:0.00
[[ 9.99972674e-01  7.39263863e-03  0.00000000e+00  3.70273334e+01]
 [-7.39263863e-03  9.99972674e-01  0.00000000e+00  6.41691421e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.026066493
Centerline is valid?  [True, True]
Translation: X:37.08, Y:0.64, Z:0.00
[[ 9.99982499e-01  5.91618717e-03  0.00000000e+00  3.70846315e+01]
 [-5.91618717e-03  9.99982499e-01  0.00000000e+00  6.44543037e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.086066493000004
Centerline is valid?  [True, True]
Translation: X:37.14, Y:0.65, Z:0.00
[[ 9.99990475e-01  4.36458914e-03  0.00000000e+00  3.71431206e+01]
 [-4.36458914e-03  9.99990475e-01  0.00000000e+00  6.45293883e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.146066493
Centerline is valid?  [True, True]
Translation: X:37.20, Y:0.65, Z:0.00
[[ 9.99997766e-01  2.11367698e-03  0.00000000e+00  3.72024152e+01]
 [-2.11367698e-03  9.99997766e-01  0.00000000e+00  6.51240594e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 37.206066493
Centerline is valid?  [True, True]
Translation: X:37.26, Y:0.66, Z:0.00
[[ 9.99999988e-01 -1.56115709e-04  0.00000000e+00  3.72619897e+01]
 [ 1.56115709e-04  9.99999988e-01  0.00000000e+00  6.60316396e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.266066493000004
Centerline is valid?  [True, True]
Translation: X:37.32, Y:0.66, Z:0.00
[[ 9.99991843e-01 -4.03913467e-03  0.00000000e+00  3.73228858e+01]
 [ 4.03913467e-03  9.99991843e-01  0.00000000e+00  6.63983457e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.326066493
Centerline is valid?  [True, True]
Translation: X:37.38, Y:0.67, Z:0.00
[[ 9.99986043e-01 -5.28335291e-03  0.00000000e+00  3.73848899e+01]
 [ 5.28335291e-03  9.99986043e-01  0.00000000e+00  6.65323412e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.386066493
Centerline is valid?  [True, True]
Translation: X:37.45, Y:0.67, Z:0.00
[[ 9.99847761e-01 -1.74486537e-02  0.00000000e+00  3.74456491e+01]
 [ 1.74486537e-02  9.99847761e-01  0.00000000e+00  6.70597436e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.446066493000004
Centerline is valid?  [True, True]
Translation: X:37.51, Y:0.68, Z:0.00
[[ 9.99658309e-01 -2.61393572e-02  0.00000000e+00  3.75062525e+01]
 [ 2.61393572e-02  9.99658309e-01  0.00000000e+00  6.81324209e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.506066493
Centerline is valid?  [True, True]
Translation: X:37.57, Y:0.69, Z:0.00
[[ 9.99439827e-01 -3.34668850e-02  0.00000000e+00  3.75679787e+01]
 [ 3.34668850e-02  9.99439827e-01  0.00000000e+00  6.92918633e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.566066493
Centerline is valid?  [True, True]
Translation: X:37.63, Y:0.71, Z:0.00
[[ 0.99922007 -0.0394873   0.         37.62731038]
 [ 0.0394873   0.99922007  0.          0.70717573]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 37.626066493
Centerline is valid?  [True, True]
Translation: X:37.69, Y:0.72, Z:0.00
[[ 0.99912704 -0.04177508  0.         37.68953989]
 [ 0.04177508  0.99912704  0.          0.72293226]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 37.686066493
Centerline is valid?  [True, True]
Translation: X:37.75, Y:0.74, Z:0.00
[[ 0.99898965 -0.04494082  0.         37.74938932]
 [ 0.04494082  0.99898965  0.          0.74163646]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 37.746066493
Centerline is valid?  [True, True]
Translation: X:37.81, Y:0.76, Z:0.00
[[ 0.99903482 -0.04392526  0.         37.81125055]
 [ 0.04392526  0.99903482  0.          0.75796007]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 37.806066493
Centerline is valid?  [True, True]
Translation: X:37.87, Y:0.78, Z:0.00
[[ 0.99925823 -0.03850959  0.         37.87132321]
 [ 0.03850959  0.99925823  0.          0.77829344]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 37.866066493
Centerline is valid?  [True, True]
Translation: X:37.93, Y:0.80, Z:0.00
[[ 9.99446215e-01 -3.32755736e-02  0.00000000e+00  3.79309208e+01]
 [ 3.32755736e-02  9.99446215e-01  0.00000000e+00  8.02146288e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.926066493
Centerline is valid?  [True, True]
Translation: X:37.99, Y:0.82, Z:0.00
[[ 9.99649192e-01 -2.64857226e-02  0.00000000e+00  3.79923384e+01]
 [ 2.64857226e-02  9.99649192e-01  0.00000000e+00  8.15754402e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.986066493
Centerline is valid?  [True, True]
Translation: X:38.05, Y:0.83, Z:0.00
[[ 9.99912262e-01 -1.32464384e-02  0.00000000e+00  3.80529711e+01]
 [ 1.32464384e-02  9.99912262e-01  0.00000000e+00  8.34244264e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.046066493000005
Centerline is valid?  [True, True]
Translation: X:38.11, Y:0.86, Z:0.00
[[ 9.99994066e-01 -3.44513040e-03  0.00000000e+00  3.81136299e+01]
 [ 3.44513040e-03  9.99994066e-01  0.00000000e+00  8.56352588e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.106066493
Centerline is valid?  [True, True]
Translation: X:38.17, Y:0.87, Z:0.00
[[ 9.99998932e-01 -1.46144885e-03  0.00000000e+00  3.81745063e+01]
 [ 1.46144885e-03  9.99998932e-01  0.00000000e+00  8.68825275e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.166066493
Centerline is valid?  [True, True]
Translation: X:38.24, Y:0.88, Z:0.00
[[ 9.99991121e-01 -4.21406839e-03  0.00000000e+00  3.82352405e+01]
 [ 4.21406839e-03  9.99991121e-01  0.00000000e+00  8.77882197e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.226066493000005
Centerline is valid?  [True, True]
Translation: X:38.30, Y:0.89, Z:0.00
[[ 9.99975535e-01 -6.99493548e-03  0.00000000e+00  3.82954736e+01]
 [ 6.99493548e-03  9.99975535e-01  0.00000000e+00  8.88814150e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.286066493
Centerline is valid?  [True, True]
Translation: X:38.36, Y:0.91, Z:0.00
[[ 9.99942998e-01 -1.06770871e-02  0.00000000e+00  3.83568400e+01]
 [ 1.06770871e-02  9.99942998e-01  0.00000000e+00  9.05522826e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.346066493
Centerline is valid?  [True, True]
Translation: X:38.42, Y:0.91, Z:0.00
[[ 9.99959065e-01 -9.04807783e-03  0.00000000e+00  3.84190171e+01]
 [ 9.04807783e-03  9.99959065e-01  0.00000000e+00  9.13109746e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 38.406066493000004
Centerline is valid?  [True, True]
Translation: X:38.48, Y:0.93, Z:0.00
[[ 9.99999436e-01 -1.06254304e-03  0.00000000e+00  3.84781833e+01]
 [ 1.06254304e-03  9.99999436e-01  0.00000000e+00  9.27517263e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.466066493
Centerline is valid?  [True, True]
Translation: X:38.54, Y:0.94, Z:0.00
[[ 9.99984670e-01  5.53708023e-03  0.00000000e+00  3.85379098e+01]
 [-5.53708023e-03  9.99984670e-01  0.00000000e+00  9.43748384e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.526066493
Centerline is valid?  [True, True]
Translation: X:38.60, Y:0.94, Z:0.00
[[ 9.99997294e-01  2.32645701e-03  0.00000000e+00  3.85957987e+01]
 [-2.32645701e-03  9.99997294e-01  0.00000000e+00  9.44019225e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.586066493000004
Centerline is valid?  [True, True]
Translation: X:38.66, Y:0.96, Z:0.00
[[ 9.99999787e-01  6.52849264e-04  0.00000000e+00  3.86554123e+01]
 [-6.52849264e-04  9.99999787e-01  0.00000000e+00  9.63214792e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.646066493
Centerline is valid?  [True, True]
Translation: X:38.71, Y:0.97, Z:0.00
[[ 9.99980260e-01 -6.28321020e-03  0.00000000e+00  3.87145875e+01]
 [ 6.28321020e-03  9.99980260e-01  0.00000000e+00  9.72297100e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.706066493
Centerline is valid?  [True, True]
Translation: X:38.78, Y:0.98, Z:0.00
[[ 9.99754131e-01 -2.21737910e-02  0.00000000e+00  3.87753975e+01]
 [ 2.21737910e-02  9.99754131e-01  0.00000000e+00  9.76825073e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.766066493000004
Centerline is valid?  [True, True]
Translation: X:38.84, Y:0.98, Z:0.00
[[ 9.99605625e-01 -2.80819185e-02  0.00000000e+00  3.88372093e+01]
 [ 2.80819185e-02  9.99605625e-01  0.00000000e+00  9.82552918e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.826066493
Centerline is valid?  [True, True]
Translation: X:38.90, Y:1.00, Z:0.00
[[ 9.99462419e-01 -3.27852523e-02  0.00000000e+00  3.88974578e+01]
 [ 3.27852523e-02  9.99462419e-01  0.00000000e+00  1.00192027e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.886066493
Centerline is valid?  [True, True]
Translation: X:38.96, Y:1.00, Z:0.00
[[ 9.99250488e-01 -3.87099677e-02  0.00000000e+00  3.89586417e+01]
 [ 3.87099677e-02  9.99250488e-01  0.00000000e+00  1.00367177e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.946066493000004
Centerline is valid?  [True, True]
Translation: X:39.02, Y:1.01, Z:0.00
[[ 0.99893414 -0.04615825  0.         39.01995762]
 [ 0.04615825  0.99893414  0.          1.00969009]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.006066493
Centerline is valid?  [True, True]
Translation: X:39.08, Y:1.04, Z:0.00
[[ 0.99887151 -0.04749438  0.         39.08016476]
 [ 0.04749438  0.99887151  0.          1.03533319]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.066066493
Centerline is valid?  [True, True]
Translation: X:39.14, Y:1.05, Z:0.00
[[ 0.99891137 -0.04664833  0.         39.14151689]
 [ 0.04664833  0.99891137  0.          1.05257161]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.126066493
Centerline is valid?  [True, True]
Translation: X:39.20, Y:1.06, Z:0.00
[[ 0.99863015 -0.0523243   0.         39.20181153]
 [ 0.0523243   0.99863015  0.          1.0580898 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.186066493
Centerline is valid?  [True, True]
Translation: X:39.26, Y:1.08, Z:0.00
[[ 0.99831095 -0.05809692  0.         39.26166376]
 [ 0.05809692  0.99831095  0.          1.0776225 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.246066493
Centerline is valid?  [True, True]
Translation: X:39.32, Y:1.09, Z:0.00
[[ 0.9980583  -0.06228672  0.         39.32207006]
 [ 0.06228672  0.9980583   0.          1.09322019]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.306066493
Centerline is valid?  [True, True]
Translation: X:39.38, Y:1.10, Z:0.00
[[ 0.99795382 -0.06393876  0.         39.38299365]
 [ 0.06393876  0.99795382  0.          1.10188217]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.366066493000005
Centerline is valid?  [True, True]
Translation: X:39.44, Y:1.13, Z:0.00
[[ 0.99823241 -0.0594311   0.         39.4426443 ]
 [ 0.0594311   0.99823241  0.          1.1255908 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.426066493
Centerline is valid?  [True, True]
Translation: X:39.50, Y:1.15, Z:0.00
[[ 0.99882974 -0.04836479  0.         39.50201187]
 [ 0.04836479  0.99882974  0.          1.14661368]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.486066493
Centerline is valid?  [True, True]
Translation: X:39.56, Y:1.16, Z:0.00
[[ 0.99907023 -0.04311237  0.         39.56206923]
 [ 0.04311237  0.99907023  0.          1.16351794]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.546066493000005
Centerline is valid?  [True, True]
Translation: X:39.62, Y:1.18, Z:0.00
[[ 0.9991374  -0.04152668  0.         39.62497369]
 [ 0.04152668  0.9991374   0.          1.17507737]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 39.606066493
Centerline is valid?  [True, True]
Translation: X:39.69, Y:1.20, Z:0.00
[[ 0.99917791 -0.04054021  0.         39.68681391]
 [ 0.04054021  0.99917791  0.          1.19559557]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 39.666066493
Centerline is valid?  [True, True]
Translation: X:39.75, Y:1.21, Z:0.00
[[ 9.99414456e-01 -3.42161541e-02  0.00000000e+00  3.97490345e+01]
 [ 3.42161541e-02  9.99414456e-01  0.00000000e+00  1.20945919e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.726066493000005
Centerline is valid?  [True, True]
Translation: X:39.81, Y:1.23, Z:0.00
[[ 9.99861201e-01 -1.66606697e-02  0.00000000e+00  3.98110150e+01]
 [ 1.66606697e-02  9.99861201e-01  0.00000000e+00  1.22853316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.786066493
Centerline is valid?  [True, True]
Translation: X:39.87, Y:1.23, Z:0.00
[[ 9.99872973e-01 -1.59385767e-02  0.00000000e+00  3.98718848e+01]
 [ 1.59385767e-02  9.99872973e-01  0.00000000e+00  1.23115191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.846066493
Centerline is valid?  [True, True]
Translation: X:39.93, Y:1.23, Z:0.00
[[ 9.99873487e-01 -1.59062587e-02  0.00000000e+00  3.99340571e+01]
 [ 1.59062587e-02  9.99873487e-01  0.00000000e+00  1.23258043e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.906066493000004
Centerline is valid?  [True, True]
Translation: X:40.00, Y:1.23, Z:0.00
[[ 9.99807042e-01 -1.96437873e-02  0.00000000e+00  3.99955245e+01]
 [ 1.96437873e-02  9.99807042e-01  0.00000000e+00  1.22931545e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.966066493
Centerline is valid?  [True, True]
Translation: X:40.06, Y:1.23, Z:0.00
[[ 9.99801980e-01 -1.98997653e-02  0.00000000e+00  4.00577396e+01]
 [ 1.98997653e-02  9.99801980e-01  0.00000000e+00  1.22528778e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.026066493
Centerline is valid?  [True, True]
Translation: X:40.12, Y:1.22, Z:0.00
[[ 9.99661030e-01 -2.60350748e-02  0.00000000e+00  4.01196179e+01]
 [ 2.60350748e-02  9.99661030e-01  0.00000000e+00  1.22129644e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.086066493000004
Centerline is valid?  [True, True]
Translation: X:40.18, Y:1.22, Z:0.00
[[ 9.99741234e-01 -2.27478585e-02  0.00000000e+00  4.01821684e+01]
 [ 2.27478585e-02  9.99741234e-01  0.00000000e+00  1.22380514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.146066493
Centerline is valid?  [True, True]
Translation: X:40.24, Y:1.23, Z:0.00
[[ 9.99903022e-01 -1.39264381e-02  0.00000000e+00  4.02437238e+01]
 [ 1.39264381e-02  9.99903022e-01  0.00000000e+00  1.22569234e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.206066493
Centerline is valid?  [True, True]
Translation: X:40.31, Y:1.22, Z:0.00
[[ 9.99918179e-01 -1.27919867e-02  0.00000000e+00  4.03053476e+01]
 [ 1.27919867e-02  9.99918179e-01  0.00000000e+00  1.21989582e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.266066493000004
Centerline is valid?  [True, True]
Translation: X:40.37, Y:1.22, Z:0.00
[[ 9.99815833e-01 -1.91911473e-02  0.00000000e+00  4.03675513e+01]
 [ 1.91911473e-02  9.99815833e-01  0.00000000e+00  1.21707007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.326066493
Centerline is valid?  [True, True]
Translation: X:40.43, Y:1.22, Z:0.00
[[ 9.99930147e-01 -1.18195046e-02  0.00000000e+00  4.04283345e+01]
 [ 1.18195046e-02  9.99930147e-01  0.00000000e+00  1.21564136e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.386066493
Centerline is valid?  [True, True]
Translation: X:40.49, Y:1.21, Z:0.00
[[ 9.99979522e-01  6.39970943e-03  0.00000000e+00  4.04894509e+01]
 [-6.39970943e-03  9.99979522e-01  0.00000000e+00  1.21055416e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.446066493000004
Centerline is valid?  [True, True]
Translation: X:40.55, Y:1.20, Z:0.00
[[ 9.99812891e-01  1.93438303e-02  0.00000000e+00  4.05492629e+01]
 [-1.93438303e-02  9.99812891e-01  0.00000000e+00  1.20251819e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.506066493
Centerline is valid?  [True, True]
Translation: X:40.61, Y:1.20, Z:0.00
[[ 9.99551494e-01  2.99467998e-02  0.00000000e+00  4.06098136e+01]
 [-2.99467998e-02  9.99551494e-01  0.00000000e+00  1.20370002e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.566066493
Centerline is valid?  [True, True]
Translation: X:40.67, Y:1.20, Z:0.00
[[ 9.99365966e-01  3.56043081e-02  0.00000000e+00  4.06697081e+01]
 [-3.56043081e-02  9.99365966e-01  0.00000000e+00  1.19960196e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.626066493
Centerline is valid?  [True, True]
Translation: X:40.73, Y:1.19, Z:0.00
[[ 9.99466827e-01  3.26506028e-02  0.00000000e+00  4.07308217e+01]
 [-3.26506028e-02  9.99466827e-01  0.00000000e+00  1.18890266e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.686066493
Centerline is valid?  [True, True]
Translation: X:40.79, Y:1.18, Z:0.00
[[ 9.99727635e-01  2.33378673e-02  0.00000000e+00  4.07915303e+01]
 [-2.33378673e-02  9.99727635e-01  0.00000000e+00  1.17769862e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.746066493
Centerline is valid?  [True, True]
Translation: X:40.85, Y:1.17, Z:0.00
[[ 9.99816282e-01  1.91677466e-02  0.00000000e+00  4.08515076e+01]
 [-1.91677466e-02  9.99816282e-01  0.00000000e+00  1.17300356e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 40.806066493
Centerline is valid?  [True, True]
Translation: X:40.91, Y:1.16, Z:0.00
[[ 9.99900607e-01  1.40987924e-02  0.00000000e+00  4.09118509e+01]
 [-1.40987924e-02  9.99900607e-01  0.00000000e+00  1.16340727e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.866066493000005
Centerline is valid?  [True, True]
Translation: X:40.97, Y:1.15, Z:0.00
[[ 9.99955431e-01  9.44120911e-03  0.00000000e+00  4.09721116e+01]
 [-9.44120911e-03  9.99955431e-01  0.00000000e+00  1.15427001e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.926066493
Centerline is valid?  [True, True]
Translation: X:41.03, Y:1.15, Z:0.00
[[ 9.99990899e-01  4.26642966e-03  0.00000000e+00  4.10322702e+01]
 [-4.26642966e-03  9.99990899e-01  0.00000000e+00  1.14845777e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.986066493
Centerline is valid?  [True, True]
Translation: X:41.09, Y:1.15, Z:0.00
[[ 9.99987985e-01  4.90211157e-03  0.00000000e+00  4.10899738e+01]
 [-4.90211157e-03  9.99987985e-01  0.00000000e+00  1.14801938e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.046066493000005
Centerline is valid?  [True, True]
Translation: X:41.15, Y:1.14, Z:0.00
[[ 9.99995903e-01  2.86265670e-03  0.00000000e+00  4.11479327e+01]
 [-2.86265670e-03  9.99995903e-01  0.00000000e+00  1.13634049e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.106066493
Centerline is valid?  [True, True]
Translation: X:41.21, Y:1.13, Z:0.00
[[ 9.99999660e-01  8.25020050e-04  0.00000000e+00  4.12066101e+01]
 [-8.25020050e-04  9.99999660e-01  0.00000000e+00  1.13367625e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.166066493
Centerline is valid?  [True, True]
Translation: X:41.27, Y:1.13, Z:0.00
[[ 9.99990309e-01 -4.40241984e-03  0.00000000e+00  4.12667843e+01]
 [ 4.40241984e-03  9.99990309e-01  0.00000000e+00  1.13495182e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.226066493000005
Centerline is valid?  [True, True]
Translation: X:41.33, Y:1.13, Z:0.00
[[ 9.99962617e-01 -8.64666081e-03  0.00000000e+00  4.13283599e+01]
 [ 8.64666081e-03  9.99962617e-01  0.00000000e+00  1.13227733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.286066493
Centerline is valid?  [True, True]
Translation: X:41.39, Y:1.13, Z:0.00
[[ 9.99830317e-01 -1.84211277e-02  0.00000000e+00  4.13893634e+01]
 [ 1.84211277e-02  9.99830317e-01  0.00000000e+00  1.12658721e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.346066493
Centerline is valid?  [True, True]
Translation: X:41.45, Y:1.12, Z:0.00
[[ 9.99595081e-01 -2.84547573e-02  0.00000000e+00  4.14504840e+01]
 [ 2.84547573e-02  9.99595081e-01  0.00000000e+00  1.12243723e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.406066493000004
Centerline is valid?  [True, True]
Translation: X:41.51, Y:1.13, Z:0.00
[[ 9.99277633e-01 -3.80027984e-02  0.00000000e+00  4.15109041e+01]
 [ 3.80027984e-02  9.99277633e-01  0.00000000e+00  1.12812009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.466066493
Centerline is valid?  [True, True]
Translation: X:41.57, Y:1.13, Z:0.00
[[ 9.99331059e-01 -3.65709453e-02  0.00000000e+00  4.15711170e+01]
 [ 3.65709453e-02  9.99331059e-01  0.00000000e+00  1.13475442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.526066493
Centerline is valid?  [True, True]
Translation: X:41.63, Y:1.13, Z:0.00
[[ 9.99375027e-01 -3.53490609e-02  0.00000000e+00  4.16339136e+01]
 [ 3.53490609e-02  9.99375027e-01  0.00000000e+00  1.13117171e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.586066493000004
Centerline is valid?  [True, True]
Translation: X:41.70, Y:1.14, Z:0.00
[[ 9.99522053e-01 -3.09138570e-02  0.00000000e+00  4.16957462e+01]
 [ 3.09138570e-02  9.99522053e-01  0.00000000e+00  1.13692639e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.646066493
Centerline is valid?  [True, True]
Translation: X:41.76, Y:1.16, Z:0.00
[[ 9.99901466e-01 -1.40377449e-02  0.00000000e+00  4.17553943e+01]
 [ 1.40377449e-02  9.99901466e-01  0.00000000e+00  1.16478694e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.706066493
Centerline is valid?  [True, True]
Translation: X:41.82, Y:1.16, Z:0.00
[[ 9.99901463e-01 -1.40379889e-02  0.00000000e+00  4.18161465e+01]
 [ 1.40379889e-02  9.99901463e-01  0.00000000e+00  1.16398266e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.766066493000004
Centerline is valid?  [True, True]
Translation: X:41.88, Y:1.17, Z:0.00
[[ 9.99856489e-01 -1.69410984e-02  0.00000000e+00  4.18770701e+01]
 [ 1.69410984e-02  9.99856489e-01  0.00000000e+00  1.16688162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.826066493
Centerline is valid?  [True, True]
Translation: X:41.94, Y:1.17, Z:0.00
[[ 9.99913164e-01 -1.31781656e-02  0.00000000e+00  4.19386655e+01]
 [ 1.31781656e-02  9.99913164e-01  0.00000000e+00  1.17034400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.886066493
Centerline is valid?  [True, True]
Translation: X:42.00, Y:1.19, Z:0.00
[[ 9.99999261e-01 -1.21554597e-03  0.00000000e+00  4.19976696e+01]
 [ 1.21554597e-03  9.99999261e-01  0.00000000e+00  1.18776518e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.946066493000004
Centerline is valid?  [True, True]
Translation: X:42.06, Y:1.19, Z:0.00
[[ 9.99997332e-01  2.31011816e-03  0.00000000e+00  4.20583280e+01]
 [-2.31011816e-03  9.99997332e-01  0.00000000e+00  1.19194497e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 42.006066493
Centerline is valid?  [True, True]
Translation: X:42.12, Y:1.20, Z:0.00
[[ 9.99965704e-01  8.28192875e-03  0.00000000e+00  4.21173325e+01]
 [-8.28192875e-03  9.99965704e-01  0.00000000e+00  1.19919243e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.066066493
Centerline is valid?  [True, True]
Translation: X:42.18, Y:1.20, Z:0.00
[[ 9.99993297e-01  3.66139423e-03  0.00000000e+00  4.21768363e+01]
 [-3.66139423e-03  9.99993297e-01  0.00000000e+00  1.19546914e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.126066493
Centerline is valid?  [True, True]
Translation: X:42.24, Y:1.20, Z:0.00
[[ 9.99999767e-01  6.83244780e-04  0.00000000e+00  4.22363524e+01]
 [-6.83244780e-04  9.99999767e-01  0.00000000e+00  1.20422138e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.186066493000006
Centerline is valid?  [True, True]
Translation: X:42.30, Y:1.21, Z:0.00
[[ 9.99997542e-01  2.21698829e-03  0.00000000e+00  4.22961757e+01]
 [-2.21698829e-03  9.99997542e-01  0.00000000e+00  1.21073029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.246066493
Centerline is valid?  [True, True]
Translation: X:42.36, Y:1.21, Z:0.00
[[ 9.99999974e-01  2.27379254e-04  0.00000000e+00  4.23551452e+01]
 [-2.27379254e-04  9.99999974e-01  0.00000000e+00  1.20593091e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.306066493
Centerline is valid?  [True, True]
Translation: X:42.41, Y:1.21, Z:0.00
[[ 9.99968382e-01  7.95203891e-03  0.00000000e+00  4.24143319e+01]
 [-7.95203891e-03  9.99968382e-01  0.00000000e+00  1.21415238e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.366066493000005
Centerline is valid?  [True, True]
Translation: X:42.47, Y:1.22, Z:0.00
[[ 9.99939439e-01  1.10054133e-02  0.00000000e+00  4.24738357e+01]
 [-1.10054133e-02  9.99939439e-01  0.00000000e+00  1.21682058e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.426066493
Centerline is valid?  [True, True]
Translation: X:42.53, Y:1.21, Z:0.00
[[ 9.99912435e-01  1.32333907e-02  0.00000000e+00  4.25345601e+01]
 [-1.32333907e-02  9.99912435e-01  0.00000000e+00  1.20865920e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.486066493
Centerline is valid?  [True, True]
Translation: X:42.59, Y:1.21, Z:0.00
[[ 9.99801169e-01  1.99404700e-02  0.00000000e+00  4.25934345e+01]
 [-1.99404700e-02  9.99801169e-01  0.00000000e+00  1.21443220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.546066493000005
Centerline is valid?  [True, True]
Translation: X:42.65, Y:1.21, Z:0.00
[[ 9.99719486e-01  2.36843812e-02  0.00000000e+00  4.26528106e+01]
 [-2.36843812e-02  9.99719486e-01  0.00000000e+00  1.21351427e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.606066493
Centerline is valid?  [True, True]
Translation: X:42.71, Y:1.21, Z:0.00
[[ 9.99755364e-01  2.21181330e-02  0.00000000e+00  4.27136996e+01]
 [-2.21181330e-02  9.99755364e-01  0.00000000e+00  1.20771342e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.666066493
Centerline is valid?  [True, True]
Translation: X:42.77, Y:1.21, Z:0.00
[[ 9.99843342e-01  1.77000194e-02  0.00000000e+00  4.27739442e+01]
 [-1.77000194e-02  9.99843342e-01  0.00000000e+00  1.21268926e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.726066493000005
Centerline is valid?  [True, True]
Translation: X:42.83, Y:1.21, Z:0.00
[[ 9.99923117e-01  1.23999772e-02  0.00000000e+00  4.28342642e+01]
 [-1.23999772e-02  9.99923117e-01  0.00000000e+00  1.20958547e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.786066493
Centerline is valid?  [True, True]
Translation: X:42.90, Y:1.20, Z:0.00
[[ 9.99993908e-01  3.49053066e-03  0.00000000e+00  4.28951479e+01]
 [-3.49053066e-03  9.99993908e-01  0.00000000e+00  1.19746371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.846066493
Centerline is valid?  [True, True]
Translation: X:42.96, Y:1.20, Z:0.00
[[ 9.99966353e-01 -8.20322579e-03  0.00000000e+00  4.29559786e+01]
 [ 8.20322579e-03  9.99966353e-01  0.00000000e+00  1.20139881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.906066493000004
Centerline is valid?  [True, True]
Translation: X:43.02, Y:1.20, Z:0.00
[[ 9.99964093e-01 -8.47424430e-03  0.00000000e+00  4.30187588e+01]
 [ 8.47424430e-03  9.99964093e-01  0.00000000e+00  1.20005804e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.966066493
Centerline is valid?  [True, True]
Translation: X:43.08, Y:1.19, Z:0.00
[[ 9.99994021e-01 -3.45798236e-03  0.00000000e+00  4.30790953e+01]
 [ 3.45798236e-03  9.99994021e-01  0.00000000e+00  1.19232290e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.026066493
Centerline is valid?  [True, True]
Translation: X:43.14, Y:1.20, Z:0.00
[[ 9.99994599e-01  3.28660041e-03  0.00000000e+00  4.31397619e+01]
 [-3.28660041e-03  9.99994599e-01  0.00000000e+00  1.20384351e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.086066493000004
Centerline is valid?  [True, True]
Translation: X:43.20, Y:1.21, Z:0.00
[[ 9.99969360e-01  7.82815174e-03  0.00000000e+00  4.31970789e+01]
 [-7.82815174e-03  9.99969360e-01  0.00000000e+00  1.20768932e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.146066493
Centerline is valid?  [True, True]
Translation: X:43.26, Y:1.20, Z:0.00
[[ 9.99930500e-01  1.17895924e-02  0.00000000e+00  4.32578321e+01]
 [-1.17895924e-02  9.99930500e-01  0.00000000e+00  1.20116315e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 43.206066493
Centerline is valid?  [True, True]
Translation: X:43.32, Y:1.20, Z:0.00
[[ 9.99972954e-01  7.35467418e-03  0.00000000e+00  4.33168502e+01]
 [-7.35467418e-03  9.99972954e-01  0.00000000e+00  1.19994428e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.266066493000004
Centerline is valid?  [True, True]
Translation: X:43.38, Y:1.21, Z:0.00
[[ 9.99980288e-01  6.27888022e-03  0.00000000e+00  4.33771025e+01]
 [-6.27888022e-03  9.99980288e-01  0.00000000e+00  1.20790435e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.326066493
Centerline is valid?  [True, True]
Translation: X:43.44, Y:1.21, Z:0.00
[[ 9.99971897e-01  7.49704377e-03  0.00000000e+00  4.34371071e+01]
 [-7.49704377e-03  9.99971897e-01  0.00000000e+00  1.20503943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.386066493
Centerline is valid?  [True, True]
Translation: X:43.50, Y:1.20, Z:0.00
[[ 9.99984675e-01  5.53626617e-03  0.00000000e+00  4.34970740e+01]
 [-5.53626617e-03  9.99984675e-01  0.00000000e+00  1.20367060e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.446066493000004
Centerline is valid?  [True, True]
Translation: X:43.56, Y:1.21, Z:0.00
[[ 9.99992764e-01  3.80408188e-03  0.00000000e+00  4.35554636e+01]
 [-3.80408188e-03  9.99992764e-01  0.00000000e+00  1.20574316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.506066493
Centerline is valid?  [True, True]
Translation: X:43.61, Y:1.20, Z:0.00
[[ 9.99997120e-01 -2.39999512e-03  0.00000000e+00  4.36142840e+01]
 [ 2.39999512e-03  9.99997120e-01  0.00000000e+00  1.20478605e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.566066493
Centerline is valid?  [True, True]
Translation: X:43.67, Y:1.20, Z:0.00
[[ 9.99984160e-01 -5.62854196e-03  0.00000000e+00  4.36749802e+01]
 [ 5.62854196e-03  9.99984160e-01  0.00000000e+00  1.20245768e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.626066493
Centerline is valid?  [True, True]
Translation: X:43.74, Y:1.21, Z:0.00
[[ 9.99992713e-01 -3.81747816e-03  0.00000000e+00  4.37360204e+01]
 [ 3.81747816e-03  9.99992713e-01  0.00000000e+00  1.20926988e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.686066493000006
Centerline is valid?  [True, True]
Translation: X:43.80, Y:1.21, Z:0.00
[[ 9.99996787e-01 -2.53492469e-03  0.00000000e+00  4.37978068e+01]
 [ 2.53492469e-03  9.99996787e-01  0.00000000e+00  1.20675183e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.746066493
Centerline is valid?  [True, True]
Translation: X:43.86, Y:1.21, Z:0.00
[[ 9.99999999e-01 -4.56727634e-05  0.00000000e+00  4.38578480e+01]
 [ 4.56727634e-05  9.99999999e-01  0.00000000e+00  1.20754857e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.806066493
Centerline is valid?  [True, True]
Translation: X:43.92, Y:1.21, Z:0.00
[[ 9.99995056e-01  3.14458872e-03  0.00000000e+00  4.39177231e+01]
 [-3.14458872e-03  9.99995056e-01  0.00000000e+00  1.21234262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.866066493000005
Centerline is valid?  [True, True]
Translation: X:43.98, Y:1.20, Z:0.00
[[ 9.99979832e-01  6.35106665e-03  0.00000000e+00  4.39775636e+01]
 [-6.35106665e-03  9.99979832e-01  0.00000000e+00  1.20486779e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.926066493
Centerline is valid?  [True, True]
Translation: X:44.04, Y:1.22, Z:0.00
[[ 9.99935322e-01  1.13733217e-02  0.00000000e+00  4.40381204e+01]
 [-1.13733217e-02  9.99935322e-01  0.00000000e+00  1.21504219e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.986066493
Centerline is valid?  [True, True]
Translation: X:44.10, Y:1.22, Z:0.00
[[ 9.99934060e-01  1.14837277e-02  0.00000000e+00  4.40974552e+01]
 [-1.14837277e-02  9.99934060e-01  0.00000000e+00  1.21830047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.046066493000005
Centerline is valid?  [True, True]
Translation: X:44.16, Y:1.20, Z:0.00
[[ 9.99934490e-01  1.14461749e-02  0.00000000e+00  4.41563477e+01]
 [-1.14461749e-02  9.99934490e-01  0.00000000e+00  1.20429424e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.106066493
Centerline is valid?  [True, True]
Translation: X:44.21, Y:1.21, Z:0.00
[[ 9.99939263e-01  1.10213502e-02  0.00000000e+00  4.42146229e+01]
 [-1.10213502e-02  9.99939263e-01  0.00000000e+00  1.20773535e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.166066493
Centerline is valid?  [True, True]
Translation: X:44.28, Y:1.21, Z:0.00
[[ 9.99884915e-01  1.51708955e-02  0.00000000e+00  4.42752015e+01]
 [-1.51708955e-02  9.99884915e-01  0.00000000e+00  1.21177696e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.226066493000005
Centerline is valid?  [True, True]
Translation: X:44.34, Y:1.20, Z:0.00
[[ 9.99915011e-01  1.30372777e-02  0.00000000e+00  4.43353901e+01]
 [-1.30372777e-02  9.99915011e-01  0.00000000e+00  1.19968162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.286066493
Centerline is valid?  [True, True]
Translation: X:44.39, Y:1.20, Z:0.00
[[ 9.99930868e-01  1.17583726e-02  0.00000000e+00  4.43940227e+01]
 [-1.17583726e-02  9.99930868e-01  0.00000000e+00  1.19631661e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.346066493
Centerline is valid?  [True, True]
Translation: X:44.45, Y:1.19, Z:0.00
[[ 9.99941334e-01  1.08318045e-02  0.00000000e+00  4.44547048e+01]
 [-1.08318045e-02  9.99941334e-01  0.00000000e+00  1.19321134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 44.406066493000004
Centerline is valid?  [True, True]
Translation: X:44.52, Y:1.19, Z:0.00
[[ 9.99869769e-01  1.61383387e-02  0.00000000e+00  4.45151285e+01]
 [-1.61383387e-02  9.99869769e-01  0.00000000e+00  1.19076385e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.466066493
Centerline is valid?  [True, True]
Translation: X:44.58, Y:1.18, Z:0.00
[[ 9.99766708e-01  2.15992751e-02  0.00000000e+00  4.45760456e+01]
 [-2.15992751e-02  9.99766708e-01  0.00000000e+00  1.17715152e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.526066493
Centerline is valid?  [True, True]
Translation: X:44.64, Y:1.18, Z:0.00
[[ 9.99912043e-01  1.32629637e-02  0.00000000e+00  4.46366950e+01]
 [-1.32629637e-02  9.99912043e-01  0.00000000e+00  1.17508981e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.586066493000004
Centerline is valid?  [True, True]
Translation: X:44.70, Y:1.17, Z:0.00
[[ 9.99979855e-01  6.34746056e-03  0.00000000e+00  4.46971704e+01]
 [-6.34746056e-03  9.99979855e-01  0.00000000e+00  1.16812717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.646066493
Centerline is valid?  [True, True]
Translation: X:44.76, Y:1.16, Z:0.00
[[ 9.99982179e-01  5.96998974e-03  0.00000000e+00  4.47564616e+01]
 [-5.96998974e-03  9.99982179e-01  0.00000000e+00  1.16456265e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.706066493
Centerline is valid?  [True, True]
Translation: X:44.82, Y:1.16, Z:0.00
[[ 9.99947676e-01  1.02296124e-02  0.00000000e+00  4.48155116e+01]
 [-1.02296124e-02  9.99947676e-01  0.00000000e+00  1.16488440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.766066493000004
Centerline is valid?  [True, True]
Translation: X:44.88, Y:1.16, Z:0.00
[[ 9.99867327e-01  1.62888963e-02  0.00000000e+00  4.48758527e+01]
 [-1.62888963e-02  9.99867327e-01  0.00000000e+00  1.15952210e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.826066493
Centerline is valid?  [True, True]
Translation: X:44.93, Y:1.16, Z:0.00
[[ 9.99834447e-01  1.81955603e-02  0.00000000e+00  4.49341542e+01]
 [-1.81955603e-02  9.99834447e-01  0.00000000e+00  1.15632949e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.886066493
Centerline is valid?  [True, True]
Translation: X:44.99, Y:1.15, Z:0.00
[[ 9.99887554e-01  1.49959657e-02  0.00000000e+00  4.49935034e+01]
 [-1.49959657e-02  9.99887554e-01  0.00000000e+00  1.14774773e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.946066493000004
Centerline is valid?  [True, True]
Translation: X:45.05, Y:1.14, Z:0.00
[[ 9.99891736e-01  1.47145203e-02  0.00000000e+00  4.50534503e+01]
 [-1.47145203e-02  9.99891736e-01  0.00000000e+00  1.14080649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.006066493
Centerline is valid?  [True, True]
Translation: X:45.11, Y:1.14, Z:0.00
[[ 9.99967332e-01  8.08297408e-03  0.00000000e+00  4.51141839e+01]
 [-8.08297408e-03  9.99967332e-01  0.00000000e+00  1.13827667e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.066066493
Centerline is valid?  [True, True]
Translation: X:45.17, Y:1.14, Z:0.00
[[ 9.99961179e-01  8.81134517e-03  0.00000000e+00  4.51733831e+01]
 [-8.81134517e-03  9.99961179e-01  0.00000000e+00  1.13661267e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.126066493
Centerline is valid?  [True, True]
Translation: X:45.23, Y:1.13, Z:0.00
[[ 9.99865637e-01  1.63923025e-02  0.00000000e+00  4.52335237e+01]
 [-1.63923025e-02  9.99865637e-01  0.00000000e+00  1.13329136e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.186066493000006
Centerline is valid?  [True, True]
Translation: X:45.29, Y:1.13, Z:0.00
[[ 9.99840433e-01  1.78635994e-02  0.00000000e+00  4.52924619e+01]
 [-1.78635994e-02  9.99840433e-01  0.00000000e+00  1.12752934e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.246066493
Centerline is valid?  [True, True]
Translation: X:45.35, Y:1.13, Z:0.00
[[ 9.99846354e-01  1.75290662e-02  0.00000000e+00  4.53503011e+01]
 [-1.75290662e-02  9.99846354e-01  0.00000000e+00  1.13188681e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.306066493
Centerline is valid?  [True, True]
Translation: X:45.41, Y:1.12, Z:0.00
[[ 9.99873694e-01  1.58932532e-02  0.00000000e+00  4.54093809e+01]
 [-1.58932532e-02  9.99873694e-01  0.00000000e+00  1.12174206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.366066493000005
Centerline is valid?  [True, True]
Translation: X:45.47, Y:1.11, Z:0.00
[[ 9.99933601e-01  1.15236319e-02  0.00000000e+00  4.54691096e+01]
 [-1.15236319e-02  9.99933601e-01  0.00000000e+00  1.11403516e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.426066493
Centerline is valid?  [True, True]
Translation: X:45.53, Y:1.12, Z:0.00
[[ 9.99840092e-01  1.78826803e-02  0.00000000e+00  4.55299882e+01]
 [-1.78826803e-02  9.99840092e-01  0.00000000e+00  1.11514813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.486066493
Centerline is valid?  [True, True]
Translation: X:45.59, Y:1.11, Z:0.00
[[ 9.99824516e-01  1.87333298e-02  0.00000000e+00  4.55886853e+01]
 [-1.87333298e-02  9.99824516e-01  0.00000000e+00  1.10955220e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.546066493000005
Centerline is valid?  [True, True]
Translation: X:45.65, Y:1.10, Z:0.00
[[ 9.99959217e-01  9.03134538e-03  0.00000000e+00  4.56488291e+01]
 [-9.03134538e-03  9.99959217e-01  0.00000000e+00  1.10097805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 45.606066493
Centerline is valid?  [True, True]
Translation: X:45.71, Y:1.10, Z:0.00
[[ 9.99983936e-01  5.66820542e-03  0.00000000e+00  4.57069687e+01]
 [-5.66820542e-03  9.99983936e-01  0.00000000e+00  1.09971123e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.666066493
Centerline is valid?  [True, True]
Translation: X:45.77, Y:1.10, Z:0.00
[[ 9.99988168e-01  4.86464315e-03  0.00000000e+00  4.57662265e+01]
 [-4.86464315e-03  9.99988168e-01  0.00000000e+00  1.09723195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.726066493000005
Centerline is valid?  [True, True]
Translation: X:45.83, Y:1.09, Z:0.00
[[ 9.99994151e-01  3.42018524e-03  0.00000000e+00  4.58263956e+01]
 [-3.42018524e-03  9.99994151e-01  0.00000000e+00  1.09437803e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.786066493
Centerline is valid?  [True, True]
Translation: X:45.89, Y:1.10, Z:0.00
[[ 9.99981921e-01  6.01305399e-03  0.00000000e+00  4.58864939e+01]
 [-6.01305399e-03  9.99981921e-01  0.00000000e+00  1.09587890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.846066493
Centerline is valid?  [True, True]
Translation: X:45.95, Y:1.10, Z:0.00
[[ 9.99927057e-01  1.20781346e-02  0.00000000e+00  4.59469767e+01]
 [-1.20781346e-02  9.99927057e-01  0.00000000e+00  1.09668671e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.906066493000004
Centerline is valid?  [True, True]
Translation: X:46.01, Y:1.09, Z:0.00
[[ 9.99948294e-01  1.01690297e-02  0.00000000e+00  4.60062431e+01]
 [-1.01690297e-02  9.99948294e-01  0.00000000e+00  1.09475379e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.966066493
Centerline is valid?  [True, True]
Translation: X:46.07, Y:1.09, Z:0.00
[[ 9.99975797e-01  6.95733651e-03  0.00000000e+00  4.60663531e+01]
 [-6.95733651e-03  9.99975797e-01  0.00000000e+00  1.09254988e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.026066493
Centerline is valid?  [True, True]
Translation: X:46.12, Y:1.10, Z:0.00
[[ 9.99960470e-01  8.89145146e-03  0.00000000e+00  4.61246576e+01]
 [-8.89145146e-03  9.99960470e-01  0.00000000e+00  1.09703052e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.086066493000004
Centerline is valid?  [True, True]
Translation: X:46.19, Y:1.09, Z:0.00
[[ 9.99994198e-01  3.40642169e-03  0.00000000e+00  4.61851685e+01]
 [-3.40642169e-03  9.99994198e-01  0.00000000e+00  1.09294922e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.146066493
Centerline is valid?  [True, True]
Translation: X:46.25, Y:1.09, Z:0.00
[[ 9.99995074e-01 -3.13879542e-03  0.00000000e+00  4.62454629e+01]
 [ 3.13879542e-03  9.99995074e-01  0.00000000e+00  1.08935643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.206066493
Centerline is valid?  [True, True]
Translation: X:46.31, Y:1.10, Z:0.00
[[ 9.99964197e-01 -8.46192635e-03  0.00000000e+00  4.63064106e+01]
 [ 8.46192635e-03  9.99964197e-01  0.00000000e+00  1.09622681e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.266066493000004
Centerline is valid?  [True, True]
Translation: X:46.37, Y:1.09, Z:0.00
[[ 9.99858360e-01 -1.68303101e-02  0.00000000e+00  4.63684551e+01]
 [ 1.68303101e-02  9.99858360e-01  0.00000000e+00  1.09242813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.326066493
Centerline is valid?  [True, True]
Translation: X:46.43, Y:1.10, Z:0.00
[[ 9.99790916e-01 -2.04480955e-02  0.00000000e+00  4.64300794e+01]
 [ 2.04480955e-02  9.99790916e-01  0.00000000e+00  1.09616811e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.386066493
Centerline is valid?  [True, True]
Translation: X:46.49, Y:1.11, Z:0.00
[[ 9.99897174e-01 -1.43402309e-02  0.00000000e+00  4.64918933e+01]
 [ 1.43402309e-02  9.99897174e-01  0.00000000e+00  1.10604773e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.446066493000004
Centerline is valid?  [True, True]
Translation: X:46.55, Y:1.11, Z:0.00
[[ 9.99874850e-01 -1.58203898e-02  0.00000000e+00  4.65540749e+01]
 [ 1.58203898e-02  9.99874850e-01  0.00000000e+00  1.10813692e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.506066493000006
Centerline is valid?  [True, True]
Translation: X:46.62, Y:1.11, Z:0.00
[[ 9.99894357e-01 -1.45352969e-02  0.00000000e+00  4.66150844e+01]
 [ 1.45352969e-02  9.99894357e-01  0.00000000e+00  1.11262588e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.566066493
Centerline is valid?  [True, True]
Translation: X:46.68, Y:1.12, Z:0.00
[[ 9.99939830e-01 -1.09698244e-02  0.00000000e+00  4.66764866e+01]
 [ 1.09698244e-02  9.99939830e-01  0.00000000e+00  1.11964270e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.626066493
Centerline is valid?  [True, True]
Translation: X:46.74, Y:1.13, Z:0.00
[[ 9.99994335e-01 -3.36595427e-03  0.00000000e+00  4.67376375e+01]
 [ 3.36595427e-03  9.99994335e-01  0.00000000e+00  1.12949734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.686066493000006
Centerline is valid?  [True, True]
Translation: X:46.80, Y:1.13, Z:0.00
[[ 9.99986613e-01 -5.17436740e-03  0.00000000e+00  4.67971682e+01]
 [ 5.17436740e-03  9.99986613e-01  0.00000000e+00  1.12591237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.746066493
Centerline is valid?  [True, True]
Translation: X:46.86, Y:1.13, Z:0.00
[[ 9.99993694e-01 -3.55124198e-03  0.00000000e+00  4.68573214e+01]
 [ 3.55124198e-03  9.99993694e-01  0.00000000e+00  1.13156283e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 46.806066493
Centerline is valid?  [True, True]
Translation: X:46.92, Y:1.13, Z:0.00
[[ 9.99956993e-01 -9.27428031e-03  0.00000000e+00  4.69170661e+01]
 [ 9.27428031e-03  9.99956993e-01  0.00000000e+00  1.13108468e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.866066493000005
Centerline is valid?  [True, True]
Translation: X:46.98, Y:1.13, Z:0.00
[[ 9.99931205e-01 -1.17296385e-02  0.00000000e+00  4.69796054e+01]
 [ 1.17296385e-02  9.99931205e-01  0.00000000e+00  1.13233381e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.926066493
Centerline is valid?  [True, True]
Translation: X:47.04, Y:1.14, Z:0.00
[[ 9.99860697e-01 -1.66909126e-02  0.00000000e+00  4.70391006e+01]
 [ 1.66909126e-02  9.99860697e-01  0.00000000e+00  1.13557018e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.986066493
Centerline is valid?  [True, True]
Translation: X:47.10, Y:1.14, Z:0.00
[[ 9.99810219e-01 -1.94814035e-02  0.00000000e+00  4.71013467e+01]
 [ 1.94814035e-02  9.99810219e-01  0.00000000e+00  1.13885716e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.046066493000005
Centerline is valid?  [True, True]
Translation: X:47.16, Y:1.14, Z:0.00
[[ 9.99699531e-01 -2.45122040e-02  0.00000000e+00  4.71625215e+01]
 [ 2.45122040e-02  9.99699531e-01  0.00000000e+00  1.14342787e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.106066493
Centerline is valid?  [True, True]
Translation: X:47.22, Y:1.14, Z:0.00
[[ 9.99447782e-01 -3.32284549e-02  0.00000000e+00  4.72236429e+01]
 [ 3.32284549e-02  9.99447782e-01  0.00000000e+00  1.14409855e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.166066493
Centerline is valid?  [True, True]
Translation: X:47.29, Y:1.16, Z:0.00
[[ 9.99509350e-01 -3.13218716e-02  0.00000000e+00  4.72857649e+01]
 [ 3.13218716e-02  9.99509350e-01  0.00000000e+00  1.15522609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.226066493000005
Centerline is valid?  [True, True]
Translation: X:47.35, Y:1.16, Z:0.00
[[ 9.99595765e-01 -2.84307271e-02  0.00000000e+00  4.73465462e+01]
 [ 2.84307271e-02  9.99595765e-01  0.00000000e+00  1.16363623e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.286066493
Centerline is valid?  [True, True]
Translation: X:47.41, Y:1.16, Z:0.00
[[ 9.99741206e-01 -2.27490842e-02  0.00000000e+00  4.74092844e+01]
 [ 2.27490842e-02  9.99741206e-01  0.00000000e+00  1.16416206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.346066493
Centerline is valid?  [True, True]
Translation: X:47.47, Y:1.18, Z:0.00
[[ 9.99973393e-01 -7.29475773e-03  0.00000000e+00  4.74694796e+01]
 [ 7.29475773e-03  9.99973393e-01  0.00000000e+00  1.18401748e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.406066493000004
Centerline is valid?  [True, True]
Translation: X:47.53, Y:1.19, Z:0.00
[[ 9.99999955e-01 -2.99512247e-04  0.00000000e+00  4.75309509e+01]
 [ 2.99512247e-04  9.99999955e-01  0.00000000e+00  1.18561400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.466066493
Centerline is valid?  [True, True]
Translation: X:47.59, Y:1.19, Z:0.00
[[ 9.99961726e-01  8.74910072e-03  0.00000000e+00  4.75910506e+01]
 [-8.74910072e-03  9.99961726e-01  0.00000000e+00  1.19083681e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.526066493
Centerline is valid?  [True, True]
Translation: X:47.65, Y:1.20, Z:0.00
[[ 9.99770260e-01  2.14342407e-02  0.00000000e+00  4.76504946e+01]
 [-2.14342407e-02  9.99770260e-01  0.00000000e+00  1.20095985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.586066493000004
Centerline is valid?  [True, True]
Translation: X:47.71, Y:1.20, Z:0.00
[[ 9.99745677e-01  2.25517268e-02  0.00000000e+00  4.77088127e+01]
 [-2.25517268e-02  9.99745677e-01  0.00000000e+00  1.20322157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.646066493
Centerline is valid?  [True, True]
Translation: X:47.77, Y:1.20, Z:0.00
[[ 9.99816263e-01  1.91687330e-02  0.00000000e+00  4.77657207e+01]
 [-1.91687330e-02  9.99816263e-01  0.00000000e+00  1.19699045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.706066493
Centerline is valid?  [True, True]
Translation: X:47.83, Y:1.20, Z:0.00
[[ 9.99848578e-01  1.74017566e-02  0.00000000e+00  4.78256836e+01]
 [-1.74017566e-02  9.99848578e-01  0.00000000e+00  1.19907375e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.766066493000004
Centerline is valid?  [True, True]
Translation: X:47.88, Y:1.19, Z:0.00
[[ 9.99873818e-01  1.58854601e-02  0.00000000e+00  4.78839515e+01]
 [-1.58854601e-02  9.99873818e-01  0.00000000e+00  1.19123150e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.826066493
Centerline is valid?  [True, True]
Translation: X:47.94, Y:1.19, Z:0.00
[[ 9.99618390e-01  2.76237839e-02  0.00000000e+00  4.79439617e+01]
 [-2.76237839e-02  9.99618390e-01  0.00000000e+00  1.19043235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.886066493
Centerline is valid?  [True, True]
Translation: X:48.00, Y:1.19, Z:0.00
[[ 9.99196598e-01  4.00769160e-02  0.00000000e+00  4.80039141e+01]
 [-4.00769160e-02  9.99196598e-01  0.00000000e+00  1.18891169e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.946066493000004
Centerline is valid?  [True, True]
Translation: X:48.06, Y:1.17, Z:0.00
[[ 0.99880623  0.04884793  0.         48.06368587]
 [-0.04884793  0.99880623  0.          1.17340554]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 48.006066493000006
Centerline is valid?  [True, True]
Translation: X:48.12, Y:1.16, Z:0.00
[[ 0.99843969  0.05584077  0.         48.12330873]
 [-0.05584077  0.99843969  0.          1.16442113]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.066066493
Centerline is valid?  [True, True]
Translation: X:48.18, Y:1.16, Z:0.00
[[ 0.9983522   0.05738372  0.         48.18308895]
 [-0.05738372  0.9983522   0.          1.1600844 ]
 [ 0.          0.          1.          0.        ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.126066493
Centerline is valid?  [True, True]
Translation: X:48.24, Y:1.13, Z:0.00
[[ 9.98914996e-01  4.65707144e-02  0.00000000e+00  4.82441443e+01]
 [-4.65707144e-02  9.98914996e-01  0.00000000e+00  1.13022976e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.186066493000006
Centerline is valid?  [True, True]
Translation: X:48.30, Y:1.12, Z:0.00
[[ 9.99098370e-01  4.24552445e-02  0.00000000e+00  4.83049546e+01]
 [-4.24552445e-02  9.99098370e-01  0.00000000e+00  1.12127145e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.246066493
Centerline is valid?  [True, True]
Translation: X:48.37, Y:1.10, Z:0.00
[[ 9.99509940e-01  3.13030250e-02  0.00000000e+00  4.83653522e+01]
 [-3.13030250e-02  9.99509940e-01  0.00000000e+00  1.10435099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.306066493
Centerline is valid?  [True, True]
Translation: X:48.43, Y:1.08, Z:0.00
[[ 9.99783593e-01  2.08030442e-02  0.00000000e+00  4.84257130e+01]
 [-2.08030442e-02  9.99783593e-01  0.00000000e+00  1.08073939e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.366066493000005
Centerline is valid?  [True, True]
Translation: X:48.49, Y:1.07, Z:0.00
[[ 9.99835207e-01  1.81537357e-02  0.00000000e+00  4.84868006e+01]
 [-1.81537357e-02  9.99835207e-01  0.00000000e+00  1.07366354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.426066493
Centerline is valid?  [True, True]
Translation: X:48.55, Y:1.07, Z:0.00
[[ 9.99937254e-01  1.12021500e-02  0.00000000e+00  4.85456965e+01]
 [-1.12021500e-02  9.99937254e-01  0.00000000e+00  1.06527620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.486066493
Centerline is valid?  [True, True]
Translation: X:48.61, Y:1.06, Z:0.00
[[ 9.99999134e-01  1.31590067e-03  0.00000000e+00  4.86061653e+01]
 [-1.31590067e-03  9.99999134e-01  0.00000000e+00  1.05843653e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.546066493000005
Centerline is valid?  [True, True]
Translation: X:48.67, Y:1.05, Z:0.00
[[ 9.99948912e-01 -1.01080455e-02  0.00000000e+00  4.86672353e+01]
 [ 1.01080455e-02  9.99948912e-01  0.00000000e+00  1.05365179e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.606066493
Centerline is valid?  [True, True]
Translation: X:48.73, Y:1.05, Z:0.00
[[ 9.99799539e-01 -2.00220431e-02  0.00000000e+00  4.87279447e+01]
 [ 2.00220431e-02  9.99799539e-01  0.00000000e+00  1.04789708e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.666066493
Centerline is valid?  [True, True]
Translation: X:48.79, Y:1.05, Z:0.00
[[ 9.99781649e-01 -2.08962525e-02  0.00000000e+00  4.87887234e+01]
 [ 2.08962525e-02  9.99781649e-01  0.00000000e+00  1.05291007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.726066493000005
Centerline is valid?  [True, True]
Translation: X:48.85, Y:1.06, Z:0.00
[[ 9.99938178e-01 -1.11193693e-02  0.00000000e+00  4.88508088e+01]
 [ 1.11193693e-02  9.99938178e-01  0.00000000e+00  1.05854262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.786066493
Centerline is valid?  [True, True]
Translation: X:48.91, Y:1.06, Z:0.00
[[ 9.99975003e-01 -7.07058127e-03  0.00000000e+00  4.89132464e+01]
 [ 7.07058127e-03  9.99975003e-01  0.00000000e+00  1.06138703e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.846066493
Centerline is valid?  [True, True]
Translation: X:48.97, Y:1.06, Z:0.00
[[ 9.99989179e-01  4.65218795e-03  0.00000000e+00  4.89742165e+01]
 [-4.65218795e-03  9.99989179e-01  0.00000000e+00  1.06496175e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.906066493000004
Centerline is valid?  [True, True]
Translation: X:49.03, Y:1.08, Z:0.00
[[ 9.99781045e-01  2.09251549e-02  0.00000000e+00  4.90346419e+01]
 [-2.09251549e-02  9.99781045e-01  0.00000000e+00  1.07843862e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.966066493
Centerline is valid?  [True, True]
Translation: X:49.10, Y:1.08, Z:0.00
[[ 9.99450208e-01  3.31554072e-02  0.00000000e+00  4.90950252e+01]
 [-3.31554072e-02  9.99450208e-01  0.00000000e+00  1.08302132e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.026066493
Centerline is valid?  [True, True]
Translation: X:49.15, Y:1.08, Z:0.00
[[ 9.99361586e-01  3.57270333e-02  0.00000000e+00  4.91545477e+01]
 [-3.57270333e-02  9.99361586e-01  0.00000000e+00  1.08061081e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.086066493000004
Centerline is valid?  [True, True]
Translation: X:49.21, Y:1.09, Z:0.00
[[ 9.99106647e-01  4.22600118e-02  0.00000000e+00  4.92149703e+01]
 [-4.22600118e-02  9.99106647e-01  0.00000000e+00  1.09012425e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.146066493
Centerline is valid?  [True, True]
Translation: X:49.27, Y:1.09, Z:0.00
[[ 9.99068565e-01  4.31509178e-02  0.00000000e+00  4.92731958e+01]
 [-4.31509178e-02  9.99068565e-01  0.00000000e+00  1.08553252e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 49.206066493
Centerline is valid?  [True, True]
Translation: X:49.33, Y:1.07, Z:0.00
[[ 9.99238370e-01  3.90215229e-02  0.00000000e+00  4.93337891e+01]
 [-3.90215229e-02  9.99238370e-01  0.00000000e+00  1.06898204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.266066493000004
Centerline is valid?  [True, True]
Translation: X:49.39, Y:1.07, Z:0.00
[[ 9.99313597e-01  3.70450261e-02  0.00000000e+00  4.93929873e+01]
 [-3.70450261e-02  9.99313597e-01  0.00000000e+00  1.06719573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.326066493000006
Centerline is valid?  [True, True]
Translation: X:49.45, Y:1.06, Z:0.00
[[ 9.99328231e-01  3.66481364e-02  0.00000000e+00  4.94520850e+01]
 [-3.66481364e-02  9.99328231e-01  0.00000000e+00  1.05929709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.386066493
Centerline is valid?  [True, True]
Translation: X:49.51, Y:1.04, Z:0.00
[[ 9.99437860e-01  3.35255719e-02  0.00000000e+00  4.95103921e+01]
 [-3.35255719e-02  9.99437860e-01  0.00000000e+00  1.03953688e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.446066493000004
Centerline is valid?  [True, True]
Translation: X:49.57, Y:1.04, Z:0.00
[[ 9.99214505e-01  3.96279267e-02  0.00000000e+00  4.95702152e+01]
 [-3.96279267e-02  9.99214505e-01  0.00000000e+00  1.04038299e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.506066493000006
Centerline is valid?  [True, True]
Translation: X:49.63, Y:1.03, Z:0.00
[[ 9.98945443e-01  4.59129803e-02  0.00000000e+00  4.96297392e+01]
 [-4.59129803e-02  9.98945443e-01  0.00000000e+00  1.03213745e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.566066493
Centerline is valid?  [True, True]
Translation: X:49.69, Y:1.02, Z:0.00
[[ 9.99230924e-01  3.92117516e-02  0.00000000e+00  4.96908868e+01]
 [-3.92117516e-02  9.99230924e-01  0.00000000e+00  1.01633762e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.626066493
Centerline is valid?  [True, True]
Translation: X:49.75, Y:1.01, Z:0.00
[[ 9.99390609e-01  3.49057260e-02  0.00000000e+00  4.97516328e+01]
 [-3.49057260e-02  9.99390609e-01  0.00000000e+00  1.01235654e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.686066493000006
Centerline is valid?  [True, True]
Translation: X:49.81, Y:1.00, Z:0.00
[[ 9.99824086e-01  1.87562478e-02  0.00000000e+00  4.98112300e+01]
 [-1.87562478e-02  9.99824086e-01  0.00000000e+00  9.96355307e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.746066493
Centerline is valid?  [True, True]
Translation: X:49.87, Y:0.99, Z:0.00
[[ 9.99978597e-01  6.54254164e-03  0.00000000e+00  4.98707236e+01]
 [-6.54254164e-03  9.99978597e-01  0.00000000e+00  9.92649200e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.806066493
Centerline is valid?  [True, True]
Translation: X:49.93, Y:0.98, Z:0.00
[[ 9.99986212e-01 -5.25136105e-03  0.00000000e+00  4.99313016e+01]
 [ 5.25136105e-03  9.99986212e-01  0.00000000e+00  9.80625225e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.866066493000005
Centerline is valid?  [True, True]
Translation: X:49.99, Y:0.97, Z:0.00
[[ 9.99990502e-01 -4.35849073e-03  0.00000000e+00  4.99915350e+01]
 [ 4.35849073e-03  9.99990502e-01  0.00000000e+00  9.74797198e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.926066493
Centerline is valid?  [True, True]
Translation: X:50.05, Y:0.98, Z:0.00
[[ 9.99994416e-01  3.34181561e-03  0.00000000e+00  5.00522926e+01]
 [-3.34181561e-03  9.99994416e-01  0.00000000e+00  9.80977585e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.986066493
Centerline is valid?  [True, True]
Translation: X:50.11, Y:0.98, Z:0.00
[[ 9.99890021e-01  1.48305728e-02  0.00000000e+00  5.01123402e+01]
 [-1.48305728e-02  9.99890021e-01  0.00000000e+00  9.81034715e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.046066493000005
Centerline is valid?  [True, True]
Translation: X:50.17, Y:0.98, Z:0.00
[[ 9.99819087e-01  1.90208524e-02  0.00000000e+00  5.01727566e+01]
 [-1.90208524e-02  9.99819087e-01  0.00000000e+00  9.82811362e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.106066493
Centerline is valid?  [True, True]
Translation: X:50.23, Y:1.00, Z:0.00
[[ 9.99804167e-01  1.97895998e-02  0.00000000e+00  5.02303741e+01]
 [-1.97895998e-02  9.99804167e-01  0.00000000e+00  9.95405053e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.166066493
Centerline is valid?  [True, True]
Translation: X:50.29, Y:1.00, Z:0.00
[[ 9.99796874e-01  2.01546572e-02  0.00000000e+00  5.02903153e+01]
 [-2.01546572e-02  9.99796874e-01  0.00000000e+00  9.95945578e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.226066493000005
Centerline is valid?  [True, True]
Translation: X:50.35, Y:0.99, Z:0.00
[[ 9.99821299e-01  1.89042385e-02  0.00000000e+00  5.03510756e+01]
 [-1.89042385e-02  9.99821299e-01  0.00000000e+00  9.89238747e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.286066493
Centerline is valid?  [True, True]
Translation: X:50.41, Y:1.00, Z:0.00
[[ 9.99887715e-01  1.49852648e-02  0.00000000e+00  5.04108388e+01]
 [-1.49852648e-02  9.99887715e-01  0.00000000e+00  9.95143207e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.346066493
Centerline is valid?  [True, True]
Translation: X:50.47, Y:1.00, Z:0.00
[[ 9.99876516e-01  1.57147262e-02  0.00000000e+00  5.04696156e+01]
 [-1.57147262e-02  9.99876516e-01  0.00000000e+00  9.95053704e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 50.406066493000004
Centerline is valid?  [True, True]
Translation: X:50.53, Y:0.99, Z:0.00
[[ 9.99856561e-01  1.69368871e-02  0.00000000e+00  5.05276830e+01]
 [-1.69368871e-02  9.99856561e-01  0.00000000e+00  9.94713321e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.466066493
Centerline is valid?  [True, True]
Translation: X:50.59, Y:1.00, Z:0.00
[[ 9.99562210e-01  2.95869569e-02  0.00000000e+00  5.05876612e+01]
 [-2.95869569e-02  9.99562210e-01  0.00000000e+00  9.99593639e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.526066493
Centerline is valid?  [True, True]
Translation: X:50.65, Y:1.00, Z:0.00
[[ 9.99337045e-01  3.64070239e-02  0.00000000e+00  5.06469373e+01]
 [-3.64070239e-02  9.99337045e-01  0.00000000e+00  1.00190679e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.586066493000004
Centerline is valid?  [True, True]
Translation: X:50.71, Y:1.00, Z:0.00
[[ 9.99307548e-01  3.72078506e-02  0.00000000e+00  5.07075775e+01]
 [-3.72078506e-02  9.99307548e-01  0.00000000e+00  9.96414934e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.646066493
Centerline is valid?  [True, True]
Translation: X:50.77, Y:0.99, Z:0.00
[[ 9.99295530e-01  3.75292308e-02  0.00000000e+00  5.07664414e+01]
 [-3.75292308e-02  9.99295530e-01  0.00000000e+00  9.90950489e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.706066493
Centerline is valid?  [True, True]
Translation: X:50.83, Y:0.99, Z:0.00
[[ 9.99345787e-01  3.61662456e-02  0.00000000e+00  5.08264582e+01]
 [-3.61662456e-02  9.99345787e-01  0.00000000e+00  9.94359827e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.766066493000004
Centerline is valid?  [True, True]
Translation: X:50.89, Y:0.99, Z:0.00
[[ 9.99284652e-01  3.78177826e-02  0.00000000e+00  5.08868163e+01]
 [-3.78177826e-02  9.99284652e-01  0.00000000e+00  9.91016195e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.826066493000006
Centerline is valid?  [True, True]
Translation: X:50.95, Y:0.98, Z:0.00
[[ 9.99320014e-01  3.68715346e-02  0.00000000e+00  5.09471649e+01]
 [-3.68715346e-02  9.99320014e-01  0.00000000e+00  9.81201106e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.886066493
Centerline is valid?  [True, True]
Translation: X:51.01, Y:0.98, Z:0.00
[[ 9.99404805e-01  3.44968981e-02  0.00000000e+00  5.10066637e+01]
 [-3.44968981e-02  9.99404805e-01  0.00000000e+00  9.78803702e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.946066493000004
Centerline is valid?  [True, True]
Translation: X:51.07, Y:0.97, Z:0.00
[[ 9.99401099e-01  3.46040997e-02  0.00000000e+00  5.10658812e+01]
 [-3.46040997e-02  9.99401099e-01  0.00000000e+00  9.72533370e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.006066493000006
Centerline is valid?  [True, True]
Translation: X:51.13, Y:0.96, Z:0.00
[[ 9.99658447e-01  2.61340769e-02  0.00000000e+00  5.11252731e+01]
 [-2.61340769e-02  9.99658447e-01  0.00000000e+00  9.62344479e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.066066493
Centerline is valid?  [True, True]
Translation: X:51.19, Y:0.96, Z:0.00
[[ 9.99802454e-01  1.98759340e-02  0.00000000e+00  5.11860005e+01]
 [-1.98759340e-02  9.99802454e-01  0.00000000e+00  9.55714629e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.126066493
Centerline is valid?  [True, True]
Translation: X:51.24, Y:0.95, Z:0.00
[[ 9.99747084e-01  2.24892909e-02  0.00000000e+00  5.12447696e+01]
 [-2.24892909e-02  9.99747084e-01  0.00000000e+00  9.53195697e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.186066493000006
Centerline is valid?  [True, True]
Translation: X:51.31, Y:0.95, Z:0.00
[[ 9.99479161e-01  3.22708193e-02  0.00000000e+00  5.13051053e+01]
 [-3.22708193e-02  9.99479161e-01  0.00000000e+00  9.46156605e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.246066493
Centerline is valid?  [True, True]
Translation: X:51.37, Y:0.94, Z:0.00
[[ 9.99316739e-01  3.69601965e-02  0.00000000e+00  5.13658792e+01]
 [-3.69601965e-02  9.99316739e-01  0.00000000e+00  9.41803049e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.306066493
Centerline is valid?  [True, True]
Translation: X:51.42, Y:0.94, Z:0.00
[[ 9.99376737e-01  3.53006621e-02  0.00000000e+00  5.14232948e+01]
 [-3.53006621e-02  9.99376737e-01  0.00000000e+00  9.44143187e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.366066493000005
Centerline is valid?  [True, True]
Translation: X:51.48, Y:0.93, Z:0.00
[[ 9.99612158e-01  2.78483908e-02  0.00000000e+00  5.14844504e+01]
 [-2.78483908e-02  9.99612158e-01  0.00000000e+00  9.28568439e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.426066493
Centerline is valid?  [True, True]
Translation: X:51.54, Y:0.92, Z:0.00
[[ 9.99877638e-01  1.56432087e-02  0.00000000e+00  5.15438428e+01]
 [-1.56432087e-02  9.99877638e-01  0.00000000e+00  9.20851407e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.486066493
Centerline is valid?  [True, True]
Translation: X:51.60, Y:0.92, Z:0.00
[[ 9.99996574e-01 -2.61744589e-03  0.00000000e+00  5.16044482e+01]
 [ 2.61744589e-03  9.99996574e-01  0.00000000e+00  9.21364838e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.546066493000005
Centerline is valid?  [True, True]
Translation: X:51.67, Y:0.91, Z:0.00
[[ 9.99928033e-01 -1.19970282e-02  0.00000000e+00  5.16654675e+01]
 [ 1.19970282e-02  9.99928033e-01  0.00000000e+00  9.10173307e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 51.606066493
Centerline is valid?  [True, True]
Translation: X:51.73, Y:0.91, Z:0.00
[[ 9.99894152e-01 -1.45493923e-02  0.00000000e+00  5.17272335e+01]
 [ 1.45493923e-02  9.99894152e-01  0.00000000e+00  9.11861963e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.666066493
Centerline is valid?  [True, True]
Translation: X:51.79, Y:0.93, Z:0.00
[[ 9.99946674e-01 -1.03271136e-02  0.00000000e+00  5.17894058e+01]
 [ 1.03271136e-02  9.99946674e-01  0.00000000e+00  9.25035302e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.726066493000005
Centerline is valid?  [True, True]
Translation: X:51.85, Y:0.93, Z:0.00
[[ 9.99935586e-01 -1.13500408e-02  0.00000000e+00  5.18515905e+01]
 [ 1.13500408e-02  9.99935586e-01  0.00000000e+00  9.27618688e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.786066493
Centerline is valid?  [True, True]
Translation: X:51.91, Y:0.93, Z:0.00
[[ 9.99876522e-01 -1.57143438e-02  0.00000000e+00  5.19125466e+01]
 [ 1.57143438e-02  9.99876522e-01  0.00000000e+00  9.32406034e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.846066493
Centerline is valid?  [True, True]
Translation: X:51.97, Y:0.95, Z:0.00
[[ 9.99953105e-01 -9.68442675e-03  0.00000000e+00  5.19735931e+01]
 [ 9.68442675e-03  9.99953105e-01  0.00000000e+00  9.48115404e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.906066493000004
Centerline is valid?  [True, True]
Translation: X:52.03, Y:0.95, Z:0.00
[[ 9.99998829e-01 -1.53030230e-03  0.00000000e+00  5.20348704e+01]
 [ 1.53030230e-03  9.99998829e-01  0.00000000e+00  9.52795335e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.966066493
Centerline is valid?  [True, True]
Translation: X:52.09, Y:0.97, Z:0.00
[[ 9.99942246e-01  1.07473530e-02  0.00000000e+00  5.20937372e+01]
 [-1.07473530e-02  9.99942246e-01  0.00000000e+00  9.65768575e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.026066493
Centerline is valid?  [True, True]
Translation: X:52.15, Y:0.97, Z:0.00
[[ 9.99884380e-01  1.52061305e-02  0.00000000e+00  5.21538372e+01]
 [-1.52061305e-02  9.99884380e-01  0.00000000e+00  9.70216305e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.086066493000004
Centerline is valid?  [True, True]
Translation: X:52.21, Y:0.97, Z:0.00
[[ 9.99869160e-01  1.61759836e-02  0.00000000e+00  5.22130837e+01]
 [-1.61759836e-02  9.99869160e-01  0.00000000e+00  9.71379838e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.146066493
Centerline is valid?  [True, True]
Translation: X:52.27, Y:0.98, Z:0.00
[[ 9.99781386e-01  2.09088538e-02  0.00000000e+00  5.22722057e+01]
 [-2.09088538e-02  9.99781386e-01  0.00000000e+00  9.82445096e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.206066493
Centerline is valid?  [True, True]
Translation: X:52.33, Y:0.98, Z:0.00
[[ 9.99589384e-01  2.86541990e-02  0.00000000e+00  5.23329960e+01]
 [-2.86541990e-02  9.99589384e-01  0.00000000e+00  9.79321311e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.266066493000004
Centerline is valid?  [True, True]
Translation: X:52.39, Y:0.98, Z:0.00
[[ 9.99447372e-01  3.32408056e-02  0.00000000e+00  5.23928845e+01]
 [-3.32408056e-02  9.99447372e-01  0.00000000e+00  9.82270592e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.326066493000006
Centerline is valid?  [True, True]
Translation: X:52.45, Y:0.98, Z:0.00
[[ 9.99192741e-01  4.01729460e-02  0.00000000e+00  5.24522592e+01]
 [-4.01729460e-02  9.99192741e-01  0.00000000e+00  9.84641878e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.386066493
Centerline is valid?  [True, True]
Translation: X:52.51, Y:0.98, Z:0.00
[[ 9.99220074e-01  3.94872508e-02  0.00000000e+00  5.25127695e+01]
 [-3.94872508e-02  9.99220074e-01  0.00000000e+00  9.79231276e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.446066493000004
Centerline is valid?  [True, True]
Translation: X:52.57, Y:0.98, Z:0.00
[[ 9.99466109e-01  3.26725742e-02  0.00000000e+00  5.25737202e+01]
 [-3.26725742e-02  9.99466109e-01  0.00000000e+00  9.75158146e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.506066493000006
Centerline is valid?  [True, True]
Translation: X:52.63, Y:0.96, Z:0.00
[[ 9.99782940e-01  2.08344053e-02  0.00000000e+00  5.26339953e+01]
 [-2.08344053e-02  9.99782940e-01  0.00000000e+00  9.60693899e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.566066493
Centerline is valid?  [True, True]
Translation: X:52.69, Y:0.96, Z:0.00
[[ 9.99849417e-01  1.73534800e-02  0.00000000e+00  5.26921874e+01]
 [-1.73534800e-02  9.99849417e-01  0.00000000e+00  9.60807294e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.626066493
Centerline is valid?  [True, True]
Translation: X:52.75, Y:0.96, Z:0.00
[[ 9.99930331e-01  1.18039873e-02  0.00000000e+00  5.27519301e+01]
 [-1.18039873e-02  9.99930331e-01  0.00000000e+00  9.59967365e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.686066493000006
Centerline is valid?  [True, True]
Translation: X:52.81, Y:0.95, Z:0.00
[[ 9.99899588e-01  1.41708577e-02  0.00000000e+00  5.28124269e+01]
 [-1.41708577e-02  9.99899588e-01  0.00000000e+00  9.52923534e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.746066493
Centerline is valid?  [True, True]
Translation: X:52.87, Y:0.95, Z:0.00
[[ 9.99734569e-01  2.30389007e-02  0.00000000e+00  5.28731615e+01]
 [-2.30389007e-02  9.99734569e-01  0.00000000e+00  9.54302600e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 52.806066493
Centerline is valid?  [True, True]
Translation: X:52.93, Y:0.96, Z:0.00
[[ 9.99747663e-01  2.24635394e-02  0.00000000e+00  5.29314226e+01]
 [-2.24635394e-02  9.99747663e-01  0.00000000e+00  9.59584209e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.866066493000005
Centerline is valid?  [True, True]
Translation: X:52.99, Y:0.95, Z:0.00
[[ 9.99892442e-01  1.46664593e-02  0.00000000e+00  5.29921772e+01]
 [-1.46664593e-02  9.99892442e-01  0.00000000e+00  9.48921969e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.926066493
Centerline is valid?  [True, True]
Translation: X:53.05, Y:0.95, Z:0.00
[[ 9.99894422e-01  1.45308257e-02  0.00000000e+00  5.30522658e+01]
 [-1.45308257e-02  9.99894422e-01  0.00000000e+00  9.46555444e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.986066493
Centerline is valid?  [True, True]
Translation: X:53.11, Y:0.94, Z:0.00
[[ 9.99894653e-01  1.45148928e-02  0.00000000e+00  5.31114659e+01]
 [-1.45148928e-02  9.99894653e-01  0.00000000e+00  9.44514606e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.046066493000005
Centerline is valid?  [True, True]
Translation: X:53.17, Y:0.94, Z:0.00
[[ 9.99953624e-01  9.63064503e-03  0.00000000e+00  5.31702475e+01]
 [-9.63064503e-03  9.99953624e-01  0.00000000e+00  9.41606068e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.106066493
Centerline is valid?  [True, True]
Translation: X:53.23, Y:0.94, Z:0.00
[[ 9.99980330e-01  6.27215556e-03  0.00000000e+00  5.32310530e+01]
 [-6.27215556e-03  9.99980330e-01  0.00000000e+00  9.41101617e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.166066493
Centerline is valid?  [True, True]
Translation: X:53.29, Y:0.94, Z:0.00
[[ 9.99990301e-01  4.40425624e-03  0.00000000e+00  5.32907904e+01]
 [-4.40425624e-03  9.99990301e-01  0.00000000e+00  9.41932490e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.226066493000005
Centerline is valid?  [True, True]
Translation: X:53.35, Y:0.95, Z:0.00
[[ 9.99999873e-01 -5.04476496e-04  0.00000000e+00  5.33507020e+01]
 [ 5.04476496e-04  9.99999873e-01  0.00000000e+00  9.48004282e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.286066493
Centerline is valid?  [True, True]
Translation: X:53.41, Y:0.96, Z:0.00
[[ 9.99965616e-01 -8.29254560e-03  0.00000000e+00  5.34097890e+01]
 [ 8.29254560e-03  9.99965616e-01  0.00000000e+00  9.55709881e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.346066493
Centerline is valid?  [True, True]
Translation: X:53.47, Y:0.96, Z:0.00
[[ 9.99937015e-01 -1.12234713e-02  0.00000000e+00  5.34711229e+01]
 [ 1.12234713e-02  9.99937015e-01  0.00000000e+00  9.56131748e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.406066493000004
Centerline is valid?  [True, True]
Translation: X:53.53, Y:0.97, Z:0.00
[[ 9.99980559e-01 -6.23554348e-03  0.00000000e+00  5.35315885e+01]
 [ 6.23554348e-03  9.99980559e-01  0.00000000e+00  9.71216903e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.466066493
Centerline is valid?  [True, True]
Translation: X:53.59, Y:0.98, Z:0.00
[[ 9.99999947e-01  3.26559726e-04  0.00000000e+00  5.35912923e+01]
 [-3.26559726e-04  9.99999947e-01  0.00000000e+00  9.81461925e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.526066493
Centerline is valid?  [True, True]
Translation: X:53.65, Y:0.99, Z:0.00
[[ 9.99967565e-01  8.05418579e-03  0.00000000e+00  5.36511115e+01]
 [-8.05418579e-03  9.99967565e-01  0.00000000e+00  9.91704658e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.586066493000004
Centerline is valid?  [True, True]
Translation: X:53.71, Y:1.00, Z:0.00
[[ 9.99811868e-01  1.93966388e-02  0.00000000e+00  5.37104379e+01]
 [-1.93966388e-02  9.99811868e-01  0.00000000e+00  9.99968975e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.646066493000006
Centerline is valid?  [True, True]
Translation: X:53.77, Y:1.01, Z:0.00
[[ 9.99727350e-01  2.33500789e-02  0.00000000e+00  5.37711280e+01]
 [-2.33500789e-02  9.99727350e-01  0.00000000e+00  1.00587312e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.706066493
Centerline is valid?  [True, True]
Translation: X:53.83, Y:1.01, Z:0.00
[[ 9.99748074e-01  2.24452460e-02  0.00000000e+00  5.38304945e+01]
 [-2.24452460e-02  9.99748074e-01  0.00000000e+00  1.01078361e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.766066493000004
Centerline is valid?  [True, True]
Translation: X:53.89, Y:1.01, Z:0.00
[[ 9.99685541e-01  2.50762583e-02  0.00000000e+00  5.38906422e+01]
 [-2.50762583e-02  9.99685541e-01  0.00000000e+00  1.01460728e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.826066493000006
Centerline is valid?  [True, True]
Translation: X:53.95, Y:1.01, Z:0.00
[[ 9.99627930e-01  2.72764062e-02  0.00000000e+00  5.39488882e+01]
 [-2.72764062e-02  9.99627930e-01  0.00000000e+00  1.01343942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.886066493
Centerline is valid?  [True, True]
Translation: X:54.01, Y:1.01, Z:0.00
[[ 9.99669085e-01  2.57239092e-02  0.00000000e+00  5.40068910e+01]
 [-2.57239092e-02  9.99669085e-01  0.00000000e+00  1.01371446e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.946066493000004
Centerline is valid?  [True, True]
Translation: X:54.07, Y:1.01, Z:0.00
[[ 9.99602526e-01  2.81920075e-02  0.00000000e+00  5.40665912e+01]
 [-2.81920075e-02  9.99602526e-01  0.00000000e+00  1.01055729e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 54.006066493000006
Centerline is valid?  [True, True]
Translation: X:54.13, Y:1.01, Z:0.00
[[ 9.99508821e-01  3.13387559e-02  0.00000000e+00  5.41274342e+01]
 [-3.13387559e-02  9.99508821e-01  0.00000000e+00  1.00664472e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.066066493
Centerline is valid?  [True, True]
Translation: X:54.19, Y:1.00, Z:0.00
[[ 9.99287491e-01  3.77426987e-02  0.00000000e+00  5.41869731e+01]
 [-3.77426987e-02  9.99287491e-01  0.00000000e+00  1.00176522e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.126066493
Centerline is valid?  [True, True]
Translation: X:54.25, Y:1.00, Z:0.00
[[ 9.99215549e-01  3.96015973e-02  0.00000000e+00  5.42460512e+01]
 [-3.96015973e-02  9.99215549e-01  0.00000000e+00  9.97192968e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.186066493000006
Centerline is valid?  [True, True]
Translation: X:54.31, Y:0.99, Z:0.00
[[ 9.99397317e-01  3.47131583e-02  0.00000000e+00  5.43065563e+01]
 [-3.47131583e-02  9.99397317e-01  0.00000000e+00  9.87839647e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.246066493
Centerline is valid?  [True, True]
Translation: X:54.37, Y:0.98, Z:0.00
[[ 9.99770581e-01  2.14192658e-02  0.00000000e+00  5.43670431e+01]
 [-2.14192658e-02  9.99770581e-01  0.00000000e+00  9.78005473e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.306066493
Centerline is valid?  [True, True]
Translation: X:54.43, Y:0.97, Z:0.00
[[ 9.99925336e-01  1.22197843e-02  0.00000000e+00  5.44266139e+01]
 [-1.22197843e-02  9.99925336e-01  0.00000000e+00  9.72636629e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.366066493000005
Centerline is valid?  [True, True]
Translation: X:54.49, Y:0.97, Z:0.00
[[ 9.99964008e-01  8.48428368e-03  0.00000000e+00  5.44867593e+01]
 [-8.48428368e-03  9.99964008e-01  0.00000000e+00  9.69835169e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.426066493
Centerline is valid?  [True, True]
Translation: X:54.55, Y:0.96, Z:0.00
[[ 9.99852209e-01  1.71918599e-02  0.00000000e+00  5.45463660e+01]
 [-1.71918599e-02  9.99852209e-01  0.00000000e+00  9.62911101e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.486066493
Centerline is valid?  [True, True]
Translation: X:54.61, Y:0.96, Z:0.00
[[ 9.99814859e-01  1.92418037e-02  0.00000000e+00  5.46063537e+01]
 [-1.92418037e-02  9.99814859e-01  0.00000000e+00  9.60721202e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.546066493000005
Centerline is valid?  [True, True]
Translation: X:54.67, Y:0.96, Z:0.00
[[ 9.99526965e-01  3.07546240e-02  0.00000000e+00  5.46667817e+01]
 [-3.07546240e-02  9.99526965e-01  0.00000000e+00  9.64140460e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.606066493
Centerline is valid?  [True, True]
Translation: X:54.73, Y:0.96, Z:0.00
[[ 9.99469831e-01  3.25585066e-02  0.00000000e+00  5.47256088e+01]
 [-3.25585066e-02  9.99469831e-01  0.00000000e+00  9.58273404e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.666066493
Centerline is valid?  [True, True]
Translation: X:54.79, Y:0.95, Z:0.00
[[ 9.99684688e-01  2.51102428e-02  0.00000000e+00  5.47861750e+01]
 [-2.51102428e-02  9.99684688e-01  0.00000000e+00  9.47132035e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.726066493000005
Centerline is valid?  [True, True]
Translation: X:54.85, Y:0.96, Z:0.00
[[ 9.99837810e-01  1.80098298e-02  0.00000000e+00  5.48458276e+01]
 [-1.80098298e-02  9.99837810e-01  0.00000000e+00  9.61412105e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.786066493
Centerline is valid?  [True, True]
Translation: X:54.90, Y:0.96, Z:0.00
[[ 9.99866241e-01  1.63554322e-02  0.00000000e+00  5.49045519e+01]
 [-1.63554322e-02  9.99866241e-01  0.00000000e+00  9.56428834e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.846066493
Centerline is valid?  [True, True]
Translation: X:54.96, Y:0.95, Z:0.00
[[ 9.99995969e-01  2.83938338e-03  0.00000000e+00  5.49642153e+01]
 [-2.83938338e-03  9.99995969e-01  0.00000000e+00  9.48571427e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.906066493000004
Centerline is valid?  [True, True]
Translation: X:55.02, Y:0.95, Z:0.00
[[ 9.99995913e-01 -2.85907860e-03  0.00000000e+00  5.50245375e+01]
 [ 2.85907860e-03  9.99995913e-01  0.00000000e+00  9.49250479e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.966066493
Centerline is valid?  [True, True]
Translation: X:55.09, Y:0.96, Z:0.00
[[ 9.99995297e-01 -3.06688704e-03  0.00000000e+00  5.50850408e+01]
 [ 3.06688704e-03  9.99995297e-01  0.00000000e+00  9.56551380e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.026066493
Centerline is valid?  [True, True]
Translation: X:55.14, Y:0.96, Z:0.00
[[ 9.99981470e-01 -6.08764349e-03  0.00000000e+00  5.51449344e+01]
 [ 6.08764349e-03  9.99981470e-01  0.00000000e+00  9.60312358e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.086066493000004
Centerline is valid?  [True, True]
Translation: X:55.21, Y:0.97, Z:0.00
[[ 9.99998497e-01 -1.73406321e-03  0.00000000e+00  5.52060434e+01]
 [ 1.73406321e-03  9.99998497e-01  0.00000000e+00  9.69756821e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.146066493000006
Centerline is valid?  [True, True]
Translation: X:55.27, Y:0.98, Z:0.00
[[ 9.99989860e-01 -4.50339150e-03  0.00000000e+00  5.52658776e+01]
 [ 4.50339150e-03  9.99989860e-01  0.00000000e+00  9.80144320e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 55.206066493
Centerline is valid?  [True, True]
Translation: X:55.33, Y:0.98, Z:0.00
[[ 9.99999930e-01 -3.74330923e-04  0.00000000e+00  5.53266953e+01]
 [ 3.74330923e-04  9.99999930e-01  0.00000000e+00  9.82105099e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.266066493000004
Centerline is valid?  [True, True]
Translation: X:55.39, Y:0.99, Z:0.00
[[ 9.99900052e-01  1.41381322e-02  0.00000000e+00  5.53871269e+01]
 [-1.41381322e-02  9.99900052e-01  0.00000000e+00  9.88766911e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.326066493000006
Centerline is valid?  [True, True]
Translation: X:55.45, Y:1.00, Z:0.00
[[ 9.99644138e-01  2.66757928e-02  0.00000000e+00  5.54476087e+01]
 [-2.66757928e-02  9.99644138e-01  0.00000000e+00  9.98199860e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.386066493
Centerline is valid?  [True, True]
Translation: X:55.51, Y:1.00, Z:0.00
[[ 9.99408064e-01  3.44023384e-02  0.00000000e+00  5.55072546e+01]
 [-3.44023384e-02  9.99408064e-01  0.00000000e+00  1.00327873e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.446066493000004
Centerline is valid?  [True, True]
Translation: X:55.57, Y:1.00, Z:0.00
[[ 9.99468888e-01  3.25874381e-02  0.00000000e+00  5.55673566e+01]
 [-3.25874381e-02  9.99468888e-01  0.00000000e+00  9.99230057e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.506066493000006
Centerline is valid?  [True, True]
Translation: X:55.62, Y:0.99, Z:0.00
[[ 9.99529292e-01  3.06788859e-02  0.00000000e+00  5.56242417e+01]
 [-3.06788859e-02  9.99529292e-01  0.00000000e+00  9.93020280e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.566066493
Centerline is valid?  [True, True]
Translation: X:55.68, Y:0.99, Z:0.00
[[ 9.99485640e-01  3.20695369e-02  0.00000000e+00  5.56833919e+01]
 [-3.20695369e-02  9.99485640e-01  0.00000000e+00  9.93148834e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.626066493
Centerline is valid?  [True, True]
Translation: X:55.74, Y:0.99, Z:0.00
[[ 9.99422459e-01  3.39815966e-02  0.00000000e+00  5.57433331e+01]
 [-3.39815966e-02  9.99422459e-01  0.00000000e+00  9.87285243e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.686066493000006
Centerline is valid?  [True, True]
Translation: X:55.80, Y:0.97, Z:0.00
[[ 9.99442362e-01  3.33910964e-02  0.00000000e+00  5.58040736e+01]
 [-3.33910964e-02  9.99442362e-01  0.00000000e+00  9.72558734e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.746066493
Centerline is valid?  [True, True]
Translation: X:55.86, Y:0.97, Z:0.00
[[ 9.99191674e-01  4.01994965e-02  0.00000000e+00  5.58633688e+01]
 [-4.01994965e-02  9.99191674e-01  0.00000000e+00  9.66799843e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.806066493
Centerline is valid?  [True, True]
Translation: X:55.92, Y:0.95, Z:0.00
[[ 9.99046167e-01  4.36664243e-02  0.00000000e+00  5.59245102e+01]
 [-4.36664243e-02  9.99046167e-01  0.00000000e+00  9.49991657e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.866066493000005
Centerline is valid?  [True, True]
Translation: X:55.98, Y:0.94, Z:0.00
[[ 9.99047674e-01  4.36319197e-02  0.00000000e+00  5.59837882e+01]
 [-4.36319197e-02  9.99047674e-01  0.00000000e+00  9.40905163e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.926066493
Centerline is valid?  [True, True]
Translation: X:56.04, Y:0.93, Z:0.00
[[ 9.99284800e-01  3.78138601e-02  0.00000000e+00  5.60441972e+01]
 [-3.78138601e-02  9.99284800e-01  0.00000000e+00  9.31406813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.986066493
Centerline is valid?  [True, True]
Translation: X:56.10, Y:0.91, Z:0.00
[[ 9.99654184e-01  2.62966071e-02  0.00000000e+00  5.61043987e+01]
 [-2.62966071e-02  9.99654184e-01  0.00000000e+00  9.10913898e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.046066493000005
Centerline is valid?  [True, True]
Translation: X:56.17, Y:0.91, Z:0.00
[[ 9.99750079e-01  2.23557460e-02  0.00000000e+00  5.61654620e+01]
 [-2.23557460e-02  9.99750079e-01  0.00000000e+00  9.08389569e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.106066493
Centerline is valid?  [True, True]
Translation: X:56.23, Y:0.90, Z:0.00
[[ 9.99839541e-01  1.79134392e-02  0.00000000e+00  5.62263762e+01]
 [-1.79134392e-02  9.99839541e-01  0.00000000e+00  9.04707644e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.166066493
Centerline is valid?  [True, True]
Translation: X:56.29, Y:0.89, Z:0.00
[[ 9.99964565e-01  8.41830466e-03  0.00000000e+00  5.62862918e+01]
 [-8.41830466e-03  9.99964565e-01  0.00000000e+00  8.93886079e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.226066493000005
Centerline is valid?  [True, True]
Translation: X:56.35, Y:0.89, Z:0.00
[[ 9.99999920e-01  4.00710727e-04  0.00000000e+00  5.63465689e+01]
 [-4.00710727e-04  9.99999920e-01  0.00000000e+00  8.91620714e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.286066493
Centerline is valid?  [True, True]
Translation: X:56.41, Y:0.89, Z:0.00
[[ 9.99990326e-01 -4.39868107e-03  0.00000000e+00  5.64068997e+01]
 [ 4.39868107e-03  9.99990326e-01  0.00000000e+00  8.94908738e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.346066493
Centerline is valid?  [True, True]
Translation: X:56.47, Y:0.90, Z:0.00
[[ 9.99939121e-01 -1.10342614e-02  0.00000000e+00  5.64675045e+01]
 [ 1.10342614e-02  9.99939121e-01  0.00000000e+00  8.95247994e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 56.406066493000004
Centerline is valid?  [True, True]
Translation: X:56.53, Y:0.90, Z:0.00
[[ 9.99907924e-01 -1.35699315e-02  0.00000000e+00  5.65300314e+01]
 [ 1.35699315e-02  9.99907924e-01  0.00000000e+00  8.95646196e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.46606649300001
Centerline is valid?  [True, True]
Translation: X:56.59, Y:0.91, Z:0.00
[[ 9.99937319e-01 -1.11963029e-02  0.00000000e+00  5.65905843e+01]
 [ 1.11963029e-02  9.99937319e-01  0.00000000e+00  9.06151961e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.526066493
Centerline is valid?  [True, True]
Translation: X:56.65, Y:0.91, Z:0.00
[[ 9.99997714e-01 -2.13801471e-03  0.00000000e+00  5.66510389e+01]
 [ 2.13801471e-03  9.99997714e-01  0.00000000e+00  9.14610157e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.586066493000004
Centerline is valid?  [True, True]
Translation: X:56.71, Y:0.92, Z:0.00
[[ 9.99919098e-01  1.27199425e-02  0.00000000e+00  5.67101300e+01]
 [-1.27199425e-02  9.99919098e-01  0.00000000e+00  9.22378483e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.646066493000006
Centerline is valid?  [True, True]
Translation: X:56.77, Y:0.94, Z:0.00
[[ 9.99716651e-01  2.38037342e-02  0.00000000e+00  5.67685698e+01]
 [-2.38037342e-02  9.99716651e-01  0.00000000e+00  9.40662642e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.706066493
Centerline is valid?  [True, True]
Translation: X:56.83, Y:0.94, Z:0.00
[[ 9.99614159e-01  2.77764844e-02  0.00000000e+00  5.68293172e+01]
 [-2.77764844e-02  9.99614159e-01  0.00000000e+00  9.39436731e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.766066493000004
Centerline is valid?  [True, True]
Translation: X:56.89, Y:0.94, Z:0.00
[[ 9.99326537e-01  3.66943185e-02  0.00000000e+00  5.68899631e+01]
 [-3.66943185e-02  9.99326537e-01  0.00000000e+00  9.40630968e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.826066493000006
Centerline is valid?  [True, True]
Translation: X:56.95, Y:0.95, Z:0.00
[[ 9.99240173e-01  3.89753324e-02  0.00000000e+00  5.69500453e+01]
 [-3.89753324e-02  9.99240173e-01  0.00000000e+00  9.50353627e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.886066493
Centerline is valid?  [True, True]
Translation: X:57.01, Y:0.94, Z:0.00
[[ 9.99717043e-01  2.37872493e-02  0.00000000e+00  5.70106715e+01]
 [-2.37872493e-02  9.99717043e-01  0.00000000e+00  9.44718876e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.946066493000004
Centerline is valid?  [True, True]
Translation: X:57.07, Y:0.94, Z:0.00
[[ 1.00000000e+00  2.37115379e-05  0.00000000e+00  5.70702849e+01]
 [-2.37115379e-05  1.00000000e+00  0.00000000e+00  9.37310859e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.006066493000006
Centerline is valid?  [True, True]
Translation: X:57.13, Y:0.94, Z:0.00
[[ 9.99960665e-01 -8.86948128e-03  0.00000000e+00  5.71311524e+01]
 [ 8.86948128e-03  9.99960665e-01  0.00000000e+00  9.42995089e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.066066493
Centerline is valid?  [True, True]
Translation: X:57.19, Y:0.95, Z:0.00
[[ 9.99663148e-01 -2.59536118e-02  0.00000000e+00  5.71918444e+01]
 [ 2.59536118e-02  9.99663148e-01  0.00000000e+00  9.53905488e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.126066493
Centerline is valid?  [True, True]
Translation: X:57.25, Y:0.97, Z:0.00
[[ 9.99529219e-01 -3.06812583e-02  0.00000000e+00  5.72517022e+01]
 [ 3.06812583e-02  9.99529219e-01  0.00000000e+00  9.68087534e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.186066493000006
Centerline is valid?  [True, True]
Translation: X:57.31, Y:0.98, Z:0.00
[[ 9.99556382e-01 -2.97831983e-02  0.00000000e+00  5.73136862e+01]
 [ 2.97831983e-02  9.99556382e-01  0.00000000e+00  9.81221878e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.246066493
Centerline is valid?  [True, True]
Translation: X:57.38, Y:1.00, Z:0.00
[[ 9.99714190e-01 -2.39068829e-02  0.00000000e+00  5.73753974e+01]
 [ 2.39068829e-02  9.99714190e-01  0.00000000e+00  1.00397428e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.306066493
Centerline is valid?  [True, True]
Translation: X:57.44, Y:1.02, Z:0.00
[[ 9.99804636e-01 -1.97658987e-02  0.00000000e+00  5.74364698e+01]
 [ 1.97658987e-02  9.99804636e-01  0.00000000e+00  1.02075687e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.366066493000005
Centerline is valid?  [True, True]
Translation: X:57.50, Y:1.04, Z:0.00
[[ 9.99885746e-01 -1.51160639e-02  0.00000000e+00  5.74970310e+01]
 [ 1.51160639e-02  9.99885746e-01  0.00000000e+00  1.04159476e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.426066493
Centerline is valid?  [True, True]
Translation: X:57.56, Y:1.05, Z:0.00
[[ 9.99965830e-01 -8.26674554e-03  0.00000000e+00  5.75575090e+01]
 [ 8.26674554e-03  9.99965830e-01  0.00000000e+00  1.04964045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.486066493
Centerline is valid?  [True, True]
Translation: X:57.62, Y:1.07, Z:0.00
[[ 9.99985860e-01  5.31782276e-03  0.00000000e+00  5.76177822e+01]
 [-5.31782276e-03  9.99985860e-01  0.00000000e+00  1.06812983e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.546066493000005
Centerline is valid?  [True, True]
Translation: X:57.68, Y:1.08, Z:0.00
[[ 9.99941627e-01  1.08047193e-02  0.00000000e+00  5.76762970e+01]
 [-1.08047193e-02  9.99941627e-01  0.00000000e+00  1.08445903e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 57.606066493
Centerline is valid?  [True, True]
Translation: X:57.74, Y:1.09, Z:0.00
[[ 9.99770129e-01  2.14403561e-02  0.00000000e+00  5.77369634e+01]
 [-2.14403561e-02  9.99770129e-01  0.00000000e+00  1.09250957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.666066493
Centerline is valid?  [True, True]
Translation: X:57.80, Y:1.10, Z:0.00
[[ 9.99418118e-01  3.41090203e-02  0.00000000e+00  5.77964617e+01]
 [-3.41090203e-02  9.99418118e-01  0.00000000e+00  1.10105900e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.726066493000005
Centerline is valid?  [True, True]
Translation: X:57.86, Y:1.11, Z:0.00
[[ 9.99042420e-01  4.37520730e-02  0.00000000e+00  5.78568527e+01]
 [-4.37520730e-02  9.99042420e-01  0.00000000e+00  1.10821972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.786066493
Centerline is valid?  [True, True]
Translation: X:57.92, Y:1.11, Z:0.00
[[ 9.99029864e-01  4.40378250e-02  0.00000000e+00  5.79171177e+01]
 [-4.40378250e-02  9.99029864e-01  0.00000000e+00  1.10679325e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.846066493
Centerline is valid?  [True, True]
Translation: X:57.98, Y:1.10, Z:0.00
[[ 9.99374200e-01  3.53724126e-02  0.00000000e+00  5.79766748e+01]
 [-3.53724126e-02  9.99374200e-01  0.00000000e+00  1.09744977e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.906066493000004
Centerline is valid?  [True, True]
Translation: X:58.04, Y:1.10, Z:0.00
[[ 9.99485902e-01  3.20613675e-02  0.00000000e+00  5.80365927e+01]
 [-3.20613675e-02  9.99485902e-01  0.00000000e+00  1.09576485e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.96606649300001
Centerline is valid?  [True, True]
Translation: X:58.10, Y:1.09, Z:0.00
[[ 9.99265296e-01  3.83258187e-02  0.00000000e+00  5.80967296e+01]
 [-3.83258187e-02  9.99265296e-01  0.00000000e+00  1.08708546e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.026066493
Centerline is valid?  [True, True]
Translation: X:58.16, Y:1.08, Z:0.00
[[ 9.99154522e-01  4.11125421e-02  0.00000000e+00  5.81561604e+01]
 [-4.11125421e-02  9.99154522e-01  0.00000000e+00  1.08253565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.086066493000004
Centerline is valid?  [True, True]
Translation: X:58.22, Y:1.08, Z:0.00
[[ 9.99284539e-01  3.78207672e-02  0.00000000e+00  5.82167711e+01]
 [-3.78207672e-02  9.99284539e-01  0.00000000e+00  1.07712035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.146066493000006
Centerline is valid?  [True, True]
Translation: X:58.28, Y:1.06, Z:0.00
[[ 9.99468112e-01  3.26112383e-02  0.00000000e+00  5.82764964e+01]
 [-3.26112383e-02  9.99468112e-01  0.00000000e+00  1.06444406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.206066493
Centerline is valid?  [True, True]
Translation: X:58.34, Y:1.06, Z:0.00
[[ 9.99322097e-01  3.68150332e-02  0.00000000e+00  5.83373019e+01]
 [-3.68150332e-02  9.99322097e-01  0.00000000e+00  1.06170411e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.266066493000004
Centerline is valid?  [True, True]
Translation: X:58.40, Y:1.05, Z:0.00
[[ 9.98797460e-01  4.90268669e-02  0.00000000e+00  5.83968364e+01]
 [-4.90268669e-02  9.98797460e-01  0.00000000e+00  1.05172738e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.326066493000006
Centerline is valid?  [True, True]
Translation: X:58.46, Y:1.05, Z:0.00
[[ 9.98791932e-01  4.91393676e-02  0.00000000e+00  5.84551840e+01]
 [-4.91393676e-02  9.98791932e-01  0.00000000e+00  1.05263631e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.386066493
Centerline is valid?  [True, True]
Translation: X:58.51, Y:1.04, Z:0.00
[[ 9.98944565e-01  4.59320913e-02  0.00000000e+00  5.85145114e+01]
 [-4.59320913e-02  9.98944565e-01  0.00000000e+00  1.04081501e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.446066493000004
Centerline is valid?  [True, True]
Translation: X:58.57, Y:1.03, Z:0.00
[[ 9.99141450e-01  4.14290004e-02  0.00000000e+00  5.85748588e+01]
 [-4.14290004e-02  9.99141450e-01  0.00000000e+00  1.03237826e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.506066493000006
Centerline is valid?  [True, True]
Translation: X:58.63, Y:1.02, Z:0.00
[[ 9.99318427e-01  3.69145255e-02  0.00000000e+00  5.86341777e+01]
 [-3.69145255e-02  9.99318427e-01  0.00000000e+00  1.01888173e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.566066493
Centerline is valid?  [True, True]
Translation: X:58.69, Y:1.01, Z:0.00
[[ 9.99324287e-01  3.67555389e-02  0.00000000e+00  5.86925755e+01]
 [-3.67555389e-02  9.99324287e-01  0.00000000e+00  1.01392005e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.626066493
Centerline is valid?  [True, True]
Translation: X:58.75, Y:0.99, Z:0.00
[[ 9.99263723e-01  3.83668051e-02  0.00000000e+00  5.87511542e+01]
 [-3.83668051e-02  9.99263723e-01  0.00000000e+00  9.94446206e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.686066493000006
Centerline is valid?  [True, True]
Translation: X:58.81, Y:0.99, Z:0.00
[[ 9.99423349e-01  3.39554031e-02  0.00000000e+00  5.88108883e+01]
 [-3.39554031e-02  9.99423349e-01  0.00000000e+00  9.88632921e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.746066493
Centerline is valid?  [True, True]
Translation: X:58.87, Y:0.99, Z:0.00
[[ 9.99529824e-01  3.06615553e-02  0.00000000e+00  5.88714049e+01]
 [-3.06615553e-02  9.99529824e-01  0.00000000e+00  9.85323633e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 58.806066493
Centerline is valid?  [True, True]
Translation: X:58.93, Y:0.96, Z:0.00
[[ 9.99719981e-01  2.36634787e-02  0.00000000e+00  5.89314809e+01]
 [-2.36634787e-02  9.99719981e-01  0.00000000e+00  9.64936387e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.866066493000005
Centerline is valid?  [True, True]
Translation: X:58.99, Y:0.96, Z:0.00
[[ 9.99838446e-01  1.79744634e-02  0.00000000e+00  5.89925226e+01]
 [-1.79744634e-02  9.99838446e-01  0.00000000e+00  9.60154544e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.926066493
Centerline is valid?  [True, True]
Translation: X:59.05, Y:0.96, Z:0.00
[[ 9.99865550e-01  1.63976156e-02  0.00000000e+00  5.90512706e+01]
 [-1.63976156e-02  9.99865550e-01  0.00000000e+00  9.55567814e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.986066493
Centerline is valid?  [True, True]
Translation: X:59.11, Y:0.95, Z:0.00
[[ 9.99937254e-01  1.12021248e-02  0.00000000e+00  5.91110159e+01]
 [-1.12021248e-02  9.99937254e-01  0.00000000e+00  9.48921619e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.046066493000005
Centerline is valid?  [True, True]
Translation: X:59.17, Y:0.95, Z:0.00
[[ 9.99990064e-01  4.45786400e-03  0.00000000e+00  5.91718218e+01]
 [-4.45786400e-03  9.99990064e-01  0.00000000e+00  9.49893844e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.106066493
Centerline is valid?  [True, True]
Translation: X:59.23, Y:0.96, Z:0.00
[[ 9.99996155e-01  2.77296177e-03  0.00000000e+00  5.92315516e+01]
 [-2.77296177e-03  9.99996155e-01  0.00000000e+00  9.55792651e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.166066493
Centerline is valid?  [True, True]
Translation: X:59.29, Y:0.96, Z:0.00
[[ 9.99997545e-01  2.21596220e-03  0.00000000e+00  5.92915585e+01]
 [-2.21596220e-03  9.99997545e-01  0.00000000e+00  9.57455864e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.226066493000005
Centerline is valid?  [True, True]
Translation: X:59.35, Y:0.96, Z:0.00
[[ 9.99996184e-01  2.76242892e-03  0.00000000e+00  5.93514249e+01]
 [-2.76242892e-03  9.99996184e-01  0.00000000e+00  9.59319497e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.286066493
Centerline is valid?  [True, True]
Translation: X:59.41, Y:0.97, Z:0.00
[[ 9.99975655e-01  6.97777190e-03  0.00000000e+00  5.94117932e+01]
 [-6.97777190e-03  9.99975655e-01  0.00000000e+00  9.65166045e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.346066493
Centerline is valid?  [True, True]
Translation: X:59.47, Y:0.96, Z:0.00
[[ 9.99853809e-01  1.70985574e-02  0.00000000e+00  5.94711391e+01]
 [-1.70985574e-02  9.99853809e-01  0.00000000e+00  9.61206804e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.406066493000004
Centerline is valid?  [True, True]
Translation: X:59.53, Y:0.97, Z:0.00
[[ 9.99646618e-01  2.65826797e-02  0.00000000e+00  5.95311666e+01]
 [-2.65826797e-02  9.99646618e-01  0.00000000e+00  9.66581001e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.46606649300001
Centerline is valid?  [True, True]
Translation: X:59.59, Y:0.97, Z:0.00
[[ 9.99140521e-01  4.14514029e-02  0.00000000e+00  5.95913952e+01]
 [-4.14514029e-02  9.99140521e-01  0.00000000e+00  9.70467575e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.526066493
Centerline is valid?  [True, True]
Translation: X:59.65, Y:0.97, Z:0.00
[[ 9.99140836e-01  4.14438070e-02  0.00000000e+00  5.96503856e+01]
 [-4.14438070e-02  9.99140836e-01  0.00000000e+00  9.69917743e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.586066493000004
Centerline is valid?  [True, True]
Translation: X:59.71, Y:0.96, Z:0.00
[[ 9.99608246e-01  2.79884607e-02  0.00000000e+00  5.97104998e+01]
 [-2.79884607e-02  9.99608246e-01  0.00000000e+00  9.64088786e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.646066493000006
Centerline is valid?  [True, True]
Translation: X:59.77, Y:0.96, Z:0.00
[[ 9.99869501e-01  1.61548985e-02  0.00000000e+00  5.97714890e+01]
 [-1.61548985e-02  9.99869501e-01  0.00000000e+00  9.64646614e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.706066493
Centerline is valid?  [True, True]
Translation: X:59.83, Y:0.96, Z:0.00
[[ 9.99978039e-01  6.62735468e-03  0.00000000e+00  5.98300531e+01]
 [-6.62735468e-03  9.99978039e-01  0.00000000e+00  9.64732081e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.766066493000004
Centerline is valid?  [True, True]
Translation: X:59.89, Y:0.97, Z:0.00
[[ 9.99984170e-01  5.62673699e-03  0.00000000e+00  5.98902051e+01]
 [-5.62673699e-03  9.99984170e-01  0.00000000e+00  9.66171541e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.826066493000006
Centerline is valid?  [True, True]
Translation: X:59.95, Y:0.97, Z:0.00
[[ 9.99955524e-01  9.43131397e-03  0.00000000e+00  5.99492498e+01]
 [-9.43131397e-03  9.99955524e-01  0.00000000e+00  9.69773425e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.886066493
Centerline is valid?  [True, True]
Translation: X:60.01, Y:0.97, Z:0.00
[[ 9.99985304e-01  5.42141160e-03  0.00000000e+00  6.00079461e+01]
 [-5.42141160e-03  9.99985304e-01  0.00000000e+00  9.72477770e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.946066493000004
Centerline is valid?  [True, True]
Translation: X:60.07, Y:0.97, Z:0.00
[[ 9.99999179e-01  1.28115455e-03  0.00000000e+00  6.00679884e+01]
 [-1.28115455e-03  9.99999179e-01  0.00000000e+00  9.72913532e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 60.006066493000006
Centerline is valid?  [True, True]
Translation: X:60.13, Y:0.98, Z:0.00
[[ 9.99999702e-01 -7.71730830e-04  0.00000000e+00  6.01273604e+01]
 [ 7.71730830e-04  9.99999702e-01  0.00000000e+00  9.81466484e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.066066493
Centerline is valid?  [True, True]
Translation: X:60.19, Y:0.99, Z:0.00
[[ 9.99999680e-01 -7.99879749e-04  0.00000000e+00  6.01878834e+01]
 [ 7.99879749e-04  9.99999680e-01  0.00000000e+00  9.85072062e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.126066493
Centerline is valid?  [True, True]
Translation: X:60.25, Y:0.99, Z:0.00
[[ 9.99999667e-01  8.15810341e-04  0.00000000e+00  6.02486710e+01]
 [-8.15810341e-04  9.99999667e-01  0.00000000e+00  9.94479017e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.186066493000006
Centerline is valid?  [True, True]
Translation: X:60.31, Y:1.00, Z:0.00
[[ 9.99999768e-01  6.80612101e-04  0.00000000e+00  6.03086285e+01]
 [-6.80612101e-04  9.99999768e-01  0.00000000e+00  1.00032145e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.246066493
Centerline is valid?  [True, True]
Translation: X:60.37, Y:1.01, Z:0.00
[[ 9.99995865e-01  2.87582476e-03  0.00000000e+00  6.03688651e+01]
 [-2.87582476e-03  9.99995865e-01  0.00000000e+00  1.01294108e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.306066493
Centerline is valid?  [True, True]
Translation: X:60.43, Y:1.02, Z:0.00
[[ 9.99989132e-01  4.66211775e-03  0.00000000e+00  6.04276422e+01]
 [-4.66211775e-03  9.99989132e-01  0.00000000e+00  1.01883343e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.366066493000005
Centerline is valid?  [True, True]
Translation: X:60.49, Y:1.03, Z:0.00
[[ 9.99935737e-01  1.13367689e-02  0.00000000e+00  6.04879767e+01]
 [-1.13367689e-02  9.99935737e-01  0.00000000e+00  1.03126886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.426066493
Centerline is valid?  [True, True]
Translation: X:60.55, Y:1.03, Z:0.00
[[ 9.99798672e-01  2.00652892e-02  0.00000000e+00  6.05481802e+01]
 [-2.00652892e-02  9.99798672e-01  0.00000000e+00  1.03458293e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.486066493
Centerline is valid?  [True, True]
Translation: X:60.61, Y:1.03, Z:0.00
[[ 9.99646666e-01  2.65808769e-02  0.00000000e+00  6.06078635e+01]
 [-2.65808769e-02  9.99646666e-01  0.00000000e+00  1.03419009e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.546066493000005
Centerline is valid?  [True, True]
Translation: X:60.67, Y:1.03, Z:0.00
[[ 9.99502703e-01  3.15332654e-02  0.00000000e+00  6.06678992e+01]
 [-3.15332654e-02  9.99502703e-01  0.00000000e+00  1.03322586e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.606066493
Centerline is valid?  [True, True]
Translation: X:60.73, Y:1.04, Z:0.00
[[ 9.99487617e-01  3.20078739e-02  0.00000000e+00  6.07252451e+01]
 [-3.20078739e-02  9.99487617e-01  0.00000000e+00  1.03583980e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.666066493
Centerline is valid?  [True, True]
Translation: X:60.79, Y:1.03, Z:0.00
[[ 9.99468646e-01  3.25948622e-02  0.00000000e+00  6.07853410e+01]
 [-3.25948622e-02  9.99468646e-01  0.00000000e+00  1.03113722e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.726066493000005
Centerline is valid?  [True, True]
Translation: X:60.84, Y:1.03, Z:0.00
[[ 9.99519915e-01  3.09829046e-02  0.00000000e+00  6.08445657e+01]
 [-3.09829046e-02  9.99519915e-01  0.00000000e+00  1.02880196e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.78606649300001
Centerline is valid?  [True, True]
Translation: X:60.91, Y:1.03, Z:0.00
[[ 9.99451058e-01  3.31297823e-02  0.00000000e+00  6.09051380e+01]
 [-3.31297823e-02  9.99451058e-01  0.00000000e+00  1.03002244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.846066493
Centerline is valid?  [True, True]
Translation: X:60.97, Y:1.03, Z:0.00
[[ 9.99296171e-01  3.75121668e-02  0.00000000e+00  6.09651398e+01]
 [-3.75121668e-02  9.99296171e-01  0.00000000e+00  1.02778489e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.906066493000004
Centerline is valid?  [True, True]
Translation: X:61.03, Y:1.02, Z:0.00
[[ 9.99208858e-01  3.97700640e-02  0.00000000e+00  6.10255885e+01]
 [-3.97700640e-02  9.99208858e-01  0.00000000e+00  1.02298471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.96606649300001
Centerline is valid?  [True, True]
Translation: X:61.09, Y:1.01, Z:0.00
[[ 9.99182146e-01  4.04356292e-02  0.00000000e+00  6.10852866e+01]
 [-4.04356292e-02  9.99182146e-01  0.00000000e+00  1.01287564e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.026066493
Centerline is valid?  [True, True]
Translation: X:61.15, Y:1.01, Z:0.00
[[ 9.99184823e-01  4.03694046e-02  0.00000000e+00  6.11456879e+01]
 [-4.03694046e-02  9.99184823e-01  0.00000000e+00  1.00580709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.086066493000004
Centerline is valid?  [True, True]
Translation: X:61.21, Y:1.00, Z:0.00
[[ 9.99293950e-01  3.75712732e-02  0.00000000e+00  6.12055506e+01]
 [-3.75712732e-02  9.99293950e-01  0.00000000e+00  1.00006181e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.146066493000006
Centerline is valid?  [True, True]
Translation: X:61.27, Y:0.99, Z:0.00
[[ 9.99445583e-01  3.32945534e-02  0.00000000e+00  6.12655661e+01]
 [-3.32945534e-02  9.99445583e-01  0.00000000e+00  9.85547018e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 61.206066493
Centerline is valid?  [True, True]
Translation: X:61.33, Y:0.98, Z:0.00
[[ 9.99725568e-01  2.34262507e-02  0.00000000e+00  6.13255698e+01]
 [-2.34262507e-02  9.99725568e-01  0.00000000e+00  9.80967551e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.266066493000004
Centerline is valid?  [True, True]
Translation: X:61.39, Y:0.98, Z:0.00
[[ 9.99916275e-01  1.29399922e-02  0.00000000e+00  6.13862528e+01]
 [-1.29399922e-02  9.99916275e-01  0.00000000e+00  9.80757935e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.326066493000006
Centerline is valid?  [True, True]
Translation: X:61.45, Y:0.98, Z:0.00
[[ 9.99999528e-01 -9.71148208e-04  0.00000000e+00  6.14460967e+01]
 [ 9.71148208e-04  9.99999528e-01  0.00000000e+00  9.81927860e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.386066493
Centerline is valid?  [True, True]
Translation: X:61.51, Y:0.98, Z:0.00
[[ 9.99989942e-01 -4.48503532e-03  0.00000000e+00  6.15068630e+01]
 [ 4.48503532e-03  9.99989942e-01  0.00000000e+00  9.83616191e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.446066493000004
Centerline is valid?  [True, True]
Translation: X:61.57, Y:0.99, Z:0.00
[[ 9.99999537e-01  9.62760479e-04  0.00000000e+00  6.15669181e+01]
 [-9.62760479e-04  9.99999537e-01  0.00000000e+00  9.92126546e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.506066493000006
Centerline is valid?  [True, True]
Translation: X:61.63, Y:1.00, Z:0.00
[[ 9.99976667e-01  6.83122722e-03  0.00000000e+00  6.16268806e+01]
 [-6.83122722e-03  9.99976667e-01  0.00000000e+00  9.97990206e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.566066493
Centerline is valid?  [True, True]
Translation: X:61.69, Y:1.00, Z:0.00
[[ 9.99932341e-01  1.16324338e-02  0.00000000e+00  6.16863767e+01]
 [-1.16324338e-02  9.99932341e-01  0.00000000e+00  9.99397280e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.626066493
Centerline is valid?  [True, True]
Translation: X:61.75, Y:1.00, Z:0.00
[[ 9.99864710e-01  1.64487454e-02  0.00000000e+00  6.17455837e+01]
 [-1.64487454e-02  9.99864710e-01  0.00000000e+00  1.00426803e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.686066493000006
Centerline is valid?  [True, True]
Translation: X:61.80, Y:1.00, Z:0.00
[[ 9.99842539e-01  1.77453310e-02  0.00000000e+00  6.18047900e+01]
 [-1.77453310e-02  9.99842539e-01  0.00000000e+00  1.00335866e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.746066493
Centerline is valid?  [True, True]
Translation: X:61.86, Y:1.01, Z:0.00
[[ 9.99816674e-01  1.91472975e-02  0.00000000e+00  6.18628711e+01]
 [-1.91472975e-02  9.99816674e-01  0.00000000e+00  1.00725722e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.806066493
Centerline is valid?  [True, True]
Translation: X:61.92, Y:1.01, Z:0.00
[[ 9.99841676e-01  1.77939076e-02  0.00000000e+00  6.19225804e+01]
 [-1.77939076e-02  9.99841676e-01  0.00000000e+00  1.01047831e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.866066493000005
Centerline is valid?  [True, True]
Translation: X:61.98, Y:1.01, Z:0.00
[[ 9.99831352e-01  1.83648353e-02  0.00000000e+00  6.19808564e+01]
 [-1.83648353e-02  9.99831352e-01  0.00000000e+00  1.00779471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.926066493
Centerline is valid?  [True, True]
Translation: X:62.04, Y:1.01, Z:0.00
[[ 9.99791824e-01  2.04036559e-02  0.00000000e+00  6.20405789e+01]
 [-2.04036559e-02  9.99791824e-01  0.00000000e+00  1.01157063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.986066493
Centerline is valid?  [True, True]
Translation: X:62.10, Y:1.02, Z:0.00
[[ 9.99686257e-01  2.50477035e-02  0.00000000e+00  6.21000138e+01]
 [-2.50477035e-02  9.99686257e-01  0.00000000e+00  1.01692914e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.046066493000005
Centerline is valid?  [True, True]
Translation: X:62.16, Y:1.01, Z:0.00
[[ 9.99711217e-01  2.40308785e-02  0.00000000e+00  6.21593006e+01]
 [-2.40308785e-02  9.99711217e-01  0.00000000e+00  1.01249398e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.106066493
Centerline is valid?  [True, True]
Translation: X:62.22, Y:1.01, Z:0.00
[[ 9.99752900e-01  2.22292169e-02  0.00000000e+00  6.22197795e+01]
 [-2.22292169e-02  9.99752900e-01  0.00000000e+00  1.01274836e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.166066493
Centerline is valid?  [True, True]
Translation: X:62.28, Y:1.01, Z:0.00
[[ 9.99845235e-01  1.75927658e-02  0.00000000e+00  6.22795168e+01]
 [-1.75927658e-02  9.99845235e-01  0.00000000e+00  1.01260628e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.226066493000005
Centerline is valid?  [True, True]
Translation: X:62.34, Y:1.01, Z:0.00
[[ 9.99953858e-01  9.60637223e-03  0.00000000e+00  6.23396725e+01]
 [-9.60637223e-03  9.99953858e-01  0.00000000e+00  1.01068984e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.28606649300001
Centerline is valid?  [True, True]
Translation: X:62.40, Y:1.01, Z:0.00
[[ 9.99995113e-01 -3.12634785e-03  0.00000000e+00  6.24002896e+01]
 [ 3.12634785e-03  9.99995113e-01  0.00000000e+00  1.00634939e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.346066493
Centerline is valid?  [True, True]
Translation: X:62.46, Y:1.01, Z:0.00
[[ 9.99936227e-01 -1.12934643e-02  0.00000000e+00  6.24611288e+01]
 [ 1.12934643e-02  9.99936227e-01  0.00000000e+00  1.01272640e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 62.406066493000004
Centerline is valid?  [True, True]
Translation: X:62.52, Y:1.02, Z:0.00
[[ 9.99874706e-01 -1.58294601e-02  0.00000000e+00  6.25227267e+01]
 [ 1.58294601e-02  9.99874706e-01  0.00000000e+00  1.01890875e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.46606649300001
Centerline is valid?  [True, True]
Translation: X:62.58, Y:1.03, Z:0.00
[[ 9.99709626e-01 -2.40969697e-02  0.00000000e+00  6.25837784e+01]
 [ 2.40969697e-02  9.99709626e-01  0.00000000e+00  1.02787829e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.526066493
Centerline is valid?  [True, True]
Translation: X:62.64, Y:1.04, Z:0.00
[[ 9.99701298e-01 -2.44400212e-02  0.00000000e+00  6.26448827e+01]
 [ 2.44400212e-02  9.99701298e-01  0.00000000e+00  1.03655006e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.586066493000004
Centerline is valid?  [True, True]
Translation: X:62.71, Y:1.06, Z:0.00
[[ 9.99923774e-01 -1.23469047e-02  0.00000000e+00  6.27067893e+01]
 [ 1.23469047e-02  9.99923774e-01  0.00000000e+00  1.06174740e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.646066493000006
Centerline is valid?  [True, True]
Translation: X:62.77, Y:1.07, Z:0.00
[[ 9.99999992e-01  1.29578152e-04  0.00000000e+00  6.27665526e+01]
 [-1.29578152e-04  9.99999992e-01  0.00000000e+00  1.07278418e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.706066493
Centerline is valid?  [True, True]
Translation: X:62.83, Y:1.09, Z:0.00
[[ 9.99867612e-01  1.62713775e-02  0.00000000e+00  6.28257698e+01]
 [-1.62713775e-02  9.99867612e-01  0.00000000e+00  1.08802851e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.766066493000004
Centerline is valid?  [True, True]
Translation: X:62.88, Y:1.10, Z:0.00
[[ 9.99750656e-01  2.23299329e-02  0.00000000e+00  6.28849976e+01]
 [-2.23299329e-02  9.99750656e-01  0.00000000e+00  1.09757303e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.826066493000006
Centerline is valid?  [True, True]
Translation: X:62.95, Y:1.11, Z:0.00
[[ 9.99675891e-01  2.54580451e-02  0.00000000e+00  6.29455549e+01]
 [-2.54580451e-02  9.99675891e-01  0.00000000e+00  1.10932382e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.886066493
Centerline is valid?  [True, True]
Translation: X:63.01, Y:1.11, Z:0.00
[[ 9.99836105e-01  1.81042411e-02  0.00000000e+00  6.30064880e+01]
 [-1.81042411e-02  9.99836105e-01  0.00000000e+00  1.10745836e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.946066493000004
Centerline is valid?  [True, True]
Translation: X:63.07, Y:1.11, Z:0.00
[[ 9.99992869e-01  3.77644743e-03  0.00000000e+00  6.30665485e+01]
 [-3.77644743e-03  9.99992869e-01  0.00000000e+00  1.10712532e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.006066493000006
Centerline is valid?  [True, True]
Translation: X:63.13, Y:1.11, Z:0.00
[[ 9.99950009e-01 -9.99897369e-03  0.00000000e+00  6.31270524e+01]
 [ 9.99897369e-03  9.99950009e-01  0.00000000e+00  1.11254537e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.066066493
Centerline is valid?  [True, True]
Translation: X:63.19, Y:1.11, Z:0.00
[[ 9.99491758e-01 -3.18782953e-02  0.00000000e+00  6.31870056e+01]
 [ 3.18782953e-02  9.99491758e-01  0.00000000e+00  1.11445864e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.126066493
Centerline is valid?  [True, True]
Translation: X:63.25, Y:1.12, Z:0.00
[[ 9.98848762e-01 -4.79703062e-02  0.00000000e+00  6.32477503e+01]
 [ 4.79703062e-02  9.98848762e-01  0.00000000e+00  1.11687338e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.186066493000006
Centerline is valid?  [True, True]
Translation: X:63.31, Y:1.13, Z:0.00
[[ 9.98411376e-01 -5.63446932e-02  0.00000000e+00  6.33074584e+01]
 [ 5.63446932e-02  9.98411376e-01  0.00000000e+00  1.13225881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.246066493
Centerline is valid?  [True, True]
Translation: X:63.37, Y:1.15, Z:0.00
[[ 9.98604540e-01 -5.28107323e-02  0.00000000e+00  6.33673636e+01]
 [ 5.28107323e-02  9.98604540e-01  0.00000000e+00  1.14696187e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.306066493
Centerline is valid?  [True, True]
Translation: X:63.43, Y:1.17, Z:0.00
[[ 9.99253243e-01 -3.86387836e-02  0.00000000e+00  6.34269184e+01]
 [ 3.86387836e-02  9.99253243e-01  0.00000000e+00  1.17111451e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.366066493000005
Centerline is valid?  [True, True]
Translation: X:63.49, Y:1.19, Z:0.00
[[ 9.99830135e-01 -1.84309666e-02  0.00000000e+00  6.34863648e+01]
 [ 1.84309666e-02  9.99830135e-01  0.00000000e+00  1.19484471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.426066493
Centerline is valid?  [True, True]
Translation: X:63.55, Y:1.21, Z:0.00
[[ 9.99981258e-01 -6.12242745e-03  0.00000000e+00  6.35469636e+01]
 [ 6.12242745e-03  9.99981258e-01  0.00000000e+00  1.20950268e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.486066493
Centerline is valid?  [True, True]
Translation: X:63.61, Y:1.23, Z:0.00
[[ 9.99990758e-01  4.29938434e-03  0.00000000e+00  6.36061618e+01]
 [-4.29938434e-03  9.99990758e-01  0.00000000e+00  1.22723769e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.546066493000005
Centerline is valid?  [True, True]
Translation: X:63.67, Y:1.24, Z:0.00
[[ 9.99980189e-01  6.29452019e-03  0.00000000e+00  6.36655706e+01]
 [-6.29452019e-03  9.99980189e-01  0.00000000e+00  1.24007837e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 63.60606649300001
Centerline is valid?  [True, True]
Translation: X:63.72, Y:1.25, Z:0.00
[[ 9.99968328e-01  7.95887684e-03  0.00000000e+00  6.37248179e+01]
 [-7.95887684e-03  9.99968328e-01  0.00000000e+00  1.25061442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.666066493
Centerline is valid?  [True, True]
Translation: X:63.79, Y:1.26, Z:0.00
[[ 9.99923560e-01  1.23642371e-02  0.00000000e+00  6.37855506e+01]
 [-1.23642371e-02  9.99923560e-01  0.00000000e+00  1.25672453e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.726066493000005
Centerline is valid?  [True, True]
Translation: X:63.85, Y:1.26, Z:0.00
[[ 9.99717924e-01  2.37502144e-02  0.00000000e+00  6.38462097e+01]
 [-2.37502144e-02  9.99717924e-01  0.00000000e+00  1.25978854e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.78606649300001
Centerline is valid?  [True, True]
Translation: X:63.91, Y:1.27, Z:0.00
[[ 9.99508643e-01  3.13444228e-02  0.00000000e+00  6.39062070e+01]
 [-3.13444228e-02  9.99508643e-01  0.00000000e+00  1.26612231e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.846066493
Centerline is valid?  [True, True]
Translation: X:63.97, Y:1.27, Z:0.00
[[ 9.99088519e-01  4.26864273e-02  0.00000000e+00  6.39669278e+01]
 [-4.26864273e-02  9.99088519e-01  0.00000000e+00  1.26569809e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.906066493000004
Centerline is valid?  [True, True]
Translation: X:64.03, Y:1.26, Z:0.00
[[ 9.98767674e-01  4.96299729e-02  0.00000000e+00  6.40271714e+01]
 [-4.96299729e-02  9.98767674e-01  0.00000000e+00  1.25904288e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.96606649300001
Centerline is valid?  [True, True]
Translation: X:64.09, Y:1.25, Z:0.00
[[ 9.98548770e-01  5.38549335e-02  0.00000000e+00  6.40878720e+01]
 [-5.38549335e-02  9.98548770e-01  0.00000000e+00  1.24602830e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.02606649300002
Centerline is valid?  [True, True]
Translation: X:64.15, Y:1.24, Z:0.00
[[ 9.98596176e-01  5.29686378e-02  0.00000000e+00  6.41478075e+01]
 [-5.29686378e-02  9.98596176e-01  0.00000000e+00  1.24325193e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.086066493
Centerline is valid?  [True, True]
Translation: X:64.21, Y:1.23, Z:0.00
[[ 9.98726146e-01  5.04587521e-02  0.00000000e+00  6.42084577e+01]
 [-5.04587521e-02  9.98726146e-01  0.00000000e+00  1.22834780e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.146066493
Centerline is valid?  [True, True]
Translation: X:64.27, Y:1.21, Z:0.00
[[ 9.98897158e-01  4.69517573e-02  0.00000000e+00  6.42693499e+01]
 [-4.69517573e-02  9.98897158e-01  0.00000000e+00  1.20519370e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.20606649300001
Centerline is valid?  [True, True]
Translation: X:64.33, Y:1.19, Z:0.00
[[ 9.98998914e-01  4.47344400e-02  0.00000000e+00  6.43279523e+01]
 [-4.47344400e-02  9.98998914e-01  0.00000000e+00  1.18592658e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.26606649300001
Centerline is valid?  [True, True]
Translation: X:64.39, Y:1.17, Z:0.00
[[ 9.98984585e-01  4.50532980e-02  0.00000000e+00  6.43865889e+01]
 [-4.50532980e-02  9.98984585e-01  0.00000000e+00  1.17441628e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.32606649300001
Centerline is valid?  [True, True]
Translation: X:64.45, Y:1.16, Z:0.00
[[ 9.99217184e-01  3.95603340e-02  0.00000000e+00  6.44476214e+01]
 [-3.95603340e-02  9.99217184e-01  0.00000000e+00  1.15964013e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.38606649300002
Centerline is valid?  [True, True]
Translation: X:64.51, Y:1.14, Z:0.00
[[ 9.99540275e-01  3.03189369e-02  0.00000000e+00  6.45083031e+01]
 [-3.03189369e-02  9.99540275e-01  0.00000000e+00  1.13802209e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.44606649300002
Centerline is valid?  [True, True]
Translation: X:64.57, Y:1.13, Z:0.00
[[ 9.99594874e-01  2.84620334e-02  0.00000000e+00  6.45686331e+01]
 [-2.84620334e-02  9.99594874e-01  0.00000000e+00  1.12531840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.506066493
Centerline is valid?  [True, True]
Translation: X:64.63, Y:1.12, Z:0.00
[[ 9.99768985e-01  2.14936337e-02  0.00000000e+00  6.46280986e+01]
 [-2.14936337e-02  9.99768985e-01  0.00000000e+00  1.11717652e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.56606649300001
Centerline is valid?  [True, True]
Translation: X:64.69, Y:1.10, Z:0.00
[[ 9.99914852e-01  1.30494832e-02  0.00000000e+00  6.46890964e+01]
 [-1.30494832e-02  9.99914852e-01  0.00000000e+00  1.10020288e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.62606649300001
Centerline is valid?  [True, True]
Translation: X:64.75, Y:1.09, Z:0.00
[[ 9.99933068e-01  1.15697475e-02  0.00000000e+00  6.47496666e+01]
 [-1.15697475e-02  9.99933068e-01  0.00000000e+00  1.09443335e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.68606649300001
Centerline is valid?  [True, True]
Translation: X:64.81, Y:1.09, Z:0.00
[[ 9.99909131e-01  1.34807281e-02  0.00000000e+00  6.48103825e+01]
 [-1.34807281e-02  9.99909131e-01  0.00000000e+00  1.08911979e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.74606649300001
Centerline is valid?  [True, True]
Translation: X:64.87, Y:1.08, Z:0.00
[[ 9.99778356e-01  2.10532469e-02  0.00000000e+00  6.48706583e+01]
 [-2.10532469e-02  9.99778356e-01  0.00000000e+00  1.08373841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 64.80606649300002
Centerline is valid?  [True, True]
Translation: X:64.93, Y:1.08, Z:0.00
[[ 9.99603456e-01  2.81590310e-02  0.00000000e+00  6.49307672e+01]
 [-2.81590310e-02  9.99603456e-01  0.00000000e+00  1.08460805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.866066493
Centerline is valid?  [True, True]
Translation: X:64.99, Y:1.08, Z:0.00
[[ 9.99483029e-01  3.21508207e-02  0.00000000e+00  6.49903539e+01]
 [-3.21508207e-02  9.99483029e-01  0.00000000e+00  1.08472840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.92606649300001
Centerline is valid?  [True, True]
Translation: X:65.05, Y:1.08, Z:0.00
[[ 9.99438042e-01  3.35201529e-02  0.00000000e+00  6.50510485e+01]
 [-3.35201529e-02  9.99438042e-01  0.00000000e+00  1.08135545e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.98606649300001
Centerline is valid?  [True, True]
Translation: X:65.11, Y:1.08, Z:0.00
[[ 9.99491174e-01  3.18966069e-02  0.00000000e+00  6.51105670e+01]
 [-3.18966069e-02  9.99491174e-01  0.00000000e+00  1.08103546e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.04606649300001
Centerline is valid?  [True, True]
Translation: X:65.17, Y:1.08, Z:0.00
[[ 9.99432074e-01  3.36976065e-02  0.00000000e+00  6.51699539e+01]
 [-3.36976065e-02  9.99432074e-01  0.00000000e+00  1.07574051e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.10606649300001
Centerline is valid?  [True, True]
Translation: X:65.23, Y:1.07, Z:0.00
[[ 9.99295232e-01  3.75371735e-02  0.00000000e+00  6.52294505e+01]
 [-3.75371735e-02  9.99295232e-01  0.00000000e+00  1.06940290e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.16606649300002
Centerline is valid?  [True, True]
Translation: X:65.29, Y:1.07, Z:0.00
[[ 9.99035347e-01  4.39132607e-02  0.00000000e+00  6.52902039e+01]
 [-4.39132607e-02  9.99035347e-01  0.00000000e+00  1.06621542e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.226066493
Centerline is valid?  [True, True]
Translation: X:65.35, Y:1.06, Z:0.00
[[ 9.98957303e-01  4.56542065e-02  0.00000000e+00  6.53503029e+01]
 [-4.56542065e-02  9.98957303e-01  0.00000000e+00  1.06165623e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.286066493
Centerline is valid?  [True, True]
Translation: X:65.41, Y:1.04, Z:0.00
[[ 9.98997748e-01  4.47604723e-02  0.00000000e+00  6.54101693e+01]
 [-4.47604723e-02  9.98997748e-01  0.00000000e+00  1.04467219e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.34606649300001
Centerline is valid?  [True, True]
Translation: X:65.47, Y:1.04, Z:0.00
[[ 9.98829898e-01  4.83614951e-02  0.00000000e+00  6.54701720e+01]
 [-4.83614951e-02  9.98829898e-01  0.00000000e+00  1.03967531e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.40606649300001
Centerline is valid?  [True, True]
Translation: X:65.53, Y:1.03, Z:0.00
[[ 9.98747197e-01  5.00403542e-02  0.00000000e+00  6.55287611e+01]
 [-5.00403542e-02  9.98747197e-01  0.00000000e+00  1.02631157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.46606649300001
Centerline is valid?  [True, True]
Translation: X:65.59, Y:1.02, Z:0.00
[[ 9.98951099e-01  4.57897643e-02  0.00000000e+00  6.55900352e+01]
 [-4.57897643e-02  9.98951099e-01  0.00000000e+00  1.02020581e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.52606649300002
Centerline is valid?  [True, True]
Translation: X:65.65, Y:1.01, Z:0.00
[[ 9.99342866e-01  3.62468747e-02  0.00000000e+00  6.56507167e+01]
 [-3.62468747e-02  9.99342866e-01  0.00000000e+00  1.00986750e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.586066493
Centerline is valid?  [True, True]
Translation: X:65.71, Y:1.00, Z:0.00
[[ 9.99835908e-01  1.81150840e-02  0.00000000e+00  6.57104224e+01]
 [-1.81150840e-02  9.99835908e-01  0.00000000e+00  9.95626033e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.646066493
Centerline is valid?  [True, True]
Translation: X:65.77, Y:0.99, Z:0.00
[[ 9.99935726e-01  1.13377529e-02  0.00000000e+00  6.57712060e+01]
 [-1.13377529e-02  9.99935726e-01  0.00000000e+00  9.90232060e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.70606649300001
Centerline is valid?  [True, True]
Translation: X:65.83, Y:0.99, Z:0.00
[[ 9.99959456e-01  9.00479469e-03  0.00000000e+00  6.58320113e+01]
 [-9.00479469e-03  9.99959456e-01  0.00000000e+00  9.87816305e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.76606649300001
Centerline is valid?  [True, True]
Translation: X:65.89, Y:0.98, Z:0.00
[[ 9.99907238e-01  1.36204039e-02  0.00000000e+00  6.58926721e+01]
 [-1.36204039e-02  9.99907238e-01  0.00000000e+00  9.84755334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.82606649300001
Centerline is valid?  [True, True]
Translation: X:65.95, Y:0.99, Z:0.00
[[ 9.99869923e-01  1.61287356e-02  0.00000000e+00  6.59537355e+01]
 [-1.61287356e-02  9.99869923e-01  0.00000000e+00  9.86857983e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.88606649300002
Centerline is valid?  [True, True]
Translation: X:66.01, Y:0.99, Z:0.00
[[ 9.99847733e-01  1.74502653e-02  0.00000000e+00  6.60129050e+01]
 [-1.74502653e-02  9.99847733e-01  0.00000000e+00  9.90889169e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.94606649300002
Centerline is valid?  [True, True]
Translation: X:66.07, Y:0.99, Z:0.00
[[ 9.99834355e-01  1.82006406e-02  0.00000000e+00  6.60734615e+01]
 [-1.82006406e-02  9.99834355e-01  0.00000000e+00  9.89123990e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 66.006066493
Centerline is valid?  [True, True]
Translation: X:66.13, Y:0.99, Z:0.00
[[ 9.99737048e-01  2.29310894e-02  0.00000000e+00  6.61343565e+01]
 [-2.29310894e-02  9.99737048e-01  0.00000000e+00  9.85231034e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.06606649300001
Centerline is valid?  [True, True]
Translation: X:66.19, Y:1.00, Z:0.00
[[ 9.99430724e-01  3.37376213e-02  0.00000000e+00  6.61932838e+01]
 [-3.37376213e-02  9.99430724e-01  0.00000000e+00  9.95373340e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.12606649300001
Centerline is valid?  [True, True]
Translation: X:66.25, Y:1.00, Z:0.00
[[ 9.99267039e-01  3.82803461e-02  0.00000000e+00  6.62529470e+01]
 [-3.82803461e-02  9.99267039e-01  0.00000000e+00  1.00088257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.18606649300001
Centerline is valid?  [True, True]
Translation: X:66.31, Y:1.00, Z:0.00
[[ 9.99316236e-01  3.69737827e-02  0.00000000e+00  6.63135499e+01]
 [-3.69737827e-02  9.99316236e-01  0.00000000e+00  9.96948479e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.24606649300001
Centerline is valid?  [True, True]
Translation: X:66.37, Y:1.00, Z:0.00
[[ 9.99338281e-01  3.63730639e-02  0.00000000e+00  6.63745285e+01]
 [-3.63730639e-02  9.99338281e-01  0.00000000e+00  9.97382917e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.30606649300002
Centerline is valid?  [True, True]
Translation: X:66.43, Y:1.01, Z:0.00
[[ 9.99098344e-01  4.24558467e-02  0.00000000e+00  6.64341848e+01]
 [-4.24558467e-02  9.99098344e-01  0.00000000e+00  1.00983405e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.366066493
Centerline is valid?  [True, True]
Translation: X:66.49, Y:1.01, Z:0.00
[[ 9.98910456e-01  4.66679784e-02  0.00000000e+00  6.64947891e+01]
 [-4.66679784e-02  9.98910456e-01  0.00000000e+00  1.00884335e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.42606649300001
Centerline is valid?  [True, True]
Translation: X:66.56, Y:1.00, Z:0.00
[[ 9.98845823e-01  4.80314597e-02  0.00000000e+00  6.65559138e+01]
 [-4.80314597e-02  9.98845823e-01  0.00000000e+00  1.00087000e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.48606649300001
Centerline is valid?  [True, True]
Translation: X:66.62, Y:1.00, Z:0.00
[[ 9.98997118e-01  4.47745281e-02  0.00000000e+00  6.66169102e+01]
 [-4.47745281e-02  9.98997118e-01  0.00000000e+00  9.99060432e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.54606649300001
Centerline is valid?  [True, True]
Translation: X:66.68, Y:1.00, Z:0.00
[[ 9.99200759e-01  3.99730243e-02  0.00000000e+00  6.66780084e+01]
 [-3.99730243e-02  9.99200759e-01  0.00000000e+00  9.96872685e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.60606649300001
Centerline is valid?  [True, True]
Translation: X:66.74, Y:0.99, Z:0.00
[[ 9.99687440e-01  2.50004545e-02  0.00000000e+00  6.67377525e+01]
 [-2.50004545e-02  9.99687440e-01  0.00000000e+00  9.87961281e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.66606649300002
Centerline is valid?  [True, True]
Translation: X:66.80, Y:0.98, Z:0.00
[[ 9.99861095e-01  1.66670634e-02  0.00000000e+00  6.67980855e+01]
 [-1.66670634e-02  9.99861095e-01  0.00000000e+00  9.84464582e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.726066493
Centerline is valid?  [True, True]
Translation: X:66.86, Y:0.99, Z:0.00
[[ 9.99882613e-01  1.53218629e-02  0.00000000e+00  6.68582730e+01]
 [-1.53218629e-02  9.99882613e-01  0.00000000e+00  9.87438901e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.786066493
Centerline is valid?  [True, True]
Translation: X:66.92, Y:0.99, Z:0.00
[[ 9.99923691e-01  1.23536350e-02  0.00000000e+00  6.69184253e+01]
 [-1.23536350e-02  9.99923691e-01  0.00000000e+00  9.89851316e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.84606649300001
Centerline is valid?  [True, True]
Translation: X:66.98, Y:1.00, Z:0.00
[[ 9.99930141e-01  1.18200711e-02  0.00000000e+00  6.69784403e+01]
 [-1.18200711e-02  9.99930141e-01  0.00000000e+00  1.00206230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.90606649300001
Centerline is valid?  [True, True]
Translation: X:67.04, Y:1.01, Z:0.00
[[ 9.99923302e-01  1.23850493e-02  0.00000000e+00  6.70382731e+01]
 [-1.23850493e-02  9.99923302e-01  0.00000000e+00  1.00502247e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.96606649300001
Centerline is valid?  [True, True]
Translation: X:67.10, Y:1.01, Z:0.00
[[ 9.99974968e-01  7.07560956e-03  0.00000000e+00  6.70991025e+01]
 [-7.07560956e-03  9.99974968e-01  0.00000000e+00  1.00928976e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.02606649300002
Centerline is valid?  [True, True]
Translation: X:67.16, Y:1.02, Z:0.00
[[ 9.99992334e-01  3.91558372e-03  0.00000000e+00  6.71588676e+01]
 [-3.91558372e-03  9.99992334e-01  0.00000000e+00  1.01940702e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.086066493
Centerline is valid?  [True, True]
Translation: X:67.22, Y:1.02, Z:0.00
[[ 9.99985354e-01  5.41211213e-03  0.00000000e+00  6.72189746e+01]
 [-5.41211213e-03  9.99985354e-01  0.00000000e+00  1.02260602e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.146066493
Centerline is valid?  [True, True]
Translation: X:67.28, Y:1.02, Z:0.00
[[ 9.99957800e-01  9.18684157e-03  0.00000000e+00  6.72792354e+01]
 [-9.18684157e-03  9.99957800e-01  0.00000000e+00  1.02229862e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 67.20606649300001
Centerline is valid?  [True, True]
Translation: X:67.34, Y:1.04, Z:0.00
[[ 9.99713721e-01  2.39264582e-02  0.00000000e+00  6.73378465e+01]
 [-2.39264582e-02  9.99713721e-01  0.00000000e+00  1.03856982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.26606649300001
Centerline is valid?  [True, True]
Translation: X:67.40, Y:1.05, Z:0.00
[[ 9.99544212e-01  3.01888776e-02  0.00000000e+00  6.73976349e+01]
 [-3.01888776e-02  9.99544212e-01  0.00000000e+00  1.04529647e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.32606649300001
Centerline is valid?  [True, True]
Translation: X:67.46, Y:1.05, Z:0.00
[[ 9.99390349e-01  3.49131894e-02  0.00000000e+00  6.74580643e+01]
 [-3.49131894e-02  9.99390349e-01  0.00000000e+00  1.04885225e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.38606649300002
Centerline is valid?  [True, True]
Translation: X:67.52, Y:1.06, Z:0.00
[[ 9.99229703e-01  3.92428419e-02  0.00000000e+00  6.75171612e+01]
 [-3.92428419e-02  9.99229703e-01  0.00000000e+00  1.05676311e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.44606649300002
Centerline is valid?  [True, True]
Translation: X:67.58, Y:1.07, Z:0.00
[[ 9.99102804e-01  4.23507532e-02  0.00000000e+00  6.75774307e+01]
 [-4.23507532e-02  9.99102804e-01  0.00000000e+00  1.07159471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.506066493
Centerline is valid?  [True, True]
Translation: X:67.64, Y:1.07, Z:0.00
[[ 9.99332607e-01  3.65286342e-02  0.00000000e+00  6.76376669e+01]
 [-3.65286342e-02  9.99332607e-01  0.00000000e+00  1.07188650e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.56606649300001
Centerline is valid?  [True, True]
Translation: X:67.70, Y:1.07, Z:0.00
[[ 9.99763279e-01  2.17574380e-02  0.00000000e+00  6.76969399e+01]
 [-2.17574380e-02  9.99763279e-01  0.00000000e+00  1.07260938e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.62606649300001
Centerline is valid?  [True, True]
Translation: X:67.76, Y:1.07, Z:0.00
[[ 9.99936816e-01  1.12412059e-02  0.00000000e+00  6.77580061e+01]
 [-1.12412059e-02  9.99936816e-01  0.00000000e+00  1.07406003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.68606649300001
Centerline is valid?  [True, True]
Translation: X:67.82, Y:1.08, Z:0.00
[[ 9.99996646e-01  2.59006283e-03  0.00000000e+00  6.78181738e+01]
 [-2.59006283e-03  9.99996646e-01  0.00000000e+00  1.07554466e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.74606649300001
Centerline is valid?  [True, True]
Translation: X:67.88, Y:1.08, Z:0.00
[[ 9.99969368e-01 -7.82713103e-03  0.00000000e+00  6.78788014e+01]
 [ 7.82713103e-03  9.99969368e-01  0.00000000e+00  1.07546875e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.80606649300002
Centerline is valid?  [True, True]
Translation: X:67.94, Y:1.08, Z:0.00
[[ 9.99961214e-01 -8.80739387e-03  0.00000000e+00  6.79393979e+01]
 [ 8.80739387e-03  9.99961214e-01  0.00000000e+00  1.07654126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.866066493
Centerline is valid?  [True, True]
Translation: X:68.00, Y:1.09, Z:0.00
[[ 9.99980538e-01 -6.23886574e-03  0.00000000e+00  6.79991411e+01]
 [ 6.23886574e-03  9.99980538e-01  0.00000000e+00  1.08861712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.92606649300001
Centerline is valid?  [True, True]
Translation: X:68.06, Y:1.10, Z:0.00
[[ 9.99999196e-01 -1.26842242e-03  0.00000000e+00  6.80591667e+01]
 [ 1.26842242e-03  9.99999196e-01  0.00000000e+00  1.09868611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.98606649300001
Centerline is valid?  [True, True]
Translation: X:68.12, Y:1.11, Z:0.00
[[ 9.99999362e-01  1.12938678e-03  0.00000000e+00  6.81188123e+01]
 [-1.12938678e-03  9.99999362e-01  0.00000000e+00  1.10742511e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.04606649300001
Centerline is valid?  [True, True]
Translation: X:68.18, Y:1.12, Z:0.00
[[ 9.99983903e-01  5.67388872e-03  0.00000000e+00  6.81793662e+01]
 [-5.67388872e-03  9.99983903e-01  0.00000000e+00  1.11839174e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.10606649300001
Centerline is valid?  [True, True]
Translation: X:68.24, Y:1.14, Z:0.00
[[ 9.99967103e-01  8.11130873e-03  0.00000000e+00  6.82381134e+01]
 [-8.11130873e-03  9.99967103e-01  0.00000000e+00  1.13945339e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.16606649300002
Centerline is valid?  [True, True]
Translation: X:68.30, Y:1.15, Z:0.00
[[ 9.99947533e-01  1.02435571e-02  0.00000000e+00  6.82973215e+01]
 [-1.02435571e-02  9.99947533e-01  0.00000000e+00  1.14596502e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.226066493
Centerline is valid?  [True, True]
Translation: X:68.36, Y:1.16, Z:0.00
[[ 9.99828448e-01  1.85222697e-02  0.00000000e+00  6.83574550e+01]
 [-1.85222697e-02  9.99828448e-01  0.00000000e+00  1.15618647e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.286066493
Centerline is valid?  [True, True]
Translation: X:68.42, Y:1.17, Z:0.00
[[ 9.99461733e-01  3.28061654e-02  0.00000000e+00  6.84167345e+01]
 [-3.28061654e-02  9.99461733e-01  0.00000000e+00  1.16937454e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.34606649300001
Centerline is valid?  [True, True]
Translation: X:68.48, Y:1.18, Z:0.00
[[ 9.99176597e-01  4.05725041e-02  0.00000000e+00  6.84767869e+01]
 [-4.05725041e-02  9.99176597e-01  0.00000000e+00  1.17511947e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 68.40606649300001
Centerline is valid?  [True, True]
Translation: X:68.53, Y:1.17, Z:0.00
[[ 9.99190873e-01  4.02193829e-02  0.00000000e+00  6.85347276e+01]
 [-4.02193829e-02  9.99190873e-01  0.00000000e+00  1.17153508e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.46606649300001
Centerline is valid?  [True, True]
Translation: X:68.60, Y:1.16, Z:0.00
[[ 9.99292069e-01  3.76212688e-02  0.00000000e+00  6.85953191e+01]
 [-3.76212688e-02  9.99292069e-01  0.00000000e+00  1.16353204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.52606649300002
Centerline is valid?  [True, True]
Translation: X:68.65, Y:1.17, Z:0.00
[[ 9.98993033e-01  4.48655872e-02  0.00000000e+00  6.86546504e+01]
 [-4.48655872e-02  9.98993033e-01  0.00000000e+00  1.16618303e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.586066493
Centerline is valid?  [True, True]
Translation: X:68.71, Y:1.16, Z:0.00
[[ 9.98715741e-01  5.06642685e-02  0.00000000e+00  6.87147015e+01]
 [-5.06642685e-02  9.98715741e-01  0.00000000e+00  1.16421921e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.646066493
Centerline is valid?  [True, True]
Translation: X:68.77, Y:1.15, Z:0.00
[[ 9.98784052e-01  4.92992730e-02  0.00000000e+00  6.87729688e+01]
 [-4.92992730e-02  9.98784052e-01  0.00000000e+00  1.15007646e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.70606649300001
Centerline is valid?  [True, True]
Translation: X:68.83, Y:1.15, Z:0.00
[[ 9.98505036e-01  5.46597956e-02  0.00000000e+00  6.88322052e+01]
 [-5.46597956e-02  9.98505036e-01  0.00000000e+00  1.14612886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.76606649300001
Centerline is valid?  [True, True]
Translation: X:68.89, Y:1.14, Z:0.00
[[ 9.98460599e-01  5.54655936e-02  0.00000000e+00  6.88914566e+01]
 [-5.54655936e-02  9.98460599e-01  0.00000000e+00  1.14390747e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.82606649300001
Centerline is valid?  [True, True]
Translation: X:68.95, Y:1.13, Z:0.00
[[ 9.98658729e-01  5.17758850e-02  0.00000000e+00  6.89525149e+01]
 [-5.17758850e-02  9.98658729e-01  0.00000000e+00  1.12566559e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.88606649300002
Centerline is valid?  [True, True]
Translation: X:69.01, Y:1.11, Z:0.00
[[ 9.99043716e-01  4.37224660e-02  0.00000000e+00  6.90129747e+01]
 [-4.37224660e-02  9.99043716e-01  0.00000000e+00  1.11324106e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.94606649300002
Centerline is valid?  [True, True]
Translation: X:69.07, Y:1.11, Z:0.00
[[ 9.99219599e-01  3.94992663e-02  0.00000000e+00  6.90738443e+01]
 [-3.94992663e-02  9.99219599e-01  0.00000000e+00  1.11042470e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.006066493
Centerline is valid?  [True, True]
Translation: X:69.13, Y:1.10, Z:0.00
[[ 9.99462291e-01  3.27891711e-02  0.00000000e+00  6.91341314e+01]
 [-3.27891711e-02  9.99462291e-01  0.00000000e+00  1.10300594e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.06606649300001
Centerline is valid?  [True, True]
Translation: X:69.19, Y:1.09, Z:0.00
[[ 9.99756375e-01  2.20723783e-02  0.00000000e+00  6.91949014e+01]
 [-2.20723783e-02  9.99756375e-01  0.00000000e+00  1.09477694e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.12606649300001
Centerline is valid?  [True, True]
Translation: X:69.26, Y:1.10, Z:0.00
[[ 9.99809544e-01  1.95160424e-02  0.00000000e+00  6.92551570e+01]
 [-1.95160424e-02  9.99809544e-01  0.00000000e+00  1.09588179e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.18606649300001
Centerline is valid?  [True, True]
Translation: X:69.32, Y:1.10, Z:0.00
[[ 9.99823488e-01  1.87881162e-02  0.00000000e+00  6.93159307e+01]
 [-1.87881162e-02  9.99823488e-01  0.00000000e+00  1.09645941e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.24606649300001
Centerline is valid?  [True, True]
Translation: X:69.38, Y:1.10, Z:0.00
[[ 9.99904334e-01  1.38319278e-02  0.00000000e+00  6.93767966e+01]
 [-1.38319278e-02  9.99904334e-01  0.00000000e+00  1.09666396e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.30606649300002
Centerline is valid?  [True, True]
Translation: X:69.44, Y:1.11, Z:0.00
[[ 9.99982445e-01  5.92534747e-03  0.00000000e+00  6.94368243e+01]
 [-5.92534747e-03  9.99982445e-01  0.00000000e+00  1.10535746e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.366066493
Centerline is valid?  [True, True]
Translation: X:69.50, Y:1.11, Z:0.00
[[ 9.99999623e-01 -8.68356193e-04  0.00000000e+00  6.94961582e+01]
 [ 8.68356193e-04  9.99999623e-01  0.00000000e+00  1.11042305e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.42606649300001
Centerline is valid?  [True, True]
Translation: X:69.56, Y:1.12, Z:0.00
[[ 9.99986639e-01 -5.16929829e-03  0.00000000e+00  6.95561257e+01]
 [ 5.16929829e-03  9.99986639e-01  0.00000000e+00  1.11533820e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.48606649300001
Centerline is valid?  [True, True]
Translation: X:69.61, Y:1.13, Z:0.00
[[ 9.99993880e-01 -3.49853812e-03  0.00000000e+00  6.96149352e+01]
 [ 3.49853812e-03  9.99993880e-01  0.00000000e+00  1.12627469e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.54606649300001
Centerline is valid?  [True, True]
Translation: X:69.68, Y:1.14, Z:0.00
[[ 9.99993122e-01  3.70893822e-03  0.00000000e+00  6.96750100e+01]
 [-3.70893822e-03  9.99993122e-01  0.00000000e+00  1.14207827e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 69.60606649300001
Centerline is valid?  [True, True]
Translation: X:69.74, Y:1.15, Z:0.00
[[ 9.99972220e-01  7.45381820e-03  0.00000000e+00  6.97353138e+01]
 [-7.45381820e-03  9.99972220e-01  0.00000000e+00  1.15209823e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.66606649300002
Centerline is valid?  [True, True]
Translation: X:69.80, Y:1.17, Z:0.00
[[ 9.99972802e-01  7.37534715e-03  0.00000000e+00  6.97954810e+01]
 [-7.37534715e-03  9.99972802e-01  0.00000000e+00  1.17135806e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.726066493
Centerline is valid?  [True, True]
Translation: X:69.85, Y:1.18, Z:0.00
[[ 9.99970331e-01  7.70310758e-03  0.00000000e+00  6.98546907e+01]
 [-7.70310758e-03  9.99970331e-01  0.00000000e+00  1.17531564e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.786066493
Centerline is valid?  [True, True]
Translation: X:69.91, Y:1.18, Z:0.00
[[ 9.99982222e-01  5.96292560e-03  0.00000000e+00  6.99146040e+01]
 [-5.96292560e-03  9.99982222e-01  0.00000000e+00  1.18088223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.84606649300001
Centerline is valid?  [True, True]
Translation: X:69.97, Y:1.20, Z:0.00
[[ 9.99985477e-01  5.38947355e-03  0.00000000e+00  6.99748104e+01]
 [-5.38947355e-03  9.99985477e-01  0.00000000e+00  1.19884318e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.90606649300001
Centerline is valid?  [True, True]
Translation: X:70.03, Y:1.21, Z:0.00
[[ 9.99904361e-01  1.38300312e-02  0.00000000e+00  7.00344136e+01]
 [-1.38300312e-02  9.99904361e-01  0.00000000e+00  1.21156479e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.96606649300001
Centerline is valid?  [True, True]
Translation: X:70.09, Y:1.22, Z:0.00
[[ 9.99741200e-01  2.27493510e-02  0.00000000e+00  7.00944716e+01]
 [-2.27493510e-02  9.99741200e-01  0.00000000e+00  1.21927527e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.02606649300002
Centerline is valid?  [True, True]
Translation: X:70.15, Y:1.23, Z:0.00
[[ 9.99409357e-01  3.43647711e-02  0.00000000e+00  7.01532972e+01]
 [-3.43647711e-02  9.99409357e-01  0.00000000e+00  1.23097582e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.08606649300002
Centerline is valid?  [True, True]
Translation: X:70.21, Y:1.23, Z:0.00
[[ 9.99336605e-01  3.64190795e-02  0.00000000e+00  7.02122557e+01]
 [-3.64190795e-02  9.99336605e-01  0.00000000e+00  1.23249765e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.146066493
Centerline is valid?  [True, True]
Translation: X:70.27, Y:1.23, Z:0.00
[[ 9.99348097e-01  3.61023659e-02  0.00000000e+00  7.02700823e+01]
 [-3.61023659e-02  9.99348097e-01  0.00000000e+00  1.23219674e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.20606649300001
Centerline is valid?  [True, True]
Translation: X:70.33, Y:1.24, Z:0.00
[[ 9.99374652e-01  3.53596636e-02  0.00000000e+00  7.03280628e+01]
 [-3.53596636e-02  9.99374652e-01  0.00000000e+00  1.23852971e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.26606649300001
Centerline is valid?  [True, True]
Translation: X:70.39, Y:1.24, Z:0.00
[[ 9.99424046e-01  3.39348850e-02  0.00000000e+00  7.03856502e+01]
 [-3.39348850e-02  9.99424046e-01  0.00000000e+00  1.23668894e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.32606649300001
Centerline is valid?  [True, True]
Translation: X:70.45, Y:1.23, Z:0.00
[[ 9.99262024e-01  3.84110220e-02  0.00000000e+00  7.04463602e+01]
 [-3.84110220e-02  9.99262024e-01  0.00000000e+00  1.23145122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.38606649300002
Centerline is valid?  [True, True]
Translation: X:70.51, Y:1.23, Z:0.00
[[ 9.98872670e-01  4.74698828e-02  0.00000000e+00  7.05068830e+01]
 [-4.74698828e-02  9.98872670e-01  0.00000000e+00  1.22939970e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.44606649300002
Centerline is valid?  [True, True]
Translation: X:70.57, Y:1.23, Z:0.00
[[ 9.98338470e-01  5.76220412e-02  0.00000000e+00  7.05668543e+01]
 [-5.76220412e-02  9.98338470e-01  0.00000000e+00  1.22786541e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.506066493
Centerline is valid?  [True, True]
Translation: X:70.63, Y:1.22, Z:0.00
[[ 9.98104407e-01  6.15434179e-02  0.00000000e+00  7.06268754e+01]
 [-6.15434179e-02  9.98104407e-01  0.00000000e+00  1.22263414e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.56606649300001
Centerline is valid?  [True, True]
Translation: X:70.69, Y:1.21, Z:0.00
[[ 9.98034759e-01  6.26627498e-02  0.00000000e+00  7.06864261e+01]
 [-6.26627498e-02  9.98034759e-01  0.00000000e+00  1.20664035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.62606649300001
Centerline is valid?  [True, True]
Translation: X:70.75, Y:1.20, Z:0.00
[[ 9.98594998e-01  5.29908500e-02  0.00000000e+00  7.07471577e+01]
 [-5.29908500e-02  9.98594998e-01  0.00000000e+00  1.19547418e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.68606649300001
Centerline is valid?  [True, True]
Translation: X:70.81, Y:1.19, Z:0.00
[[ 9.98906989e-01  4.67421415e-02  0.00000000e+00  7.08064136e+01]
 [-4.67421415e-02  9.98906989e-01  0.00000000e+00  1.18950056e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.74606649300001
Centerline is valid?  [True, True]
Translation: X:70.87, Y:1.17, Z:0.00
[[ 9.99401633e-01  3.45886790e-02  0.00000000e+00  7.08674923e+01]
 [-3.45886790e-02  9.99401633e-01  0.00000000e+00  1.17174398e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 70.80606649300002
Centerline is valid?  [True, True]
Translation: X:70.93, Y:1.16, Z:0.00
[[ 9.99617665e-01  2.76500178e-02  0.00000000e+00  7.09270815e+01]
 [-2.76500178e-02  9.99617665e-01  0.00000000e+00  1.16168100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.866066493
Centerline is valid?  [True, True]
Translation: X:70.99, Y:1.16, Z:0.00
[[ 9.99808935e-01  1.95472253e-02  0.00000000e+00  7.09880104e+01]
 [-1.95472253e-02  9.99808935e-01  0.00000000e+00  1.15790158e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.92606649300001
Centerline is valid?  [True, True]
Translation: X:71.05, Y:1.15, Z:0.00
[[ 9.99880633e-01  1.54505728e-02  0.00000000e+00  7.10480077e+01]
 [-1.54505728e-02  9.99880633e-01  0.00000000e+00  1.15238536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.98606649300001
Centerline is valid?  [True, True]
Translation: X:71.11, Y:1.14, Z:0.00
[[ 9.99925445e-01  1.22108236e-02  0.00000000e+00  7.11088543e+01]
 [-1.22108236e-02  9.99925445e-01  0.00000000e+00  1.14370925e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.04606649300001
Centerline is valid?  [True, True]
Translation: X:71.17, Y:1.15, Z:0.00
[[ 9.99934638e-01  1.14332673e-02  0.00000000e+00  7.11690010e+01]
 [-1.14332673e-02  9.99934638e-01  0.00000000e+00  1.14825689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.10606649300001
Centerline is valid?  [True, True]
Translation: X:71.23, Y:1.15, Z:0.00
[[ 9.99975126e-01  7.05317507e-03  0.00000000e+00  7.12294006e+01]
 [-7.05317507e-03  9.99975126e-01  0.00000000e+00  1.15115478e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.16606649300002
Centerline is valid?  [True, True]
Translation: X:71.29, Y:1.15, Z:0.00
[[ 9.99988946e-01  4.70179613e-03  0.00000000e+00  7.12886202e+01]
 [-4.70179613e-03  9.99988946e-01  0.00000000e+00  1.15284821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.226066493
Centerline is valid?  [True, True]
Translation: X:71.35, Y:1.16, Z:0.00
[[ 9.99997589e-01  2.19588254e-03  0.00000000e+00  7.13488374e+01]
 [-2.19588254e-03  9.99997589e-01  0.00000000e+00  1.15766740e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.286066493
Centerline is valid?  [True, True]
Translation: X:71.41, Y:1.17, Z:0.00
[[ 9.99956477e-01  9.32971913e-03  0.00000000e+00  7.14075684e+01]
 [-9.32971913e-03  9.99956477e-01  0.00000000e+00  1.16589712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.34606649300001
Centerline is valid?  [True, True]
Translation: X:71.47, Y:1.17, Z:0.00
[[ 9.99760982e-01  2.18627235e-02  0.00000000e+00  7.14674545e+01]
 [-2.18627235e-02  9.99760982e-01  0.00000000e+00  1.17494377e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.40606649300001
Centerline is valid?  [True, True]
Translation: X:71.53, Y:1.18, Z:0.00
[[ 9.99654611e-01  2.62804039e-02  0.00000000e+00  7.15277881e+01]
 [-2.62804039e-02  9.99654611e-01  0.00000000e+00  1.17702885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.46606649300001
Centerline is valid?  [True, True]
Translation: X:71.59, Y:1.18, Z:0.00
[[ 9.99594862e-01  2.84624581e-02  0.00000000e+00  7.15869831e+01]
 [-2.84624581e-02  9.99594862e-01  0.00000000e+00  1.17981847e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.52606649300002
Centerline is valid?  [True, True]
Translation: X:71.65, Y:1.18, Z:0.00
[[ 9.99610830e-01  2.78960181e-02  0.00000000e+00  7.16467932e+01]
 [-2.78960181e-02  9.99610830e-01  0.00000000e+00  1.17987735e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.58606649300002
Centerline is valid?  [True, True]
Translation: X:71.71, Y:1.18, Z:0.00
[[ 9.99647328e-01  2.65559542e-02  0.00000000e+00  7.17069512e+01]
 [-2.65559542e-02  9.99647328e-01  0.00000000e+00  1.18003401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.646066493
Centerline is valid?  [True, True]
Translation: X:71.77, Y:1.18, Z:0.00
[[ 9.99732975e-01  2.31079677e-02  0.00000000e+00  7.17677630e+01]
 [-2.31079677e-02  9.99732975e-01  0.00000000e+00  1.18190813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.70606649300001
Centerline is valid?  [True, True]
Translation: X:71.83, Y:1.18, Z:0.00
[[ 9.99806168e-01  1.96882322e-02  0.00000000e+00  7.18277736e+01]
 [-1.96882322e-02  9.99806168e-01  0.00000000e+00  1.18307561e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.76606649300001
Centerline is valid?  [True, True]
Translation: X:71.89, Y:1.18, Z:0.00
[[ 9.99966314e-01  8.20793255e-03  0.00000000e+00  7.18870362e+01]
 [-8.20793255e-03  9.99966314e-01  0.00000000e+00  1.17838769e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.82606649300001
Centerline is valid?  [True, True]
Translation: X:71.95, Y:1.18, Z:0.00
[[ 9.99998696e-01  1.61481683e-03  0.00000000e+00  7.19480185e+01]
 [-1.61481683e-03  9.99998696e-01  0.00000000e+00  1.18136738e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.88606649300002
Centerline is valid?  [True, True]
Translation: X:72.01, Y:1.18, Z:0.00
[[ 9.99999424e-01 -1.07321707e-03  0.00000000e+00  7.20088589e+01]
 [ 1.07321707e-03  9.99999424e-01  0.00000000e+00  1.18446380e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.94606649300002
Centerline is valid?  [True, True]
Translation: X:72.07, Y:1.19, Z:0.00
[[ 9.99997357e-01  2.29928017e-03  0.00000000e+00  7.20688240e+01]
 [-2.29928017e-03  9.99997357e-01  0.00000000e+00  1.18664725e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 72.006066493
Centerline is valid?  [True, True]
Translation: X:72.13, Y:1.20, Z:0.00
[[ 9.99825190e-01  1.86972948e-02  0.00000000e+00  7.21274451e+01]
 [-1.86972948e-02  9.99825190e-01  0.00000000e+00  1.19537021e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.06606649300001
Centerline is valid?  [True, True]
Translation: X:72.19, Y:1.20, Z:0.00
[[ 9.99598910e-01  2.83199358e-02  0.00000000e+00  7.21872462e+01]
 [-2.83199358e-02  9.99598910e-01  0.00000000e+00  1.20433512e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.12606649300001
Centerline is valid?  [True, True]
Translation: X:72.25, Y:1.21, Z:0.00
[[ 9.99565597e-01  2.94723148e-02  0.00000000e+00  7.22475819e+01]
 [-2.94723148e-02  9.99565597e-01  0.00000000e+00  1.20548939e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.18606649300001
Centerline is valid?  [True, True]
Translation: X:72.31, Y:1.21, Z:0.00
[[ 9.99703534e-01  2.43483846e-02  0.00000000e+00  7.23074855e+01]
 [-2.43483846e-02  9.99703534e-01  0.00000000e+00  1.20943721e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.24606649300001
Centerline is valid?  [True, True]
Translation: X:72.37, Y:1.21, Z:0.00
[[ 9.99696102e-01  2.46516654e-02  0.00000000e+00  7.23657181e+01]
 [-2.46516654e-02  9.99696102e-01  0.00000000e+00  1.21338334e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.30606649300002
Centerline is valid?  [True, True]
Translation: X:72.43, Y:1.21, Z:0.00
[[ 9.99648018e-01  2.65299921e-02  0.00000000e+00  7.24262345e+01]
 [-2.65299921e-02  9.99648018e-01  0.00000000e+00  1.20757098e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.366066493
Centerline is valid?  [True, True]
Translation: X:72.49, Y:1.21, Z:0.00
[[ 9.99491880e-01  3.18744833e-02  0.00000000e+00  7.24864153e+01]
 [-3.18744833e-02  9.99491880e-01  0.00000000e+00  1.20903143e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.42606649300001
Centerline is valid?  [True, True]
Translation: X:72.55, Y:1.21, Z:0.00
[[ 9.99042842e-01  4.37424241e-02  0.00000000e+00  7.25465978e+01]
 [-4.37424241e-02  9.99042842e-01  0.00000000e+00  1.21115721e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.48606649300001
Centerline is valid?  [True, True]
Translation: X:72.61, Y:1.21, Z:0.00
[[ 9.98718870e-01  5.06025585e-02  0.00000000e+00  7.26059106e+01]
 [-5.06025585e-02  9.98718870e-01  0.00000000e+00  1.20821782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.54606649300001
Centerline is valid?  [True, True]
Translation: X:72.67, Y:1.20, Z:0.00
[[ 9.98383646e-01  5.68339276e-02  0.00000000e+00  7.26668240e+01]
 [-5.68339276e-02  9.98383646e-01  0.00000000e+00  1.20044966e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.60606649300001
Centerline is valid?  [True, True]
Translation: X:72.73, Y:1.20, Z:0.00
[[ 9.98411195e-01  5.63478913e-02  0.00000000e+00  7.27265013e+01]
 [-5.63478913e-02  9.98411195e-01  0.00000000e+00  1.19681366e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.66606649300002
Centerline is valid?  [True, True]
Translation: X:72.79, Y:1.19, Z:0.00
[[ 9.98778262e-01  4.94164342e-02  0.00000000e+00  7.27875703e+01]
 [-4.94164342e-02  9.98778262e-01  0.00000000e+00  1.18648665e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.726066493
Centerline is valid?  [True, True]
Translation: X:72.85, Y:1.18, Z:0.00
[[ 9.99005639e-01  4.45840006e-02  0.00000000e+00  7.28491669e+01]
 [-4.45840006e-02  9.99005639e-01  0.00000000e+00  1.17517282e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.786066493
Centerline is valid?  [True, True]
Translation: X:72.91, Y:1.17, Z:0.00
[[ 9.99499759e-01  3.16264435e-02  0.00000000e+00  7.29100082e+01]
 [-3.16264435e-02  9.99499759e-01  0.00000000e+00  1.16588851e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.84606649300001
Centerline is valid?  [True, True]
Translation: X:72.97, Y:1.16, Z:0.00
[[ 9.99811023e-01  1.94401163e-02  0.00000000e+00  7.29704923e+01]
 [-1.94401163e-02  9.99811023e-01  0.00000000e+00  1.15840814e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.90606649300001
Centerline is valid?  [True, True]
Translation: X:73.03, Y:1.16, Z:0.00
[[ 9.99942985e-01  1.06783250e-02  0.00000000e+00  7.30299843e+01]
 [-1.06783250e-02  9.99942985e-01  0.00000000e+00  1.15561842e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.96606649300001
Centerline is valid?  [True, True]
Translation: X:73.09, Y:1.16, Z:0.00
[[ 9.99937037e-01  1.12214948e-02  0.00000000e+00  7.30910255e+01]
 [-1.12214948e-02  9.99937037e-01  0.00000000e+00  1.15531783e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.02606649300002
Centerline is valid?  [True, True]
Translation: X:73.15, Y:1.16, Z:0.00
[[ 9.99925018e-01  1.22457887e-02  0.00000000e+00  7.31509224e+01]
 [-1.22457887e-02  9.99925018e-01  0.00000000e+00  1.15779287e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.08606649300002
Centerline is valid?  [True, True]
Translation: X:73.21, Y:1.16, Z:0.00
[[ 9.99955097e-01  9.47645222e-03  0.00000000e+00  7.32116120e+01]
 [-9.47645222e-03  9.99955097e-01  0.00000000e+00  1.16386426e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.146066493
Centerline is valid?  [True, True]
Translation: X:73.27, Y:1.17, Z:0.00
[[ 9.99977618e-01  6.69052172e-03  0.00000000e+00  7.32718729e+01]
 [-6.69052172e-03  9.99977618e-01  0.00000000e+00  1.17163458e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 73.20606649300001
Centerline is valid?  [True, True]
Translation: X:73.33, Y:1.18, Z:0.00
[[ 9.99912907e-01  1.31976753e-02  0.00000000e+00  7.33319897e+01]
 [-1.31976753e-02  9.99912907e-01  0.00000000e+00  1.17718008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.26606649300001
Centerline is valid?  [True, True]
Translation: X:73.39, Y:1.18, Z:0.00
[[ 9.99750498e-01  2.23370252e-02  0.00000000e+00  7.33913754e+01]
 [-2.23370252e-02  9.99750498e-01  0.00000000e+00  1.18349208e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.32606649300001
Centerline is valid?  [True, True]
Translation: X:73.45, Y:1.20, Z:0.00
[[ 9.99233699e-01  3.91409480e-02  0.00000000e+00  7.34509229e+01]
 [-3.91409480e-02  9.99233699e-01  0.00000000e+00  1.19581583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.38606649300002
Centerline is valid?  [True, True]
Translation: X:73.51, Y:1.19, Z:0.00
[[ 9.99076161e-01  4.29746953e-02  0.00000000e+00  7.35111714e+01]
 [-4.29746953e-02  9.99076161e-01  0.00000000e+00  1.19443437e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.44606649300002
Centerline is valid?  [True, True]
Translation: X:73.57, Y:1.19, Z:0.00
[[ 9.98733740e-01  5.03082126e-02  0.00000000e+00  7.35721431e+01]
 [-5.03082126e-02  9.98733740e-01  0.00000000e+00  1.19336215e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.506066493
Centerline is valid?  [True, True]
Translation: X:73.63, Y:1.19, Z:0.00
[[ 9.98568430e-01  5.34891571e-02  0.00000000e+00  7.36321674e+01]
 [-5.34891571e-02  9.98568430e-01  0.00000000e+00  1.19448311e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.56606649300001
Centerline is valid?  [True, True]
Translation: X:73.69, Y:1.19, Z:0.00
[[ 9.98503729e-01  5.46836619e-02  0.00000000e+00  7.36924981e+01]
 [-5.46836619e-02  9.98503729e-01  0.00000000e+00  1.19229324e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.62606649300001
Centerline is valid?  [True, True]
Translation: X:73.75, Y:1.18, Z:0.00
[[ 9.98215860e-01  5.97084269e-02  0.00000000e+00  7.37535066e+01]
 [-5.97084269e-02  9.98215860e-01  0.00000000e+00  1.18238264e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.68606649300001
Centerline is valid?  [True, True]
Translation: X:73.81, Y:1.18, Z:0.00
[[ 9.98252668e-01  5.90898518e-02  0.00000000e+00  7.38147334e+01]
 [-5.90898518e-02  9.98252668e-01  0.00000000e+00  1.17848032e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.74606649300001
Centerline is valid?  [True, True]
Translation: X:73.88, Y:1.16, Z:0.00
[[ 9.98076501e-01  6.19943371e-02  0.00000000e+00  7.38756745e+01]
 [-6.19943371e-02  9.98076501e-01  0.00000000e+00  1.16130105e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.80606649300002
Centerline is valid?  [True, True]
Translation: X:73.94, Y:1.15, Z:0.00
[[ 9.98341265e-01  5.75735864e-02  0.00000000e+00  7.39367265e+01]
 [-5.75735864e-02  9.98341265e-01  0.00000000e+00  1.14656847e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.866066493
Centerline is valid?  [True, True]
Translation: X:74.00, Y:1.14, Z:0.00
[[ 9.98360546e-01  5.72382694e-02  0.00000000e+00  7.39971829e+01]
 [-5.72382694e-02  9.98360546e-01  0.00000000e+00  1.13528140e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.92606649300001
Centerline is valid?  [True, True]
Translation: X:74.06, Y:1.12, Z:0.00
[[ 9.98815356e-01  4.86609229e-02  0.00000000e+00  7.40579042e+01]
 [-4.86609229e-02  9.98815356e-01  0.00000000e+00  1.11733634e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.98606649300001
Centerline is valid?  [True, True]
Translation: X:74.12, Y:1.10, Z:0.00
[[ 9.99141422e-01  4.14296976e-02  0.00000000e+00  7.41194667e+01]
 [-4.14296976e-02  9.99141422e-01  0.00000000e+00  1.10058428e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.04606649300001
Centerline is valid?  [True, True]
Translation: X:74.18, Y:1.09, Z:0.00
[[ 9.99423160e-01  3.39609683e-02  0.00000000e+00  7.41791393e+01]
 [-3.39609683e-02  9.99423160e-01  0.00000000e+00  1.09251570e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.10606649300001
Centerline is valid?  [True, True]
Translation: X:74.24, Y:1.09, Z:0.00
[[ 9.99782793e-01  2.08414467e-02  0.00000000e+00  7.42399481e+01]
 [-2.08414467e-02  9.99782793e-01  0.00000000e+00  1.08646650e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.16606649300002
Centerline is valid?  [True, True]
Translation: X:74.30, Y:1.08, Z:0.00
[[ 9.99929106e-01  1.19072563e-02  0.00000000e+00  7.42996228e+01]
 [-1.19072563e-02  9.99929106e-01  0.00000000e+00  1.08496264e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.226066493
Centerline is valid?  [True, True]
Translation: X:74.36, Y:1.08, Z:0.00
[[ 9.99999998e-01 -5.89303576e-05  0.00000000e+00  7.43599570e+01]
 [ 5.89303576e-05  9.99999998e-01  0.00000000e+00  1.08157771e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.286066493
Centerline is valid?  [True, True]
Translation: X:74.42, Y:1.09, Z:0.00
[[ 9.99997157e-01 -2.38463904e-03  0.00000000e+00  7.44201157e+01]
 [ 2.38463904e-03  9.99997157e-01  0.00000000e+00  1.08888683e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.34606649300001
Centerline is valid?  [True, True]
Translation: X:74.48, Y:1.11, Z:0.00
[[ 9.99991669e-01  4.08200717e-03  0.00000000e+00  7.44790212e+01]
 [-4.08200717e-03  9.99991669e-01  0.00000000e+00  1.10690325e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 74.40606649300001
Centerline is valid?  [True, True]
Translation: X:74.54, Y:1.12, Z:0.00
[[ 9.99918186e-01  1.27914180e-02  0.00000000e+00  7.45392648e+01]
 [-1.27914180e-02  9.99918186e-01  0.00000000e+00  1.11728436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.46606649300001
Centerline is valid?  [True, True]
Translation: X:74.60, Y:1.13, Z:0.00
[[ 9.99647330e-01  2.65558810e-02  0.00000000e+00  7.45981385e+01]
 [-2.65558810e-02  9.99647330e-01  0.00000000e+00  1.13036994e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.52606649300002
Centerline is valid?  [True, True]
Translation: X:74.66, Y:1.14, Z:0.00
[[ 9.99517736e-01  3.10530906e-02  0.00000000e+00  7.46585894e+01]
 [-3.10530906e-02  9.99517736e-01  0.00000000e+00  1.14466954e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.58606649300002
Centerline is valid?  [True, True]
Translation: X:74.72, Y:1.15, Z:0.00
[[ 9.99654767e-01  2.62744446e-02  0.00000000e+00  7.47190141e+01]
 [-2.62744446e-02  9.99654767e-01  0.00000000e+00  1.15143043e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.646066493
Centerline is valid?  [True, True]
Translation: X:74.78, Y:1.16, Z:0.00
[[ 9.99732989e-01  2.31073566e-02  0.00000000e+00  7.47795590e+01]
 [-2.31073566e-02  9.99732989e-01  0.00000000e+00  1.15506168e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.70606649300001
Centerline is valid?  [True, True]
Translation: X:74.84, Y:1.17, Z:0.00
[[ 9.99765063e-01  2.16753116e-02  0.00000000e+00  7.48404316e+01]
 [-2.16753116e-02  9.99765063e-01  0.00000000e+00  1.16962814e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.76606649300001
Centerline is valid?  [True, True]
Translation: X:74.90, Y:1.18, Z:0.00
[[ 9.99774920e-01  2.12157861e-02  0.00000000e+00  7.49021916e+01]
 [-2.12157861e-02  9.99774920e-01  0.00000000e+00  1.17648329e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.82606649300001
Centerline is valid?  [True, True]
Translation: X:74.96, Y:1.18, Z:0.00
[[ 9.99882390e-01  1.53364647e-02  0.00000000e+00  7.49631318e+01]
 [-1.53364647e-02  9.99882390e-01  0.00000000e+00  1.18041565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.88606649300002
Centerline is valid?  [True, True]
Translation: X:75.02, Y:1.19, Z:0.00
[[ 9.99873806e-01  1.58862332e-02  0.00000000e+00  7.50241163e+01]
 [-1.58862332e-02  9.99873806e-01  0.00000000e+00  1.18775543e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.94606649300002
Centerline is valid?  [True, True]
Translation: X:75.08, Y:1.20, Z:0.00
[[ 9.99787461e-01  2.06163132e-02  0.00000000e+00  7.50831582e+01]
 [-2.06163132e-02  9.99787461e-01  0.00000000e+00  1.19918837e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.006066493
Centerline is valid?  [True, True]
Translation: X:75.14, Y:1.21, Z:0.00
[[ 9.99654224e-01  2.62951116e-02  0.00000000e+00  7.51429263e+01]
 [-2.62951116e-02  9.99654224e-01  0.00000000e+00  1.20800439e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.06606649300001
Centerline is valid?  [True, True]
Translation: X:75.20, Y:1.22, Z:0.00
[[ 9.99633055e-01  2.70879197e-02  0.00000000e+00  7.52037331e+01]
 [-2.70879197e-02  9.99633055e-01  0.00000000e+00  1.21588726e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.12606649300001
Centerline is valid?  [True, True]
Translation: X:75.26, Y:1.22, Z:0.00
[[ 9.99848011e-01  1.74343237e-02  0.00000000e+00  7.52641748e+01]
 [-1.74343237e-02  9.99848011e-01  0.00000000e+00  1.22465822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.18606649300001
Centerline is valid?  [True, True]
Translation: X:75.32, Y:1.23, Z:0.00
[[ 9.99981357e-01  6.10617548e-03  0.00000000e+00  7.53233038e+01]
 [-6.10617548e-03  9.99981357e-01  0.00000000e+00  1.22951678e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.24606649300001
Centerline is valid?  [True, True]
Translation: X:75.38, Y:1.24, Z:0.00
[[ 9.99993817e-01 -3.51663965e-03  0.00000000e+00  7.53841206e+01]
 [ 3.51663965e-03  9.99993817e-01  0.00000000e+00  1.23895792e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.30606649300002
Centerline is valid?  [True, True]
Translation: X:75.44, Y:1.24, Z:0.00
[[ 9.99994978e-01 -3.16937553e-03  0.00000000e+00  7.54434836e+01]
 [ 3.16937553e-03  9.99994978e-01  0.00000000e+00  1.24458277e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.366066493
Centerline is valid?  [True, True]
Translation: X:75.50, Y:1.26, Z:0.00
[[ 9.99978605e-01  6.54135820e-03  0.00000000e+00  7.55035085e+01]
 [-6.54135820e-03  9.99978605e-01  0.00000000e+00  1.26158614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.42606649300001
Centerline is valid?  [True, True]
Translation: X:75.56, Y:1.27, Z:0.00
[[ 9.99929578e-01  1.18675437e-02  0.00000000e+00  7.55634226e+01]
 [-1.18675437e-02  9.99929578e-01  0.00000000e+00  1.26984183e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.48606649300001
Centerline is valid?  [True, True]
Translation: X:75.62, Y:1.28, Z:0.00
[[ 9.99619961e-01  2.75669087e-02  0.00000000e+00  7.56220952e+01]
 [-2.75669087e-02  9.99619961e-01  0.00000000e+00  1.28091857e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.54606649300001
Centerline is valid?  [True, True]
Translation: X:75.68, Y:1.29, Z:0.00
[[ 9.99542048e-01  3.02604479e-02  0.00000000e+00  7.56819695e+01]
 [-3.02604479e-02  9.99542048e-01  0.00000000e+00  1.28806816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 75.60606649300001
Centerline is valid?  [True, True]
Translation: X:75.74, Y:1.30, Z:0.00
[[ 9.99559150e-01  2.96901487e-02  0.00000000e+00  7.57412574e+01]
 [-2.96901487e-02  9.99559150e-01  0.00000000e+00  1.30113180e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.66606649300002
Centerline is valid?  [True, True]
Translation: X:75.80, Y:1.31, Z:0.00
[[ 9.99687885e-01  2.49826615e-02  0.00000000e+00  7.58012848e+01]
 [-2.49826615e-02  9.99687885e-01  0.00000000e+00  1.30910157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.726066493
Centerline is valid?  [True, True]
Translation: X:75.86, Y:1.30, Z:0.00
[[ 9.99983384e-01  5.76465274e-03  0.00000000e+00  7.58622516e+01]
 [-5.76465274e-03  9.99983384e-01  0.00000000e+00  1.30225286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.786066493
Centerline is valid?  [True, True]
Translation: X:75.92, Y:1.31, Z:0.00
[[ 9.99999676e-01  8.04916227e-04  0.00000000e+00  7.59231011e+01]
 [-8.04916227e-04  9.99999676e-01  0.00000000e+00  1.31074057e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.84606649300001
Centerline is valid?  [True, True]
Translation: X:75.98, Y:1.33, Z:0.00
[[ 9.99994994e-01  3.16410471e-03  0.00000000e+00  7.59823420e+01]
 [-3.16410471e-03  9.99994994e-01  0.00000000e+00  1.32679214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.90606649300001
Centerline is valid?  [True, True]
Translation: X:76.04, Y:1.33, Z:0.00
[[ 9.99929248e-01  1.18953461e-02  0.00000000e+00  7.60413068e+01]
 [-1.18953461e-02  9.99929248e-01  0.00000000e+00  1.33031312e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.96606649300001
Centerline is valid?  [True, True]
Translation: X:76.10, Y:1.34, Z:0.00
[[ 9.99889994e-01  1.48323627e-02  0.00000000e+00  7.61014287e+01]
 [-1.48323627e-02  9.99889994e-01  0.00000000e+00  1.33961934e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.02606649300002
Centerline is valid?  [True, True]
Translation: X:76.16, Y:1.35, Z:0.00
[[ 9.99863163e-01  1.65425335e-02  0.00000000e+00  7.61603809e+01]
 [-1.65425335e-02  9.99863163e-01  0.00000000e+00  1.35147507e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.08606649300002
Centerline is valid?  [True, True]
Translation: X:76.22, Y:1.36, Z:0.00
[[ 9.99936420e-01  1.12763496e-02  0.00000000e+00  7.62206736e+01]
 [-1.12763496e-02  9.99936420e-01  0.00000000e+00  1.35874982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.146066493
Centerline is valid?  [True, True]
Translation: X:76.28, Y:1.36, Z:0.00
[[ 9.99980507e-01  6.24392235e-03  0.00000000e+00  7.62808132e+01]
 [-6.24392235e-03  9.99980507e-01  0.00000000e+00  1.36082576e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.20606649300001
Centerline is valid?  [True, True]
Translation: X:76.34, Y:1.37, Z:0.00
[[ 9.99994264e-01  3.38703703e-03  0.00000000e+00  7.63401643e+01]
 [-3.38703703e-03  9.99994264e-01  0.00000000e+00  1.37310389e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.26606649300001
Centerline is valid?  [True, True]
Translation: X:76.40, Y:1.38, Z:0.00
[[ 9.99999394e-01 -1.10106065e-03  0.00000000e+00  7.64008466e+01]
 [ 1.10106065e-03  9.99999394e-01  0.00000000e+00  1.37949656e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.32606649300001
Centerline is valid?  [True, True]
Translation: X:76.46, Y:1.39, Z:0.00
[[ 9.99947963e-01 -1.02015025e-02  0.00000000e+00  7.64609496e+01]
 [ 1.02015025e-02  9.99947963e-01  0.00000000e+00  1.38627522e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.38606649300002
Centerline is valid?  [True, True]
Translation: X:76.52, Y:1.39, Z:0.00
[[ 9.99924047e-01 -1.23247540e-02  0.00000000e+00  7.65224928e+01]
 [ 1.23247540e-02  9.99924047e-01  0.00000000e+00  1.39000459e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.44606649300002
Centerline is valid?  [True, True]
Translation: X:76.58, Y:1.41, Z:0.00
[[ 9.99907056e-01 -1.36337907e-02  0.00000000e+00  7.65831595e+01]
 [ 1.36337907e-02  9.99907056e-01  0.00000000e+00  1.40675093e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.506066493
Centerline is valid?  [True, True]
Translation: X:76.64, Y:1.42, Z:0.00
[[ 9.99793605e-01 -2.03161946e-02  0.00000000e+00  7.66423046e+01]
 [ 2.03161946e-02  9.99793605e-01  0.00000000e+00  1.42343682e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.56606649300001
Centerline is valid?  [True, True]
Translation: X:76.70, Y:1.44, Z:0.00
[[ 9.99705442e-01 -2.42699428e-02  0.00000000e+00  7.67041935e+01]
 [ 2.42699428e-02  9.99705442e-01  0.00000000e+00  1.43679662e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.62606649300001
Centerline is valid?  [True, True]
Translation: X:76.77, Y:1.46, Z:0.00
[[ 9.99524199e-01 -3.08443773e-02  0.00000000e+00  7.67661635e+01]
 [ 3.08443773e-02  9.99524199e-01  0.00000000e+00  1.46074371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.68606649300001
Centerline is valid?  [True, True]
Translation: X:76.83, Y:1.48, Z:0.00
[[ 9.99457165e-01 -3.29450371e-02  0.00000000e+00  7.68263577e+01]
 [ 3.29450371e-02  9.99457165e-01  0.00000000e+00  1.48379896e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.74606649300001
Centerline is valid?  [True, True]
Translation: X:76.89, Y:1.49, Z:0.00
[[ 9.99431567e-01 -3.37126644e-02  0.00000000e+00  7.68886318e+01]
 [ 3.37126644e-02  9.99431567e-01  0.00000000e+00  1.49220177e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 76.80606649300002
Centerline is valid?  [True, True]
Translation: X:76.95, Y:1.51, Z:0.00
[[ 9.99488491e-01 -3.19805716e-02  0.00000000e+00  7.69476422e+01]
 [ 3.19805716e-02  9.99488491e-01  0.00000000e+00  1.51169491e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.866066493
Centerline is valid?  [True, True]
Translation: X:77.01, Y:1.53, Z:0.00
[[ 9.99681881e-01 -2.52217541e-02  0.00000000e+00  7.70088664e+01]
 [ 2.52217541e-02  9.99681881e-01  0.00000000e+00  1.53332693e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.92606649300001
Centerline is valid?  [True, True]
Translation: X:77.07, Y:1.55, Z:0.00
[[ 9.99787663e-01 -2.06065311e-02  0.00000000e+00  7.70710730e+01]
 [ 2.06065311e-02  9.99787663e-01  0.00000000e+00  1.54913465e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.98606649300001
Centerline is valid?  [True, True]
Translation: X:77.13, Y:1.57, Z:0.00
[[ 9.99952921e-01 -9.70341037e-03  0.00000000e+00  7.71303676e+01]
 [ 9.70341037e-03  9.99952921e-01  0.00000000e+00  1.56704815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.04606649300001
Centerline is valid?  [True, True]
Translation: X:77.19, Y:1.58, Z:0.00
[[ 9.99993584e-01 -3.58226384e-03  0.00000000e+00  7.71907022e+01]
 [ 3.58226384e-03  9.99993584e-01  0.00000000e+00  1.58049602e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.10606649300001
Centerline is valid?  [True, True]
Translation: X:77.25, Y:1.59, Z:0.00
[[ 9.99999794e-01 -6.42192637e-04  0.00000000e+00  7.72514376e+01]
 [ 6.42192637e-04  9.99999794e-01  0.00000000e+00  1.59471523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.16606649300002
Centerline is valid?  [True, True]
Translation: X:77.31, Y:1.61, Z:0.00
[[ 9.99998641e-01 -1.64886719e-03  0.00000000e+00  7.73112410e+01]
 [ 1.64886719e-03  9.99998641e-01  0.00000000e+00  1.61152092e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.22606649300002
Centerline is valid?  [True, True]
Translation: X:77.37, Y:1.62, Z:0.00
[[ 9.99983776e-01 -5.69626853e-03  0.00000000e+00  7.73716438e+01]
 [ 5.69626853e-03  9.99983776e-01  0.00000000e+00  1.61940708e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.286066493
Centerline is valid?  [True, True]
Translation: X:77.43, Y:1.63, Z:0.00
[[ 9.99959836e-01 -8.96253687e-03  0.00000000e+00  7.74319074e+01]
 [ 8.96253687e-03  9.99959836e-01  0.00000000e+00  1.63419977e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.34606649300001
Centerline is valid?  [True, True]
Translation: X:77.49, Y:1.64, Z:0.00
[[ 9.99915933e-01 -1.29664034e-02  0.00000000e+00  7.74925228e+01]
 [ 1.29664034e-02  9.99915933e-01  0.00000000e+00  1.64040340e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.40606649300001
Centerline is valid?  [True, True]
Translation: X:77.55, Y:1.65, Z:0.00
[[ 9.99902090e-01 -1.39932570e-02  0.00000000e+00  7.75546480e+01]
 [ 1.39932570e-02  9.99902090e-01  0.00000000e+00  1.64729808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.46606649300001
Centerline is valid?  [True, True]
Translation: X:77.62, Y:1.65, Z:0.00
[[ 9.99894739e-01 -1.45089833e-02  0.00000000e+00  7.76166439e+01]
 [ 1.45089833e-02  9.99894739e-01  0.00000000e+00  1.65445323e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.52606649300002
Centerline is valid?  [True, True]
Translation: X:77.68, Y:1.66, Z:0.00
[[ 9.99949308e-01 -1.00688691e-02  0.00000000e+00  7.76785052e+01]
 [ 1.00688691e-02  9.99949308e-01  0.00000000e+00  1.66443330e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.58606649300002
Centerline is valid?  [True, True]
Translation: X:77.74, Y:1.67, Z:0.00
[[ 9.99989449e-01 -4.59369154e-03  0.00000000e+00  7.77404754e+01]
 [ 4.59369154e-03  9.99989449e-01  0.00000000e+00  1.66799910e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.646066493
Centerline is valid?  [True, True]
Translation: X:77.80, Y:1.67, Z:0.00
[[ 9.99983073e-01  5.81836864e-03  0.00000000e+00  7.78005454e+01]
 [-5.81836864e-03  9.99983073e-01  0.00000000e+00  1.67138964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.70606649300001
Centerline is valid?  [True, True]
Translation: X:77.86, Y:1.68, Z:0.00
[[ 9.99931010e-01  1.17462727e-02  0.00000000e+00  7.78608261e+01]
 [-1.17462727e-02  9.99931010e-01  0.00000000e+00  1.68155191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.76606649300001
Centerline is valid?  [True, True]
Translation: X:77.92, Y:1.68, Z:0.00
[[ 9.99844953e-01  1.76088190e-02  0.00000000e+00  7.79201140e+01]
 [-1.76088190e-02  9.99844953e-01  0.00000000e+00  1.68317918e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.82606649300001
Centerline is valid?  [True, True]
Translation: X:77.98, Y:1.68, Z:0.00
[[ 9.99795481e-01  2.02236658e-02  0.00000000e+00  7.79799079e+01]
 [-2.02236658e-02  9.99795481e-01  0.00000000e+00  1.68367653e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.88606649300002
Centerline is valid?  [True, True]
Translation: X:78.04, Y:1.69, Z:0.00
[[ 9.99484465e-01  3.21061311e-02  0.00000000e+00  7.80387616e+01]
 [-3.21061311e-02  9.99484465e-01  0.00000000e+00  1.68691054e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.94606649300002
Centerline is valid?  [True, True]
Translation: X:78.10, Y:1.69, Z:0.00
[[ 9.99223633e-01  3.93970938e-02  0.00000000e+00  7.80992902e+01]
 [-3.93970938e-02  9.99223633e-01  0.00000000e+00  1.68506074e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 78.006066493
Centerline is valid?  [True, True]
Translation: X:78.16, Y:1.67, Z:0.00
[[ 9.98973004e-01  4.53093434e-02  0.00000000e+00  7.81603822e+01]
 [-4.53093434e-02  9.98973004e-01  0.00000000e+00  1.67455971e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.06606649300001
Centerline is valid?  [True, True]
Translation: X:78.22, Y:1.67, Z:0.00
[[ 9.99042918e-01  4.37407014e-02  0.00000000e+00  7.82204116e+01]
 [-4.37407014e-02  9.99042918e-01  0.00000000e+00  1.66902680e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.12606649300001
Centerline is valid?  [True, True]
Translation: X:78.28, Y:1.65, Z:0.00
[[ 9.99043884e-01  4.37186123e-02  0.00000000e+00  7.82790797e+01]
 [-4.37186123e-02  9.99043884e-01  0.00000000e+00  1.64897119e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.18606649300001
Centerline is valid?  [True, True]
Translation: X:78.34, Y:1.64, Z:0.00
[[ 9.99061898e-01  4.33050078e-02  0.00000000e+00  7.83393017e+01]
 [-4.33050078e-02  9.99061898e-01  0.00000000e+00  1.63800252e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.24606649300001
Centerline is valid?  [True, True]
Translation: X:78.40, Y:1.62, Z:0.00
[[ 9.99197635e-01  4.00510486e-02  0.00000000e+00  7.83999037e+01]
 [-4.00510486e-02  9.99197635e-01  0.00000000e+00  1.62059890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.30606649300002
Centerline is valid?  [True, True]
Translation: X:78.46, Y:1.61, Z:0.00
[[ 9.99171210e-01  4.07049582e-02  0.00000000e+00  7.84595171e+01]
 [-4.07049582e-02  9.99171210e-01  0.00000000e+00  1.60572990e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.366066493
Centerline is valid?  [True, True]
Translation: X:78.52, Y:1.59, Z:0.00
[[ 9.99093792e-01  4.25628340e-02  0.00000000e+00  7.85179294e+01]
 [-4.25628340e-02  9.99093792e-01  0.00000000e+00  1.59295400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.42606649300001
Centerline is valid?  [True, True]
Translation: X:78.58, Y:1.59, Z:0.00
[[ 9.99138820e-01  4.14923948e-02  0.00000000e+00  7.85773668e+01]
 [-4.14923948e-02  9.99138820e-01  0.00000000e+00  1.58651099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.48606649300001
Centerline is valid?  [True, True]
Translation: X:78.64, Y:1.57, Z:0.00
[[ 9.99446609e-01  3.32637430e-02  0.00000000e+00  7.86382783e+01]
 [-3.32637430e-02  9.99446609e-01  0.00000000e+00  1.56944370e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.54606649300001
Centerline is valid?  [True, True]
Translation: X:78.70, Y:1.56, Z:0.00
[[ 9.99699390e-01  2.45179635e-02  0.00000000e+00  7.86978890e+01]
 [-2.45179635e-02  9.99699390e-01  0.00000000e+00  1.56071859e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.60606649300001
Centerline is valid?  [True, True]
Translation: X:78.76, Y:1.55, Z:0.00
[[ 9.99845819e-01  1.75595604e-02  0.00000000e+00  7.87588135e+01]
 [-1.75595604e-02  9.99845819e-01  0.00000000e+00  1.55425475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.66606649300002
Centerline is valid?  [True, True]
Translation: X:78.82, Y:1.55, Z:0.00
[[ 9.99803485e-01  1.98239941e-02  0.00000000e+00  7.88172951e+01]
 [-1.98239941e-02  9.99803485e-01  0.00000000e+00  1.54744964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.72606649300002
Centerline is valid?  [True, True]
Translation: X:78.88, Y:1.54, Z:0.00
[[ 9.99696689e-01  2.46278353e-02  0.00000000e+00  7.88780318e+01]
 [-2.46278353e-02  9.99696689e-01  0.00000000e+00  1.53503675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.786066493
Centerline is valid?  [True, True]
Translation: X:78.94, Y:1.53, Z:0.00
[[ 9.99644981e-01  2.66441617e-02  0.00000000e+00  7.89354967e+01]
 [-2.66441617e-02  9.99644981e-01  0.00000000e+00  1.53013518e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.84606649300001
Centerline is valid?  [True, True]
Translation: X:79.00, Y:1.52, Z:0.00
[[ 9.99799535e-01  2.00222383e-02  0.00000000e+00  7.89961182e+01]
 [-2.00222383e-02  9.99799535e-01  0.00000000e+00  1.52159863e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.90606649300001
Centerline is valid?  [True, True]
Translation: X:79.06, Y:1.51, Z:0.00
[[ 9.99999994e-01 -1.06068953e-04  0.00000000e+00  7.90565043e+01]
 [ 1.06068953e-04  9.99999994e-01  0.00000000e+00  1.51053422e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.96606649300001
Centerline is valid?  [True, True]
Translation: X:79.12, Y:1.51, Z:0.00
[[ 9.99917359e-01 -1.28559071e-02  0.00000000e+00  7.91168869e+01]
 [ 1.28559071e-02  9.99917359e-01  0.00000000e+00  1.51194694e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.02606649300002
Centerline is valid?  [True, True]
Translation: X:79.18, Y:1.52, Z:0.00
[[ 9.99683739e-01 -2.51479987e-02  0.00000000e+00  7.91785437e+01]
 [ 2.51479987e-02  9.99683739e-01  0.00000000e+00  1.51959703e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.08606649300002
Centerline is valid?  [True, True]
Translation: X:79.24, Y:1.52, Z:0.00
[[ 9.99649805e-01 -2.64625801e-02  0.00000000e+00  7.92380576e+01]
 [ 2.64625801e-02  9.99649805e-01  0.00000000e+00  1.52487278e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.146066493
Centerline is valid?  [True, True]
Translation: X:79.30, Y:1.54, Z:0.00
[[ 9.99739342e-01 -2.28308461e-02  0.00000000e+00  7.92989285e+01]
 [ 2.28308461e-02  9.99739342e-01  0.00000000e+00  1.54365746e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 79.20606649300001
Centerline is valid?  [True, True]
Translation: X:79.36, Y:1.56, Z:0.00
[[ 9.99799558e-01 -2.00210895e-02  0.00000000e+00  7.93610123e+01]
 [ 2.00210895e-02  9.99799558e-01  0.00000000e+00  1.55735626e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.26606649300001
Centerline is valid?  [True, True]
Translation: X:79.42, Y:1.56, Z:0.00
[[ 9.99802433e-01 -1.98770002e-02  0.00000000e+00  7.94212380e+01]
 [ 1.98770002e-02  9.99802433e-01  0.00000000e+00  1.56383997e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.32606649300001
Centerline is valid?  [True, True]
Translation: X:79.48, Y:1.57, Z:0.00
[[ 9.99794961e-01 -2.02493465e-02  0.00000000e+00  7.94814996e+01]
 [ 2.02493465e-02  9.99794961e-01  0.00000000e+00  1.57063549e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.38606649300002
Centerline is valid?  [True, True]
Translation: X:79.54, Y:1.59, Z:0.00
[[ 9.99649317e-01 -2.64809763e-02  0.00000000e+00  7.95420340e+01]
 [ 2.64809763e-02  9.99649317e-01  0.00000000e+00  1.59153133e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.44606649300002
Centerline is valid?  [True, True]
Translation: X:79.60, Y:1.61, Z:0.00
[[ 9.99463205e-01 -3.27612772e-02  0.00000000e+00  7.96035792e+01]
 [ 3.27612772e-02  9.99463205e-01  0.00000000e+00  1.60975623e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.506066493
Centerline is valid?  [True, True]
Translation: X:79.66, Y:1.62, Z:0.00
[[ 9.99263111e-01 -3.83827391e-02  0.00000000e+00  7.96643035e+01]
 [ 3.83827391e-02  9.99263111e-01  0.00000000e+00  1.62136496e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.56606649300001
Centerline is valid?  [True, True]
Translation: X:79.72, Y:1.64, Z:0.00
[[ 9.98890371e-01 -4.70959218e-02  0.00000000e+00  7.97249395e+01]
 [ 4.70959218e-02  9.98890371e-01  0.00000000e+00  1.64392001e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.62606649300001
Centerline is valid?  [True, True]
Translation: X:79.79, Y:1.66, Z:0.00
[[ 9.98717199e-01 -5.06355294e-02  0.00000000e+00  7.97863825e+01]
 [ 5.06355294e-02  9.98717199e-01  0.00000000e+00  1.66342972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.68606649300001
Centerline is valid?  [True, True]
Translation: X:79.85, Y:1.69, Z:0.00
[[ 9.98858368e-01 -4.77698627e-02  0.00000000e+00  7.98467945e+01]
 [ 4.77698627e-02  9.98858368e-01  0.00000000e+00  1.68928254e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.74606649300001
Centerline is valid?  [True, True]
Translation: X:79.91, Y:1.71, Z:0.00
[[ 9.99100893e-01 -4.23958125e-02  0.00000000e+00  7.99087963e+01]
 [ 4.23958125e-02  9.99100893e-01  0.00000000e+00  1.70726041e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.80606649300002
Centerline is valid?  [True, True]
Translation: X:79.97, Y:1.73, Z:0.00
[[ 9.99431040e-01 -3.37282725e-02  0.00000000e+00  7.99694713e+01]
 [ 3.37282725e-02  9.99431040e-01  0.00000000e+00  1.72550063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.866066493
Centerline is valid?  [True, True]
Translation: X:80.03, Y:1.75, Z:0.00
[[ 9.99793954e-01 -2.02990183e-02  0.00000000e+00  8.00292892e+01]
 [ 2.02990183e-02  9.99793954e-01  0.00000000e+00  1.74885328e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.92606649300001
Centerline is valid?  [True, True]
Translation: X:80.09, Y:1.77, Z:0.00
[[ 9.99923648e-01 -1.23571455e-02  0.00000000e+00  8.00909405e+01]
 [ 1.23571455e-02  9.99923648e-01  0.00000000e+00  1.76763212e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.98606649300001
Centerline is valid?  [True, True]
Translation: X:80.15, Y:1.78, Z:0.00
[[ 9.99951617e-01 -9.83680631e-03  0.00000000e+00  8.01517868e+01]
 [ 9.83680631e-03  9.99951617e-01  0.00000000e+00  1.77801477e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.04606649300001
Centerline is valid?  [True, True]
Translation: X:80.21, Y:1.78, Z:0.00
[[ 9.99948248e-01 -1.01735916e-02  0.00000000e+00  8.02139240e+01]
 [ 1.01735916e-02  9.99948248e-01  0.00000000e+00  1.78252831e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.10606649300001
Centerline is valid?  [True, True]
Translation: X:80.28, Y:1.79, Z:0.00
[[ 9.99970476e-01 -7.68426802e-03  0.00000000e+00  8.02761316e+01]
 [ 7.68426802e-03  9.99970476e-01  0.00000000e+00  1.79431467e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.16606649300002
Centerline is valid?  [True, True]
Translation: X:80.34, Y:1.80, Z:0.00
[[ 9.99972847e-01 -7.36926946e-03  0.00000000e+00  8.03371661e+01]
 [ 7.36926946e-03  9.99972847e-01  0.00000000e+00  1.80069993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.22606649300002
Centerline is valid?  [True, True]
Translation: X:80.40, Y:1.81, Z:0.00
[[ 9.99987984e-01 -4.90225134e-03  0.00000000e+00  8.03977348e+01]
 [ 4.90225134e-03  9.99987984e-01  0.00000000e+00  1.80640731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.286066493
Centerline is valid?  [True, True]
Translation: X:80.46, Y:1.81, Z:0.00
[[ 9.99999471e-01  1.02835742e-03  0.00000000e+00  8.04588250e+01]
 [-1.02835742e-03  9.99999471e-01  0.00000000e+00  1.81405252e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.34606649300001
Centerline is valid?  [True, True]
Translation: X:80.52, Y:1.82, Z:0.00
[[ 9.99989889e-01  4.49698198e-03  0.00000000e+00  8.05192829e+01]
 [-4.49698198e-03  9.99989889e-01  0.00000000e+00  1.82189527e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 80.40606649300001
Centerline is valid?  [True, True]
Translation: X:80.58, Y:1.83, Z:0.00
[[ 9.99974866e-01  7.08992676e-03  0.00000000e+00  8.05777875e+01]
 [-7.08992676e-03  9.99974866e-01  0.00000000e+00  1.82747122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.46606649300001
Centerline is valid?  [True, True]
Translation: X:80.64, Y:1.82, Z:0.00
[[ 9.99979921e-01  6.33695708e-03  0.00000000e+00  8.06370324e+01]
 [-6.33695708e-03  9.99979921e-01  0.00000000e+00  1.82294152e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.52606649300002
Centerline is valid?  [True, True]
Translation: X:80.70, Y:1.82, Z:0.00
[[ 9.99999659e-01 -8.25243252e-04  0.00000000e+00  8.06972102e+01]
 [ 8.25243252e-04  9.99999659e-01  0.00000000e+00  1.81950989e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.58606649300002
Centerline is valid?  [True, True]
Translation: X:80.76, Y:1.82, Z:0.00
[[ 9.99998886e-01 -1.49262115e-03  0.00000000e+00  8.07564179e+01]
 [ 1.49262115e-03  9.99998886e-01  0.00000000e+00  1.81948235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.646066493
Centerline is valid?  [True, True]
Translation: X:80.82, Y:1.81, Z:0.00
[[ 9.99998133e-01  1.93222580e-03  0.00000000e+00  8.08183453e+01]
 [-1.93222580e-03  9.99998133e-01  0.00000000e+00  1.81200558e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.70606649300001
Centerline is valid?  [True, True]
Translation: X:80.88, Y:1.81, Z:0.00
[[ 9.99949857e-01  1.00142027e-02  0.00000000e+00  8.08778917e+01]
 [-1.00142027e-02  9.99949857e-01  0.00000000e+00  1.80808117e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.76606649300001
Centerline is valid?  [True, True]
Translation: X:80.94, Y:1.81, Z:0.00
[[ 9.99902704e-01  1.39493021e-02  0.00000000e+00  8.09385520e+01]
 [-1.39493021e-02  9.99902704e-01  0.00000000e+00  1.80840967e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.82606649300001
Centerline is valid?  [True, True]
Translation: X:81.00, Y:1.80, Z:0.00
[[ 9.99823156e-01  1.88057725e-02  0.00000000e+00  8.09991908e+01]
 [-1.88057725e-02  9.99823156e-01  0.00000000e+00  1.80184987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.88606649300002
Centerline is valid?  [True, True]
Translation: X:81.06, Y:1.81, Z:0.00
[[ 9.99824725e-01  1.87221593e-02  0.00000000e+00  8.10581137e+01]
 [-1.87221593e-02  9.99824725e-01  0.00000000e+00  1.80594293e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.94606649300002
Centerline is valid?  [True, True]
Translation: X:81.12, Y:1.80, Z:0.00
[[ 9.99751776e-01  2.22797293e-02  0.00000000e+00  8.11176571e+01]
 [-2.22797293e-02  9.99751776e-01  0.00000000e+00  1.80233257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.006066493
Centerline is valid?  [True, True]
Translation: X:81.18, Y:1.80, Z:0.00
[[ 9.99728885e-01  2.32842361e-02  0.00000000e+00  8.11757015e+01]
 [-2.32842361e-02  9.99728885e-01  0.00000000e+00  1.79519675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.06606649300001
Centerline is valid?  [True, True]
Translation: X:81.23, Y:1.79, Z:0.00
[[ 9.99790573e-01  2.04648354e-02  0.00000000e+00  8.12344823e+01]
 [-2.04648354e-02  9.99790573e-01  0.00000000e+00  1.79143626e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.12606649300001
Centerline is valid?  [True, True]
Translation: X:81.29, Y:1.78, Z:0.00
[[ 9.99882545e-01  1.53262984e-02  0.00000000e+00  8.12939263e+01]
 [-1.53262984e-02  9.99882545e-01  0.00000000e+00  1.77991537e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.18606649300001
Centerline is valid?  [True, True]
Translation: X:81.35, Y:1.78, Z:0.00
[[ 9.99894929e-01  1.44959252e-02  0.00000000e+00  8.13535519e+01]
 [-1.44959252e-02  9.99894929e-01  0.00000000e+00  1.77766060e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.24606649300001
Centerline is valid?  [True, True]
Translation: X:81.41, Y:1.77, Z:0.00
[[ 9.99872682e-01  1.59568356e-02  0.00000000e+00  8.14138729e+01]
 [-1.59568356e-02  9.99872682e-01  0.00000000e+00  1.77217992e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.30606649300002
Centerline is valid?  [True, True]
Translation: X:81.47, Y:1.76, Z:0.00
[[ 9.99748498e-01  2.24263588e-02  0.00000000e+00  8.14732765e+01]
 [-2.24263588e-02  9.99748498e-01  0.00000000e+00  1.76066128e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.366066493
Centerline is valid?  [True, True]
Translation: X:81.53, Y:1.75, Z:0.00
[[ 9.99518826e-01  3.10180028e-02  0.00000000e+00  8.15337950e+01]
 [-3.10180028e-02  9.99518826e-01  0.00000000e+00  1.75190861e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.42606649300001
Centerline is valid?  [True, True]
Translation: X:81.59, Y:1.74, Z:0.00
[[ 9.99100866e-01  4.23964466e-02  0.00000000e+00  8.15934847e+01]
 [-4.23964466e-02  9.99100866e-01  0.00000000e+00  1.74043279e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.48606649300001
Centerline is valid?  [True, True]
Translation: X:81.65, Y:1.73, Z:0.00
[[ 9.98767872e-01  4.96259723e-02  0.00000000e+00  8.16544061e+01]
 [-4.96259723e-02  9.98767872e-01  0.00000000e+00  1.73177173e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.54606649300001
Centerline is valid?  [True, True]
Translation: X:81.72, Y:1.73, Z:0.00
[[ 9.98595697e-01  5.29776697e-02  0.00000000e+00  8.17154816e+01]
 [-5.29776697e-02  9.98595697e-01  0.00000000e+00  1.72551396e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 81.60606649300001
Centerline is valid?  [True, True]
Translation: X:81.78, Y:1.71, Z:0.00
[[ 9.98442215e-01  5.57955404e-02  0.00000000e+00  8.17758289e+01]
 [-5.57955404e-02  9.98442215e-01  0.00000000e+00  1.70559264e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.66606649300002
Centerline is valid?  [True, True]
Translation: X:81.84, Y:1.69, Z:0.00
[[ 9.98362434e-01  5.72053385e-02  0.00000000e+00  8.18351137e+01]
 [-5.72053385e-02  9.98362434e-01  0.00000000e+00  1.69484728e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.72606649300002
Centerline is valid?  [True, True]
Translation: X:81.90, Y:1.68, Z:0.00
[[ 9.98508543e-01  5.45956911e-02  0.00000000e+00  8.18956235e+01]
 [-5.45956911e-02  9.98508543e-01  0.00000000e+00  1.67701787e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.786066493
Centerline is valid?  [True, True]
Translation: X:81.96, Y:1.66, Z:0.00
[[ 9.98695832e-01  5.10552071e-02  0.00000000e+00  8.19560847e+01]
 [-5.10552071e-02  9.98695832e-01  0.00000000e+00  1.66026123e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.84606649300001
Centerline is valid?  [True, True]
Translation: X:82.01, Y:1.65, Z:0.00
[[ 9.98682573e-01  5.13139189e-02  0.00000000e+00  8.20140659e+01]
 [-5.13139189e-02  9.98682573e-01  0.00000000e+00  1.64649790e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.90606649300001
Centerline is valid?  [True, True]
Translation: X:82.07, Y:1.63, Z:0.00
[[ 9.98741224e-01  5.01594142e-02  0.00000000e+00  8.20745735e+01]
 [-5.01594142e-02  9.98741224e-01  0.00000000e+00  1.63334548e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.96606649300001
Centerline is valid?  [True, True]
Translation: X:82.14, Y:1.61, Z:0.00
[[ 9.98766396e-01  4.96556769e-02  0.00000000e+00  8.21351425e+01]
 [-4.96556769e-02  9.98766396e-01  0.00000000e+00  1.61305260e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.02606649300002
Centerline is valid?  [True, True]
Translation: X:82.19, Y:1.59, Z:0.00
[[ 9.98833226e-01  4.82927269e-02  0.00000000e+00  8.21949538e+01]
 [-4.82927269e-02  9.98833226e-01  0.00000000e+00  1.59480716e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.08606649300002
Centerline is valid?  [True, True]
Translation: X:82.25, Y:1.58, Z:0.00
[[ 9.98778778e-01  4.94059897e-02  0.00000000e+00  8.22546468e+01]
 [-4.94059897e-02  9.98778778e-01  0.00000000e+00  1.57678235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.146066493
Centerline is valid?  [True, True]
Translation: X:82.31, Y:1.57, Z:0.00
[[ 9.98572877e-01  5.34060845e-02  0.00000000e+00  8.23148979e+01]
 [-5.34060845e-02  9.98572877e-01  0.00000000e+00  1.56546301e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.20606649300001
Centerline is valid?  [True, True]
Translation: X:82.38, Y:1.55, Z:0.00
[[ 9.98402594e-01  5.65000905e-02  0.00000000e+00  8.23758988e+01]
 [-5.65000905e-02  9.98402594e-01  0.00000000e+00  1.55373936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.26606649300001
Centerline is valid?  [True, True]
Translation: X:82.44, Y:1.54, Z:0.00
[[ 9.98343443e-01  5.75358140e-02  0.00000000e+00  8.24363993e+01]
 [-5.75358140e-02  9.98343443e-01  0.00000000e+00  1.54071599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.32606649300001
Centerline is valid?  [True, True]
Translation: X:82.49, Y:1.53, Z:0.00
[[ 9.98317476e-01  5.79846293e-02  0.00000000e+00  8.24949392e+01]
 [-5.79846293e-02  9.98317476e-01  0.00000000e+00  1.52814753e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.38606649300002
Centerline is valid?  [True, True]
Translation: X:82.56, Y:1.51, Z:0.00
[[ 9.98186498e-01  6.01973038e-02  0.00000000e+00  8.25553310e+01]
 [-6.01973038e-02  9.98186498e-01  0.00000000e+00  1.51461223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.44606649300002
Centerline is valid?  [True, True]
Translation: X:82.61, Y:1.51, Z:0.00
[[ 9.98232771e-01  5.94250369e-02  0.00000000e+00  8.26140017e+01]
 [-5.94250369e-02  9.98232771e-01  0.00000000e+00  1.50528157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.506066493
Centerline is valid?  [True, True]
Translation: X:82.68, Y:1.49, Z:0.00
[[ 9.98559385e-01  5.36577582e-02  0.00000000e+00  8.26754234e+01]
 [-5.36577582e-02  9.98559385e-01  0.00000000e+00  1.49294660e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.56606649300001
Centerline is valid?  [True, True]
Translation: X:82.74, Y:1.48, Z:0.00
[[ 9.98807429e-01  4.88233472e-02  0.00000000e+00  8.27358777e+01]
 [-4.88233472e-02  9.98807429e-01  0.00000000e+00  1.47901858e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.62606649300001
Centerline is valid?  [True, True]
Translation: X:82.80, Y:1.47, Z:0.00
[[ 9.98726995e-01  5.04419394e-02  0.00000000e+00  8.27959748e+01]
 [-5.04419394e-02  9.98726995e-01  0.00000000e+00  1.47405515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.68606649300001
Centerline is valid?  [True, True]
Translation: X:82.86, Y:1.46, Z:0.00
[[ 9.98515239e-01  5.44730831e-02  0.00000000e+00  8.28569134e+01]
 [-5.44730831e-02  9.98515239e-01  0.00000000e+00  1.46267050e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.74606649300001
Centerline is valid?  [True, True]
Translation: X:82.92, Y:1.45, Z:0.00
[[ 9.98441067e-01  5.58160911e-02  0.00000000e+00  8.29180808e+01]
 [-5.58160911e-02  9.98441067e-01  0.00000000e+00  1.45349073e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 82.80606649300002
Centerline is valid?  [True, True]
Translation: X:82.98, Y:1.45, Z:0.00
[[ 9.98608336e-01  5.27388984e-02  0.00000000e+00  8.29785256e+01]
 [-5.27388984e-02  9.98608336e-01  0.00000000e+00  1.44639077e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.866066493
Centerline is valid?  [True, True]
Translation: X:83.04, Y:1.44, Z:0.00
[[ 9.99069543e-01  4.31282775e-02  0.00000000e+00  8.30382993e+01]
 [-4.31282775e-02  9.99069543e-01  0.00000000e+00  1.43780965e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.92606649300001
Centerline is valid?  [True, True]
Translation: X:83.10, Y:1.43, Z:0.00
[[ 9.99504178e-01  3.14864604e-02  0.00000000e+00  8.30986590e+01]
 [-3.14864604e-02  9.99504178e-01  0.00000000e+00  1.43291598e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.98606649300001
Centerline is valid?  [True, True]
Translation: X:83.16, Y:1.43, Z:0.00
[[ 9.99913256e-01  1.31712075e-02  0.00000000e+00  8.31592226e+01]
 [-1.31712075e-02  9.99913256e-01  0.00000000e+00  1.42717107e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.04606649300001
Centerline is valid?  [True, True]
Translation: X:83.22, Y:1.43, Z:0.00
[[ 9.99967116e-01  8.10968651e-03  0.00000000e+00  8.32202070e+01]
 [-8.10968651e-03  9.99967116e-01  0.00000000e+00  1.42768551e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.10606649300001
Centerline is valid?  [True, True]
Translation: X:83.28, Y:1.43, Z:0.00
[[ 9.99995064e-01 -3.14194655e-03  0.00000000e+00  8.32795261e+01]
 [ 3.14194655e-03  9.99995064e-01  0.00000000e+00  1.42930930e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.16606649300002
Centerline is valid?  [True, True]
Translation: X:83.34, Y:1.43, Z:0.00
[[ 9.99991446e-01 -4.13620012e-03  0.00000000e+00  8.33396561e+01]
 [ 4.13620012e-03  9.99991446e-01  0.00000000e+00  1.43465304e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.22606649300002
Centerline is valid?  [True, True]
Translation: X:83.40, Y:1.44, Z:0.00
[[ 9.99997659e-01 -2.16357633e-03  0.00000000e+00  8.33988895e+01]
 [ 2.16357633e-03  9.99997659e-01  0.00000000e+00  1.44292861e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.286066493
Centerline is valid?  [True, True]
Translation: X:83.46, Y:1.45, Z:0.00
[[ 9.99994485e-01  3.32126909e-03  0.00000000e+00  8.34589380e+01]
 [-3.32126909e-03  9.99994485e-01  0.00000000e+00  1.45024377e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.34606649300001
Centerline is valid?  [True, True]
Translation: X:83.52, Y:1.46, Z:0.00
[[ 9.99962351e-01  8.67738973e-03  0.00000000e+00  8.35192790e+01]
 [-8.67738973e-03  9.99962351e-01  0.00000000e+00  1.46007730e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.40606649300001
Centerline is valid?  [True, True]
Translation: X:83.58, Y:1.47, Z:0.00
[[ 9.99879627e-01  1.55155258e-02  0.00000000e+00  8.35780836e+01]
 [-1.55155258e-02  9.99879627e-01  0.00000000e+00  1.47345008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.46606649300001
Centerline is valid?  [True, True]
Translation: X:83.64, Y:1.48, Z:0.00
[[ 9.99863812e-01  1.65032405e-02  0.00000000e+00  8.36387994e+01]
 [-1.65032405e-02  9.99863812e-01  0.00000000e+00  1.48152675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.52606649300002
Centerline is valid?  [True, True]
Translation: X:83.70, Y:1.49, Z:0.00
[[ 9.99968981e-01  7.87637154e-03  0.00000000e+00  8.36996071e+01]
 [-7.87637154e-03  9.99968981e-01  0.00000000e+00  1.49092775e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.58606649300002
Centerline is valid?  [True, True]
Translation: X:83.76, Y:1.50, Z:0.00
[[ 9.99999944e-01  3.34147745e-04  0.00000000e+00  8.37598797e+01]
 [-3.34147745e-04  9.99999944e-01  0.00000000e+00  1.49691967e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.646066493
Centerline is valid?  [True, True]
Translation: X:83.82, Y:1.51, Z:0.00
[[ 9.99990105e-01 -4.44852649e-03  0.00000000e+00  8.38188774e+01]
 [ 4.44852649e-03  9.99990105e-01  0.00000000e+00  1.50913072e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.70606649300001
Centerline is valid?  [True, True]
Translation: X:83.88, Y:1.52, Z:0.00
[[ 9.99984217e-01 -5.61842200e-03  0.00000000e+00  8.38791051e+01]
 [ 5.61842200e-03  9.99984217e-01  0.00000000e+00  1.52013948e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.76606649300001
Centerline is valid?  [True, True]
Translation: X:83.94, Y:1.53, Z:0.00
[[ 9.99987878e-01 -4.92383872e-03  0.00000000e+00  8.39393939e+01]
 [ 4.92383872e-03  9.99987878e-01  0.00000000e+00  1.53320937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.82606649300001
Centerline is valid?  [True, True]
Translation: X:84.00, Y:1.55, Z:0.00
[[ 9.99990939e-01 -4.25694500e-03  0.00000000e+00  8.39992677e+01]
 [ 4.25694500e-03  9.99990939e-01  0.00000000e+00  1.54523971e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.88606649300002
Centerline is valid?  [True, True]
Translation: X:84.06, Y:1.56, Z:0.00
[[ 9.99998202e-01 -1.89630727e-03  0.00000000e+00  8.40587869e+01]
 [ 1.89630727e-03  9.99998202e-01  0.00000000e+00  1.55811887e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.94606649300002
Centerline is valid?  [True, True]
Translation: X:84.12, Y:1.57, Z:0.00
[[ 9.99999909e-01  4.26542614e-04  0.00000000e+00  8.41190440e+01]
 [-4.26542614e-04  9.99999909e-01  0.00000000e+00  1.56927488e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 84.006066493
Centerline is valid?  [True, True]
Translation: X:84.18, Y:1.58, Z:0.00
[[ 9.99995163e-01  3.11034076e-03  0.00000000e+00  8.41792684e+01]
 [-3.11034076e-03  9.99995163e-01  0.00000000e+00  1.58243538e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.06606649300001
Centerline is valid?  [True, True]
Translation: X:84.24, Y:1.60, Z:0.00
[[ 9.99978474e-01  6.56143420e-03  0.00000000e+00  8.42388135e+01]
 [-6.56143420e-03  9.99978474e-01  0.00000000e+00  1.59587297e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.12606649300001
Centerline is valid?  [True, True]
Translation: X:84.30, Y:1.61, Z:0.00
[[ 9.99943133e-01  1.06644332e-02  0.00000000e+00  8.42989636e+01]
 [-1.06644332e-02  9.99943133e-01  0.00000000e+00  1.60803791e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.18606649300001
Centerline is valid?  [True, True]
Translation: X:84.36, Y:1.62, Z:0.00
[[ 9.99809531e-01  1.95166795e-02  0.00000000e+00  8.43590395e+01]
 [-1.95166795e-02  9.99809531e-01  0.00000000e+00  1.62350363e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.24606649300001
Centerline is valid?  [True, True]
Translation: X:84.42, Y:1.63, Z:0.00
[[ 9.99670658e-01  2.56627403e-02  0.00000000e+00  8.44190722e+01]
 [-2.56627403e-02  9.99670658e-01  0.00000000e+00  1.62947697e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.30606649300002
Centerline is valid?  [True, True]
Translation: X:84.48, Y:1.64, Z:0.00
[[ 9.99534880e-01  3.04962799e-02  0.00000000e+00  8.44785130e+01]
 [-3.04962799e-02  9.99534880e-01  0.00000000e+00  1.63711511e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.36606649300002
Centerline is valid?  [True, True]
Translation: X:84.54, Y:1.65, Z:0.00
[[ 9.99540091e-01  3.03250054e-02  0.00000000e+00  8.45371161e+01]
 [-3.03250054e-02  9.99540091e-01  0.00000000e+00  1.64843090e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.42606649300001
Centerline is valid?  [True, True]
Translation: X:84.60, Y:1.64, Z:0.00
[[ 9.99637845e-01  2.69105749e-02  0.00000000e+00  8.45963332e+01]
 [-2.69105749e-02  9.99637845e-01  0.00000000e+00  1.64238972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.48606649300001
Centerline is valid?  [True, True]
Translation: X:84.66, Y:1.64, Z:0.00
[[ 9.99825383e-01  1.86869858e-02  0.00000000e+00  8.46562955e+01]
 [-1.86869858e-02  9.99825383e-01  0.00000000e+00  1.64246824e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.54606649300001
Centerline is valid?  [True, True]
Translation: X:84.72, Y:1.64, Z:0.00
[[ 9.99915915e-01  1.29677549e-02  0.00000000e+00  8.47160379e+01]
 [-1.29677549e-02  9.99915915e-01  0.00000000e+00  1.63919477e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.60606649300001
Centerline is valid?  [True, True]
Translation: X:84.78, Y:1.64, Z:0.00
[[ 9.99983230e-01  5.79139333e-03  0.00000000e+00  8.47762672e+01]
 [-5.79139333e-03  9.99983230e-01  0.00000000e+00  1.63599705e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.66606649300002
Centerline is valid?  [True, True]
Translation: X:84.84, Y:1.63, Z:0.00
[[ 9.99992209e-01 -3.94735126e-03  0.00000000e+00  8.48364091e+01]
 [ 3.94735126e-03  9.99992209e-01  0.00000000e+00  1.63098044e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.72606649300002
Centerline is valid?  [True, True]
Translation: X:84.90, Y:1.64, Z:0.00
[[ 9.99956525e-01 -9.32454818e-03  0.00000000e+00  8.48967013e+01]
 [ 9.32454818e-03  9.99956525e-01  0.00000000e+00  1.64139859e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.786066493
Centerline is valid?  [True, True]
Translation: X:84.96, Y:1.65, Z:0.00
[[ 9.99985508e-01 -5.38374268e-03  0.00000000e+00  8.49572153e+01]
 [ 5.38374268e-03  9.99985508e-01  0.00000000e+00  1.64619607e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.84606649300001
Centerline is valid?  [True, True]
Translation: X:85.02, Y:1.65, Z:0.00
[[ 9.99957086e-01 -9.26421277e-03  0.00000000e+00  8.50174433e+01]
 [ 9.26421277e-03  9.99957086e-01  0.00000000e+00  1.65014339e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.90606649300001
Centerline is valid?  [True, True]
Translation: X:85.08, Y:1.66, Z:0.00
[[ 9.99865069e-01 -1.64269429e-02  0.00000000e+00  8.50788844e+01]
 [ 1.64269429e-02  9.99865069e-01  0.00000000e+00  1.65966400e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.96606649300001
Centerline is valid?  [True, True]
Translation: X:85.14, Y:1.67, Z:0.00
[[ 9.99800571e-01 -1.99704429e-02  0.00000000e+00  8.51407763e+01]
 [ 1.99704429e-02  9.99800571e-01  0.00000000e+00  1.66585340e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.02606649300002
Centerline is valid?  [True, True]
Translation: X:85.20, Y:1.68, Z:0.00
[[ 9.99711291e-01 -2.40277820e-02  0.00000000e+00  8.52027780e+01]
 [ 2.40277820e-02  9.99711291e-01  0.00000000e+00  1.67705894e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.08606649300002
Centerline is valid?  [True, True]
Translation: X:85.26, Y:1.69, Z:0.00
[[ 9.99823600e-01 -1.87821629e-02  0.00000000e+00  8.52633325e+01]
 [ 1.87821629e-02  9.99823600e-01  0.00000000e+00  1.69258621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.146066493
Centerline is valid?  [True, True]
Translation: X:85.32, Y:1.70, Z:0.00
[[ 9.99977245e-01 -6.74600888e-03  0.00000000e+00  8.53243087e+01]
 [ 6.74600888e-03  9.99977245e-01  0.00000000e+00  1.70291572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 85.20606649300001
Centerline is valid?  [True, True]
Translation: X:85.38, Y:1.72, Z:0.00
[[ 9.99993790e-01  3.52411116e-03  0.00000000e+00  8.53838078e+01]
 [-3.52411116e-03  9.99993790e-01  0.00000000e+00  1.72285790e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.26606649300001
Centerline is valid?  [True, True]
Translation: X:85.44, Y:1.73, Z:0.00
[[ 9.99948013e-01  1.01966324e-02  0.00000000e+00  8.54440497e+01]
 [-1.01966324e-02  9.99948013e-01  0.00000000e+00  1.73334191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.32606649300001
Centerline is valid?  [True, True]
Translation: X:85.50, Y:1.74, Z:0.00
[[ 9.99806426e-01  1.96751189e-02  0.00000000e+00  8.55031865e+01]
 [-1.96751189e-02  9.99806426e-01  0.00000000e+00  1.74425019e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.38606649300002
Centerline is valid?  [True, True]
Translation: X:85.56, Y:1.75, Z:0.00
[[ 9.99734621e-01  2.30366782e-02  0.00000000e+00  8.55628723e+01]
 [-2.30366782e-02  9.99734621e-01  0.00000000e+00  1.75413358e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.44606649300002
Centerline is valid?  [True, True]
Translation: X:85.62, Y:1.76, Z:0.00
[[ 9.99557551e-01  2.97439424e-02  0.00000000e+00  8.56225295e+01]
 [-2.97439424e-02  9.99557551e-01  0.00000000e+00  1.76326429e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.506066493
Centerline is valid?  [True, True]
Translation: X:85.68, Y:1.77, Z:0.00
[[ 9.99553976e-01  2.98638336e-02  0.00000000e+00  8.56813939e+01]
 [-2.98638336e-02  9.99553976e-01  0.00000000e+00  1.76640850e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.56606649300001
Centerline is valid?  [True, True]
Translation: X:85.74, Y:1.77, Z:0.00
[[ 9.99676487e-01  2.54346301e-02  0.00000000e+00  8.57404555e+01]
 [-2.54346301e-02  9.99676487e-01  0.00000000e+00  1.76971562e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.62606649300001
Centerline is valid?  [True, True]
Translation: X:85.80, Y:1.77, Z:0.00
[[ 9.99810248e-01  1.94799575e-02  0.00000000e+00  8.58005719e+01]
 [-1.94799575e-02  9.99810248e-01  0.00000000e+00  1.77035165e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.68606649300001
Centerline is valid?  [True, True]
Translation: X:85.86, Y:1.77, Z:0.00
[[ 9.99946628e-01  1.03315319e-02  0.00000000e+00  8.58606137e+01]
 [-1.03315319e-02  9.99946628e-01  0.00000000e+00  1.76566598e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.74606649300001
Centerline is valid?  [True, True]
Translation: X:85.92, Y:1.77, Z:0.00
[[ 9.99994992e-01  3.16486369e-03  0.00000000e+00  8.59213680e+01]
 [-3.16486369e-03  9.99994992e-01  0.00000000e+00  1.76517784e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.80606649300002
Centerline is valid?  [True, True]
Translation: X:85.98, Y:1.76, Z:0.00
[[ 9.99961823e-01 -8.73794799e-03  0.00000000e+00  8.59819069e+01]
 [ 8.73794799e-03  9.99961823e-01  0.00000000e+00  1.76344078e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.86606649300002
Centerline is valid?  [True, True]
Translation: X:86.04, Y:1.76, Z:0.00
[[ 9.99721381e-01 -2.36042528e-02  0.00000000e+00  8.60432220e+01]
 [ 2.36042528e-02  9.99721381e-01  0.00000000e+00  1.76474521e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.92606649300001
Centerline is valid?  [True, True]
Translation: X:86.11, Y:1.77, Z:0.00
[[ 9.99427497e-01 -3.38330875e-02  0.00000000e+00  8.61052627e+01]
 [ 3.38330875e-02  9.99427497e-01  0.00000000e+00  1.76935880e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.98606649300001
Centerline is valid?  [True, True]
Translation: X:86.16, Y:1.78, Z:0.00
[[ 9.99160159e-01 -4.09753057e-02  0.00000000e+00  8.61649431e+01]
 [ 4.09753057e-02  9.99160159e-01  0.00000000e+00  1.77608954e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.04606649300001
Centerline is valid?  [True, True]
Translation: X:86.23, Y:1.79, Z:0.00
[[ 9.98809064e-01 -4.87898851e-02  0.00000000e+00  8.62269454e+01]
 [ 4.87898851e-02  9.98809064e-01  0.00000000e+00  1.79389843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.10606649300001
Centerline is valid?  [True, True]
Translation: X:86.29, Y:1.81, Z:0.00
[[ 9.98748299e-01 -5.00183401e-02  0.00000000e+00  8.62863567e+01]
 [ 5.00183401e-02  9.98748299e-01  0.00000000e+00  1.81142488e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.16606649300002
Centerline is valid?  [True, True]
Translation: X:86.35, Y:1.84, Z:0.00
[[ 9.98657368e-01 -5.18021434e-02  0.00000000e+00  8.63469235e+01]
 [ 5.18021434e-02  9.98657368e-01  0.00000000e+00  1.83545115e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.22606649300002
Centerline is valid?  [True, True]
Translation: X:86.41, Y:1.85, Z:0.00
[[ 9.98529377e-01 -5.42133160e-02  0.00000000e+00  8.64071691e+01]
 [ 5.42133160e-02  9.98529377e-01  0.00000000e+00  1.85074213e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.286066493
Centerline is valid?  [True, True]
Translation: X:86.47, Y:1.88, Z:0.00
[[ 9.98659901e-01 -5.17532744e-02  0.00000000e+00  8.64671925e+01]
 [ 5.17532744e-02  9.98659901e-01  0.00000000e+00  1.88082475e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.34606649300001
Centerline is valid?  [True, True]
Translation: X:86.53, Y:1.90, Z:0.00
[[ 9.98864834e-01 -4.76344766e-02  0.00000000e+00  8.65280303e+01]
 [ 4.76344766e-02  9.98864834e-01  0.00000000e+00  1.90349702e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 86.40606649300001
Centerline is valid?  [True, True]
Translation: X:86.59, Y:1.93, Z:0.00
[[ 9.99091927e-01 -4.26065787e-02  0.00000000e+00  8.65877326e+01]
 [ 4.26065787e-02  9.99091927e-01  0.00000000e+00  1.92979070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.46606649300001
Centerline is valid?  [True, True]
Translation: X:86.65, Y:1.95, Z:0.00
[[ 9.99295464e-01 -3.75310045e-02  0.00000000e+00  8.66492385e+01]
 [ 3.75310045e-02  9.99295464e-01  0.00000000e+00  1.94965231e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.52606649300002
Centerline is valid?  [True, True]
Translation: X:86.71, Y:1.98, Z:0.00
[[ 9.99340733e-01 -3.63056429e-02  0.00000000e+00  8.67100547e+01]
 [ 3.63056429e-02  9.99340733e-01  0.00000000e+00  1.98256354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.58606649300002
Centerline is valid?  [True, True]
Translation: X:86.77, Y:2.00, Z:0.00
[[ 9.99276644e-01 -3.80287881e-02  0.00000000e+00  8.67716900e+01]
 [ 3.80287881e-02  9.99276644e-01  0.00000000e+00  2.00026962e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.646066493
Centerline is valid?  [True, True]
Translation: X:86.83, Y:2.02, Z:0.00
[[ 9.99264648e-01 -3.83427078e-02  0.00000000e+00  8.68332253e+01]
 [ 3.83427078e-02  9.99264648e-01  0.00000000e+00  2.02207225e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.70606649300001
Centerline is valid?  [True, True]
Translation: X:86.89, Y:2.04, Z:0.00
[[ 9.99382897e-01 -3.51258611e-02  0.00000000e+00  8.68947898e+01]
 [ 3.51258611e-02  9.99382897e-01  0.00000000e+00  2.04071064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.76606649300001
Centerline is valid?  [True, True]
Translation: X:86.96, Y:2.07, Z:0.00
[[ 9.99579235e-01 -2.90060743e-02  0.00000000e+00  8.69556195e+01]
 [ 2.90060743e-02  9.99579235e-01  0.00000000e+00  2.06726341e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.82606649300001
Centerline is valid?  [True, True]
Translation: X:87.02, Y:2.08, Z:0.00
[[ 9.99766849e-01 -2.15927839e-02  0.00000000e+00  8.70170080e+01]
 [ 2.15927839e-02  9.99766849e-01  0.00000000e+00  2.08057879e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.88606649300002
Centerline is valid?  [True, True]
Translation: X:87.08, Y:2.09, Z:0.00
[[ 9.99924371e-01 -1.22984273e-02  0.00000000e+00  8.70783603e+01]
 [ 1.22984273e-02  9.99924371e-01  0.00000000e+00  2.09195071e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.94606649300002
Centerline is valid?  [True, True]
Translation: X:87.14, Y:2.10, Z:0.00
[[ 9.99999913e-01 -4.16378685e-04  0.00000000e+00  8.71384155e+01]
 [ 4.16378685e-04  9.99999913e-01  0.00000000e+00  2.10451058e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.006066493
Centerline is valid?  [True, True]
Translation: X:87.20, Y:2.12, Z:0.00
[[ 9.99898810e-01  1.42256570e-02  0.00000000e+00  8.71980194e+01]
 [-1.42256570e-02  9.99898810e-01  0.00000000e+00  2.12043221e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.06606649300001
Centerline is valid?  [True, True]
Translation: X:87.26, Y:2.12, Z:0.00
[[ 9.99910770e-01  1.33585891e-02  0.00000000e+00  8.72567346e+01]
 [-1.33585891e-02  9.99910770e-01  0.00000000e+00  2.11921934e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.12606649300001
Centerline is valid?  [True, True]
Translation: X:87.32, Y:2.12, Z:0.00
[[ 9.99999686e-01 -7.92734004e-04  0.00000000e+00  8.73169311e+01]
 [ 7.92734004e-04  9.99999686e-01  0.00000000e+00  2.11674236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.18606649300001
Centerline is valid?  [True, True]
Translation: X:87.38, Y:2.12, Z:0.00
[[ 9.99901355e-01 -1.40456563e-02  0.00000000e+00  8.73777791e+01]
 [ 1.40456563e-02  9.99901355e-01  0.00000000e+00  2.11807628e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.24606649300001
Centerline is valid?  [True, True]
Translation: X:87.44, Y:2.12, Z:0.00
[[ 9.99569500e-01 -2.93396433e-02  0.00000000e+00  8.74383866e+01]
 [ 2.93396433e-02  9.99569500e-01  0.00000000e+00  2.11765221e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.30606649300002
Centerline is valid?  [True, True]
Translation: X:87.50, Y:2.11, Z:0.00
[[ 9.99378341e-01 -3.52552224e-02  0.00000000e+00  8.74998410e+01]
 [ 3.52552224e-02  9.99378341e-01  0.00000000e+00  2.11252355e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.36606649300002
Centerline is valid?  [True, True]
Translation: X:87.56, Y:2.12, Z:0.00
[[ 9.99318819e-01 -3.69039033e-02  0.00000000e+00  8.75619481e+01]
 [ 3.69039033e-02  9.99318819e-01  0.00000000e+00  2.12290208e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.42606649300001
Centerline is valid?  [True, True]
Translation: X:87.62, Y:2.14, Z:0.00
[[ 9.99421969e-01 -3.39959936e-02  0.00000000e+00  8.76218839e+01]
 [ 3.39959936e-02  9.99421969e-01  0.00000000e+00  2.13507649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.48606649300001
Centerline is valid?  [True, True]
Translation: X:87.68, Y:2.14, Z:0.00
[[ 9.99378601e-01 -3.52478607e-02  0.00000000e+00  8.76829611e+01]
 [ 3.52478607e-02  9.99378601e-01  0.00000000e+00  2.13897741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.54606649300001
Centerline is valid?  [True, True]
Translation: X:87.74, Y:2.15, Z:0.00
[[ 9.99168380e-01 -4.07743635e-02  0.00000000e+00  8.77435604e+01]
 [ 4.07743635e-02  9.99168380e-01  0.00000000e+00  2.14806743e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 87.60606649300001
Centerline is valid?  [True, True]
Translation: X:87.81, Y:2.16, Z:0.00
[[ 9.99092428e-01 -4.25948497e-02  0.00000000e+00  8.78056612e+01]
 [ 4.25948497e-02  9.99092428e-01  0.00000000e+00  2.16153654e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.66606649300002
Centerline is valid?  [True, True]
Translation: X:87.87, Y:2.18, Z:0.00
[[ 9.98894621e-01 -4.70056956e-02  0.00000000e+00  8.78670628e+01]
 [ 4.70056956e-02  9.98894621e-01  0.00000000e+00  2.17625747e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.72606649300002
Centerline is valid?  [True, True]
Translation: X:87.93, Y:2.18, Z:0.00
[[ 9.98659026e-01 -5.17701612e-02  0.00000000e+00  8.79284625e+01]
 [ 5.17701612e-02  9.98659026e-01  0.00000000e+00  2.18024406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.786066493
Centerline is valid?  [True, True]
Translation: X:87.99, Y:2.19, Z:0.00
[[ 9.98013827e-01 -6.29952409e-02  0.00000000e+00  8.79881930e+01]
 [ 6.29952409e-02  9.98013827e-01  0.00000000e+00  2.19363509e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.84606649300001
Centerline is valid?  [True, True]
Translation: X:88.05, Y:2.21, Z:0.00
[[ 9.98068818e-01 -6.21179117e-02  0.00000000e+00  8.80504934e+01]
 [ 6.21179117e-02  9.98068818e-01  0.00000000e+00  2.21227503e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.90606649300001
Centerline is valid?  [True, True]
Translation: X:88.11, Y:2.23, Z:0.00
[[ 9.98445950e-01 -5.57286804e-02  0.00000000e+00  8.81101688e+01]
 [ 5.57286804e-02  9.98445950e-01  0.00000000e+00  2.22771854e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.96606649300001
Centerline is valid?  [True, True]
Translation: X:88.17, Y:2.24, Z:0.00
[[ 9.98786067e-01 -4.92584234e-02  0.00000000e+00  8.81702733e+01]
 [ 4.92584234e-02  9.98786067e-01  0.00000000e+00  2.24147886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.02606649300002
Centerline is valid?  [True, True]
Translation: X:88.23, Y:2.27, Z:0.00
[[ 9.99246761e-01 -3.88060579e-02  0.00000000e+00  8.82298962e+01]
 [ 3.88060579e-02  9.99246761e-01  0.00000000e+00  2.26821324e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.08606649300002
Centerline is valid?  [True, True]
Translation: X:88.29, Y:2.28, Z:0.00
[[ 9.99403232e-01 -3.45424306e-02  0.00000000e+00  8.82922875e+01]
 [ 3.45424306e-02  9.99403232e-01  0.00000000e+00  2.28129012e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.146066493
Centerline is valid?  [True, True]
Translation: X:88.35, Y:2.30, Z:0.00
[[ 9.99509037e-01 -3.13318626e-02  0.00000000e+00  8.83531348e+01]
 [ 3.13318626e-02  9.99509037e-01  0.00000000e+00  2.29665599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.20606649300001
Centerline is valid?  [True, True]
Translation: X:88.42, Y:2.31, Z:0.00
[[ 9.99613533e-01 -2.77990093e-02  0.00000000e+00  8.84154932e+01]
 [ 2.77990093e-02  9.99613533e-01  0.00000000e+00  2.30758727e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.26606649300001
Centerline is valid?  [True, True]
Translation: X:88.48, Y:2.32, Z:0.00
[[ 9.99739632e-01 -2.28181619e-02  0.00000000e+00  8.84775224e+01]
 [ 2.28181619e-02  9.99739632e-01  0.00000000e+00  2.32171528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.32606649300001
Centerline is valid?  [True, True]
Translation: X:88.54, Y:2.33, Z:0.00
[[ 9.99807895e-01 -1.96003480e-02  0.00000000e+00  8.85394762e+01]
 [ 1.96003480e-02  9.99807895e-01  0.00000000e+00  2.32881589e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.38606649300002
Centerline is valid?  [True, True]
Translation: X:88.60, Y:2.34, Z:0.00
[[ 9.99796313e-01 -2.01824716e-02  0.00000000e+00  8.86008614e+01]
 [ 2.01824716e-02  9.99796313e-01  0.00000000e+00  2.33514539e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.44606649300002
Centerline is valid?  [True, True]
Translation: X:88.66, Y:2.34, Z:0.00
[[ 9.99735040e-01 -2.30184843e-02  0.00000000e+00  8.86632206e+01]
 [ 2.30184843e-02  9.99735040e-01  0.00000000e+00  2.34361240e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.506066493
Centerline is valid?  [True, True]
Translation: X:88.72, Y:2.35, Z:0.00
[[ 9.99581377e-01 -2.89321809e-02  0.00000000e+00  8.87245181e+01]
 [ 2.89321809e-02  9.99581377e-01  0.00000000e+00  2.34682076e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.56606649300001
Centerline is valid?  [True, True]
Translation: X:88.78, Y:2.35, Z:0.00
[[ 9.99241025e-01 -3.89534726e-02  0.00000000e+00  8.87845472e+01]
 [ 3.89534726e-02  9.99241025e-01  0.00000000e+00  2.35006515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.62606649300001
Centerline is valid?  [True, True]
Translation: X:88.84, Y:2.36, Z:0.00
[[ 9.99024131e-01 -4.41676901e-02  0.00000000e+00  8.88446014e+01]
 [ 4.41676901e-02  9.99024131e-01  0.00000000e+00  2.35725272e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.68606649300001
Centerline is valid?  [True, True]
Translation: X:88.91, Y:2.36, Z:0.00
[[ 9.98760313e-01 -4.97778852e-02  0.00000000e+00  8.89055546e+01]
 [ 4.97778852e-02  9.98760313e-01  0.00000000e+00  2.36227510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.74606649300001
Centerline is valid?  [True, True]
Translation: X:88.97, Y:2.38, Z:0.00
[[ 9.98841234e-01 -4.81268133e-02  0.00000000e+00  8.89654906e+01]
 [ 4.81268133e-02  9.98841234e-01  0.00000000e+00  2.37519311e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 88.80606649300002
Centerline is valid?  [True, True]
Translation: X:89.03, Y:2.38, Z:0.00
[[ 9.98885613e-01 -4.71967448e-02  0.00000000e+00  8.90270369e+01]
 [ 4.71967448e-02  9.98885613e-01  0.00000000e+00  2.38073545e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.86606649300002
Centerline is valid?  [True, True]
Translation: X:89.09, Y:2.39, Z:0.00
[[ 9.98933653e-01 -4.61687881e-02  0.00000000e+00  8.90880494e+01]
 [ 4.61687881e-02  9.98933653e-01  0.00000000e+00  2.39008319e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.92606649300001
Centerline is valid?  [True, True]
Translation: X:89.15, Y:2.40, Z:0.00
[[ 9.98812890e-01 -4.87115066e-02  0.00000000e+00  8.91483683e+01]
 [ 4.87115066e-02  9.98812890e-01  0.00000000e+00  2.40084869e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.98606649300001
Centerline is valid?  [True, True]
Translation: X:89.21, Y:2.41, Z:0.00
[[ 9.98563141e-01 -5.35878047e-02  0.00000000e+00  8.92081104e+01]
 [ 5.35878047e-02  9.98563141e-01  0.00000000e+00  2.40957247e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.04606649300001
Centerline is valid?  [True, True]
Translation: X:89.27, Y:2.42, Z:0.00
[[ 9.98169518e-01 -6.04782091e-02  0.00000000e+00  8.92688254e+01]
 [ 6.04782091e-02  9.98169518e-01  0.00000000e+00  2.42083141e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.10606649300001
Centerline is valid?  [True, True]
Translation: X:89.33, Y:2.43, Z:0.00
[[ 9.97773565e-01 -6.66926698e-02  0.00000000e+00  8.93299350e+01]
 [ 6.66926698e-02  9.97773565e-01  0.00000000e+00  2.43168964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.16606649300002
Centerline is valid?  [True, True]
Translation: X:89.39, Y:2.44, Z:0.00
[[ 9.97617511e-01 -6.89876876e-02  0.00000000e+00  8.93907041e+01]
 [ 6.89876876e-02  9.97617511e-01  0.00000000e+00  2.44274573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.22606649300002
Centerline is valid?  [True, True]
Translation: X:89.45, Y:2.46, Z:0.00
[[ 9.97418908e-01 -7.18019593e-02  0.00000000e+00  8.94510919e+01]
 [ 7.18019593e-02  9.97418908e-01  0.00000000e+00  2.45989707e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.286066493
Centerline is valid?  [True, True]
Translation: X:89.51, Y:2.47, Z:0.00
[[ 9.97520685e-01 -7.03738735e-02  0.00000000e+00  8.95136226e+01]
 [ 7.03738735e-02  9.97520685e-01  0.00000000e+00  2.46729316e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.34606649300001
Centerline is valid?  [True, True]
Translation: X:89.57, Y:2.49, Z:0.00
[[ 9.98023498e-01 -6.28418473e-02  0.00000000e+00  8.95726383e+01]
 [ 6.28418473e-02  9.98023498e-01  0.00000000e+00  2.49114781e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.40606649300001
Centerline is valid?  [True, True]
Translation: X:89.63, Y:2.50, Z:0.00
[[ 9.98531474e-01 -5.41746838e-02  0.00000000e+00  8.96335019e+01]
 [ 5.41746838e-02  9.98531474e-01  0.00000000e+00  2.50410738e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.46606649300001
Centerline is valid?  [True, True]
Translation: X:89.69, Y:2.52, Z:0.00
[[ 9.99042728e-01 -4.37450348e-02  0.00000000e+00  8.96942960e+01]
 [ 4.37450348e-02  9.99042728e-01  0.00000000e+00  2.51943151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.52606649300002
Centerline is valid?  [True, True]
Translation: X:89.75, Y:2.54, Z:0.00
[[ 9.99429730e-01 -3.37670589e-02  0.00000000e+00  8.97543953e+01]
 [ 3.37670589e-02  9.99429730e-01  0.00000000e+00  2.54026528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.58606649300002
Centerline is valid?  [True, True]
Translation: X:89.82, Y:2.55, Z:0.00
[[ 9.99610880e-01 -2.78942237e-02  0.00000000e+00  8.98159887e+01]
 [ 2.78942237e-02  9.99610880e-01  0.00000000e+00  2.54980350e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.646066493
Centerline is valid?  [True, True]
Translation: X:89.88, Y:2.56, Z:0.00
[[ 9.99720759e-01 -2.36305677e-02  0.00000000e+00  8.98777288e+01]
 [ 2.36305677e-02  9.99720759e-01  0.00000000e+00  2.55767304e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.70606649300001
Centerline is valid?  [True, True]
Translation: X:89.94, Y:2.56, Z:0.00
[[ 9.99695865e-01 -2.46612515e-02  0.00000000e+00  8.99402108e+01]
 [ 2.46612515e-02  9.99695865e-01  0.00000000e+00  2.55989946e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.76606649300001
Centerline is valid?  [True, True]
Translation: X:90.00, Y:2.56, Z:0.00
[[ 9.99748176e-01 -2.24407103e-02  0.00000000e+00  9.00008201e+01]
 [ 2.24407103e-02  9.99748176e-01  0.00000000e+00  2.55968421e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.82606649300001
Centerline is valid?  [True, True]
Translation: X:90.06, Y:2.56, Z:0.00
[[ 9.99763246e-01 -2.17589499e-02  0.00000000e+00  9.00610791e+01]
 [ 2.17589499e-02  9.99763246e-01  0.00000000e+00  2.55806691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.88606649300002
Centerline is valid?  [True, True]
Translation: X:90.12, Y:2.56, Z:0.00
[[ 9.99713219e-01 -2.39474343e-02  0.00000000e+00  9.01222736e+01]
 [ 2.39474343e-02  9.99713219e-01  0.00000000e+00  2.55828043e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.94606649300002
Centerline is valid?  [True, True]
Translation: X:90.18, Y:2.56, Z:0.00
[[ 9.99666579e-01 -2.58211353e-02  0.00000000e+00  9.01849760e+01]
 [ 2.58211353e-02  9.99666579e-01  0.00000000e+00  2.56033471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 90.006066493
Centerline is valid?  [True, True]
Translation: X:90.25, Y:2.56, Z:0.00
[[ 9.99601919e-01 -2.82135245e-02  0.00000000e+00  9.02472831e+01]
 [ 2.82135245e-02  9.99601919e-01  0.00000000e+00  2.55710293e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.06606649300001
Centerline is valid?  [True, True]
Translation: X:90.31, Y:2.55, Z:0.00
[[ 9.99539929e-01 -3.03303407e-02  0.00000000e+00  9.03094628e+01]
 [ 3.03303407e-02  9.99539929e-01  0.00000000e+00  2.55397876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.12606649300001
Centerline is valid?  [True, True]
Translation: X:90.37, Y:2.55, Z:0.00
[[ 9.99354184e-01 -3.59334921e-02  0.00000000e+00  9.03711694e+01]
 [ 3.59334921e-02  9.99354184e-01  0.00000000e+00  2.55318152e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.18606649300001
Centerline is valid?  [True, True]
Translation: X:90.43, Y:2.55, Z:0.00
[[ 9.99194502e-01 -4.01291416e-02  0.00000000e+00  9.04336737e+01]
 [ 4.01291416e-02  9.99194502e-01  0.00000000e+00  2.55487121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.24606649300001
Centerline is valid?  [True, True]
Translation: X:90.49, Y:2.55, Z:0.00
[[ 9.99088434e-01 -4.26884290e-02  0.00000000e+00  9.04946104e+01]
 [ 4.26884290e-02  9.99088434e-01  0.00000000e+00  2.55226779e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.30606649300002
Centerline is valid?  [True, True]
Translation: X:90.56, Y:2.55, Z:0.00
[[ 9.98945904e-01 -4.59029598e-02  0.00000000e+00  9.05551632e+01]
 [ 4.59029598e-02  9.98945904e-01  0.00000000e+00  2.55423070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.36606649300002
Centerline is valid?  [True, True]
Translation: X:90.62, Y:2.56, Z:0.00
[[ 9.98963492e-01 -4.55185876e-02  0.00000000e+00  9.06173516e+01]
 [ 4.55185876e-02  9.98963492e-01  0.00000000e+00  2.55635887e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.42606649300001
Centerline is valid?  [True, True]
Translation: X:90.68, Y:2.56, Z:0.00
[[ 9.99007544e-01 -4.45412867e-02  0.00000000e+00  9.06777947e+01]
 [ 4.45412867e-02  9.99007544e-01  0.00000000e+00  2.55668161e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.48606649300001
Centerline is valid?  [True, True]
Translation: X:90.74, Y:2.56, Z:0.00
[[ 9.99165517e-01 -4.08444688e-02  0.00000000e+00  9.07390576e+01]
 [ 4.08444688e-02  9.99165517e-01  0.00000000e+00  2.55971446e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.54606649300001
Centerline is valid?  [True, True]
Translation: X:90.80, Y:2.56, Z:0.00
[[ 9.98954432e-01 -4.57169827e-02  0.00000000e+00  9.07992133e+01]
 [ 4.57169827e-02  9.98954432e-01  0.00000000e+00  2.56144651e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.60606649300001
Centerline is valid?  [True, True]
Translation: X:90.86, Y:2.56, Z:0.00
[[ 9.99021120e-01 -4.42357521e-02  0.00000000e+00  9.08614402e+01]
 [ 4.42357521e-02  9.99021120e-01  0.00000000e+00  2.56166006e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.66606649300002
Centerline is valid?  [True, True]
Translation: X:90.92, Y:2.56, Z:0.00
[[ 9.99039427e-01 -4.38203526e-02  0.00000000e+00  9.09231387e+01]
 [ 4.38203526e-02  9.99039427e-01  0.00000000e+00  2.56102712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.72606649300002
Centerline is valid?  [True, True]
Translation: X:90.99, Y:2.56, Z:0.00
[[ 9.98980400e-01 -4.51459868e-02  0.00000000e+00  9.09856262e+01]
 [ 4.51459868e-02  9.98980400e-01  0.00000000e+00  2.56276926e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.786066493
Centerline is valid?  [True, True]
Translation: X:91.05, Y:2.56, Z:0.00
[[ 9.98713842e-01 -5.07016928e-02  0.00000000e+00  9.10460092e+01]
 [ 5.07016928e-02  9.98713842e-01  0.00000000e+00  2.56496946e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.84606649300001
Centerline is valid?  [True, True]
Translation: X:91.11, Y:2.57, Z:0.00
[[ 9.98631520e-01 -5.22980568e-02  0.00000000e+00  9.11062761e+01]
 [ 5.22980568e-02  9.98631520e-01  0.00000000e+00  2.56857394e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.90606649300001
Centerline is valid?  [True, True]
Translation: X:91.17, Y:2.57, Z:0.00
[[ 9.98926333e-01 -4.63268860e-02  0.00000000e+00  9.11662565e+01]
 [ 4.63268860e-02  9.98926333e-01  0.00000000e+00  2.57174322e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.96606649300001
Centerline is valid?  [True, True]
Translation: X:91.23, Y:2.58, Z:0.00
[[ 9.99223135e-01 -3.94097136e-02  0.00000000e+00  9.12264246e+01]
 [ 3.94097136e-02  9.99223135e-01  0.00000000e+00  2.57733272e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.02606649300002
Centerline is valid?  [True, True]
Translation: X:91.29, Y:2.58, Z:0.00
[[ 9.99353219e-01 -3.59603154e-02  0.00000000e+00  9.12878872e+01]
 [ 3.59603154e-02  9.99353219e-01  0.00000000e+00  2.58416526e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.08606649300002
Centerline is valid?  [True, True]
Translation: X:91.35, Y:2.60, Z:0.00
[[ 9.99408827e-01 -3.43801829e-02  0.00000000e+00  9.13493961e+01]
 [ 3.43801829e-02  9.99408827e-01  0.00000000e+00  2.59544388e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.146066493
Centerline is valid?  [True, True]
Translation: X:91.41, Y:2.60, Z:0.00
[[ 9.99426376e-01 -3.38661884e-02  0.00000000e+00  9.14121396e+01]
 [ 3.38661884e-02  9.99426376e-01  0.00000000e+00  2.59682106e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 91.20606649300001
Centerline is valid?  [True, True]
Translation: X:91.47, Y:2.59, Z:0.00
[[ 9.99332246e-01 -3.65385147e-02  0.00000000e+00  9.14732314e+01]
 [ 3.65385147e-02  9.99332246e-01  0.00000000e+00  2.58849947e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.26606649300001
Centerline is valid?  [True, True]
Translation: X:91.53, Y:2.59, Z:0.00
[[ 9.99346441e-01 -3.61481810e-02  0.00000000e+00  9.15349635e+01]
 [ 3.61481810e-02  9.99346441e-01  0.00000000e+00  2.59125833e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.32606649300001
Centerline is valid?  [True, True]
Translation: X:91.60, Y:2.59, Z:0.00
[[ 9.99151385e-01 -4.11887105e-02  0.00000000e+00  9.15963977e+01]
 [ 4.11887105e-02  9.99151385e-01  0.00000000e+00  2.59162104e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.38606649300002
Centerline is valid?  [True, True]
Translation: X:91.66, Y:2.59, Z:0.00
[[ 9.98881365e-01 -4.72865610e-02  0.00000000e+00  9.16561097e+01]
 [ 4.72865610e-02  9.98881365e-01  0.00000000e+00  2.59118787e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.44606649300002
Centerline is valid?  [True, True]
Translation: X:91.72, Y:2.59, Z:0.00
[[ 9.98793675e-01 -4.91039243e-02  0.00000000e+00  9.17188198e+01]
 [ 4.91039243e-02  9.98793675e-01  0.00000000e+00  2.59088586e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.50606649300002
Centerline is valid?  [True, True]
Translation: X:91.78, Y:2.59, Z:0.00
[[ 9.98699564e-01 -5.09821600e-02  0.00000000e+00  9.17796278e+01]
 [ 5.09821600e-02  9.98699564e-01  0.00000000e+00  2.59217444e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.56606649300001
Centerline is valid?  [True, True]
Translation: X:91.84, Y:2.60, Z:0.00
[[ 9.98719102e-01 -5.05979801e-02  0.00000000e+00  9.18398905e+01]
 [ 5.05979801e-02  9.98719102e-01  0.00000000e+00  2.59758988e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.62606649300001
Centerline is valid?  [True, True]
Translation: X:91.90, Y:2.60, Z:0.00
[[ 9.98990996e-01 -4.49109125e-02  0.00000000e+00  9.19002191e+01]
 [ 4.49109125e-02  9.98990996e-01  0.00000000e+00  2.60406165e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.68606649300001
Centerline is valid?  [True, True]
Translation: X:91.96, Y:2.61, Z:0.00
[[ 9.99405694e-01 -3.44711240e-02  0.00000000e+00  9.19606118e+01]
 [ 3.44711240e-02  9.99405694e-01  0.00000000e+00  2.60716667e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.74606649300001
Centerline is valid?  [True, True]
Translation: X:92.02, Y:2.62, Z:0.00
[[ 9.99580458e-01 -2.89639144e-02  0.00000000e+00  9.20219546e+01]
 [ 2.89639144e-02  9.99580458e-01  0.00000000e+00  2.61565027e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.80606649300002
Centerline is valid?  [True, True]
Translation: X:92.08, Y:2.62, Z:0.00
[[ 9.99774744e-01 -2.12240914e-02  0.00000000e+00  9.20823707e+01]
 [ 2.12240914e-02  9.99774744e-01  0.00000000e+00  2.62472230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.86606649300002
Centerline is valid?  [True, True]
Translation: X:92.14, Y:2.62, Z:0.00
[[ 9.99799895e-01 -2.00042551e-02  0.00000000e+00  9.21447442e+01]
 [ 2.00042551e-02  9.99799895e-01  0.00000000e+00  2.61925552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.92606649300001
Centerline is valid?  [True, True]
Translation: X:92.21, Y:2.62, Z:0.00
[[ 9.99779186e-01 -2.10137926e-02  0.00000000e+00  9.22067730e+01]
 [ 2.10137926e-02  9.99779186e-01  0.00000000e+00  2.61908268e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.98606649300001
Centerline is valid?  [True, True]
Translation: X:92.27, Y:2.62, Z:0.00
[[ 9.99704911e-01 -2.42917683e-02  0.00000000e+00  9.22668913e+01]
 [ 2.42917683e-02  9.99704911e-01  0.00000000e+00  2.62204011e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.04606649300001
Centerline is valid?  [True, True]
Translation: X:92.33, Y:2.62, Z:0.00
[[ 9.99585764e-01 -2.87802124e-02  0.00000000e+00  9.23289830e+01]
 [ 2.87802124e-02  9.99585764e-01  0.00000000e+00  2.61914285e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.10606649300001
Centerline is valid?  [True, True]
Translation: X:92.39, Y:2.62, Z:0.00
[[ 9.99724724e-01 -2.34622420e-02  0.00000000e+00  9.23897798e+01]
 [ 2.34622420e-02  9.99724724e-01  0.00000000e+00  2.61580620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.16606649300002
Centerline is valid?  [True, True]
Translation: X:92.45, Y:2.62, Z:0.00
[[ 9.99647827e-01 -2.65371891e-02  0.00000000e+00  9.24516641e+01]
 [ 2.65371891e-02  9.99647827e-01  0.00000000e+00  2.61571227e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.22606649300002
Centerline is valid?  [True, True]
Translation: X:92.51, Y:2.62, Z:0.00
[[ 9.99596679e-01 -2.83985674e-02  0.00000000e+00  9.25142772e+01]
 [ 2.83985674e-02  9.99596679e-01  0.00000000e+00  2.61667496e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.286066493
Centerline is valid?  [True, True]
Translation: X:92.58, Y:2.62, Z:0.00
[[ 9.99612946e-01 -2.78201087e-02  0.00000000e+00  9.25768875e+01]
 [ 2.78201087e-02  9.99612946e-01  0.00000000e+00  2.61924941e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.34606649300001
Centerline is valid?  [True, True]
Translation: X:92.64, Y:2.62, Z:0.00
[[ 9.99641356e-01 -2.67798150e-02  0.00000000e+00  9.26384197e+01]
 [ 2.67798150e-02  9.99641356e-01  0.00000000e+00  2.61856073e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 92.40606649300001
Centerline is valid?  [True, True]
Translation: X:92.70, Y:2.62, Z:0.00
[[ 9.99765730e-01 -2.16445332e-02  0.00000000e+00  9.27002355e+01]
 [ 2.16445332e-02  9.99765730e-01  0.00000000e+00  2.62297332e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.46606649300001
Centerline is valid?  [True, True]
Translation: X:92.76, Y:2.62, Z:0.00
[[ 9.99754224e-01 -2.21696207e-02  0.00000000e+00  9.27617990e+01]
 [ 2.21696207e-02  9.99754224e-01  0.00000000e+00  2.62451743e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.52606649300002
Centerline is valid?  [True, True]
Translation: X:92.82, Y:2.62, Z:0.00
[[ 9.99712784e-01 -2.39655789e-02  0.00000000e+00  9.28244042e+01]
 [ 2.39655789e-02  9.99712784e-01  0.00000000e+00  2.62372158e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.58606649300002
Centerline is valid?  [True, True]
Translation: X:92.89, Y:2.63, Z:0.00
[[ 9.99732883e-01 -2.31119716e-02  0.00000000e+00  9.28862710e+01]
 [ 2.31119716e-02  9.99732883e-01  0.00000000e+00  2.62504927e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.646066493
Centerline is valid?  [True, True]
Translation: X:92.95, Y:2.63, Z:0.00
[[ 9.99807163e-01 -1.96376172e-02  0.00000000e+00  9.29486597e+01]
 [ 1.96376172e-02  9.99807163e-01  0.00000000e+00  2.62927840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.70606649300001
Centerline is valid?  [True, True]
Translation: X:93.01, Y:2.63, Z:0.00
[[ 9.99809517e-01 -1.95174335e-02  0.00000000e+00  9.30102563e+01]
 [ 1.95174335e-02  9.99809517e-01  0.00000000e+00  2.63141671e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.76606649300001
Centerline is valid?  [True, True]
Translation: X:93.07, Y:2.63, Z:0.00
[[ 9.99866829e-01 -1.63194296e-02  0.00000000e+00  9.30711374e+01]
 [ 1.63194296e-02  9.99866829e-01  0.00000000e+00  2.63364169e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.82606649300001
Centerline is valid?  [True, True]
Translation: X:93.13, Y:2.64, Z:0.00
[[ 9.99902453e-01 -1.39672958e-02  0.00000000e+00  9.31323681e+01]
 [ 1.39672958e-02  9.99902453e-01  0.00000000e+00  2.63961256e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.88606649300002
Centerline is valid?  [True, True]
Translation: X:93.19, Y:2.64, Z:0.00
[[ 9.99880521e-01 -1.54578328e-02  0.00000000e+00  9.31942224e+01]
 [ 1.54578328e-02  9.99880521e-01  0.00000000e+00  2.64205313e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.94606649300002
Centerline is valid?  [True, True]
Translation: X:93.26, Y:2.64, Z:0.00
[[ 9.99867541e-01 -1.62757654e-02  0.00000000e+00  9.32561804e+01]
 [ 1.62757654e-02  9.99867541e-01  0.00000000e+00  2.63942115e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.00606649300002
Centerline is valid?  [True, True]
Translation: X:93.32, Y:2.64, Z:0.00
[[ 9.99840499e-01 -1.78599346e-02  0.00000000e+00  9.33186581e+01]
 [ 1.78599346e-02  9.99840499e-01  0.00000000e+00  2.63639985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.06606649300001
Centerline is valid?  [True, True]
Translation: X:93.38, Y:2.64, Z:0.00
[[ 9.99850944e-01 -1.72653005e-02  0.00000000e+00  9.33798822e+01]
 [ 1.72653005e-02  9.99850944e-01  0.00000000e+00  2.63941251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.12606649300001
Centerline is valid?  [True, True]
Translation: X:93.44, Y:2.64, Z:0.00
[[ 9.99788142e-01 -2.05832682e-02  0.00000000e+00  9.34416015e+01]
 [ 2.05832682e-02  9.99788142e-01  0.00000000e+00  2.63874943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.18606649300001
Centerline is valid?  [True, True]
Translation: X:93.50, Y:2.63, Z:0.00
[[ 9.99694617e-01 -2.47117752e-02  0.00000000e+00  9.35020810e+01]
 [ 2.47117752e-02  9.99694617e-01  0.00000000e+00  2.63496553e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.24606649300001
Centerline is valid?  [True, True]
Translation: X:93.56, Y:2.64, Z:0.00
[[ 9.99547732e-01 -3.00721155e-02  0.00000000e+00  9.35631571e+01]
 [ 3.00721155e-02  9.99547732e-01  0.00000000e+00  2.63713254e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.30606649300002
Centerline is valid?  [True, True]
Translation: X:93.62, Y:2.64, Z:0.00
[[ 9.99451392e-01 -3.31197090e-02  0.00000000e+00  9.36249565e+01]
 [ 3.31197090e-02  9.99451392e-01  0.00000000e+00  2.63546289e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.36606649300002
Centerline is valid?  [True, True]
Translation: X:93.69, Y:2.63, Z:0.00
[[ 9.99399338e-01 -3.46549232e-02  0.00000000e+00  9.36885129e+01]
 [ 3.46549232e-02  9.99399338e-01  0.00000000e+00  2.63321964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.42606649300001
Centerline is valid?  [True, True]
Translation: X:93.75, Y:2.63, Z:0.00
[[ 9.99324002e-01 -3.67632817e-02  0.00000000e+00  9.37508787e+01]
 [ 3.67632817e-02  9.99324002e-01  0.00000000e+00  2.63132822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.48606649300001
Centerline is valid?  [True, True]
Translation: X:93.81, Y:2.63, Z:0.00
[[ 9.99384549e-01 -3.50788043e-02  0.00000000e+00  9.38109914e+01]
 [ 3.50788043e-02  9.99384549e-01  0.00000000e+00  2.63445127e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.54606649300001
Centerline is valid?  [True, True]
Translation: X:93.87, Y:2.63, Z:0.00
[[ 9.99440405e-01 -3.34496116e-02  0.00000000e+00  9.38721799e+01]
 [ 3.34496116e-02  9.99440405e-01  0.00000000e+00  2.63186207e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 93.60606649300001
Centerline is valid?  [True, True]
Translation: X:93.93, Y:2.63, Z:0.00
[[ 9.99297237e-01 -3.74837677e-02  0.00000000e+00  9.39324600e+01]
 [ 3.74837677e-02  9.99297237e-01  0.00000000e+00  2.62950958e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.66606649300002
Centerline is valid?  [True, True]
Translation: X:93.99, Y:2.63, Z:0.00
[[ 9.99211043e-01 -3.97151237e-02  0.00000000e+00  9.39937729e+01]
 [ 3.97151237e-02  9.99211043e-01  0.00000000e+00  2.63199204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.72606649300002
Centerline is valid?  [True, True]
Translation: X:94.05, Y:2.64, Z:0.00
[[ 9.99189542e-01 -4.02524354e-02  0.00000000e+00  9.40548500e+01]
 [ 4.02524354e-02  9.99189542e-01  0.00000000e+00  2.63684970e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.786066493
Centerline is valid?  [True, True]
Translation: X:94.12, Y:2.63, Z:0.00
[[ 9.99206985e-01 -3.98171068e-02  0.00000000e+00  9.41156160e+01]
 [ 3.98171068e-02  9.99206985e-01  0.00000000e+00  2.63344639e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.84606649300001
Centerline is valid?  [True, True]
Translation: X:94.18, Y:2.64, Z:0.00
[[ 9.99228689e-01 -3.92686575e-02  0.00000000e+00  9.41776204e+01]
 [ 3.92686575e-02  9.99228689e-01  0.00000000e+00  2.63777460e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.90606649300001
Centerline is valid?  [True, True]
Translation: X:94.24, Y:2.65, Z:0.00
[[ 9.99383483e-01 -3.51091660e-02  0.00000000e+00  9.42382486e+01]
 [ 3.51091660e-02  9.99383483e-01  0.00000000e+00  2.64886352e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.96606649300001
Centerline is valid?  [True, True]
Translation: X:94.30, Y:2.65, Z:0.00
[[ 9.99400724e-01 -3.46149339e-02  0.00000000e+00  9.42985799e+01]
 [ 3.46149339e-02  9.99400724e-01  0.00000000e+00  2.64771299e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.02606649300002
Centerline is valid?  [True, True]
Translation: X:94.36, Y:2.65, Z:0.00
[[ 9.99639643e-01 -2.68437042e-02  0.00000000e+00  9.43582817e+01]
 [ 2.68437042e-02  9.99639643e-01  0.00000000e+00  2.65072878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.08606649300002
Centerline is valid?  [True, True]
Translation: X:94.42, Y:2.66, Z:0.00
[[ 9.99768158e-01 -2.15320908e-02  0.00000000e+00  9.44187656e+01]
 [ 2.15320908e-02  9.99768158e-01  0.00000000e+00  2.65991793e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.146066493
Centerline is valid?  [True, True]
Translation: X:94.48, Y:2.66, Z:0.00
[[ 9.99725475e-01 -2.34302265e-02  0.00000000e+00  9.44797781e+01]
 [ 2.34302265e-02  9.99725475e-01  0.00000000e+00  2.66221260e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.20606649300001
Centerline is valid?  [True, True]
Translation: X:94.54, Y:2.67, Z:0.00
[[ 9.99779765e-01 -2.09862137e-02  0.00000000e+00  9.45409494e+01]
 [ 2.09862137e-02  9.99779765e-01  0.00000000e+00  2.66552361e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.26606649300001
Centerline is valid?  [True, True]
Translation: X:94.60, Y:2.67, Z:0.00
[[ 9.99754877e-01 -2.21401405e-02  0.00000000e+00  9.46009907e+01]
 [ 2.21401405e-02  9.99754877e-01  0.00000000e+00  2.66513394e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.32606649300001
Centerline is valid?  [True, True]
Translation: X:94.66, Y:2.66, Z:0.00
[[ 9.99729146e-01 -2.32730600e-02  0.00000000e+00  9.46628521e+01]
 [ 2.32730600e-02  9.99729146e-01  0.00000000e+00  2.66243858e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.38606649300002
Centerline is valid?  [True, True]
Translation: X:94.72, Y:2.66, Z:0.00
[[ 9.99654708e-01 -2.62767010e-02  0.00000000e+00  9.47244310e+01]
 [ 2.62767010e-02  9.99654708e-01  0.00000000e+00  2.66170484e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.44606649300002
Centerline is valid?  [True, True]
Translation: X:94.79, Y:2.67, Z:0.00
[[ 9.99542502e-01 -3.02454333e-02  0.00000000e+00  9.47850279e+01]
 [ 3.02454333e-02  9.99542502e-01  0.00000000e+00  2.66536864e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.50606649300002
Centerline is valid?  [True, True]
Translation: X:94.85, Y:2.66, Z:0.00
[[ 9.99528367e-01 -3.07090175e-02  0.00000000e+00  9.48477955e+01]
 [ 3.07090175e-02  9.99528367e-01  0.00000000e+00  2.66480206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.56606649300001
Centerline is valid?  [True, True]
Translation: X:94.91, Y:2.66, Z:0.00
[[ 9.99413272e-01 -3.42507065e-02  0.00000000e+00  9.49102764e+01]
 [ 3.42507065e-02  9.99413272e-01  0.00000000e+00  2.66257472e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.62606649300001
Centerline is valid?  [True, True]
Translation: X:94.97, Y:2.66, Z:0.00
[[ 9.99519157e-01 -3.10073475e-02  0.00000000e+00  9.49728567e+01]
 [ 3.10073475e-02  9.99519157e-01  0.00000000e+00  2.66115031e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.68606649300001
Centerline is valid?  [True, True]
Translation: X:95.03, Y:2.66, Z:0.00
[[ 9.99755341e-01 -2.21191730e-02  0.00000000e+00  9.50326321e+01]
 [ 2.21191730e-02  9.99755341e-01  0.00000000e+00  2.66015834e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.74606649300001
Centerline is valid?  [True, True]
Translation: X:95.09, Y:2.66, Z:0.00
[[ 9.99794929e-01 -2.02509394e-02  0.00000000e+00  9.50940543e+01]
 [ 2.02509394e-02  9.99794929e-01  0.00000000e+00  2.65904409e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 94.80606649300002
Centerline is valid?  [True, True]
Translation: X:95.16, Y:2.65, Z:0.00
[[ 9.99631164e-01 -2.71576256e-02  0.00000000e+00  9.51560417e+01]
 [ 2.71576256e-02  9.99631164e-01  0.00000000e+00  2.65056851e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.86606649300002
Centerline is valid?  [True, True]
Translation: X:95.22, Y:2.65, Z:0.00
[[ 9.99377686e-01 -3.52737971e-02  0.00000000e+00  9.52175704e+01]
 [ 3.52737971e-02  9.99377686e-01  0.00000000e+00  2.64544079e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.92606649300001
Centerline is valid?  [True, True]
Translation: X:95.28, Y:2.64, Z:0.00
[[ 9.98974264e-01 -4.52815664e-02  0.00000000e+00  9.52786885e+01]
 [ 4.52815664e-02  9.98974264e-01  0.00000000e+00  2.64395610e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.98606649300001
Centerline is valid?  [True, True]
Translation: X:95.34, Y:2.64, Z:0.00
[[ 9.98724344e-01 -5.04944106e-02  0.00000000e+00  9.53395492e+01]
 [ 5.04944106e-02  9.98724344e-01  0.00000000e+00  2.63987023e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.04606649300001
Centerline is valid?  [True, True]
Translation: X:95.40, Y:2.63, Z:0.00
[[ 9.98485520e-01 -5.50151412e-02  0.00000000e+00  9.53996814e+01]
 [ 5.50151412e-02  9.98485520e-01  0.00000000e+00  2.63433877e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.10606649300001
Centerline is valid?  [True, True]
Translation: X:95.46, Y:2.64, Z:0.00
[[ 9.98479698e-01 -5.51207031e-02  0.00000000e+00  9.54619445e+01]
 [ 5.51207031e-02  9.98479698e-01  0.00000000e+00  2.63906278e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.16606649300002
Centerline is valid?  [True, True]
Translation: X:95.52, Y:2.64, Z:0.00
[[ 9.98869934e-01 -4.75274197e-02  0.00000000e+00  9.55230554e+01]
 [ 4.75274197e-02  9.98869934e-01  0.00000000e+00  2.64243912e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.22606649300002
Centerline is valid?  [True, True]
Translation: X:95.58, Y:2.65, Z:0.00
[[ 9.99197358e-01 -4.00579536e-02  0.00000000e+00  9.55832964e+01]
 [ 4.00579536e-02  9.99197358e-01  0.00000000e+00  2.64602895e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.286066493
Centerline is valid?  [True, True]
Translation: X:95.64, Y:2.65, Z:0.00
[[ 9.99438954e-01 -3.34929449e-02  0.00000000e+00  9.56443606e+01]
 [ 3.34929449e-02  9.99438954e-01  0.00000000e+00  2.64925182e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.34606649300001
Centerline is valid?  [True, True]
Translation: X:95.71, Y:2.66, Z:0.00
[[ 9.99463715e-01 -3.27457085e-02  0.00000000e+00  9.57052120e+01]
 [ 3.27457085e-02  9.99463715e-01  0.00000000e+00  2.65956010e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.40606649300001
Centerline is valid?  [True, True]
Translation: X:95.77, Y:2.66, Z:0.00
[[ 9.99360291e-01 -3.57632416e-02  0.00000000e+00  9.57670648e+01]
 [ 3.57632416e-02  9.99360291e-01  0.00000000e+00  2.66125899e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.46606649300001
Centerline is valid?  [True, True]
Translation: X:95.83, Y:2.66, Z:0.00
[[ 9.99385115e-01 -3.50626784e-02  0.00000000e+00  9.58270227e+01]
 [ 3.50626784e-02  9.99385115e-01  0.00000000e+00  2.66285725e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.52606649300002
Centerline is valid?  [True, True]
Translation: X:95.89, Y:2.66, Z:0.00
[[ 9.99234354e-01 -3.91242367e-02  0.00000000e+00  9.58891558e+01]
 [ 3.91242367e-02  9.99234354e-01  0.00000000e+00  2.66137682e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.58606649300002
Centerline is valid?  [True, True]
Translation: X:95.95, Y:2.66, Z:0.00
[[ 9.98828365e-01 -4.83931480e-02  0.00000000e+00  9.59494492e+01]
 [ 4.83931480e-02  9.98828365e-01  0.00000000e+00  2.65856916e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.646066493
Centerline is valid?  [True, True]
Translation: X:96.01, Y:2.66, Z:0.00
[[ 9.98912114e-01 -4.66324820e-02  0.00000000e+00  9.60102607e+01]
 [ 4.66324820e-02  9.98912114e-01  0.00000000e+00  2.65748815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.70606649300001
Centerline is valid?  [True, True]
Translation: X:96.07, Y:2.65, Z:0.00
[[ 9.98849816e-01 -4.79483502e-02  0.00000000e+00  9.60721461e+01]
 [ 4.79483502e-02  9.98849816e-01  0.00000000e+00  2.65365353e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.76606649300001
Centerline is valid?  [True, True]
Translation: X:96.13, Y:2.65, Z:0.00
[[ 9.98643287e-01 -5.20728783e-02  0.00000000e+00  9.61322096e+01]
 [ 5.20728783e-02  9.98643287e-01  0.00000000e+00  2.65357462e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.82606649300001
Centerline is valid?  [True, True]
Translation: X:96.19, Y:2.66, Z:0.00
[[ 9.98498755e-01 -5.47744053e-02  0.00000000e+00  9.61920018e+01]
 [ 5.47744053e-02  9.98498755e-01  0.00000000e+00  2.65668636e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.88606649300002
Centerline is valid?  [True, True]
Translation: X:96.25, Y:2.66, Z:0.00
[[ 9.98684055e-01 -5.12850696e-02  0.00000000e+00  9.62513259e+01]
 [ 5.12850696e-02  9.98684055e-01  0.00000000e+00  2.65756207e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.94606649300002
Centerline is valid?  [True, True]
Translation: X:96.31, Y:2.65, Z:0.00
[[ 9.99089156e-01 -4.26715142e-02  0.00000000e+00  9.63121967e+01]
 [ 4.26715142e-02  9.99089156e-01  0.00000000e+00  2.65467422e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 96.00606649300002
Centerline is valid?  [True, True]
Translation: X:96.37, Y:2.65, Z:0.00
[[ 9.99177046e-01 -4.05614422e-02  0.00000000e+00  9.63747308e+01]
 [ 4.05614422e-02  9.99177046e-01  0.00000000e+00  2.65314063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.06606649300001
Centerline is valid?  [True, True]
Translation: X:96.44, Y:2.65, Z:0.00
[[ 9.99083342e-01 -4.28074223e-02  0.00000000e+00  9.64351844e+01]
 [ 4.28074223e-02  9.99083342e-01  0.00000000e+00  2.65186876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.12606649300001
Centerline is valid?  [True, True]
Translation: X:96.50, Y:2.65, Z:0.00
[[ 9.98783208e-01 -4.93163611e-02  0.00000000e+00  9.64960992e+01]
 [ 4.93163611e-02  9.98783208e-01  0.00000000e+00  2.65450861e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.18606649300001
Centerline is valid?  [True, True]
Translation: X:96.56, Y:2.65, Z:0.00
[[ 9.98626525e-01 -5.23933482e-02  0.00000000e+00  9.65568917e+01]
 [ 5.23933482e-02  9.98626525e-01  0.00000000e+00  2.65140601e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.24606649300001
Centerline is valid?  [True, True]
Translation: X:96.62, Y:2.66, Z:0.00
[[ 9.98405139e-01 -5.64550923e-02  0.00000000e+00  9.66178727e+01]
 [ 5.64550923e-02  9.98405139e-01  0.00000000e+00  2.65527244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.30606649300002
Centerline is valid?  [True, True]
Translation: X:96.68, Y:2.66, Z:0.00
[[ 9.98313043e-01 -5.80609035e-02  0.00000000e+00  9.66777073e+01]
 [ 5.80609035e-02  9.98313043e-01  0.00000000e+00  2.65830257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.36606649300002
Centerline is valid?  [True, True]
Translation: X:96.74, Y:2.66, Z:0.00
[[ 9.98392125e-01 -5.66847876e-02  0.00000000e+00  9.67400994e+01]
 [ 5.66847876e-02  9.98392125e-01  0.00000000e+00  2.66052300e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.42606649300001
Centerline is valid?  [True, True]
Translation: X:96.80, Y:2.66, Z:0.00
[[ 9.98510020e-01 -5.45686768e-02  0.00000000e+00  9.68010884e+01]
 [ 5.45686768e-02  9.98510020e-01  0.00000000e+00  2.66332969e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.48606649300001
Centerline is valid?  [True, True]
Translation: X:96.86, Y:2.67, Z:0.00
[[ 9.98760353e-01 -4.97770677e-02  0.00000000e+00  9.68612642e+01]
 [ 4.97770677e-02  9.98760353e-01  0.00000000e+00  2.67335262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.54606649300001
Centerline is valid?  [True, True]
Translation: X:96.92, Y:2.68, Z:0.00
[[ 9.99013535e-01 -4.44067191e-02  0.00000000e+00  9.69213859e+01]
 [ 4.44067191e-02  9.99013535e-01  0.00000000e+00  2.68228672e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.60606649300001
Centerline is valid?  [True, True]
Translation: X:96.98, Y:2.69, Z:0.00
[[ 9.99215097e-01 -3.96130030e-02  0.00000000e+00  9.69818762e+01]
 [ 3.96130030e-02  9.99215097e-01  0.00000000e+00  2.68979464e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.66606649300002
Centerline is valid?  [True, True]
Translation: X:97.04, Y:2.70, Z:0.00
[[ 9.99494790e-01 -3.17830813e-02  0.00000000e+00  9.70424367e+01]
 [ 3.17830813e-02  9.99494790e-01  0.00000000e+00  2.69839642e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.72606649300002
Centerline is valid?  [True, True]
Translation: X:97.10, Y:2.70, Z:0.00
[[ 9.99584478e-01 -2.88248234e-02  0.00000000e+00  9.71032840e+01]
 [ 2.88248234e-02  9.99584478e-01  0.00000000e+00  2.69747797e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.786066493
Centerline is valid?  [True, True]
Translation: X:97.16, Y:2.70, Z:0.00
[[ 9.99346725e-01 -3.61403257e-02  0.00000000e+00  9.71625607e+01]
 [ 3.61403257e-02  9.99346725e-01  0.00000000e+00  2.69808494e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.84606649300001
Centerline is valid?  [True, True]
Translation: X:97.22, Y:2.70, Z:0.00
[[ 9.99287266e-01 -3.77486310e-02  0.00000000e+00  9.72234251e+01]
 [ 3.77486310e-02  9.99287266e-01  0.00000000e+00  2.70081147e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.90606649300001
Centerline is valid?  [True, True]
Translation: X:97.28, Y:2.70, Z:0.00
[[ 9.99346773e-01 -3.61390023e-02  0.00000000e+00  9.72844979e+01]
 [ 3.61390023e-02  9.99346773e-01  0.00000000e+00  2.70082131e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.96606649300001
Centerline is valid?  [True, True]
Translation: X:97.35, Y:2.70, Z:0.00
[[ 9.99447551e-01 -3.32354040e-02  0.00000000e+00  9.73450367e+01]
 [ 3.32354040e-02  9.99447551e-01  0.00000000e+00  2.70110012e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.02606649300002
Centerline is valid?  [True, True]
Translation: X:97.41, Y:2.70, Z:0.00
[[ 9.99318031e-01 -3.69252231e-02  0.00000000e+00  9.74065040e+01]
 [ 3.69252231e-02  9.99318031e-01  0.00000000e+00  2.70235258e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.08606649300002
Centerline is valid?  [True, True]
Translation: X:97.47, Y:2.71, Z:0.00
[[ 9.99275822e-01 -3.80503926e-02  0.00000000e+00  9.74668688e+01]
 [ 3.80503926e-02  9.99275822e-01  0.00000000e+00  2.70558550e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.146066493
Centerline is valid?  [True, True]
Translation: X:97.53, Y:2.70, Z:0.00
[[ 9.99347871e-01 -3.61086320e-02  0.00000000e+00  9.75300640e+01]
 [ 3.61086320e-02  9.99347871e-01  0.00000000e+00  2.70390061e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 97.20606649300001
Centerline is valid?  [True, True]
Translation: X:97.59, Y:2.71, Z:0.00
[[ 9.99455163e-01 -3.30057244e-02  0.00000000e+00  9.75901997e+01]
 [ 3.30057244e-02  9.99455163e-01  0.00000000e+00  2.70719023e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.26606649300001
Centerline is valid?  [True, True]
Translation: X:97.65, Y:2.72, Z:0.00
[[ 9.99655543e-01 -2.62449240e-02  0.00000000e+00  9.76510729e+01]
 [ 2.62449240e-02  9.99655543e-01  0.00000000e+00  2.71591565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.32606649300001
Centerline is valid?  [True, True]
Translation: X:97.71, Y:2.72, Z:0.00
[[ 9.99869731e-01 -1.61406638e-02  0.00000000e+00  9.77122330e+01]
 [ 1.61406638e-02  9.99869731e-01  0.00000000e+00  2.71865417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.38606649300002
Centerline is valid?  [True, True]
Translation: X:97.77, Y:2.72, Z:0.00
[[ 9.99962327e-01 -8.68007552e-03  0.00000000e+00  9.77735497e+01]
 [ 8.68007552e-03  9.99962327e-01  0.00000000e+00  2.72238945e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.44606649300002
Centerline is valid?  [True, True]
Translation: X:97.83, Y:2.72, Z:0.00
[[ 9.99945349e-01 -1.04546470e-02  0.00000000e+00  9.78347618e+01]
 [ 1.04546470e-02  9.99945349e-01  0.00000000e+00  2.72385937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.50606649300002
Centerline is valid?  [True, True]
Translation: X:97.90, Y:2.72, Z:0.00
[[ 9.99926698e-01 -1.21077829e-02  0.00000000e+00  9.78954500e+01]
 [ 1.21077829e-02  9.99926698e-01  0.00000000e+00  2.72193623e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.56606649300001
Centerline is valid?  [True, True]
Translation: X:97.96, Y:2.72, Z:0.00
[[ 9.99966740e-01 -8.15587815e-03  0.00000000e+00  9.79562203e+01]
 [ 8.15587815e-03  9.99966740e-01  0.00000000e+00  2.72360977e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.62606649300001
Centerline is valid?  [True, True]
Translation: X:98.02, Y:2.72, Z:0.00
[[ 9.99996551e-01  2.62643020e-03  0.00000000e+00  9.80171659e+01]
 [-2.62643020e-03  9.99996551e-01  0.00000000e+00  2.72295284e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.68606649300001
Centerline is valid?  [True, True]
Translation: X:98.08, Y:2.73, Z:0.00
[[ 9.99910909e-01  1.33481582e-02  0.00000000e+00  9.80770790e+01]
 [-1.33481582e-02  9.99910909e-01  0.00000000e+00  2.72543646e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.74606649300001
Centerline is valid?  [True, True]
Translation: X:98.14, Y:2.72, Z:0.00
[[ 9.99715221e-01  2.38637251e-02  0.00000000e+00  9.81375197e+01]
 [-2.38637251e-02  9.99715221e-01  0.00000000e+00  2.72407005e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.80606649300002
Centerline is valid?  [True, True]
Translation: X:98.20, Y:2.72, Z:0.00
[[ 9.99680409e-01  2.52800431e-02  0.00000000e+00  9.81965589e+01]
 [-2.52800431e-02  9.99680409e-01  0.00000000e+00  2.71935280e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.86606649300002
Centerline is valid?  [True, True]
Translation: X:98.26, Y:2.71, Z:0.00
[[ 9.99600222e-01  2.82735854e-02  0.00000000e+00  9.82566695e+01]
 [-2.82735854e-02  9.99600222e-01  0.00000000e+00  2.71064603e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.92606649300001
Centerline is valid?  [True, True]
Translation: X:98.32, Y:2.70, Z:0.00
[[ 9.99528347e-01  3.07096755e-02  0.00000000e+00  9.83171583e+01]
 [-3.07096755e-02  9.99528347e-01  0.00000000e+00  2.70298592e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.98606649300001
Centerline is valid?  [True, True]
Translation: X:98.37, Y:2.69, Z:0.00
[[ 9.99543684e-01  3.02063467e-02  0.00000000e+00  9.83749723e+01]
 [-3.02063467e-02  9.99543684e-01  0.00000000e+00  2.68944311e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.04606649300001
Centerline is valid?  [True, True]
Translation: X:98.44, Y:2.68, Z:0.00
[[ 9.99581267e-01  2.89359748e-02  0.00000000e+00  9.84359888e+01]
 [-2.89359748e-02  9.99581267e-01  0.00000000e+00  2.68106914e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.10606649300001
Centerline is valid?  [True, True]
Translation: X:98.50, Y:2.66, Z:0.00
[[ 9.99814987e-01  1.92351757e-02  0.00000000e+00  9.84964102e+01]
 [-1.92351757e-02  9.99814987e-01  0.00000000e+00  2.66378324e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.16606649300002
Centerline is valid?  [True, True]
Translation: X:98.56, Y:2.65, Z:0.00
[[ 9.99895195e-01  1.44775140e-02  0.00000000e+00  9.85569816e+01]
 [-1.44775140e-02  9.99895195e-01  0.00000000e+00  2.65361133e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.22606649300002
Centerline is valid?  [True, True]
Translation: X:98.62, Y:2.64, Z:0.00
[[ 9.99988745e-01  4.74442987e-03  0.00000000e+00  9.86170370e+01]
 [-4.74442987e-03  9.99988745e-01  0.00000000e+00  2.64137788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.286066493
Centerline is valid?  [True, True]
Translation: X:98.68, Y:2.64, Z:0.00
[[ 9.99999474e-01  1.02577530e-03  0.00000000e+00  9.86756986e+01]
 [-1.02577530e-03  9.99999474e-01  0.00000000e+00  2.63876819e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.34606649300001
Centerline is valid?  [True, True]
Translation: X:98.74, Y:2.63, Z:0.00
[[ 9.99898794e-01 -1.42268266e-02  0.00000000e+00  9.87358987e+01]
 [ 1.42268266e-02  9.99898794e-01  0.00000000e+00  2.62836962e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 98.40606649300001
Centerline is valid?  [True, True]
Translation: X:98.80, Y:2.62, Z:0.00
[[ 9.99702981e-01 -2.43710774e-02  0.00000000e+00  9.87982753e+01]
 [ 2.43710774e-02  9.99702981e-01  0.00000000e+00  2.62351724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.46606649300001
Centerline is valid?  [True, True]
Translation: X:98.86, Y:2.62, Z:0.00
[[ 9.99607391e-01 -2.80189836e-02  0.00000000e+00  9.88602763e+01]
 [ 2.80189836e-02  9.99607391e-01  0.00000000e+00  2.62214621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.52606649300002
Centerline is valid?  [True, True]
Translation: X:98.92, Y:2.63, Z:0.00
[[ 9.99599205e-01 -2.83095258e-02  0.00000000e+00  9.89218169e+01]
 [ 2.83095258e-02  9.99599205e-01  0.00000000e+00  2.62793745e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.58606649300002
Centerline is valid?  [True, True]
Translation: X:98.98, Y:2.63, Z:0.00
[[ 9.99633221e-01 -2.70817943e-02  0.00000000e+00  9.89822952e+01]
 [ 2.70817943e-02  9.99633221e-01  0.00000000e+00  2.63391994e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.64606649300002
Centerline is valid?  [True, True]
Translation: X:99.04, Y:2.64, Z:0.00
[[ 9.99655606e-01 -2.62425215e-02  0.00000000e+00  9.90440278e+01]
 [ 2.62425215e-02  9.99655606e-01  0.00000000e+00  2.63755371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.70606649300001
Centerline is valid?  [True, True]
Translation: X:99.11, Y:2.65, Z:0.00
[[ 9.99667131e-01 -2.57997562e-02  0.00000000e+00  9.91058620e+01]
 [ 2.57997562e-02  9.99667131e-01  0.00000000e+00  2.64712583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.76606649300001
Centerline is valid?  [True, True]
Translation: X:99.17, Y:2.65, Z:0.00
[[ 9.99726528e-01 -2.33852440e-02  0.00000000e+00  9.91679982e+01]
 [ 2.33852440e-02  9.99726528e-01  0.00000000e+00  2.65208761e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.82606649300001
Centerline is valid?  [True, True]
Translation: X:99.23, Y:2.66, Z:0.00
[[ 9.99835600e-01 -1.81320873e-02  0.00000000e+00  9.92272381e+01]
 [ 1.81320873e-02  9.99835600e-01  0.00000000e+00  2.66136757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.88606649300002
Centerline is valid?  [True, True]
Translation: X:99.29, Y:2.67, Z:0.00
[[ 9.99922327e-01 -1.24635757e-02  0.00000000e+00  9.92891012e+01]
 [ 1.24635757e-02  9.99922327e-01  0.00000000e+00  2.66668212e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.94606649300002
Centerline is valid?  [True, True]
Translation: X:99.35, Y:2.67, Z:0.00
[[ 9.99999275e-01  1.20431214e-03  0.00000000e+00  9.93493612e+01]
 [-1.20431214e-03  9.99999275e-01  0.00000000e+00  2.67491042e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.00606649300002
Centerline is valid?  [True, True]
Translation: X:99.41, Y:2.68, Z:0.00
[[ 9.99954986e-01  9.48822002e-03  0.00000000e+00  9.94081315e+01]
 [-9.48822002e-03  9.99954986e-01  0.00000000e+00  2.68321359e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.06606649300001
Centerline is valid?  [True, True]
Translation: X:99.47, Y:2.69, Z:0.00
[[ 9.99912375e-01  1.32379010e-02  0.00000000e+00  9.94678943e+01]
 [-1.32379010e-02  9.99912375e-01  0.00000000e+00  2.68664169e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.12606649300001
Centerline is valid?  [True, True]
Translation: X:99.53, Y:2.68, Z:0.00
[[ 9.99976150e-01  6.90645182e-03  0.00000000e+00  9.95282290e+01]
 [-6.90645182e-03  9.99976150e-01  0.00000000e+00  2.68334388e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.18606649300001
Centerline is valid?  [True, True]
Translation: X:99.59, Y:2.68, Z:0.00
[[ 9.99982980e-01 -5.83429129e-03  0.00000000e+00  9.95885987e+01]
 [ 5.83429129e-03  9.99982980e-01  0.00000000e+00  2.68341850e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.24606649300001
Centerline is valid?  [True, True]
Translation: X:99.65, Y:2.68, Z:0.00
[[ 9.99849497e-01 -1.73488592e-02  0.00000000e+00  9.96511424e+01]
 [ 1.73488592e-02  9.99849497e-01  0.00000000e+00  2.68232321e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.30606649300002
Centerline is valid?  [True, True]
Translation: X:99.71, Y:2.68, Z:0.00
[[ 9.99575896e-01 -2.91209141e-02  0.00000000e+00  9.97109755e+01]
 [ 2.91209141e-02  9.99575896e-01  0.00000000e+00  2.68253407e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.36606649300002
Centerline is valid?  [True, True]
Translation: X:99.77, Y:2.68, Z:0.00
[[ 9.99520302e-01 -3.09704180e-02  0.00000000e+00  9.97727729e+01]
 [ 3.09704180e-02  9.99520302e-01  0.00000000e+00  2.68226225e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.42606649300001
Centerline is valid?  [True, True]
Translation: X:99.83, Y:2.69, Z:0.00
[[ 9.99528826e-01 -3.06940773e-02  0.00000000e+00  9.98344733e+01]
 [ 3.06940773e-02  9.99528826e-01  0.00000000e+00  2.68872075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.48606649300001
Centerline is valid?  [True, True]
Translation: X:99.90, Y:2.70, Z:0.00
[[ 9.99493752e-01 -3.18157078e-02  0.00000000e+00  9.98968002e+01]
 [ 3.18157078e-02  9.99493752e-01  0.00000000e+00  2.69595482e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.54606649300001
Centerline is valid?  [True, True]
Translation: X:99.96, Y:2.70, Z:0.00
[[ 9.99389273e-01 -3.49439758e-02  0.00000000e+00  9.99589723e+01]
 [ 3.49439758e-02  9.99389273e-01  0.00000000e+00  2.69737662e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 99.60606649300001
Centerline is valid?  [True, True]
Translation: X:100.02, Y:2.70, Z:0.00
[[ 9.99081346e-01 -4.28539966e-02  0.00000000e+00  1.00019744e+02]
 [ 4.28539966e-02  9.99081346e-01  0.00000000e+00  2.70325560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.66606649300002
Centerline is valid?  [True, True]
Translation: X:100.08, Y:2.71, Z:0.00
[[ 9.98878882e-01 -4.73389896e-02  0.00000000e+00  1.00080066e+02]
 [ 4.73389896e-02  9.98878882e-01  0.00000000e+00  2.71181526e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.72606649300002
Centerline is valid?  [True, True]
Translation: X:100.14, Y:2.72, Z:0.00
[[ 9.98790061e-01 -4.91773640e-02  0.00000000e+00  1.00142374e+02]
 [ 4.91773640e-02  9.98790061e-01  0.00000000e+00  2.71720467e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.786066493
Centerline is valid?  [True, True]
Translation: X:100.20, Y:2.73, Z:0.00
[[ 9.98822446e-01 -4.85151648e-02  0.00000000e+00  1.00203865e+02]
 [ 4.85151648e-02  9.98822446e-01  0.00000000e+00  2.72727338e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.84606649300001
Centerline is valid?  [True, True]
Translation: X:100.26, Y:2.74, Z:0.00
[[ 9.99041477e-01 -4.37735862e-02  0.00000000e+00  1.00264029e+02]
 [ 4.37735862e-02  9.99041477e-01  0.00000000e+00  2.73644100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.90606649300001
Centerline is valid?  [True, True]
Translation: X:100.32, Y:2.74, Z:0.00
[[ 9.99253950e-01 -3.86205080e-02  0.00000000e+00  1.00324949e+02]
 [ 3.86205080e-02  9.99253950e-01  0.00000000e+00  2.74272530e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.96606649300001
Centerline is valid?  [True, True]
Translation: X:100.39, Y:2.75, Z:0.00
[[ 9.99329948e-01 -3.66013036e-02  0.00000000e+00  1.00387400e+02]
 [ 3.66013036e-02  9.99329948e-01  0.00000000e+00  2.75112930e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.02606649300002
Centerline is valid?  [True, True]
Translation: X:100.45, Y:2.76, Z:0.00
[[ 9.99455135e-01 -3.30065685e-02  0.00000000e+00  1.00449078e+02]
 [ 3.30065685e-02  9.99455135e-01  0.00000000e+00  2.75756016e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.08606649300002
Centerline is valid?  [True, True]
Translation: X:100.51, Y:2.76, Z:0.00
[[ 9.99695726e-01 -2.46668911e-02  0.00000000e+00  1.00508193e+02]
 [ 2.46668911e-02  9.99695726e-01  0.00000000e+00  2.75736774e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.14606649300002
Centerline is valid?  [True, True]
Translation: X:100.57, Y:2.75, Z:0.00
[[ 9.99746130e-01 -2.25316372e-02  0.00000000e+00  1.00570213e+02]
 [ 2.25316372e-02  9.99746130e-01  0.00000000e+00  2.75470003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.20606649300001
Centerline is valid?  [True, True]
Translation: X:100.63, Y:2.76, Z:0.00
[[ 9.99765272e-01 -2.16656849e-02  0.00000000e+00  1.00631914e+02]
 [ 2.16656849e-02  9.99765272e-01  0.00000000e+00  2.75754974e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.26606649300001
Centerline is valid?  [True, True]
Translation: X:100.69, Y:2.76, Z:0.00
[[ 9.99893679e-01 -1.45818293e-02  0.00000000e+00  1.00692779e+02]
 [ 1.45818293e-02  9.99893679e-01  0.00000000e+00  2.76222565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.32606649300001
Centerline is valid?  [True, True]
Translation: X:100.75, Y:2.76, Z:0.00
[[ 9.99927341e-01 -1.20545426e-02  0.00000000e+00  1.00753697e+02]
 [ 1.20545426e-02  9.99927341e-01  0.00000000e+00  2.76168830e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.38606649300002
Centerline is valid?  [True, True]
Translation: X:100.81, Y:2.77, Z:0.00
[[ 9.99951233e-01 -9.87578707e-03  0.00000000e+00  1.00813232e+02]
 [ 9.87578707e-03  9.99951233e-01  0.00000000e+00  2.76866514e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.44606649300002
Centerline is valid?  [True, True]
Translation: X:100.87, Y:2.77, Z:0.00
[[ 9.99966445e-01 -8.19194759e-03  0.00000000e+00  1.00874701e+02]
 [ 8.19194759e-03  9.99966445e-01  0.00000000e+00  2.76778600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.50606649300002
Centerline is valid?  [True, True]
Translation: X:100.94, Y:2.76, Z:0.00
[[ 9.99939923e-01 -1.09613489e-02  0.00000000e+00  1.00936303e+02]
 [ 1.09613489e-02  9.99939923e-01  0.00000000e+00  2.76449934e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.56606649300001
Centerline is valid?  [True, True]
Translation: X:101.00, Y:2.77, Z:0.00
[[ 9.99863596e-01 -1.65163237e-02  0.00000000e+00  1.00998910e+02]
 [ 1.65163237e-02  9.99863596e-01  0.00000000e+00  2.76796884e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.62606649300001
Centerline is valid?  [True, True]
Translation: X:101.06, Y:2.77, Z:0.00
[[ 9.99787805e-01 -2.05996467e-02  0.00000000e+00  1.01061105e+02]
 [ 2.05996467e-02  9.99787805e-01  0.00000000e+00  2.76840950e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.68606649300001
Centerline is valid?  [True, True]
Translation: X:101.12, Y:2.76, Z:0.00
[[ 9.99748374e-01 -2.24318634e-02  0.00000000e+00  1.01123873e+02]
 [ 2.24318634e-02  9.99748374e-01  0.00000000e+00  2.76174581e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.74606649300001
Centerline is valid?  [True, True]
Translation: X:101.19, Y:2.76, Z:0.00
[[ 9.99713210e-01 -2.39477939e-02  0.00000000e+00  1.01185232e+02]
 [ 2.39477939e-02  9.99713210e-01  0.00000000e+00  2.76486249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 100.80606649300002
Centerline is valid?  [True, True]
Translation: X:101.25, Y:2.77, Z:0.00
[[ 9.99688839e-01 -2.49444396e-02  0.00000000e+00  1.01247619e+02]
 [ 2.49444396e-02  9.99688839e-01  0.00000000e+00  2.77023762e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.86606649300002
Centerline is valid?  [True, True]
Translation: X:101.31, Y:2.77, Z:0.00
[[ 9.99877710e-01 -1.56385834e-02  0.00000000e+00  1.01310140e+02]
 [ 1.56385834e-02  9.99877710e-01  0.00000000e+00  2.76608274e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.92606649300001
Centerline is valid?  [True, True]
Translation: X:101.37, Y:2.76, Z:0.00
[[ 9.99952230e-01 -9.77435682e-03  0.00000000e+00  1.01372301e+02]
 [ 9.77435682e-03  9.99952230e-01  0.00000000e+00  2.75843454e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.98606649300001
Centerline is valid?  [True, True]
Translation: X:101.43, Y:2.75, Z:0.00
[[ 9.99901038e-01 -1.40682113e-02  0.00000000e+00  1.01432400e+02]
 [ 1.40682113e-02  9.99901038e-01  0.00000000e+00  2.75430266e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.04606649300001
Centerline is valid?  [True, True]
Translation: X:101.49, Y:2.74, Z:0.00
[[ 9.99735502e-01 -2.29983957e-02  0.00000000e+00  1.01493002e+02]
 [ 2.29983957e-02  9.99735502e-01  0.00000000e+00  2.74384952e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.10606649300001
Centerline is valid?  [True, True]
Translation: X:101.55, Y:2.74, Z:0.00
[[ 9.99694875e-01 -2.47013610e-02  0.00000000e+00  1.01554927e+02]
 [ 2.47013610e-02  9.99694875e-01  0.00000000e+00  2.74012135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.16606649300002
Centerline is valid?  [True, True]
Translation: X:101.62, Y:2.73, Z:0.00
[[ 9.99597514e-01 -2.83691883e-02  0.00000000e+00  1.01615969e+02]
 [ 2.83691883e-02  9.99597514e-01  0.00000000e+00  2.73477595e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.22606649300002
Centerline is valid?  [True, True]
Translation: X:101.68, Y:2.73, Z:0.00
[[ 9.99394444e-01 -3.47957732e-02  0.00000000e+00  1.01676176e+02]
 [ 3.47957732e-02  9.99394444e-01  0.00000000e+00  2.73303381e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.286066493
Centerline is valid?  [True, True]
Translation: X:101.74, Y:2.73, Z:0.00
[[ 9.99358821e-01 -3.58042881e-02  0.00000000e+00  1.01737317e+02]
 [ 3.58042881e-02  9.99358821e-01  0.00000000e+00  2.73485401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.34606649300001
Centerline is valid?  [True, True]
Translation: X:101.80, Y:2.73, Z:0.00
[[ 9.99256889e-01 -3.85443811e-02  0.00000000e+00  1.01798277e+02]
 [ 3.85443811e-02  9.99256889e-01  0.00000000e+00  2.73482753e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.40606649300001
Centerline is valid?  [True, True]
Translation: X:101.86, Y:2.74, Z:0.00
[[ 9.99025684e-01 -4.41325620e-02  0.00000000e+00  1.01858232e+02]
 [ 4.41325620e-02  9.99025684e-01  0.00000000e+00  2.73990572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.46606649300001
Centerline is valid?  [True, True]
Translation: X:101.92, Y:2.74, Z:0.00
[[ 9.98874155e-01 -4.74386263e-02  0.00000000e+00  1.01919603e+02]
 [ 4.74386263e-02  9.98874155e-01  0.00000000e+00  2.74088890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.52606649300002
Centerline is valid?  [True, True]
Translation: X:101.98, Y:2.75, Z:0.00
[[ 9.98902963e-01 -4.68280882e-02  0.00000000e+00  1.01981460e+02]
 [ 4.68280882e-02  9.98902963e-01  0.00000000e+00  2.74848996e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.58606649300002
Centerline is valid?  [True, True]
Translation: X:102.04, Y:2.75, Z:0.00
[[ 9.98885209e-01 -4.72052823e-02  0.00000000e+00  1.02043464e+02]
 [ 4.72052823e-02  9.98885209e-01  0.00000000e+00  2.74876802e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.64606649300002
Centerline is valid?  [True, True]
Translation: X:102.10, Y:2.75, Z:0.00
[[ 9.98743330e-01 -5.01174700e-02  0.00000000e+00  1.02104842e+02]
 [ 5.01174700e-02  9.98743330e-01  0.00000000e+00  2.74766539e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.70606649300001
Centerline is valid?  [True, True]
Translation: X:102.17, Y:2.75, Z:0.00
[[ 9.98649669e-01 -5.19503532e-02  0.00000000e+00  1.02166768e+02]
 [ 5.19503532e-02  9.98649669e-01  0.00000000e+00  2.74984038e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.76606649300001
Centerline is valid?  [True, True]
Translation: X:102.23, Y:2.75, Z:0.00
[[ 9.98924365e-01 -4.63693054e-02  0.00000000e+00  1.02226914e+02]
 [ 4.63693054e-02  9.98924365e-01  0.00000000e+00  2.75139973e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.82606649300001
Centerline is valid?  [True, True]
Translation: X:102.29, Y:2.75, Z:0.00
[[ 9.98974532e-01 -4.52756394e-02  0.00000000e+00  1.02287671e+02]
 [ 4.52756394e-02  9.98974532e-01  0.00000000e+00  2.75033747e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.88606649300002
Centerline is valid?  [True, True]
Translation: X:102.35, Y:2.75, Z:0.00
[[ 9.98922351e-01 -4.64126871e-02  0.00000000e+00  1.02349239e+02]
 [ 4.64126871e-02  9.98922351e-01  0.00000000e+00  2.75177367e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.94606649300002
Centerline is valid?  [True, True]
Translation: X:102.41, Y:2.76, Z:0.00
[[ 9.99180469e-01 -4.04770353e-02  0.00000000e+00  1.02409804e+02]
 [ 4.04770353e-02  9.99180469e-01  0.00000000e+00  2.75687915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 102.00606649300002
Centerline is valid?  [True, True]
Translation: X:102.47, Y:2.76, Z:0.00
[[ 9.99359432e-01 -3.57872376e-02  0.00000000e+00  1.02469064e+02]
 [ 3.57872376e-02  9.99359432e-01  0.00000000e+00  2.75993645e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.06606649300001
Centerline is valid?  [True, True]
Translation: X:102.53, Y:2.76, Z:0.00
[[ 9.99419877e-01 -3.40574333e-02  0.00000000e+00  1.02531396e+02]
 [ 3.40574333e-02  9.99419877e-01  0.00000000e+00  2.76102757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.12606649300001
Centerline is valid?  [True, True]
Translation: X:102.59, Y:2.76, Z:0.00
[[ 9.99482786e-01 -3.21583510e-02  0.00000000e+00  1.02593885e+02]
 [ 3.21583510e-02  9.99482786e-01  0.00000000e+00  2.76287943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.18606649300001
Centerline is valid?  [True, True]
Translation: X:102.65, Y:2.77, Z:0.00
[[ 9.99634267e-01 -2.70431574e-02  0.00000000e+00  1.02654943e+02]
 [ 2.70431574e-02  9.99634267e-01  0.00000000e+00  2.76985433e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.24606649300001
Centerline is valid?  [True, True]
Translation: X:102.71, Y:2.77, Z:0.00
[[ 9.99754212e-01 -2.21701428e-02  0.00000000e+00  1.02714537e+02]
 [ 2.21701428e-02  9.99754212e-01  0.00000000e+00  2.77293070e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.30606649300002
Centerline is valid?  [True, True]
Translation: X:102.78, Y:2.78, Z:0.00
[[ 9.99764460e-01 -2.17030893e-02  0.00000000e+00  1.02777156e+02]
 [ 2.17030893e-02  9.99764460e-01  0.00000000e+00  2.77794788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.36606649300002
Centerline is valid?  [True, True]
Translation: X:102.84, Y:2.78, Z:0.00
[[ 9.99781814e-01 -2.08883674e-02  0.00000000e+00  1.02839045e+02]
 [ 2.08883674e-02  9.99781814e-01  0.00000000e+00  2.77984303e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.42606649300001
Centerline is valid?  [True, True]
Translation: X:102.90, Y:2.78, Z:0.00
[[ 9.99710240e-01 -2.40714870e-02  0.00000000e+00  1.02900142e+02]
 [ 2.40714870e-02  9.99710240e-01  0.00000000e+00  2.77936447e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.48606649300001
Centerline is valid?  [True, True]
Translation: X:102.96, Y:2.78, Z:0.00
[[ 9.99526924e-01 -3.07559397e-02  0.00000000e+00  1.02961417e+02]
 [ 3.07559397e-02  9.99526924e-01  0.00000000e+00  2.77538937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.54606649300001
Centerline is valid?  [True, True]
Translation: X:103.02, Y:2.77, Z:0.00
[[ 9.99177037e-01 -4.05616657e-02  0.00000000e+00  1.03020862e+02]
 [ 4.05616657e-02  9.99177037e-01  0.00000000e+00  2.76686082e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.60606649300001
Centerline is valid?  [True, True]
Translation: X:103.08, Y:2.77, Z:0.00
[[ 9.98996622e-01 -4.47855956e-02  0.00000000e+00  1.03082783e+02]
 [ 4.47855956e-02  9.98996622e-01  0.00000000e+00  2.76658348e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.66606649300002
Centerline is valid?  [True, True]
Translation: X:103.15, Y:2.77, Z:0.00
[[ 9.98997267e-01 -4.47712017e-02  0.00000000e+00  1.03145695e+02]
 [ 4.47712017e-02  9.98997267e-01  0.00000000e+00  2.76655924e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.72606649300002
Centerline is valid?  [True, True]
Translation: X:103.21, Y:2.75, Z:0.00
[[ 9.99262271e-01 -3.84046083e-02  0.00000000e+00  1.03206605e+02]
 [ 3.84046083e-02  9.99262271e-01  0.00000000e+00  2.75386041e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.786066493
Centerline is valid?  [True, True]
Translation: X:103.27, Y:2.74, Z:0.00
[[ 9.99170382e-01 -4.07252711e-02  0.00000000e+00  1.03267801e+02]
 [ 4.07252711e-02  9.99170382e-01  0.00000000e+00  2.73981439e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.84606649300001
Centerline is valid?  [True, True]
Translation: X:103.33, Y:2.73, Z:0.00
[[ 9.99113555e-01 -4.20963589e-02  0.00000000e+00  1.03330606e+02]
 [ 4.20963589e-02  9.99113555e-01  0.00000000e+00  2.73164869e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.90606649300001
Centerline is valid?  [True, True]
Translation: X:103.39, Y:2.72, Z:0.00
[[ 9.98936504e-01 -4.61070547e-02  0.00000000e+00  1.03394261e+02]
 [ 4.61070547e-02  9.98936504e-01  0.00000000e+00  2.71921185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.96606649300001
Centerline is valid?  [True, True]
Translation: X:103.46, Y:2.71, Z:0.00
[[ 9.98780593e-01 -4.93692904e-02  0.00000000e+00  1.03455066e+02]
 [ 4.93692904e-02  9.98780593e-01  0.00000000e+00  2.71146924e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.02606649300002
Centerline is valid?  [True, True]
Translation: X:103.52, Y:2.70, Z:0.00
[[ 9.98740277e-01 -5.01782775e-02  0.00000000e+00  1.03517456e+02]
 [ 5.01782775e-02  9.98740277e-01  0.00000000e+00  2.70488007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.08606649300002
Centerline is valid?  [True, True]
Translation: X:103.58, Y:2.70, Z:0.00
[[ 9.98904312e-01 -4.67993085e-02  0.00000000e+00  1.03579907e+02]
 [ 4.67993085e-02  9.98904312e-01  0.00000000e+00  2.70466241e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.14606649300002
Centerline is valid?  [True, True]
Translation: X:103.64, Y:2.71, Z:0.00
[[ 9.99144389e-01 -4.13580670e-02  0.00000000e+00  1.03640645e+02]
 [ 4.13580670e-02  9.99144389e-01  0.00000000e+00  2.70663108e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 103.20606649300001
Centerline is valid?  [True, True]
Translation: X:103.70, Y:2.71, Z:0.00
[[ 9.99409086e-01 -3.43726572e-02  0.00000000e+00  1.03700066e+02]
 [ 3.43726572e-02  9.99409086e-01  0.00000000e+00  2.71032462e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.26606649300001
Centerline is valid?  [True, True]
Translation: X:103.76, Y:2.71, Z:0.00
[[ 9.99516102e-01 -3.11056694e-02  0.00000000e+00  1.03762100e+02]
 [ 3.11056694e-02  9.99516102e-01  0.00000000e+00  2.71433249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.32606649300001
Centerline is valid?  [True, True]
Translation: X:103.82, Y:2.72, Z:0.00
[[ 9.99550424e-01 -2.99824958e-02  0.00000000e+00  1.03822746e+02]
 [ 2.99824958e-02  9.99550424e-01  0.00000000e+00  2.72247814e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.38606649300002
Centerline is valid?  [True, True]
Translation: X:103.88, Y:2.73, Z:0.00
[[ 9.99375814e-01 -3.53267915e-02  0.00000000e+00  1.03882500e+02]
 [ 3.53267915e-02  9.99375814e-01  0.00000000e+00  2.73327821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.44606649300002
Centerline is valid?  [True, True]
Translation: X:103.94, Y:2.73, Z:0.00
[[ 9.99108727e-01 -4.22108051e-02  0.00000000e+00  1.03943233e+02]
 [ 4.22108051e-02  9.99108727e-01  0.00000000e+00  2.73096615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.50606649300002
Centerline is valid?  [True, True]
Translation: X:104.00, Y:2.74, Z:0.00
[[ 9.98648082e-01 -5.19808362e-02  0.00000000e+00  1.04002517e+02]
 [ 5.19808362e-02  9.98648082e-01  0.00000000e+00  2.74060140e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.56606649300001
Centerline is valid?  [True, True]
Translation: X:104.06, Y:2.75, Z:0.00
[[ 9.98396655e-01 -5.66049433e-02  0.00000000e+00  1.04063765e+02]
 [ 5.66049433e-02  9.98396655e-01  0.00000000e+00  2.74561245e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.62606649300001
Centerline is valid?  [True, True]
Translation: X:104.12, Y:2.75, Z:0.00
[[ 9.98110840e-01 -6.14389953e-02  0.00000000e+00  1.04124152e+02]
 [ 6.14389953e-02  9.98110840e-01  0.00000000e+00  2.75083734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.68606649300001
Centerline is valid?  [True, True]
Translation: X:104.19, Y:2.76, Z:0.00
[[ 9.97981742e-01 -6.35015173e-02  0.00000000e+00  1.04186101e+02]
 [ 6.35015173e-02  9.97981742e-01  0.00000000e+00  2.75580314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.74606649300001
Centerline is valid?  [True, True]
Translation: X:104.25, Y:2.76, Z:0.00
[[ 9.97827981e-01 -6.58735239e-02  0.00000000e+00  1.04246542e+02]
 [ 6.58735239e-02  9.97827981e-01  0.00000000e+00  2.76404901e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.80606649300002
Centerline is valid?  [True, True]
Translation: X:104.31, Y:2.77, Z:0.00
[[ 9.97838665e-01 -6.57114866e-02  0.00000000e+00  1.04306139e+02]
 [ 6.57114866e-02  9.97838665e-01  0.00000000e+00  2.77306223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.86606649300002
Centerline is valid?  [True, True]
Translation: X:104.37, Y:2.79, Z:0.00
[[ 9.98467891e-01 -5.53341808e-02  0.00000000e+00  1.04367067e+02]
 [ 5.53341808e-02  9.98467891e-01  0.00000000e+00  2.78909633e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.92606649300001
Centerline is valid?  [True, True]
Translation: X:104.43, Y:2.80, Z:0.00
[[ 9.99424721e-01 -3.39150048e-02  0.00000000e+00  1.04428090e+02]
 [ 3.39150048e-02  9.99424721e-01  0.00000000e+00  2.80209824e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.98606649300001
Centerline is valid?  [True, True]
Translation: X:104.49, Y:2.81, Z:0.00
[[ 9.99670441e-01 -2.56711663e-02  0.00000000e+00  1.04487342e+02]
 [ 2.56711663e-02  9.99670441e-01  0.00000000e+00  2.80800598e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.04606649300001
Centerline is valid?  [True, True]
Translation: X:104.55, Y:2.81, Z:0.00
[[ 9.99588694e-01 -2.86782569e-02  0.00000000e+00  1.04548591e+02]
 [ 2.86782569e-02  9.99588694e-01  0.00000000e+00  2.81004441e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.10606649300001
Centerline is valid?  [True, True]
Translation: X:104.61, Y:2.82, Z:0.00
[[ 9.99684270e-01 -2.51268647e-02  0.00000000e+00  1.04609166e+02]
 [ 2.51268647e-02  9.99684270e-01  0.00000000e+00  2.81641431e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.16606649300002
Centerline is valid?  [True, True]
Translation: X:104.67, Y:2.81, Z:0.00
[[ 9.99636110e-01 -2.69749303e-02  0.00000000e+00  1.04670794e+02]
 [ 2.69749303e-02  9.99636110e-01  0.00000000e+00  2.81491650e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.22606649300002
Centerline is valid?  [True, True]
Translation: X:104.73, Y:2.82, Z:0.00
[[ 9.99681847e-01 -2.52231012e-02  0.00000000e+00  1.04733290e+02]
 [ 2.52231012e-02  9.99681847e-01  0.00000000e+00  2.81672183e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.286066493
Centerline is valid?  [True, True]
Translation: X:104.79, Y:2.82, Z:0.00
[[ 9.99635711e-01 -2.69897277e-02  0.00000000e+00  1.04794691e+02]
 [ 2.69897277e-02  9.99635711e-01  0.00000000e+00  2.81787244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.34606649300001
Centerline is valid?  [True, True]
Translation: X:104.86, Y:2.82, Z:0.00
[[ 9.99655735e-01 -2.62375795e-02  0.00000000e+00  1.04855757e+02]
 [ 2.62375795e-02  9.99655735e-01  0.00000000e+00  2.81838395e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 104.40606649300001
Centerline is valid?  [True, True]
Translation: X:104.92, Y:2.82, Z:0.00
[[ 9.99704166e-01 -2.43224241e-02  0.00000000e+00  1.04917946e+02]
 [ 2.43224241e-02  9.99704166e-01  0.00000000e+00  2.81919936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.46606649300001
Centerline is valid?  [True, True]
Translation: X:104.98, Y:2.82, Z:0.00
[[ 9.99731413e-01 -2.31754714e-02  0.00000000e+00  1.04980184e+02]
 [ 2.31754714e-02  9.99731413e-01  0.00000000e+00  2.81769408e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.52606649300002
Centerline is valid?  [True, True]
Translation: X:105.04, Y:2.82, Z:0.00
[[ 9.99727303e-01 -2.33520920e-02  0.00000000e+00  1.05040254e+02]
 [ 2.33520920e-02  9.99727303e-01  0.00000000e+00  2.81757364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.58606649300002
Centerline is valid?  [True, True]
Translation: X:105.10, Y:2.82, Z:0.00
[[ 9.99668535e-01 -2.57453079e-02  0.00000000e+00  1.05102356e+02]
 [ 2.57453079e-02  9.99668535e-01  0.00000000e+00  2.81650395e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.64606649300002
Centerline is valid?  [True, True]
Translation: X:105.16, Y:2.82, Z:0.00
[[ 9.99587040e-01 -2.87358474e-02  0.00000000e+00  1.05162566e+02]
 [ 2.87358474e-02  9.99587040e-01  0.00000000e+00  2.81560777e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.70606649300001
Centerline is valid?  [True, True]
Translation: X:105.22, Y:2.81, Z:0.00
[[ 9.99506830e-01 -3.14021820e-02  0.00000000e+00  1.05223872e+02]
 [ 3.14021820e-02  9.99506830e-01  0.00000000e+00  2.81288222e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.76606649300001
Centerline is valid?  [True, True]
Translation: X:105.29, Y:2.81, Z:0.00
[[ 9.99310345e-01 -3.71326637e-02  0.00000000e+00  1.05285723e+02]
 [ 3.71326637e-02  9.99310345e-01  0.00000000e+00  2.80935863e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.82606649300001
Centerline is valid?  [True, True]
Translation: X:105.35, Y:2.81, Z:0.00
[[ 9.99058911e-01 -4.33738731e-02  0.00000000e+00  1.05345631e+02]
 [ 4.33738731e-02  9.99058911e-01  0.00000000e+00  2.80817373e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.88606649300002
Centerline is valid?  [True, True]
Translation: X:105.41, Y:2.80, Z:0.00
[[ 9.98746493e-01 -5.00543969e-02  0.00000000e+00  1.05406489e+02]
 [ 5.00543969e-02  9.98746493e-01  0.00000000e+00  2.79777188e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.94606649300002
Centerline is valid?  [True, True]
Translation: X:105.47, Y:2.78, Z:0.00
[[ 9.98501553e-01 -5.47233780e-02  0.00000000e+00  1.05467177e+02]
 [ 5.47233780e-02  9.98501553e-01  0.00000000e+00  2.78400842e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.00606649300002
Centerline is valid?  [True, True]
Translation: X:105.53, Y:2.77, Z:0.00
[[ 9.98263088e-01 -5.89135522e-02  0.00000000e+00  1.05527734e+02]
 [ 5.89135522e-02  9.98263088e-01  0.00000000e+00  2.77446505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.06606649300001
Centerline is valid?  [True, True]
Translation: X:105.59, Y:2.76, Z:0.00
[[ 9.97776392e-01 -6.66503660e-02  0.00000000e+00  1.05589010e+02]
 [ 6.66503660e-02  9.97776392e-01  0.00000000e+00  2.76303005e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.12606649300001
Centerline is valid?  [True, True]
Translation: X:105.65, Y:2.76, Z:0.00
[[ 9.97549997e-01 -6.99571608e-02  0.00000000e+00  1.05649562e+02]
 [ 6.99571608e-02  9.97549997e-01  0.00000000e+00  2.75513204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.18606649300001
Centerline is valid?  [True, True]
Translation: X:105.71, Y:2.74, Z:0.00
[[ 9.97319106e-01 -7.31751326e-02  0.00000000e+00  1.05709374e+02]
 [ 7.31751326e-02  9.97319106e-01  0.00000000e+00  2.74269405e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.24606649300001
Centerline is valid?  [True, True]
Translation: X:105.77, Y:2.74, Z:0.00
[[ 9.97369589e-01 -7.24838110e-02  0.00000000e+00  1.05772261e+02]
 [ 7.24838110e-02  9.97369589e-01  0.00000000e+00  2.73782864e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.30606649300002
Centerline is valid?  [True, True]
Translation: X:105.83, Y:2.73, Z:0.00
[[ 9.97633668e-01 -6.87536531e-02  0.00000000e+00  1.05833516e+02]
 [ 6.87536531e-02  9.97633668e-01  0.00000000e+00  2.73360521e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.36606649300002
Centerline is valid?  [True, True]
Translation: X:105.89, Y:2.73, Z:0.00
[[ 9.98059987e-01 -6.22596336e-02  0.00000000e+00  1.05893533e+02]
 [ 6.22596336e-02  9.98059987e-01  0.00000000e+00  2.73390122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.42606649300001
Centerline is valid?  [True, True]
Translation: X:105.95, Y:2.74, Z:0.00
[[ 9.99184011e-01 -4.03894947e-02  0.00000000e+00  1.05954178e+02]
 [ 4.03894947e-02  9.99184011e-01  0.00000000e+00  2.74013101e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.48606649300001
Centerline is valid?  [True, True]
Translation: X:106.01, Y:2.75, Z:0.00
[[ 9.99842182e-01 -1.77654641e-02  0.00000000e+00  1.06013608e+02]
 [ 1.77654641e-02  9.99842182e-01  0.00000000e+00  2.74615467e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.54606649300001
Centerline is valid?  [True, True]
Translation: X:106.08, Y:2.75, Z:0.00
[[ 9.99980566e-01 -6.23434076e-03  0.00000000e+00  1.06075676e+02]
 [ 6.23434076e-03  9.99980566e-01  0.00000000e+00  2.75048505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 105.60606649300001
Centerline is valid?  [True, True]
Translation: X:106.14, Y:2.75, Z:0.00
[[ 9.99996453e-01 -2.66344072e-03  0.00000000e+00  1.06136069e+02]
 [ 2.66344072e-03  9.99996453e-01  0.00000000e+00  2.75401331e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.66606649300002
Centerline is valid?  [True, True]
Translation: X:106.20, Y:2.76, Z:0.00
[[ 9.99956509e-01 -9.32631824e-03  0.00000000e+00  1.06198256e+02]
 [ 9.32631824e-03  9.99956509e-01  0.00000000e+00  2.75768964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.72606649300002
Centerline is valid?  [True, True]
Translation: X:106.26, Y:2.76, Z:0.00
[[ 9.99802797e-01 -1.98586765e-02  0.00000000e+00  1.06259175e+02]
 [ 1.98586765e-02  9.99802797e-01  0.00000000e+00  2.76166108e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.78606649300002
Centerline is valid?  [True, True]
Translation: X:106.32, Y:2.76, Z:0.00
[[ 9.99602628e-01 -2.81883947e-02  0.00000000e+00  1.06318390e+02]
 [ 2.81883947e-02  9.99602628e-01  0.00000000e+00  2.76294550e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.84606649300001
Centerline is valid?  [True, True]
Translation: X:106.38, Y:2.77, Z:0.00
[[ 9.99322785e-01 -3.67963451e-02  0.00000000e+00  1.06378573e+02]
 [ 3.67963451e-02  9.99322785e-01  0.00000000e+00  2.76601839e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.90606649300001
Centerline is valid?  [True, True]
Translation: X:106.44, Y:2.77, Z:0.00
[[ 9.99227696e-01 -3.92939134e-02  0.00000000e+00  1.06439563e+02]
 [ 3.92939134e-02  9.99227696e-01  0.00000000e+00  2.76942990e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.96606649300001
Centerline is valid?  [True, True]
Translation: X:106.50, Y:2.78, Z:0.00
[[ 9.99130112e-01 -4.17015601e-02  0.00000000e+00  1.06501042e+02]
 [ 4.17015601e-02  9.99130112e-01  0.00000000e+00  2.77776344e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.02606649300002
Centerline is valid?  [True, True]
Translation: X:106.56, Y:2.78, Z:0.00
[[ 9.99083736e-01 -4.27982183e-02  0.00000000e+00  1.06561765e+02]
 [ 4.27982183e-02  9.99083736e-01  0.00000000e+00  2.78316538e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.08606649300002
Centerline is valid?  [True, True]
Translation: X:106.62, Y:2.80, Z:0.00
[[ 9.99307839e-01 -3.72000398e-02  0.00000000e+00  1.06622122e+02]
 [ 3.72000398e-02  9.99307839e-01  0.00000000e+00  2.79555217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.14606649300002
Centerline is valid?  [True, True]
Translation: X:106.68, Y:2.81, Z:0.00
[[ 9.99454193e-01 -3.30350711e-02  0.00000000e+00  1.06683126e+02]
 [ 3.30350711e-02  9.99454193e-01  0.00000000e+00  2.80585098e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.20606649300001
Centerline is valid?  [True, True]
Translation: X:106.74, Y:2.82, Z:0.00
[[ 9.99567683e-01 -2.94014924e-02  0.00000000e+00  1.06744138e+02]
 [ 2.94014924e-02  9.99567683e-01  0.00000000e+00  2.81817218e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.26606649300001
Centerline is valid?  [True, True]
Translation: X:106.81, Y:2.83, Z:0.00
[[ 9.99607534e-01 -2.80138804e-02  0.00000000e+00  1.06806688e+02]
 [ 2.80138804e-02  9.99607534e-01  0.00000000e+00  2.82535430e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.32606649300001
Centerline is valid?  [True, True]
Translation: X:106.87, Y:2.83, Z:0.00
[[ 9.99846572e-01 -1.75166290e-02  0.00000000e+00  1.06867275e+02]
 [ 1.75166290e-02  9.99846572e-01  0.00000000e+00  2.83414236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.38606649300002
Centerline is valid?  [True, True]
Translation: X:106.93, Y:2.84, Z:0.00
[[ 9.99871942e-01 -1.60031009e-02  0.00000000e+00  1.06927030e+02]
 [ 1.60031009e-02  9.99871942e-01  0.00000000e+00  2.83737118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.44606649300002
Centerline is valid?  [True, True]
Translation: X:106.99, Y:2.84, Z:0.00
[[ 9.99807653e-01 -1.96126870e-02  0.00000000e+00  1.06989579e+02]
 [ 1.96126870e-02  9.99807653e-01  0.00000000e+00  2.83628098e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.50606649300002
Centerline is valid?  [True, True]
Translation: X:107.05, Y:2.83, Z:0.00
[[ 9.99704116e-01 -2.43244996e-02  0.00000000e+00  1.07050518e+02]
 [ 2.43244996e-02  9.99704116e-01  0.00000000e+00  2.82975950e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.56606649300001
Centerline is valid?  [True, True]
Translation: X:107.11, Y:2.83, Z:0.00
[[ 9.99599873e-01 -2.82859273e-02  0.00000000e+00  1.07111563e+02]
 [ 2.82859273e-02  9.99599873e-01  0.00000000e+00  2.82703847e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.62606649300001
Centerline is valid?  [True, True]
Translation: X:107.17, Y:2.82, Z:0.00
[[ 9.99302155e-01 -3.73524044e-02  0.00000000e+00  1.07171590e+02]
 [ 3.73524044e-02  9.99302155e-01  0.00000000e+00  2.82173045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.68606649300001
Centerline is valid?  [True, True]
Translation: X:107.23, Y:2.82, Z:0.00
[[ 9.99103226e-01 -4.23408028e-02  0.00000000e+00  1.07232390e+02]
 [ 4.23408028e-02  9.99103226e-01  0.00000000e+00  2.81953995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.74606649300001
Centerline is valid?  [True, True]
Translation: X:107.29, Y:2.81, Z:0.00
[[ 9.98784922e-01 -4.92816449e-02  0.00000000e+00  1.07292105e+02]
 [ 4.92816449e-02  9.98784922e-01  0.00000000e+00  2.81281917e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 106.80606649300002
Centerline is valid?  [True, True]
Translation: X:107.35, Y:2.81, Z:0.00
[[ 9.98664416e-01 -5.16660839e-02  0.00000000e+00  1.07352930e+02]
 [ 5.16660839e-02  9.98664416e-01  0.00000000e+00  2.81225262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.86606649300002
Centerline is valid?  [True, True]
Translation: X:107.41, Y:2.81, Z:0.00
[[ 9.98678146e-01 -5.14000034e-02  0.00000000e+00  1.07414674e+02]
 [ 5.14000034e-02  9.98678146e-01  0.00000000e+00  2.81334224e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.92606649300001
Centerline is valid?  [True, True]
Translation: X:107.48, Y:2.81, Z:0.00
[[ 9.98827053e-01 -4.84202254e-02  0.00000000e+00  1.07475502e+02]
 [ 4.84202254e-02  9.98827053e-01  0.00000000e+00  2.81473505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.98606649300001
Centerline is valid?  [True, True]
Translation: X:107.54, Y:2.82, Z:0.00
[[ 9.99113355e-01 -4.21011111e-02  0.00000000e+00  1.07536525e+02]
 [ 4.21011111e-02  9.99113355e-01  0.00000000e+00  2.81740836e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.04606649300001
Centerline is valid?  [True, True]
Translation: X:107.60, Y:2.82, Z:0.00
[[ 9.99249394e-01 -3.87381956e-02  0.00000000e+00  1.07597094e+02]
 [ 3.87381956e-02  9.99249394e-01  0.00000000e+00  2.82062458e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.10606649300001
Centerline is valid?  [True, True]
Translation: X:107.66, Y:2.82, Z:0.00
[[ 9.99352188e-01 -3.59889485e-02  0.00000000e+00  1.07659501e+02]
 [ 3.59889485e-02  9.99352188e-01  0.00000000e+00  2.82283831e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.16606649300002
Centerline is valid?  [True, True]
Translation: X:107.72, Y:2.82, Z:0.00
[[ 9.99387526e-01 -3.49938861e-02  0.00000000e+00  1.07720769e+02]
 [ 3.49938861e-02  9.99387526e-01  0.00000000e+00  2.82383229e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.22606649300002
Centerline is valid?  [True, True]
Translation: X:107.78, Y:2.83, Z:0.00
[[ 9.99308238e-01 -3.71893138e-02  0.00000000e+00  1.07783171e+02]
 [ 3.71893138e-02  9.99308238e-01  0.00000000e+00  2.82687223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.28606649300002
Centerline is valid?  [True, True]
Translation: X:107.84, Y:2.83, Z:0.00
[[ 9.99196638e-01 -4.00759123e-02  0.00000000e+00  1.07843048e+02]
 [ 4.00759123e-02  9.99196638e-01  0.00000000e+00  2.83136734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.34606649300001
Centerline is valid?  [True, True]
Translation: X:107.91, Y:2.83, Z:0.00
[[ 9.99250846e-01 -3.87007317e-02  0.00000000e+00  1.07905737e+02]
 [ 3.87007317e-02  9.99250846e-01  0.00000000e+00  2.83249059e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.40606649300001
Centerline is valid?  [True, True]
Translation: X:107.97, Y:2.83, Z:0.00
[[ 9.99481867e-01 -3.21869274e-02  0.00000000e+00  1.07966182e+02]
 [ 3.21869274e-02  9.99481867e-01  0.00000000e+00  2.83429450e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.46606649300001
Centerline is valid?  [True, True]
Translation: X:108.03, Y:2.84, Z:0.00
[[ 9.99598077e-01 -2.83493146e-02  0.00000000e+00  1.08027879e+02]
 [ 2.83493146e-02  9.99598077e-01  0.00000000e+00  2.83880262e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.52606649300002
Centerline is valid?  [True, True]
Translation: X:108.09, Y:2.84, Z:0.00
[[ 9.99612434e-01 -2.78384901e-02  0.00000000e+00  1.08090046e+02]
 [ 2.78384901e-02  9.99612434e-01  0.00000000e+00  2.83937544e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.58606649300002
Centerline is valid?  [True, True]
Translation: X:108.15, Y:2.84, Z:0.00
[[ 9.99587062e-01 -2.87351029e-02  0.00000000e+00  1.08150498e+02]
 [ 2.87351029e-02  9.99587062e-01  0.00000000e+00  2.83901850e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.64606649300002
Centerline is valid?  [True, True]
Translation: X:108.21, Y:2.84, Z:0.00
[[ 9.99783942e-01 -2.07862772e-02  0.00000000e+00  1.08212240e+02]
 [ 2.07862772e-02  9.99783942e-01  0.00000000e+00  2.83590102e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.70606649300001
Centerline is valid?  [True, True]
Translation: X:108.27, Y:2.83, Z:0.00
[[ 9.99625029e-01 -2.73824873e-02  0.00000000e+00  1.08272724e+02]
 [ 2.73824873e-02  9.99625029e-01  0.00000000e+00  2.82934963e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.76606649300001
Centerline is valid?  [True, True]
Translation: X:108.33, Y:2.83, Z:0.00
[[ 9.99600991e-01 -2.82464119e-02  0.00000000e+00  1.08334346e+02]
 [ 2.82464119e-02  9.99600991e-01  0.00000000e+00  2.82878186e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.82606649300001
Centerline is valid?  [True, True]
Translation: X:108.40, Y:2.83, Z:0.00
[[ 9.99609197e-01 -2.79544992e-02  0.00000000e+00  1.08395447e+02]
 [ 2.79544992e-02  9.99609197e-01  0.00000000e+00  2.82765116e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.88606649300002
Centerline is valid?  [True, True]
Translation: X:108.46, Y:2.82, Z:0.00
[[ 9.99323253e-01 -3.67836415e-02  0.00000000e+00  1.08455561e+02]
 [ 3.67836415e-02  9.99323253e-01  0.00000000e+00  2.81601899e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.94606649300002
Centerline is valid?  [True, True]
Translation: X:108.52, Y:2.81, Z:0.00
[[ 9.98966575e-01 -4.54508766e-02  0.00000000e+00  1.08516077e+02]
 [ 4.54508766e-02  9.98966575e-01  0.00000000e+00  2.80951944e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 108.00606649300002
Centerline is valid?  [True, True]
Translation: X:108.58, Y:2.81, Z:0.00
[[ 9.98571742e-01 -5.34272999e-02  0.00000000e+00  1.08576088e+02]
 [ 5.34272999e-02  9.98571742e-01  0.00000000e+00  2.81106154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.06606649300001
Centerline is valid?  [True, True]
Translation: X:108.64, Y:2.81, Z:0.00
[[ 9.98595429e-01 -5.29827234e-02  0.00000000e+00  1.08638516e+02]
 [ 5.29827234e-02  9.98595429e-01  0.00000000e+00  2.81065575e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.12606649300001
Centerline is valid?  [True, True]
Translation: X:108.70, Y:2.81, Z:0.00
[[ 9.98869046e-01 -4.75460752e-02  0.00000000e+00  1.08699190e+02]
 [ 4.75460752e-02  9.98869046e-01  0.00000000e+00  2.80967647e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.18606649300001
Centerline is valid?  [True, True]
Translation: X:108.76, Y:2.81, Z:0.00
[[ 9.99038223e-01 -4.38477840e-02  0.00000000e+00  1.08760240e+02]
 [ 4.38477840e-02  9.99038223e-01  0.00000000e+00  2.81205572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.24606649300001
Centerline is valid?  [True, True]
Translation: X:108.82, Y:2.82, Z:0.00
[[ 9.99136641e-01 -4.15448332e-02  0.00000000e+00  1.08821398e+02]
 [ 4.15448332e-02  9.99136641e-01  0.00000000e+00  2.81782741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.30606649300002
Centerline is valid?  [True, True]
Translation: X:108.88, Y:2.82, Z:0.00
[[ 9.99115717e-01 -4.20450123e-02  0.00000000e+00  1.08882584e+02]
 [ 4.20450123e-02  9.99115717e-01  0.00000000e+00  2.81634063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.36606649300002
Centerline is valid?  [True, True]
Translation: X:108.94, Y:2.82, Z:0.00
[[ 9.99056854e-01 -4.34212137e-02  0.00000000e+00  1.08944967e+02]
 [ 4.34212137e-02  9.99056854e-01  0.00000000e+00  2.81909123e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.42606649300001
Centerline is valid?  [True, True]
Translation: X:109.01, Y:2.83, Z:0.00
[[ 9.99055731e-01 -4.34470592e-02  0.00000000e+00  1.09005333e+02]
 [ 4.34470592e-02  9.99055731e-01  0.00000000e+00  2.82697834e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.48606649300001
Centerline is valid?  [True, True]
Translation: X:109.07, Y:2.84, Z:0.00
[[ 9.99265974e-01 -3.83081310e-02  0.00000000e+00  1.09066210e+02]
 [ 3.83081310e-02  9.99265974e-01  0.00000000e+00  2.83834363e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.54606649300001
Centerline is valid?  [True, True]
Translation: X:109.13, Y:2.84, Z:0.00
[[ 9.99435313e-01 -3.36014125e-02  0.00000000e+00  1.09128906e+02]
 [ 3.36014125e-02  9.99435313e-01  0.00000000e+00  2.83991614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.60606649300001
Centerline is valid?  [True, True]
Translation: X:109.19, Y:2.85, Z:0.00
[[ 9.99660292e-01 -2.60633925e-02  0.00000000e+00  1.09188334e+02]
 [ 2.60633925e-02  9.99660292e-01  0.00000000e+00  2.84747933e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.66606649300002
Centerline is valid?  [True, True]
Translation: X:109.25, Y:2.86, Z:0.00
[[ 9.99752223e-01 -2.22596788e-02  0.00000000e+00  1.09248529e+02]
 [ 2.22596788e-02  9.99752223e-01  0.00000000e+00  2.85980539e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.72606649300002
Centerline is valid?  [True, True]
Translation: X:109.31, Y:2.86, Z:0.00
[[ 9.99899133e-01 -1.42029267e-02  0.00000000e+00  1.09311629e+02]
 [ 1.42029267e-02  9.99899133e-01  0.00000000e+00  2.86192392e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.78606649300002
Centerline is valid?  [True, True]
Translation: X:109.37, Y:2.86, Z:0.00
[[ 9.99926929e-01 -1.20887031e-02  0.00000000e+00  1.09372536e+02]
 [ 1.20887031e-02  9.99926929e-01  0.00000000e+00  2.85677189e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.84606649300001
Centerline is valid?  [True, True]
Translation: X:109.44, Y:2.85, Z:0.00
[[ 9.99874748e-01 -1.58268421e-02  0.00000000e+00  1.09435022e+02]
 [ 1.58268421e-02  9.99874748e-01  0.00000000e+00  2.85313656e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.90606649300001
Centerline is valid?  [True, True]
Translation: X:109.50, Y:2.85, Z:0.00
[[ 9.99825714e-01 -1.86692900e-02  0.00000000e+00  1.09496780e+02]
 [ 1.86692900e-02  9.99825714e-01  0.00000000e+00  2.85420149e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.96606649300001
Centerline is valid?  [True, True]
Translation: X:109.56, Y:2.86, Z:0.00
[[ 9.99822541e-01 -1.88384553e-02  0.00000000e+00  1.09557435e+02]
 [ 1.88384553e-02  9.99822541e-01  0.00000000e+00  2.85597896e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.02606649300002
Centerline is valid?  [True, True]
Translation: X:109.62, Y:2.85, Z:0.00
[[ 9.99896381e-01 -1.43954159e-02  0.00000000e+00  1.09618555e+02]
 [ 1.43954159e-02  9.99896381e-01  0.00000000e+00  2.85142419e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.08606649300002
Centerline is valid?  [True, True]
Translation: X:109.68, Y:2.85, Z:0.00
[[ 9.99905252e-01 -1.37654040e-02  0.00000000e+00  1.09679665e+02]
 [ 1.37654040e-02  9.99905252e-01  0.00000000e+00  2.84763932e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.14606649300002
Centerline is valid?  [True, True]
Translation: X:109.74, Y:2.85, Z:0.00
[[ 9.99847724e-01 -1.74507307e-02  0.00000000e+00  1.09740571e+02]
 [ 1.74507307e-02  9.99847724e-01  0.00000000e+00  2.84698508e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 109.20606649300001
Centerline is valid?  [True, True]
Translation: X:109.80, Y:2.85, Z:0.00
[[ 9.99721435e-01 -2.36019707e-02  0.00000000e+00  1.09800696e+02]
 [ 2.36019707e-02  9.99721435e-01  0.00000000e+00  2.84630425e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.26606649300001
Centerline is valid?  [True, True]
Translation: X:109.86, Y:2.84, Z:0.00
[[ 9.99648037e-01 -2.65292524e-02  0.00000000e+00  1.09862303e+02]
 [ 2.65292524e-02  9.99648037e-01  0.00000000e+00  2.84398940e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.32606649300001
Centerline is valid?  [True, True]
Translation: X:109.92, Y:2.84, Z:0.00
[[ 9.99631517e-01 -2.71446275e-02  0.00000000e+00  1.09923313e+02]
 [ 2.71446275e-02  9.99631517e-01  0.00000000e+00  2.84248075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.38606649300002
Centerline is valid?  [True, True]
Translation: X:109.99, Y:2.84, Z:0.00
[[ 9.99607028e-01 -2.80319551e-02  0.00000000e+00  1.09985470e+02]
 [ 2.80319551e-02  9.99607028e-01  0.00000000e+00  2.84301800e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.44606649300002
Centerline is valid?  [True, True]
Translation: X:110.05, Y:2.84, Z:0.00
[[ 9.99484798e-01 -3.20957747e-02  0.00000000e+00  1.10046112e+02]
 [ 3.20957747e-02  9.99484798e-01  0.00000000e+00  2.84438807e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.50606649300002
Centerline is valid?  [True, True]
Translation: X:110.11, Y:2.84, Z:0.00
[[ 9.99183662e-01 -4.03981355e-02  0.00000000e+00  1.10107424e+02]
 [ 4.03981355e-02  9.99183662e-01  0.00000000e+00  2.84355735e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.56606649300001
Centerline is valid?  [True, True]
Translation: X:110.17, Y:2.84, Z:0.00
[[ 9.98893286e-01 -4.70340638e-02  0.00000000e+00  1.10166846e+02]
 [ 4.70340638e-02  9.98893286e-01  0.00000000e+00  2.84117314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.62606649300001
Centerline is valid?  [True, True]
Translation: X:110.23, Y:2.84, Z:0.00
[[ 9.98668485e-01 -5.15873690e-02  0.00000000e+00  1.10227489e+02]
 [ 5.15873690e-02  9.98668485e-01  0.00000000e+00  2.83733669e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.68606649300001
Centerline is valid?  [True, True]
Translation: X:110.29, Y:2.84, Z:0.00
[[ 9.98768757e-01 -4.96081720e-02  0.00000000e+00  1.10288671e+02]
 [ 4.96081720e-02  9.98768757e-01  0.00000000e+00  2.83680542e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.74606649300001
Centerline is valid?  [True, True]
Translation: X:110.35, Y:2.84, Z:0.00
[[ 9.98802018e-01 -4.89339152e-02  0.00000000e+00  1.10349188e+02]
 [ 4.89339152e-02  9.98802018e-01  0.00000000e+00  2.83815602e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.80606649300002
Centerline is valid?  [True, True]
Translation: X:110.41, Y:2.84, Z:0.00
[[ 9.98904293e-01 -4.67997147e-02  0.00000000e+00  1.10411104e+02]
 [ 4.67997147e-02  9.98904293e-01  0.00000000e+00  2.84019040e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.86606649300002
Centerline is valid?  [True, True]
Translation: X:110.47, Y:2.84, Z:0.00
[[ 9.99041544e-01 -4.37720618e-02  0.00000000e+00  1.10471920e+02]
 [ 4.37720618e-02  9.99041544e-01  0.00000000e+00  2.84243006e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.92606649300001
Centerline is valid?  [True, True]
Translation: X:110.53, Y:2.85, Z:0.00
[[ 9.99402294e-01 -3.45695697e-02  0.00000000e+00  1.10532752e+02]
 [ 3.45695697e-02  9.99402294e-01  0.00000000e+00  2.84710207e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.98606649300001
Centerline is valid?  [True, True]
Translation: X:110.59, Y:2.85, Z:0.00
[[ 9.99614478e-01 -2.77649849e-02  0.00000000e+00  1.10593810e+02]
 [ 2.77649849e-02  9.99614478e-01  0.00000000e+00  2.84715149e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.04606649300001
Centerline is valid?  [True, True]
Translation: X:110.65, Y:2.85, Z:0.00
[[ 9.99735565e-01 -2.29956707e-02  0.00000000e+00  1.10654072e+02]
 [ 2.29956707e-02  9.99735565e-01  0.00000000e+00  2.84837865e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.10606649300001
Centerline is valid?  [True, True]
Translation: X:110.71, Y:2.85, Z:0.00
[[ 9.99715269e-01 -2.38617049e-02  0.00000000e+00  1.10714761e+02]
 [ 2.38617049e-02  9.99715269e-01  0.00000000e+00  2.84656575e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.16606649300002
Centerline is valid?  [True, True]
Translation: X:110.78, Y:2.85, Z:0.00
[[ 9.99681670e-01 -2.52301045e-02  0.00000000e+00  1.10776719e+02]
 [ 2.52301045e-02  9.99681670e-01  0.00000000e+00  2.84989154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.22606649300002
Centerline is valid?  [True, True]
Translation: X:110.84, Y:2.85, Z:0.00
[[ 9.99634769e-01 -2.70245939e-02  0.00000000e+00  1.10837985e+02]
 [ 2.70245939e-02  9.99634769e-01  0.00000000e+00  2.84602510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.28606649300002
Centerline is valid?  [True, True]
Translation: X:110.90, Y:2.85, Z:0.00
[[ 9.99574276e-01 -2.91764794e-02  0.00000000e+00  1.10898609e+02]
 [ 2.91764794e-02  9.99574276e-01  0.00000000e+00  2.84586214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.34606649300001
Centerline is valid?  [True, True]
Translation: X:110.96, Y:2.85, Z:0.00
[[ 9.99460568e-01 -3.28416370e-02  0.00000000e+00  1.10960265e+02]
 [ 3.28416370e-02  9.99460568e-01  0.00000000e+00  2.84598411e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 110.40606649300001
Centerline is valid?  [True, True]
Translation: X:111.02, Y:2.85, Z:0.00
[[ 9.99333278e-01 -3.65102666e-02  0.00000000e+00  1.11019995e+02]
 [ 3.65102666e-02  9.99333278e-01  0.00000000e+00  2.84678911e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.46606649300001
Centerline is valid?  [True, True]
Translation: X:111.08, Y:2.84, Z:0.00
[[ 9.99153778e-01 -4.11306105e-02  0.00000000e+00  1.11081247e+02]
 [ 4.11306105e-02  9.99153778e-01  0.00000000e+00  2.84428366e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.52606649300002
Centerline is valid?  [True, True]
Translation: X:111.14, Y:2.84, Z:0.00
[[ 9.99050399e-01 -4.35694780e-02  0.00000000e+00  1.11141604e+02]
 [ 4.35694780e-02  9.99050399e-01  0.00000000e+00  2.84235583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.58606649300002
Centerline is valid?  [True, True]
Translation: X:111.20, Y:2.85, Z:0.00
[[ 9.98876290e-01 -4.73936448e-02  0.00000000e+00  1.11202324e+02]
 [ 4.73936448e-02  9.98876290e-01  0.00000000e+00  2.84503479e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.64606649300002
Centerline is valid?  [True, True]
Translation: X:111.26, Y:2.85, Z:0.00
[[ 9.98704987e-01 -5.08758168e-02  0.00000000e+00  1.11263177e+02]
 [ 5.08758168e-02  9.98704987e-01  0.00000000e+00  2.84668815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.70606649300001
Centerline is valid?  [True, True]
Translation: X:111.32, Y:2.85, Z:0.00
[[ 9.98731252e-01 -5.03575767e-02  0.00000000e+00  1.11324332e+02]
 [ 5.03575767e-02  9.98731252e-01  0.00000000e+00  2.84949791e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.76606649300001
Centerline is valid?  [True, True]
Translation: X:111.38, Y:2.85, Z:0.00
[[ 9.99168033e-01 -4.07828525e-02  0.00000000e+00  1.11384026e+02]
 [ 4.07828525e-02  9.99168033e-01  0.00000000e+00  2.85015580e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.82606649300001
Centerline is valid?  [True, True]
Translation: X:111.45, Y:2.85, Z:0.00
[[ 9.99493635e-01 -3.18193785e-02  0.00000000e+00  1.11445081e+02]
 [ 3.18193785e-02  9.99493635e-01  0.00000000e+00  2.85452233e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.88606649300002
Centerline is valid?  [True, True]
Translation: X:111.51, Y:2.86, Z:0.00
[[ 9.99593796e-01 -2.84998939e-02  0.00000000e+00  1.11506323e+02]
 [ 2.84998939e-02  9.99593796e-01  0.00000000e+00  2.86109409e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.94606649300002
Centerline is valid?  [True, True]
Translation: X:111.57, Y:2.86, Z:0.00
[[ 9.99646689e-01 -2.65799987e-02  0.00000000e+00  1.11566233e+02]
 [ 2.65799987e-02  9.99646689e-01  0.00000000e+00  2.86277947e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.00606649300002
Centerline is valid?  [True, True]
Translation: X:111.63, Y:2.86, Z:0.00
[[ 9.99663030e-01 -2.59581851e-02  0.00000000e+00  1.11627303e+02]
 [ 2.59581851e-02  9.99663030e-01  0.00000000e+00  2.86448832e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.06606649300001
Centerline is valid?  [True, True]
Translation: X:111.69, Y:2.87, Z:0.00
[[ 9.99709278e-01 -2.41113823e-02  0.00000000e+00  1.11688017e+02]
 [ 2.41113823e-02  9.99709278e-01  0.00000000e+00  2.86937050e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.12606649300001
Centerline is valid?  [True, True]
Translation: X:111.75, Y:2.87, Z:0.00
[[ 9.99642669e-01 -2.67307606e-02  0.00000000e+00  1.11749553e+02]
 [ 2.67307606e-02  9.99642669e-01  0.00000000e+00  2.86733108e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.18606649300001
Centerline is valid?  [True, True]
Translation: X:111.81, Y:2.87, Z:0.00
[[ 9.99607514e-01 -2.80145877e-02  0.00000000e+00  1.11812879e+02]
 [ 2.80145877e-02  9.99607514e-01  0.00000000e+00  2.86545148e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.24606649300001
Centerline is valid?  [True, True]
Translation: X:111.87, Y:2.87, Z:0.00
[[ 9.99571294e-01 -2.92784610e-02  0.00000000e+00  1.11874047e+02]
 [ 2.92784610e-02  9.99571294e-01  0.00000000e+00  2.86603330e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.30606649300002
Centerline is valid?  [True, True]
Translation: X:111.94, Y:2.87, Z:0.00
[[ 9.99504279e-01 -3.14832614e-02  0.00000000e+00  1.11935127e+02]
 [ 3.14832614e-02  9.99504279e-01  0.00000000e+00  2.86944526e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.36606649300002
Centerline is valid?  [True, True]
Translation: X:112.00, Y:2.87, Z:0.00
[[ 9.99525019e-01 -3.08177859e-02  0.00000000e+00  1.11997517e+02]
 [ 3.08177859e-02  9.99525019e-01  0.00000000e+00  2.86977939e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.42606649300001
Centerline is valid?  [True, True]
Translation: X:112.06, Y:2.87, Z:0.00
[[ 9.99538024e-01 -3.03930697e-02  0.00000000e+00  1.12057812e+02]
 [ 3.03930697e-02  9.99538024e-01  0.00000000e+00  2.86925055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.48606649300001
Centerline is valid?  [True, True]
Translation: X:112.12, Y:2.87, Z:0.00
[[ 9.99530453e-01 -3.06410334e-02  0.00000000e+00  1.12120841e+02]
 [ 3.06410334e-02  9.99530453e-01  0.00000000e+00  2.87346559e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.54606649300001
Centerline is valid?  [True, True]
Translation: X:112.18, Y:2.88, Z:0.00
[[ 9.99801165e-01 -1.99406579e-02  0.00000000e+00  1.12181459e+02]
 [ 1.99406579e-02  9.99801165e-01  0.00000000e+00  2.87853620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 111.60606649300001
Centerline is valid?  [True, True]
Translation: X:112.24, Y:2.88, Z:0.00
[[ 9.99920699e-01 -1.25934706e-02  0.00000000e+00  1.12242434e+02]
 [ 1.25934706e-02  9.99920699e-01  0.00000000e+00  2.87758713e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.66606649300002
Centerline is valid?  [True, True]
Translation: X:112.30, Y:2.88, Z:0.00
[[ 9.99978609e-01 -6.54082609e-03  0.00000000e+00  1.12304503e+02]
 [ 6.54082609e-03  9.99978609e-01  0.00000000e+00  2.87885970e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.72606649300002
Centerline is valid?  [True, True]
Translation: X:112.37, Y:2.88, Z:0.00
[[ 9.99999945e-01  3.31561200e-04  0.00000000e+00  1.12365845e+02]
 [-3.31561200e-04  9.99999945e-01  0.00000000e+00  2.87725406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.78606649300002
Centerline is valid?  [True, True]
Translation: X:112.43, Y:2.88, Z:0.00
[[ 9.99993999e-01 -3.46447118e-03  0.00000000e+00  1.12426293e+02]
 [ 3.46447118e-03  9.99993999e-01  0.00000000e+00  2.87583519e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.84606649300001
Centerline is valid?  [True, True]
Translation: X:112.49, Y:2.87, Z:0.00
[[ 9.99895939e-01 -1.44260577e-02  0.00000000e+00  1.12487320e+02]
 [ 1.44260577e-02  9.99895939e-01  0.00000000e+00  2.87458617e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.90606649300001
Centerline is valid?  [True, True]
Translation: X:112.55, Y:2.87, Z:0.00
[[ 9.99854878e-01 -1.70359509e-02  0.00000000e+00  1.12548785e+02]
 [ 1.70359509e-02  9.99854878e-01  0.00000000e+00  2.87365273e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.96606649300001
Centerline is valid?  [True, True]
Translation: X:112.61, Y:2.87, Z:0.00
[[ 9.99808514e-01 -1.95687586e-02  0.00000000e+00  1.12611155e+02]
 [ 1.95687586e-02  9.99808514e-01  0.00000000e+00  2.86825712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.02606649300002
Centerline is valid?  [True, True]
Translation: X:112.67, Y:2.87, Z:0.00
[[ 9.99801982e-01 -1.98996709e-02  0.00000000e+00  1.12672539e+02]
 [ 1.98996709e-02  9.99801982e-01  0.00000000e+00  2.86938243e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.08606649300002
Centerline is valid?  [True, True]
Translation: X:112.73, Y:2.87, Z:0.00
[[ 9.99810468e-01 -1.94686406e-02  0.00000000e+00  1.12734552e+02]
 [ 1.94686406e-02  9.99810468e-01  0.00000000e+00  2.87191362e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.14606649300002
Centerline is valid?  [True, True]
Translation: X:112.80, Y:2.87, Z:0.00
[[ 9.99808821e-01 -1.95530356e-02  0.00000000e+00  1.12796030e+02]
 [ 1.95530356e-02  9.99808821e-01  0.00000000e+00  2.87178160e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.20606649300001
Centerline is valid?  [True, True]
Translation: X:112.86, Y:2.87, Z:0.00
[[ 9.99816923e-01 -1.91342862e-02  0.00000000e+00  1.12857998e+02]
 [ 1.91342862e-02  9.99816923e-01  0.00000000e+00  2.87359863e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.26606649300001
Centerline is valid?  [True, True]
Translation: X:112.92, Y:2.88, Z:0.00
[[ 9.99838952e-01 -1.79462839e-02  0.00000000e+00  1.12919472e+02]
 [ 1.79462839e-02  9.99838952e-01  0.00000000e+00  2.87801349e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.32606649300001
Centerline is valid?  [True, True]
Translation: X:112.98, Y:2.88, Z:0.00
[[ 9.99851594e-01 -1.72275874e-02  0.00000000e+00  1.12982440e+02]
 [ 1.72275874e-02  9.99851594e-01  0.00000000e+00  2.88115199e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.38606649300002
Centerline is valid?  [True, True]
Translation: X:113.04, Y:2.88, Z:0.00
[[ 9.99784591e-01 -2.07550175e-02  0.00000000e+00  1.13044901e+02]
 [ 2.07550175e-02  9.99784591e-01  0.00000000e+00  2.88178943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.44606649300002
Centerline is valid?  [True, True]
Translation: X:113.11, Y:2.88, Z:0.00
[[ 9.99702134e-01 -2.44058030e-02  0.00000000e+00  1.13105297e+02]
 [ 2.44058030e-02  9.99702134e-01  0.00000000e+00  2.88052286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.50606649300002
Centerline is valid?  [True, True]
Translation: X:113.17, Y:2.88, Z:0.00
[[ 9.99755287e-01 -2.21216303e-02  0.00000000e+00  1.13167667e+02]
 [ 2.21216303e-02  9.99755287e-01  0.00000000e+00  2.88111931e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.56606649300001
Centerline is valid?  [True, True]
Translation: X:113.23, Y:2.88, Z:0.00
[[ 9.99843709e-01 -1.76793242e-02  0.00000000e+00  1.13228254e+02]
 [ 1.76793242e-02  9.99843709e-01  0.00000000e+00  2.87617942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.62606649300001
Centerline is valid?  [True, True]
Translation: X:113.29, Y:2.87, Z:0.00
[[ 9.99717906e-01 -2.37509729e-02  0.00000000e+00  1.13289041e+02]
 [ 2.37509729e-02  9.99717906e-01  0.00000000e+00  2.86984051e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.68606649300001
Centerline is valid?  [True, True]
Translation: X:113.35, Y:2.87, Z:0.00
[[ 9.99510428e-01 -3.12874602e-02  0.00000000e+00  1.13349775e+02]
 [ 3.12874602e-02  9.99510428e-01  0.00000000e+00  2.86779997e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.74606649300001
Centerline is valid?  [True, True]
Translation: X:113.41, Y:2.87, Z:0.00
[[ 9.99320526e-01 -3.68576567e-02  0.00000000e+00  1.13410772e+02]
 [ 3.68576567e-02  9.99320526e-01  0.00000000e+00  2.86652943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 112.80606649300002
Centerline is valid?  [True, True]
Translation: X:113.47, Y:2.86, Z:0.00
[[ 9.99465863e-01 -3.26801016e-02  0.00000000e+00  1.13472787e+02]
 [ 3.26801016e-02  9.99465863e-01  0.00000000e+00  2.86469698e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.86606649300002
Centerline is valid?  [True, True]
Translation: X:113.53, Y:2.86, Z:0.00
[[ 9.99598374e-01 -2.83388435e-02  0.00000000e+00  1.13533961e+02]
 [ 2.83388435e-02  9.99598374e-01  0.00000000e+00  2.86475170e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.92606649300002
Centerline is valid?  [True, True]
Translation: X:113.59, Y:2.87, Z:0.00
[[ 9.99659850e-01 -2.60803377e-02  0.00000000e+00  1.13594520e+02]
 [ 2.60803377e-02  9.99659850e-01  0.00000000e+00  2.86888178e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.98606649300001
Centerline is valid?  [True, True]
Translation: X:113.65, Y:2.87, Z:0.00
[[ 9.99725163e-01 -2.34435096e-02  0.00000000e+00  1.13654117e+02]
 [ 2.34435096e-02  9.99725163e-01  0.00000000e+00  2.87162308e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.04606649300001
Centerline is valid?  [True, True]
Translation: X:113.71, Y:2.87, Z:0.00
[[ 9.99748387e-01 -2.24312935e-02  0.00000000e+00  1.13714959e+02]
 [ 2.24312935e-02  9.99748387e-01  0.00000000e+00  2.87104708e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.10606649300001
Centerline is valid?  [True, True]
Translation: X:113.78, Y:2.87, Z:0.00
[[ 9.99771729e-01 -2.13656149e-02  0.00000000e+00  1.13775585e+02]
 [ 2.13656149e-02  9.99771729e-01  0.00000000e+00  2.87327242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.16606649300002
Centerline is valid?  [True, True]
Translation: X:113.84, Y:2.88, Z:0.00
[[ 9.99775574e-01 -2.11849218e-02  0.00000000e+00  1.13836929e+02]
 [ 2.11849218e-02  9.99775574e-01  0.00000000e+00  2.88019081e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.22606649300002
Centerline is valid?  [True, True]
Translation: X:113.90, Y:2.88, Z:0.00
[[ 9.99766105e-01 -2.16271808e-02  0.00000000e+00  1.13898189e+02]
 [ 2.16271808e-02  9.99766105e-01  0.00000000e+00  2.87940708e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.28606649300002
Centerline is valid?  [True, True]
Translation: X:113.96, Y:2.88, Z:0.00
[[ 9.99726274e-01 -2.33960891e-02  0.00000000e+00  1.13960189e+02]
 [ 2.33960891e-02  9.99726274e-01  0.00000000e+00  2.87884848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.34606649300001
Centerline is valid?  [True, True]
Translation: X:114.02, Y:2.88, Z:0.00
[[ 9.99718243e-01 -2.37367914e-02  0.00000000e+00  1.14021447e+02]
 [ 2.37367914e-02  9.99718243e-01  0.00000000e+00  2.88353274e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.40606649300001
Centerline is valid?  [True, True]
Translation: X:114.08, Y:2.89, Z:0.00
[[ 9.99755468e-01 -2.21134341e-02  0.00000000e+00  1.14083859e+02]
 [ 2.21134341e-02  9.99755468e-01  0.00000000e+00  2.88752848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.46606649300001
Centerline is valid?  [True, True]
Translation: X:114.14, Y:2.89, Z:0.00
[[ 9.99828779e-01 -1.85043853e-02  0.00000000e+00  1.14144436e+02]
 [ 1.85043853e-02  9.99828779e-01  0.00000000e+00  2.88972482e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.52606649300002
Centerline is valid?  [True, True]
Translation: X:114.21, Y:2.89, Z:0.00
[[ 9.99830087e-01 -1.84335662e-02  0.00000000e+00  1.14205799e+02]
 [ 1.84335662e-02  9.99830087e-01  0.00000000e+00  2.88998798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.58606649300002
Centerline is valid?  [True, True]
Translation: X:114.27, Y:2.89, Z:0.00
[[ 9.99869266e-01 -1.61694193e-02  0.00000000e+00  1.14267085e+02]
 [ 1.61694193e-02  9.99869266e-01  0.00000000e+00  2.89222061e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.64606649300002
Centerline is valid?  [True, True]
Translation: X:114.33, Y:2.89, Z:0.00
[[ 9.99894310e-01 -1.45385280e-02  0.00000000e+00  1.14328612e+02]
 [ 1.45385280e-02  9.99894310e-01  0.00000000e+00  2.89463388e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.70606649300001
Centerline is valid?  [True, True]
Translation: X:114.39, Y:2.90, Z:0.00
[[ 9.99933978e-01 -1.14908833e-02  0.00000000e+00  1.14390003e+02]
 [ 1.14908833e-02  9.99933978e-01  0.00000000e+00  2.89848483e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.76606649300001
Centerline is valid?  [True, True]
Translation: X:114.45, Y:2.90, Z:0.00
[[ 9.99959226e-01 -9.03028199e-03  0.00000000e+00  1.14452591e+02]
 [ 9.03028199e-03  9.99959226e-01  0.00000000e+00  2.89979538e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.82606649300001
Centerline is valid?  [True, True]
Translation: X:114.51, Y:2.90, Z:0.00
[[ 9.99989170e-01 -4.65392946e-03  0.00000000e+00  1.14513827e+02]
 [ 4.65392946e-03  9.99989170e-01  0.00000000e+00  2.89668699e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.88606649300002
Centerline is valid?  [True, True]
Translation: X:114.58, Y:2.89, Z:0.00
[[ 9.99959099e-01 -9.04436016e-03  0.00000000e+00  1.14576253e+02]
 [ 9.04436016e-03  9.99959099e-01  0.00000000e+00  2.89300289e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.94606649300002
Centerline is valid?  [True, True]
Translation: X:114.64, Y:2.89, Z:0.00
[[ 9.99945661e-01 -1.04247006e-02  0.00000000e+00  1.14639484e+02]
 [ 1.04247006e-02  9.99945661e-01  0.00000000e+00  2.89358870e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 114.00606649300002
Centerline is valid?  [True, True]
Translation: X:114.70, Y:2.89, Z:0.00
[[ 9.99910855e-01 -1.33522513e-02  0.00000000e+00  1.14701936e+02]
 [ 1.33522513e-02  9.99910855e-01  0.00000000e+00  2.89097162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.06606649300001
Centerline is valid?  [True, True]
Translation: X:114.76, Y:2.89, Z:0.00
[[ 9.99880773e-01 -1.54415106e-02  0.00000000e+00  1.14763022e+02]
 [ 1.54415106e-02  9.99880773e-01  0.00000000e+00  2.88666778e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.12606649300001
Centerline is valid?  [True, True]
Translation: X:114.82, Y:2.88, Z:0.00
[[ 9.99835112e-01 -1.81589992e-02  0.00000000e+00  1.14824923e+02]
 [ 1.81589992e-02  9.99835112e-01  0.00000000e+00  2.88366535e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.18606649300001
Centerline is valid?  [True, True]
Translation: X:114.89, Y:2.89, Z:0.00
[[ 9.99783452e-01 -2.08098476e-02  0.00000000e+00  1.14885312e+02]
 [ 2.08098476e-02  9.99783452e-01  0.00000000e+00  2.88587448e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.24606649300001
Centerline is valid?  [True, True]
Translation: X:114.95, Y:2.88, Z:0.00
[[ 9.99726420e-01 -2.33898674e-02  0.00000000e+00  1.14948818e+02]
 [ 2.33898674e-02  9.99726420e-01  0.00000000e+00  2.88449319e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.30606649300002
Centerline is valid?  [True, True]
Translation: X:115.01, Y:2.88, Z:0.00
[[ 9.99770847e-01 -2.14068469e-02  0.00000000e+00  1.15009880e+02]
 [ 2.14068469e-02  9.99770847e-01  0.00000000e+00  2.88271373e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.36606649300002
Centerline is valid?  [True, True]
Translation: X:115.07, Y:2.89, Z:0.00
[[ 9.99904479e-01 -1.38214526e-02  0.00000000e+00  1.15069958e+02]
 [ 1.38214526e-02  9.99904479e-01  0.00000000e+00  2.88629972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.42606649300002
Centerline is valid?  [True, True]
Translation: X:115.13, Y:2.89, Z:0.00
[[ 9.99921750e-01 -1.25097202e-02  0.00000000e+00  1.15130979e+02]
 [ 1.25097202e-02  9.99921750e-01  0.00000000e+00  2.88774805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.48606649300001
Centerline is valid?  [True, True]
Translation: X:115.19, Y:2.89, Z:0.00
[[ 9.99938757e-01 -1.10671867e-02  0.00000000e+00  1.15191882e+02]
 [ 1.10671867e-02  9.99938757e-01  0.00000000e+00  2.89100842e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.54606649300001
Centerline is valid?  [True, True]
Translation: X:115.25, Y:2.89, Z:0.00
[[ 9.99945611e-01 -1.04295639e-02  0.00000000e+00  1.15251889e+02]
 [ 1.04295639e-02  9.99945611e-01  0.00000000e+00  2.89144384e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.60606649300001
Centerline is valid?  [True, True]
Translation: X:115.31, Y:2.89, Z:0.00
[[ 9.99949938e-01 -1.00060737e-02  0.00000000e+00  1.15312982e+02]
 [ 1.00060737e-02  9.99949938e-01  0.00000000e+00  2.89200911e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.66606649300002
Centerline is valid?  [True, True]
Translation: X:115.37, Y:2.89, Z:0.00
[[ 9.99936443e-01 -1.12743151e-02  0.00000000e+00  1.15373213e+02]
 [ 1.12743151e-02  9.99936443e-01  0.00000000e+00  2.89283169e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.72606649300002
Centerline is valid?  [True, True]
Translation: X:115.44, Y:2.89, Z:0.00
[[ 9.99961757e-01 -8.74554967e-03  0.00000000e+00  1.15435701e+02]
 [ 8.74554967e-03  9.99961757e-01  0.00000000e+00  2.89434538e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.78606649300002
Centerline is valid?  [True, True]
Translation: X:115.50, Y:2.89, Z:0.00
[[ 9.99969807e-01 -7.77075102e-03  0.00000000e+00  1.15495275e+02]
 [ 7.77075102e-03  9.99969807e-01  0.00000000e+00  2.89054471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.84606649300001
Centerline is valid?  [True, True]
Translation: X:115.56, Y:2.89, Z:0.00
[[ 9.99982680e-01 -5.88559272e-03  0.00000000e+00  1.15556924e+02]
 [ 5.88559272e-03  9.99982680e-01  0.00000000e+00  2.88758120e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.90606649300001
Centerline is valid?  [True, True]
Translation: X:115.62, Y:2.89, Z:0.00
[[ 9.99995049e-01  3.14661383e-03  0.00000000e+00  1.15617787e+02]
 [-3.14661383e-03  9.99995049e-01  0.00000000e+00  2.88683044e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.96606649300001
Centerline is valid?  [True, True]
Translation: X:115.68, Y:2.89, Z:0.00
[[ 9.99998509e-01 -1.72673894e-03  0.00000000e+00  1.15676695e+02]
 [ 1.72673894e-03  9.99998509e-01  0.00000000e+00  2.88689470e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.02606649300002
Centerline is valid?  [True, True]
Translation: X:115.74, Y:2.89, Z:0.00
[[ 9.99964792e-01 -8.39140955e-03  0.00000000e+00  1.15737388e+02]
 [ 8.39140955e-03  9.99964792e-01  0.00000000e+00  2.88553008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.08606649300002
Centerline is valid?  [True, True]
Translation: X:115.80, Y:2.88, Z:0.00
[[ 9.99911933e-01 -1.32712284e-02  0.00000000e+00  1.15799229e+02]
 [ 1.32712284e-02  9.99911933e-01  0.00000000e+00  2.87845310e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.14606649300002
Centerline is valid?  [True, True]
Translation: X:115.86, Y:2.88, Z:0.00
[[ 9.99875614e-01 -1.57719988e-02  0.00000000e+00  1.15861324e+02]
 [ 1.57719988e-02  9.99875614e-01  0.00000000e+00  2.87870099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 115.20606649300001
Centerline is valid?  [True, True]
Translation: X:115.92, Y:2.88, Z:0.00
[[ 9.99713299e-01 -2.39440801e-02  0.00000000e+00  1.15920689e+02]
 [ 2.39440801e-02  9.99713299e-01  0.00000000e+00  2.87562452e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.26606649300001
Centerline is valid?  [True, True]
Translation: X:115.98, Y:2.87, Z:0.00
[[ 9.99625512e-01 -2.73648682e-02  0.00000000e+00  1.15981917e+02]
 [ 2.73648682e-02  9.99625512e-01  0.00000000e+00  2.87262866e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.32606649300001
Centerline is valid?  [True, True]
Translation: X:116.04, Y:2.87, Z:0.00
[[ 9.99528616e-01 -3.07009121e-02  0.00000000e+00  1.16043398e+02]
 [ 3.07009121e-02  9.99528616e-01  0.00000000e+00  2.87274330e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.38606649300002
Centerline is valid?  [True, True]
Translation: X:116.10, Y:2.87, Z:0.00
[[ 9.99391130e-01 -3.48908317e-02  0.00000000e+00  1.16102827e+02]
 [ 3.48908317e-02  9.99391130e-01  0.00000000e+00  2.87402171e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.44606649300002
Centerline is valid?  [True, True]
Translation: X:116.16, Y:2.88, Z:0.00
[[ 9.99404009e-01 -3.45199374e-02  0.00000000e+00  1.16164817e+02]
 [ 3.45199374e-02  9.99404009e-01  0.00000000e+00  2.87578305e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.50606649300002
Centerline is valid?  [True, True]
Translation: X:116.23, Y:2.88, Z:0.00
[[ 9.99589442e-01 -2.86521786e-02  0.00000000e+00  1.16225579e+02]
 [ 2.86521786e-02  9.99589442e-01  0.00000000e+00  2.87876685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.56606649300001
Centerline is valid?  [True, True]
Translation: X:116.29, Y:2.88, Z:0.00
[[ 9.99661430e-01 -2.60196928e-02  0.00000000e+00  1.16287249e+02]
 [ 2.60196928e-02  9.99661430e-01  0.00000000e+00  2.88118661e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.62606649300001
Centerline is valid?  [True, True]
Translation: X:116.35, Y:2.88, Z:0.00
[[ 9.99669559e-01 -2.57054901e-02  0.00000000e+00  1.16348133e+02]
 [ 2.57054901e-02  9.99669559e-01  0.00000000e+00  2.88385721e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.68606649300001
Centerline is valid?  [True, True]
Translation: X:116.41, Y:2.88, Z:0.00
[[ 9.99586489e-01 -2.87550239e-02  0.00000000e+00  1.16408492e+02]
 [ 2.87550239e-02  9.99586489e-01  0.00000000e+00  2.88104143e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.74606649300001
Centerline is valid?  [True, True]
Translation: X:116.47, Y:2.88, Z:0.00
[[ 9.99534791e-01 -3.04991968e-02  0.00000000e+00  1.16471161e+02]
 [ 3.04991968e-02  9.99534791e-01  0.00000000e+00  2.88263354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.80606649300002
Centerline is valid?  [True, True]
Translation: X:116.53, Y:2.88, Z:0.00
[[ 9.99472623e-01 -3.24726904e-02  0.00000000e+00  1.16531427e+02]
 [ 3.24726904e-02  9.99472623e-01  0.00000000e+00  2.88162388e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.86606649300002
Centerline is valid?  [True, True]
Translation: X:116.59, Y:2.88, Z:0.00
[[ 9.99332331e-01 -3.65361883e-02  0.00000000e+00  1.16592063e+02]
 [ 3.65361883e-02  9.99332331e-01  0.00000000e+00  2.87780849e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.92606649300002
Centerline is valid?  [True, True]
Translation: X:116.65, Y:2.88, Z:0.00
[[ 9.99256552e-01 -3.85531117e-02  0.00000000e+00  1.16654969e+02]
 [ 3.85531117e-02  9.99256552e-01  0.00000000e+00  2.87961336e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.98606649300001
Centerline is valid?  [True, True]
Translation: X:116.72, Y:2.88, Z:0.00
[[ 9.99155783e-01 -4.10818927e-02  0.00000000e+00  1.16715152e+02]
 [ 4.10818927e-02  9.99155783e-01  0.00000000e+00  2.88320490e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.04606649300001
Centerline is valid?  [True, True]
Translation: X:116.78, Y:2.88, Z:0.00
[[ 9.99246397e-01 -3.88154462e-02  0.00000000e+00  1.16776735e+02]
 [ 3.88154462e-02  9.99246397e-01  0.00000000e+00  2.88473195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.10606649300001
Centerline is valid?  [True, True]
Translation: X:116.84, Y:2.89, Z:0.00
[[ 9.99364256e-01 -3.56522728e-02  0.00000000e+00  1.16837097e+02]
 [ 3.56522728e-02  9.99364256e-01  0.00000000e+00  2.88665035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.16606649300002
Centerline is valid?  [True, True]
Translation: X:116.90, Y:2.89, Z:0.00
[[ 9.99684658e-01 -2.51114346e-02  0.00000000e+00  1.16897846e+02]
 [ 2.51114346e-02  9.99684658e-01  0.00000000e+00  2.89387058e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.22606649300002
Centerline is valid?  [True, True]
Translation: X:116.96, Y:2.90, Z:0.00
[[ 9.99936910e-01 -1.12328213e-02  0.00000000e+00  1.16957730e+02]
 [ 1.12328213e-02  9.99936910e-01  0.00000000e+00  2.89925924e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.28606649300002
Centerline is valid?  [True, True]
Translation: X:117.02, Y:2.90, Z:0.00
[[ 9.99969620e-01 -7.79486750e-03  0.00000000e+00  1.17018246e+02]
 [ 7.79486750e-03  9.99969620e-01  0.00000000e+00  2.89992675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.34606649300001
Centerline is valid?  [True, True]
Translation: X:117.08, Y:2.90, Z:0.00
[[ 9.99958709e-01 -9.08739011e-03  0.00000000e+00  1.17081256e+02]
 [ 9.08739011e-03  9.99958709e-01  0.00000000e+00  2.90102966e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 116.40606649300001
Centerline is valid?  [True, True]
Translation: X:117.14, Y:2.90, Z:0.00
[[ 9.99927883e-01 -1.20095686e-02  0.00000000e+00  1.17143383e+02]
 [ 1.20095686e-02  9.99927883e-01  0.00000000e+00  2.90397609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.46606649300001
Centerline is valid?  [True, True]
Translation: X:117.20, Y:2.91, Z:0.00
[[ 9.99918123e-01 -1.27963915e-02  0.00000000e+00  1.17204222e+02]
 [ 1.27963915e-02  9.99918123e-01  0.00000000e+00  2.90776784e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.52606649300002
Centerline is valid?  [True, True]
Translation: X:117.26, Y:2.91, Z:0.00
[[ 9.99902850e-01 -1.39387979e-02  0.00000000e+00  1.17264330e+02]
 [ 1.39387979e-02  9.99902850e-01  0.00000000e+00  2.90872091e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.58606649300002
Centerline is valid?  [True, True]
Translation: X:117.33, Y:2.90, Z:0.00
[[ 9.99881485e-01 -1.53953388e-02  0.00000000e+00  1.17326066e+02]
 [ 1.53953388e-02  9.99881485e-01  0.00000000e+00  2.90310709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.64606649300002
Centerline is valid?  [True, True]
Translation: X:117.39, Y:2.90, Z:0.00
[[ 9.99853811e-01 -1.70984374e-02  0.00000000e+00  1.17388901e+02]
 [ 1.70984374e-02  9.99853811e-01  0.00000000e+00  2.90199063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.70606649300001
Centerline is valid?  [True, True]
Translation: X:117.45, Y:2.90, Z:0.00
[[ 9.99825975e-01 -1.86552885e-02  0.00000000e+00  1.17449019e+02]
 [ 1.86552885e-02  9.99825975e-01  0.00000000e+00  2.90493463e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.76606649300001
Centerline is valid?  [True, True]
Translation: X:117.51, Y:2.90, Z:0.00
[[ 9.99818018e-01 -1.90769571e-02  0.00000000e+00  1.17509700e+02]
 [ 1.90769571e-02  9.99818018e-01  0.00000000e+00  2.90470594e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.82606649300001
Centerline is valid?  [True, True]
Translation: X:117.57, Y:2.91, Z:0.00
[[ 9.99925239e-01 -1.22276647e-02  0.00000000e+00  1.17571925e+02]
 [ 1.22276647e-02  9.99925239e-01  0.00000000e+00  2.90544012e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.88606649300002
Centerline is valid?  [True, True]
Translation: X:117.63, Y:2.91, Z:0.00
[[ 9.99990131e-01 -4.44281284e-03  0.00000000e+00  1.17632000e+02]
 [ 4.44281284e-03  9.99990131e-01  0.00000000e+00  2.90715065e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.94606649300002
Centerline is valid?  [True, True]
Translation: X:117.69, Y:2.91, Z:0.00
[[ 9.99995649e-01 -2.94997944e-03  0.00000000e+00  1.17694393e+02]
 [ 2.94997944e-03  9.99995649e-01  0.00000000e+00  2.90657962e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.00606649300002
Centerline is valid?  [True, True]
Translation: X:117.76, Y:2.91, Z:0.00
[[ 9.99980139e-01 -6.30243052e-03  0.00000000e+00  1.17755879e+02]
 [ 6.30243052e-03  9.99980139e-01  0.00000000e+00  2.90545474e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.06606649300001
Centerline is valid?  [True, True]
Translation: X:117.82, Y:2.90, Z:0.00
[[ 9.99894583e-01 -1.45197271e-02  0.00000000e+00  1.17816867e+02]
 [ 1.45197271e-02  9.99894583e-01  0.00000000e+00  2.90270084e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.12606649300001
Centerline is valid?  [True, True]
Translation: X:117.88, Y:2.90, Z:0.00
[[ 9.99828516e-01 -1.85185957e-02  0.00000000e+00  1.17878689e+02]
 [ 1.85185957e-02  9.99828516e-01  0.00000000e+00  2.89912948e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.18606649300001
Centerline is valid?  [True, True]
Translation: X:117.94, Y:2.90, Z:0.00
[[ 9.99839329e-01 -1.79253153e-02  0.00000000e+00  1.17940676e+02]
 [ 1.79253153e-02  9.99839329e-01  0.00000000e+00  2.89799962e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.24606649300001
Centerline is valid?  [True, True]
Translation: X:118.00, Y:2.90, Z:0.00
[[ 9.99754517e-01 -2.21563841e-02  0.00000000e+00  1.18000901e+02]
 [ 2.21563841e-02  9.99754517e-01  0.00000000e+00  2.89745447e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.30606649300002
Centerline is valid?  [True, True]
Translation: X:118.06, Y:2.89, Z:0.00
[[ 9.99706940e-01 -2.42081516e-02  0.00000000e+00  1.18062338e+02]
 [ 2.42081516e-02  9.99706940e-01  0.00000000e+00  2.89210102e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.36606649300002
Centerline is valid?  [True, True]
Translation: X:118.12, Y:2.89, Z:0.00
[[ 9.99678850e-01 -2.53416080e-02  0.00000000e+00  1.18124096e+02]
 [ 2.53416080e-02  9.99678850e-01  0.00000000e+00  2.89196825e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.42606649300002
Centerline is valid?  [True, True]
Translation: X:118.19, Y:2.90, Z:0.00
[[ 9.99783630e-01 -2.08012692e-02  0.00000000e+00  1.18185353e+02]
 [ 2.08012692e-02  9.99783630e-01  0.00000000e+00  2.89733435e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.48606649300001
Centerline is valid?  [True, True]
Translation: X:118.25, Y:2.90, Z:0.00
[[ 9.99871817e-01 -1.60109335e-02  0.00000000e+00  1.18246590e+02]
 [ 1.60109335e-02  9.99871817e-01  0.00000000e+00  2.89716471e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.54606649300001
Centerline is valid?  [True, True]
Translation: X:118.31, Y:2.89, Z:0.00
[[ 9.99798520e-01 -2.00728589e-02  0.00000000e+00  1.18307466e+02]
 [ 2.00728589e-02  9.99798520e-01  0.00000000e+00  2.89257406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 117.60606649300001
Centerline is valid?  [True, True]
Translation: X:118.37, Y:2.89, Z:0.00
[[ 9.99783939e-01 -2.07864454e-02  0.00000000e+00  1.18368724e+02]
 [ 2.07864454e-02  9.99783939e-01  0.00000000e+00  2.89311317e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.66606649300002
Centerline is valid?  [True, True]
Translation: X:118.43, Y:2.90, Z:0.00
[[ 9.99801130e-01 -1.99424038e-02  0.00000000e+00  1.18430851e+02]
 [ 1.99424038e-02  9.99801130e-01  0.00000000e+00  2.89763421e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.72606649300002
Centerline is valid?  [True, True]
Translation: X:118.49, Y:2.90, Z:0.00
[[ 9.99826440e-01 -1.86303472e-02  0.00000000e+00  1.18492040e+02]
 [ 1.86303472e-02  9.99826440e-01  0.00000000e+00  2.89516935e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.78606649300002
Centerline is valid?  [True, True]
Translation: X:118.55, Y:2.89, Z:0.00
[[ 9.99822935e-01 -1.88174918e-02  0.00000000e+00  1.18553843e+02]
 [ 1.88174918e-02  9.99822935e-01  0.00000000e+00  2.89443422e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.84606649300001
Centerline is valid?  [True, True]
Translation: X:118.62, Y:2.89, Z:0.00
[[ 9.99796153e-01 -2.01904067e-02  0.00000000e+00  1.18615444e+02]
 [ 2.01904067e-02  9.99796153e-01  0.00000000e+00  2.89397839e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.90606649300001
Centerline is valid?  [True, True]
Translation: X:118.68, Y:2.90, Z:0.00
[[ 9.99854891e-01 -1.70351771e-02  0.00000000e+00  1.18676324e+02]
 [ 1.70351771e-02  9.99854891e-01  0.00000000e+00  2.89595881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.96606649300001
Centerline is valid?  [True, True]
Translation: X:118.74, Y:2.90, Z:0.00
[[ 9.99874110e-01 -1.58670810e-02  0.00000000e+00  1.18738475e+02]
 [ 1.58670810e-02  9.99874110e-01  0.00000000e+00  2.89721771e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.02606649300002
Centerline is valid?  [True, True]
Translation: X:118.80, Y:2.90, Z:0.00
[[ 9.99792490e-01 -2.03709976e-02  0.00000000e+00  1.18800948e+02]
 [ 2.03709976e-02  9.99792490e-01  0.00000000e+00  2.89567074e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.08606649300002
Centerline is valid?  [True, True]
Translation: X:118.86, Y:2.90, Z:0.00
[[ 9.99789335e-01 -2.05252497e-02  0.00000000e+00  1.18862399e+02]
 [ 2.05252497e-02  9.99789335e-01  0.00000000e+00  2.89678573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.14606649300002
Centerline is valid?  [True, True]
Translation: X:118.93, Y:2.90, Z:0.00
[[ 9.99825622e-01 -1.86742213e-02  0.00000000e+00  1.18925044e+02]
 [ 1.86742213e-02  9.99825622e-01  0.00000000e+00  2.89680341e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.20606649300001
Centerline is valid?  [True, True]
Translation: X:118.99, Y:2.89, Z:0.00
[[ 9.99752629e-01 -2.22414253e-02  0.00000000e+00  1.18985925e+02]
 [ 2.22414253e-02  9.99752629e-01  0.00000000e+00  2.89462240e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.26606649300001
Centerline is valid?  [True, True]
Translation: X:119.05, Y:2.90, Z:0.00
[[ 9.99791406e-01 -2.04241132e-02  0.00000000e+00  1.19048290e+02]
 [ 2.04241132e-02  9.99791406e-01  0.00000000e+00  2.89509549e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.32606649300001
Centerline is valid?  [True, True]
Translation: X:119.11, Y:2.89, Z:0.00
[[ 9.99828444e-01 -1.85224851e-02  0.00000000e+00  1.19108585e+02]
 [ 1.85224851e-02  9.99828444e-01  0.00000000e+00  2.89190477e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.38606649300002
Centerline is valid?  [True, True]
Translation: X:119.17, Y:2.89, Z:0.00
[[ 9.99796022e-01 -2.01968827e-02  0.00000000e+00  1.19169942e+02]
 [ 2.01968827e-02  9.99796022e-01  0.00000000e+00  2.89370781e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.44606649300002
Centerline is valid?  [True, True]
Translation: X:119.23, Y:2.89, Z:0.00
[[ 9.99774129e-01 -2.12530185e-02  0.00000000e+00  1.19232212e+02]
 [ 2.12530185e-02  9.99774129e-01  0.00000000e+00  2.89169430e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.50606649300002
Centerline is valid?  [True, True]
Translation: X:119.29, Y:2.89, Z:0.00
[[ 9.99956695e-01 -9.30632972e-03  0.00000000e+00  1.19293258e+02]
 [ 9.30632972e-03  9.99956695e-01  0.00000000e+00  2.89410598e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.56606649300001
Centerline is valid?  [True, True]
Translation: X:119.36, Y:2.90, Z:0.00
[[ 9.99999995e-01 -9.52748120e-05  0.00000000e+00  1.19355397e+02]
 [ 9.52748120e-05  9.99999995e-01  0.00000000e+00  2.89662809e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.62606649300001
Centerline is valid?  [True, True]
Translation: X:119.42, Y:2.89, Z:0.00
[[ 9.99999927e-01  3.80943282e-04  0.00000000e+00  1.19416050e+02]
 [-3.80943282e-04  9.99999927e-01  0.00000000e+00  2.89130733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.68606649300001
Centerline is valid?  [True, True]
Translation: X:119.48, Y:2.89, Z:0.00
[[ 9.99989220e-01 -4.64327901e-03  0.00000000e+00  1.19476602e+02]
 [ 4.64327901e-03  9.99989220e-01  0.00000000e+00  2.88992724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.74606649300001
Centerline is valid?  [True, True]
Translation: X:119.54, Y:2.89, Z:0.00
[[ 9.99953788e-01 -9.61358641e-03  0.00000000e+00  1.19537748e+02]
 [ 9.61358641e-03  9.99953788e-01  0.00000000e+00  2.89049813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 118.80606649300002
Centerline is valid?  [True, True]
Translation: X:119.60, Y:2.89, Z:0.00
[[ 9.99917290e-01 -1.28612899e-02  0.00000000e+00  1.19599760e+02]
 [ 1.28612899e-02  9.99917290e-01  0.00000000e+00  2.89266588e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.86606649300002
Centerline is valid?  [True, True]
Translation: X:119.66, Y:2.89, Z:0.00
[[ 9.99917063e-01 -1.28789529e-02  0.00000000e+00  1.19660973e+02]
 [ 1.28789529e-02  9.99917063e-01  0.00000000e+00  2.89192548e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.92606649300002
Centerline is valid?  [True, True]
Translation: X:119.72, Y:2.89, Z:0.00
[[ 9.99935549e-01 -1.13532976e-02  0.00000000e+00  1.19721369e+02]
 [ 1.13532976e-02  9.99935549e-01  0.00000000e+00  2.88902828e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.98606649300001
Centerline is valid?  [True, True]
Translation: X:119.78, Y:2.89, Z:0.00
[[ 9.99925205e-01 -1.22304828e-02  0.00000000e+00  1.19782892e+02]
 [ 1.22304828e-02  9.99925205e-01  0.00000000e+00  2.89352121e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.04606649300001
Centerline is valid?  [True, True]
Translation: X:119.85, Y:2.89, Z:0.00
[[ 9.99921851e-01 -1.25016787e-02  0.00000000e+00  1.19845428e+02]
 [ 1.25016787e-02  9.99921851e-01  0.00000000e+00  2.89426664e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.10606649300001
Centerline is valid?  [True, True]
Translation: X:119.91, Y:2.89, Z:0.00
[[ 9.99947740e-01 -1.02233268e-02  0.00000000e+00  1.19907790e+02]
 [ 1.02233268e-02  9.99947740e-01  0.00000000e+00  2.89416071e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.16606649300002
Centerline is valid?  [True, True]
Translation: X:119.97, Y:2.89, Z:0.00
[[ 9.99958545e-01 -9.10537600e-03  0.00000000e+00  1.19970266e+02]
 [ 9.10537600e-03  9.99958545e-01  0.00000000e+00  2.89497222e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.22606649300002
Centerline is valid?  [True, True]
Translation: X:120.03, Y:2.90, Z:0.00
[[ 9.99989161e-01 -4.65590089e-03  0.00000000e+00  1.20031495e+02]
 [ 4.65590089e-03  9.99989161e-01  0.00000000e+00  2.89912433e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.28606649300002
Centerline is valid?  [True, True]
Translation: X:120.09, Y:2.90, Z:0.00
[[ 9.99994744e-01 -3.24225560e-03  0.00000000e+00  1.20092885e+02]
 [ 3.24225560e-03  9.99994744e-01  0.00000000e+00  2.89998390e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.34606649300001
Centerline is valid?  [True, True]
Translation: X:120.16, Y:2.90, Z:0.00
[[ 9.99997207e-01 -2.36334897e-03  0.00000000e+00  1.20155133e+02]
 [ 2.36334897e-03  9.99997207e-01  0.00000000e+00  2.90001451e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.40606649300001
Centerline is valid?  [True, True]
Translation: X:120.22, Y:2.90, Z:0.00
[[ 9.99982360e-01 -5.93964607e-03  0.00000000e+00  1.20215581e+02]
 [ 5.93964607e-03  9.99982360e-01  0.00000000e+00  2.89654562e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.46606649300001
Centerline is valid?  [True, True]
Translation: X:120.28, Y:2.90, Z:0.00
[[ 9.99926716e-01 -1.21062757e-02  0.00000000e+00  1.20276473e+02]
 [ 1.21062757e-02  9.99926716e-01  0.00000000e+00  2.89690461e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.52606649300002
Centerline is valid?  [True, True]
Translation: X:120.34, Y:2.90, Z:0.00
[[ 9.99882890e-01 -1.53037684e-02  0.00000000e+00  1.20335818e+02]
 [ 1.53037684e-02  9.99882890e-01  0.00000000e+00  2.90119532e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.58606649300002
Centerline is valid?  [True, True]
Translation: X:120.40, Y:2.90, Z:0.00
[[ 9.99938199e-01 -1.11174622e-02  0.00000000e+00  1.20396642e+02]
 [ 1.11174622e-02  9.99938199e-01  0.00000000e+00  2.89624564e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.64606649300002
Centerline is valid?  [True, True]
Translation: X:120.46, Y:2.89, Z:0.00
[[ 9.99944245e-01 -1.05596494e-02  0.00000000e+00  1.20458175e+02]
 [ 1.05596494e-02  9.99944245e-01  0.00000000e+00  2.89443570e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.70606649300001
Centerline is valid?  [True, True]
Translation: X:120.52, Y:2.90, Z:0.00
[[ 9.99915121e-01 -1.30288242e-02  0.00000000e+00  1.20518760e+02]
 [ 1.30288242e-02  9.99915121e-01  0.00000000e+00  2.90101139e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.76606649300001
Centerline is valid?  [True, True]
Translation: X:120.58, Y:2.90, Z:0.00
[[ 9.99921842e-01 -1.25023660e-02  0.00000000e+00  1.20581039e+02]
 [ 1.25023660e-02  9.99921842e-01  0.00000000e+00  2.90301234e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.82606649300001
Centerline is valid?  [True, True]
Translation: X:120.64, Y:2.89, Z:0.00
[[ 9.99934887e-01 -1.14114994e-02  0.00000000e+00  1.20642416e+02]
 [ 1.14114994e-02  9.99934887e-01  0.00000000e+00  2.89254673e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.88606649300002
Centerline is valid?  [True, True]
Translation: X:120.70, Y:2.89, Z:0.00
[[ 9.99941380e-01 -1.08276270e-02  0.00000000e+00  1.20704338e+02]
 [ 1.08276270e-02  9.99941380e-01  0.00000000e+00  2.88914286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.94606649300002
Centerline is valid?  [True, True]
Translation: X:120.76, Y:2.89, Z:0.00
[[ 9.99941482e-01 -1.08181649e-02  0.00000000e+00  1.20764861e+02]
 [ 1.08181649e-02  9.99941482e-01  0.00000000e+00  2.89183236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 120.00606649300002
Centerline is valid?  [True, True]
Translation: X:120.83, Y:2.89, Z:0.00
[[ 9.99896133e-01 -1.44125987e-02  0.00000000e+00  1.20825706e+02]
 [ 1.44125987e-02  9.99896133e-01  0.00000000e+00  2.88536235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.06606649300002
Centerline is valid?  [True, True]
Translation: X:120.89, Y:2.88, Z:0.00
[[ 9.99828731e-01 -1.85069747e-02  0.00000000e+00  1.20886715e+02]
 [ 1.85069747e-02  9.99828731e-01  0.00000000e+00  2.87932818e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.12606649300001
Centerline is valid?  [True, True]
Translation: X:120.95, Y:2.89, Z:0.00
[[ 9.99834498e-01 -1.81927463e-02  0.00000000e+00  1.20949320e+02]
 [ 1.81927463e-02  9.99834498e-01  0.00000000e+00  2.88511798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.18606649300001
Centerline is valid?  [True, True]
Translation: X:121.01, Y:2.88, Z:0.00
[[ 9.99847645e-01 -1.74552704e-02  0.00000000e+00  1.21009483e+02]
 [ 1.74552704e-02  9.99847645e-01  0.00000000e+00  2.88351857e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.24606649300001
Centerline is valid?  [True, True]
Translation: X:121.07, Y:2.88, Z:0.00
[[ 9.99986028e-01 -5.28612722e-03  0.00000000e+00  1.21068943e+02]
 [ 5.28612722e-03  9.99986028e-01  0.00000000e+00  2.88130784e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.30606649300002
Centerline is valid?  [True, True]
Translation: X:121.13, Y:2.88, Z:0.00
[[ 9.99962102e-01  8.70598005e-03  0.00000000e+00  1.21130157e+02]
 [-8.70598005e-03  9.99962102e-01  0.00000000e+00  2.88340309e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.36606649300002
Centerline is valid?  [True, True]
Translation: X:121.19, Y:2.88, Z:0.00
[[ 9.99818886e-01  1.90314365e-02  0.00000000e+00  1.21190678e+02]
 [-1.90314365e-02  9.99818886e-01  0.00000000e+00  2.88184849e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.42606649300002
Centerline is valid?  [True, True]
Translation: X:121.25, Y:2.88, Z:0.00
[[ 9.99866952e-01  1.63119271e-02  0.00000000e+00  1.21249878e+02]
 [-1.63119271e-02  9.99866952e-01  0.00000000e+00  2.87757273e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.48606649300001
Centerline is valid?  [True, True]
Translation: X:121.31, Y:2.87, Z:0.00
[[ 9.99996144e-01  2.77717125e-03  0.00000000e+00  1.21309046e+02]
 [-2.77717125e-03  9.99996144e-01  0.00000000e+00  2.87194713e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.54606649300001
Centerline is valid?  [True, True]
Translation: X:121.37, Y:2.87, Z:0.00
[[ 9.99953434e-01 -9.65039693e-03  0.00000000e+00  1.21367839e+02]
 [ 9.65039693e-03  9.99953434e-01  0.00000000e+00  2.87121476e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.60606649300001
Centerline is valid?  [True, True]
Translation: X:121.43, Y:2.87, Z:0.00
[[ 9.99910192e-01 -1.34018014e-02  0.00000000e+00  1.21430081e+02]
 [ 1.34018014e-02  9.99910192e-01  0.00000000e+00  2.86821672e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.66606649300002
Centerline is valid?  [True, True]
Translation: X:121.49, Y:2.87, Z:0.00
[[ 9.99918951e-01 -1.27315087e-02  0.00000000e+00  1.21492735e+02]
 [ 1.27315087e-02  9.99918951e-01  0.00000000e+00  2.86533308e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.72606649300002
Centerline is valid?  [True, True]
Translation: X:121.55, Y:2.87, Z:0.00
[[ 9.99955970e-01 -9.38396172e-03  0.00000000e+00  1.21554932e+02]
 [ 9.38396172e-03  9.99955970e-01  0.00000000e+00  2.86996023e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.78606649300002
Centerline is valid?  [True, True]
Translation: X:121.62, Y:2.87, Z:0.00
[[ 9.99954373e-01 -9.55262019e-03  0.00000000e+00  1.21617819e+02]
 [ 9.55262019e-03  9.99954373e-01  0.00000000e+00  2.87220599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.84606649300001
Centerline is valid?  [True, True]
Translation: X:121.68, Y:2.87, Z:0.00
[[ 9.99917911e-01 -1.28129056e-02  0.00000000e+00  1.21678753e+02]
 [ 1.28129056e-02  9.99917911e-01  0.00000000e+00  2.87110612e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.90606649300001
Centerline is valid?  [True, True]
Translation: X:121.74, Y:2.87, Z:0.00
[[ 9.99852680e-01 -1.71644699e-02  0.00000000e+00  1.21738969e+02]
 [ 1.71644699e-02  9.99852680e-01  0.00000000e+00  2.87124888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.96606649300001
Centerline is valid?  [True, True]
Translation: X:121.80, Y:2.88, Z:0.00
[[ 9.99740858e-01 -2.27643890e-02  0.00000000e+00  1.21799789e+02]
 [ 2.27643890e-02  9.99740858e-01  0.00000000e+00  2.87681848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.02606649300002
Centerline is valid?  [True, True]
Translation: X:121.86, Y:2.88, Z:0.00
[[ 9.99649277e-01 -2.64824871e-02  0.00000000e+00  1.21862062e+02]
 [ 2.64824871e-02  9.99649277e-01  0.00000000e+00  2.88023821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.08606649300002
Centerline is valid?  [True, True]
Translation: X:121.92, Y:2.88, Z:0.00
[[ 9.99522898e-01 -3.08864948e-02  0.00000000e+00  1.21921854e+02]
 [ 3.08864948e-02  9.99522898e-01  0.00000000e+00  2.87769901e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.14606649300002
Centerline is valid?  [True, True]
Translation: X:121.98, Y:2.88, Z:0.00
[[ 9.99504788e-01 -3.14671148e-02  0.00000000e+00  1.21983413e+02]
 [ 3.14671148e-02  9.99504788e-01  0.00000000e+00  2.87930985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 121.20606649300001
Centerline is valid?  [True, True]
Translation: X:122.04, Y:2.88, Z:0.00
[[ 9.99602434e-01 -2.81952961e-02  0.00000000e+00  1.22044090e+02]
 [ 2.81952961e-02  9.99602434e-01  0.00000000e+00  2.88088652e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.26606649300001
Centerline is valid?  [True, True]
Translation: X:122.10, Y:2.88, Z:0.00
[[ 9.99737383e-01 -2.29164944e-02  0.00000000e+00  1.22104427e+02]
 [ 2.29164944e-02  9.99737383e-01  0.00000000e+00  2.88495159e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.32606649300001
Centerline is valid?  [True, True]
Translation: X:122.16, Y:2.88, Z:0.00
[[ 9.99866724e-01 -1.63258619e-02  0.00000000e+00  1.22164097e+02]
 [ 1.63258619e-02  9.99866724e-01  0.00000000e+00  2.88413332e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.38606649300002
Centerline is valid?  [True, True]
Translation: X:122.22, Y:2.88, Z:0.00
[[ 9.99880449e-01 -1.54624441e-02  0.00000000e+00  1.22224935e+02]
 [ 1.54624441e-02  9.99880449e-01  0.00000000e+00  2.88490905e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.44606649300002
Centerline is valid?  [True, True]
Translation: X:122.29, Y:2.89, Z:0.00
[[ 9.99879659e-01 -1.55134858e-02  0.00000000e+00  1.22287243e+02]
 [ 1.55134858e-02  9.99879659e-01  0.00000000e+00  2.88644889e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.50606649300002
Centerline is valid?  [True, True]
Translation: X:122.35, Y:2.89, Z:0.00
[[ 9.99918487e-01 -1.27679057e-02  0.00000000e+00  1.22348741e+02]
 [ 1.27679057e-02  9.99918487e-01  0.00000000e+00  2.88891838e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.56606649300002
Centerline is valid?  [True, True]
Translation: X:122.41, Y:2.89, Z:0.00
[[ 9.99917579e-01 -1.28388061e-02  0.00000000e+00  1.22410632e+02]
 [ 1.28388061e-02  9.99917579e-01  0.00000000e+00  2.88805812e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.62606649300001
Centerline is valid?  [True, True]
Translation: X:122.47, Y:2.89, Z:0.00
[[ 9.99932400e-01 -1.16273645e-02  0.00000000e+00  1.22472522e+02]
 [ 1.16273645e-02  9.99932400e-01  0.00000000e+00  2.89040084e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.68606649300001
Centerline is valid?  [True, True]
Translation: X:122.54, Y:2.89, Z:0.00
[[ 9.99931488e-01 -1.17054849e-02  0.00000000e+00  1.22535170e+02]
 [ 1.17054849e-02  9.99931488e-01  0.00000000e+00  2.89186320e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.74606649300001
Centerline is valid?  [True, True]
Translation: X:122.60, Y:2.89, Z:0.00
[[ 9.99948268e-01 -1.01715603e-02  0.00000000e+00  1.22595274e+02]
 [ 1.01715603e-02  9.99948268e-01  0.00000000e+00  2.89224803e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.80606649300002
Centerline is valid?  [True, True]
Translation: X:122.66, Y:2.89, Z:0.00
[[ 9.99937603e-01 -1.11709819e-02  0.00000000e+00  1.22656573e+02]
 [ 1.11709819e-02  9.99937603e-01  0.00000000e+00  2.88977208e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.86606649300002
Centerline is valid?  [True, True]
Translation: X:122.72, Y:2.89, Z:0.00
[[ 9.99908339e-01 -1.35393482e-02  0.00000000e+00  1.22717126e+02]
 [ 1.35393482e-02  9.99908339e-01  0.00000000e+00  2.88930596e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.92606649300002
Centerline is valid?  [True, True]
Translation: X:122.78, Y:2.89, Z:0.00
[[ 9.99849434e-01 -1.73524842e-02  0.00000000e+00  1.22779170e+02]
 [ 1.73524842e-02  9.99849434e-01  0.00000000e+00  2.88867725e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.98606649300001
Centerline is valid?  [True, True]
Translation: X:122.84, Y:2.88, Z:0.00
[[ 9.99784280e-01 -2.07700311e-02  0.00000000e+00  1.22841472e+02]
 [ 2.07700311e-02  9.99784280e-01  0.00000000e+00  2.88464482e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.04606649300001
Centerline is valid?  [True, True]
Translation: X:122.90, Y:2.88, Z:0.00
[[ 9.99716677e-01 -2.38026518e-02  0.00000000e+00  1.22903557e+02]
 [ 2.38026518e-02  9.99716677e-01  0.00000000e+00  2.88201745e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.10606649300001
Centerline is valid?  [True, True]
Translation: X:122.96, Y:2.88, Z:0.00
[[ 9.99717647e-01 -2.37618821e-02  0.00000000e+00  1.22963882e+02]
 [ 2.37618821e-02  9.99717647e-01  0.00000000e+00  2.88261696e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.16606649300002
Centerline is valid?  [True, True]
Translation: X:123.02, Y:2.88, Z:0.00
[[ 9.99784295e-01 -2.07692748e-02  0.00000000e+00  1.23024190e+02]
 [ 2.07692748e-02  9.99784295e-01  0.00000000e+00  2.88254338e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.22606649300002
Centerline is valid?  [True, True]
Translation: X:123.08, Y:2.88, Z:0.00
[[ 9.99745975e-01 -2.25385520e-02  0.00000000e+00  1.23083758e+02]
 [ 2.25385520e-02  9.99745975e-01  0.00000000e+00  2.87615224e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.28606649300002
Centerline is valid?  [True, True]
Translation: X:123.14, Y:2.88, Z:0.00
[[ 9.99750371e-01 -2.23426961e-02  0.00000000e+00  1.23144974e+02]
 [ 2.23426961e-02  9.99750371e-01  0.00000000e+00  2.87583910e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.34606649300001
Centerline is valid?  [True, True]
Translation: X:123.21, Y:2.88, Z:0.00
[[ 9.99809239e-01 -1.95316689e-02  0.00000000e+00  1.23205886e+02]
 [ 1.95316689e-02  9.99809239e-01  0.00000000e+00  2.87532872e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 122.40606649300001
Centerline is valid?  [True, True]
Translation: X:123.27, Y:2.87, Z:0.00
[[ 9.99864941e-01 -1.64347172e-02  0.00000000e+00  1.23268485e+02]
 [ 1.64347172e-02  9.99864941e-01  0.00000000e+00  2.86641713e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.46606649300001
Centerline is valid?  [True, True]
Translation: X:123.33, Y:2.86, Z:0.00
[[ 9.99963805e-01 -8.50820800e-03  0.00000000e+00  1.23328639e+02]
 [ 8.50820800e-03  9.99963805e-01  0.00000000e+00  2.85640065e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.52606649300002
Centerline is valid?  [True, True]
Translation: X:123.39, Y:2.85, Z:0.00
[[ 9.99985938e-01 -5.30324463e-03  0.00000000e+00  1.23390580e+02]
 [ 5.30324463e-03  9.99985938e-01  0.00000000e+00  2.84918265e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.58606649300002
Centerline is valid?  [True, True]
Translation: X:123.45, Y:2.84, Z:0.00
[[ 9.99978909e-01 -6.49469039e-03  0.00000000e+00  1.23449978e+02]
 [ 6.49469039e-03  9.99978909e-01  0.00000000e+00  2.83965588e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.64606649300002
Centerline is valid?  [True, True]
Translation: X:123.51, Y:2.83, Z:0.00
[[ 9.99946367e-01 -1.03567929e-02  0.00000000e+00  1.23510858e+02]
 [ 1.03567929e-02  9.99946367e-01  0.00000000e+00  2.83301188e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.70606649300001
Centerline is valid?  [True, True]
Translation: X:123.57, Y:2.83, Z:0.00
[[ 9.99901701e-01 -1.40209962e-02  0.00000000e+00  1.23573016e+02]
 [ 1.40209962e-02  9.99901701e-01  0.00000000e+00  2.83192013e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.76606649300001
Centerline is valid?  [True, True]
Translation: X:123.63, Y:2.83, Z:0.00
[[ 9.99825574e-01 -1.86767529e-02  0.00000000e+00  1.23632348e+02]
 [ 1.86767529e-02  9.99825574e-01  0.00000000e+00  2.82773851e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.82606649300001
Centerline is valid?  [True, True]
Translation: X:123.69, Y:2.82, Z:0.00
[[ 9.99792869e-01 -2.03523496e-02  0.00000000e+00  1.23694716e+02]
 [ 2.03523496e-02  9.99792869e-01  0.00000000e+00  2.82497763e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.88606649300002
Centerline is valid?  [True, True]
Translation: X:123.76, Y:2.83, Z:0.00
[[ 9.99871070e-01 -1.60574963e-02  0.00000000e+00  1.23755628e+02]
 [ 1.60574963e-02  9.99871070e-01  0.00000000e+00  2.82879378e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.94606649300002
Centerline is valid?  [True, True]
Translation: X:123.82, Y:2.83, Z:0.00
[[ 9.99932166e-01 -1.16474430e-02  0.00000000e+00  1.23817600e+02]
 [ 1.16474430e-02  9.99932166e-01  0.00000000e+00  2.82763197e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.00606649300002
Centerline is valid?  [True, True]
Translation: X:123.88, Y:2.83, Z:0.00
[[ 9.99991915e-01 -4.02109146e-03  0.00000000e+00  1.23878775e+02]
 [ 4.02109146e-03  9.99991915e-01  0.00000000e+00  2.83004522e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.06606649300002
Centerline is valid?  [True, True]
Translation: X:123.94, Y:2.83, Z:0.00
[[ 9.99999998e-01  5.84280819e-05  0.00000000e+00  1.23941080e+02]
 [-5.84280819e-05  9.99999998e-01  0.00000000e+00  2.83205111e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.12606649300001
Centerline is valid?  [True, True]
Translation: X:124.00, Y:2.83, Z:0.00
[[ 9.99996701e-01  2.56873502e-03  0.00000000e+00  1.24000274e+02]
 [-2.56873502e-03  9.99996701e-01  0.00000000e+00  2.83400684e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.18606649300001
Centerline is valid?  [True, True]
Translation: X:124.06, Y:2.84, Z:0.00
[[ 9.99951513e-01  9.84743410e-03  0.00000000e+00  1.24060005e+02]
 [-9.84743410e-03  9.99951513e-01  0.00000000e+00  2.83771007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.24606649300001
Centerline is valid?  [True, True]
Translation: X:124.12, Y:2.84, Z:0.00
[[ 9.99938540e-01  1.10867650e-02  0.00000000e+00  1.24119030e+02]
 [-1.10867650e-02  9.99938540e-01  0.00000000e+00  2.83955624e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.30606649300002
Centerline is valid?  [True, True]
Translation: X:124.18, Y:2.84, Z:0.00
[[ 9.99896738e-01  1.43705612e-02  0.00000000e+00  1.24177721e+02]
 [-1.43705612e-02  9.99896738e-01  0.00000000e+00  2.84301114e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.36606649300002
Centerline is valid?  [True, True]
Translation: X:124.24, Y:2.85, Z:0.00
[[ 9.99885933e-01  1.51036556e-02  0.00000000e+00  1.24236702e+02]
 [-1.51036556e-02  9.99885933e-01  0.00000000e+00  2.84681852e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.42606649300002
Centerline is valid?  [True, True]
Translation: X:124.30, Y:2.85, Z:0.00
[[ 9.99887109e-01  1.50256425e-02  0.00000000e+00  1.24296511e+02]
 [-1.50256425e-02  9.99887109e-01  0.00000000e+00  2.84627225e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.48606649300001
Centerline is valid?  [True, True]
Translation: X:124.35, Y:2.85, Z:0.00
[[ 9.99884961e-01  1.51678620e-02  0.00000000e+00  1.24354763e+02]
 [-1.51678620e-02  9.99884961e-01  0.00000000e+00  2.84756208e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.54606649300001
Centerline is valid?  [True, True]
Translation: X:124.41, Y:2.85, Z:0.00
[[ 9.99901987e-01  1.40005645e-02  0.00000000e+00  1.24413645e+02]
 [-1.40005645e-02  9.99901987e-01  0.00000000e+00  2.85122185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 123.60606649300001
Centerline is valid?  [True, True]
Translation: X:124.47, Y:2.85, Z:0.00
[[ 9.99955832e-01  9.39858901e-03  0.00000000e+00  1.24473431e+02]
 [-9.39858901e-03  9.99955832e-01  0.00000000e+00  2.84831512e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.66606649300002
Centerline is valid?  [True, True]
Translation: X:124.53, Y:2.85, Z:0.00
[[ 9.99989098e-01  4.66949829e-03  0.00000000e+00  1.24531442e+02]
 [-4.66949829e-03  9.99989098e-01  0.00000000e+00  2.84970240e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.72606649300002
Centerline is valid?  [True, True]
Translation: X:124.59, Y:2.85, Z:0.00
[[ 9.99989095e-01  4.67013684e-03  0.00000000e+00  1.24590227e+02]
 [-4.67013684e-03  9.99989095e-01  0.00000000e+00  2.85340492e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.78606649300002
Centerline is valid?  [True, True]
Translation: X:124.65, Y:2.85, Z:0.00
[[ 9.99999943e-01 -3.36207451e-04  0.00000000e+00  1.24648876e+02]
 [ 3.36207451e-04  9.99999943e-01  0.00000000e+00  2.85035993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.84606649300001
Centerline is valid?  [True, True]
Translation: X:124.71, Y:2.85, Z:0.00
[[ 9.99993873e-01 -3.50064402e-03  0.00000000e+00  1.24709216e+02]
 [ 3.50064402e-03  9.99993873e-01  0.00000000e+00  2.84875587e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.90606649300001
Centerline is valid?  [True, True]
Translation: X:124.77, Y:2.85, Z:0.00
[[ 9.99950305e-01 -9.96933146e-03  0.00000000e+00  1.24771620e+02]
 [ 9.96933146e-03  9.99950305e-01  0.00000000e+00  2.85214033e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.96606649300001
Centerline is valid?  [True, True]
Translation: X:124.83, Y:2.85, Z:0.00
[[ 9.99860109e-01 -1.67260747e-02  0.00000000e+00  1.24831260e+02]
 [ 1.67260747e-02  9.99860109e-01  0.00000000e+00  2.85404769e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.02606649300002
Centerline is valid?  [True, True]
Translation: X:124.89, Y:2.85, Z:0.00
[[ 9.99532426e-01 -3.05766258e-02  0.00000000e+00  1.24891730e+02]
 [ 3.05766258e-02  9.99532426e-01  0.00000000e+00  2.85285340e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.08606649300002
Centerline is valid?  [True, True]
Translation: X:124.95, Y:2.85, Z:0.00
[[ 9.99297226e-01 -3.74840493e-02  0.00000000e+00  1.24952106e+02]
 [ 3.74840493e-02  9.99297226e-01  0.00000000e+00  2.85402919e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.14606649300002
Centerline is valid?  [True, True]
Translation: X:125.01, Y:2.86, Z:0.00
[[ 9.98991110e-01 -4.49083833e-02  0.00000000e+00  1.25011550e+02]
 [ 4.49083833e-02  9.98991110e-01  0.00000000e+00  2.86113423e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.20606649300001
Centerline is valid?  [True, True]
Translation: X:125.07, Y:2.87, Z:0.00
[[ 9.99211851e-01 -3.96947918e-02  0.00000000e+00  1.25072291e+02]
 [ 3.96947918e-02  9.99211851e-01  0.00000000e+00  2.86741717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.26606649300001
Centerline is valid?  [True, True]
Translation: X:125.13, Y:2.87, Z:0.00
[[ 9.99389194e-01 -3.49462390e-02  0.00000000e+00  1.25131567e+02]
 [ 3.49462390e-02  9.99389194e-01  0.00000000e+00  2.87482417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.32606649300001
Centerline is valid?  [True, True]
Translation: X:125.19, Y:2.88, Z:0.00
[[ 9.99602531e-01 -2.81918562e-02  0.00000000e+00  1.25192096e+02]
 [ 2.81918562e-02  9.99602531e-01  0.00000000e+00  2.87580877e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.38606649300002
Centerline is valid?  [True, True]
Translation: X:125.25, Y:2.88, Z:0.00
[[ 9.99643559e-01 -2.66974528e-02  0.00000000e+00  1.25254511e+02]
 [ 2.66974528e-02  9.99643559e-01  0.00000000e+00  2.88006358e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.44606649300002
Centerline is valid?  [True, True]
Translation: X:125.32, Y:2.89, Z:0.00
[[ 9.99680536e-01 -2.52750197e-02  0.00000000e+00  1.25316474e+02]
 [ 2.52750197e-02  9.99680536e-01  0.00000000e+00  2.88639401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.50606649300002
Centerline is valid?  [True, True]
Translation: X:125.38, Y:2.89, Z:0.00
[[ 9.99785806e-01 -2.06964220e-02  0.00000000e+00  1.25377674e+02]
 [ 2.06964220e-02  9.99785806e-01  0.00000000e+00  2.88870728e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.56606649300002
Centerline is valid?  [True, True]
Translation: X:125.44, Y:2.88, Z:0.00
[[ 9.99787458e-01 -2.06164849e-02  0.00000000e+00  1.25438821e+02]
 [ 2.06164849e-02  9.99787458e-01  0.00000000e+00  2.87923242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.62606649300001
Centerline is valid?  [True, True]
Translation: X:125.50, Y:2.87, Z:0.00
[[ 9.99886909e-01 -1.50389010e-02  0.00000000e+00  1.25499037e+02]
 [ 1.50389010e-02  9.99886909e-01  0.00000000e+00  2.87056608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.68606649300001
Centerline is valid?  [True, True]
Translation: X:125.56, Y:2.86, Z:0.00
[[ 9.99927969e-01 -1.20023938e-02  0.00000000e+00  1.25560574e+02]
 [ 1.20023938e-02  9.99927969e-01  0.00000000e+00  2.85862788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.74606649300001
Centerline is valid?  [True, True]
Translation: X:125.62, Y:2.85, Z:0.00
[[ 9.99916546e-01 -1.29190266e-02  0.00000000e+00  1.25623061e+02]
 [ 1.29190266e-02  9.99916546e-01  0.00000000e+00  2.85246057e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 124.80606649300002
Centerline is valid?  [True, True]
Translation: X:125.68, Y:2.84, Z:0.00
[[ 9.99885761e-01 -1.51150378e-02  0.00000000e+00  1.25682527e+02]
 [ 1.51150378e-02  9.99885761e-01  0.00000000e+00  2.84395436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.86606649300002
Centerline is valid?  [True, True]
Translation: X:125.74, Y:2.84, Z:0.00
[[ 9.99868055e-01 -1.62441784e-02  0.00000000e+00  1.25743544e+02]
 [ 1.62441784e-02  9.99868055e-01  0.00000000e+00  2.84231699e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.92606649300002
Centerline is valid?  [True, True]
Translation: X:125.81, Y:2.84, Z:0.00
[[ 9.99815947e-01 -1.91852139e-02  0.00000000e+00  1.25805020e+02]
 [ 1.91852139e-02  9.99815947e-01  0.00000000e+00  2.83587840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.98606649300001
Centerline is valid?  [True, True]
Translation: X:125.87, Y:2.83, Z:0.00
[[ 9.99760087e-01 -2.19036302e-02  0.00000000e+00  1.25867294e+02]
 [ 2.19036302e-02  9.99760087e-01  0.00000000e+00  2.83468744e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.04606649300001
Centerline is valid?  [True, True]
Translation: X:125.93, Y:2.83, Z:0.00
[[ 9.99665166e-01 -2.58757880e-02  0.00000000e+00  1.25927040e+02]
 [ 2.58757880e-02  9.99665166e-01  0.00000000e+00  2.83186611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.10606649300001
Centerline is valid?  [True, True]
Translation: X:125.99, Y:2.83, Z:0.00
[[ 9.99468318e-01 -3.26049225e-02  0.00000000e+00  1.25987841e+02]
 [ 3.26049225e-02  9.99468318e-01  0.00000000e+00  2.83379682e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.16606649300002
Centerline is valid?  [True, True]
Translation: X:126.05, Y:2.83, Z:0.00
[[ 9.99435440e-01 -3.35976381e-02  0.00000000e+00  1.26050629e+02]
 [ 3.35976381e-02  9.99435440e-01  0.00000000e+00  2.83389301e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.22606649300002
Centerline is valid?  [True, True]
Translation: X:126.11, Y:2.84, Z:0.00
[[ 9.99409361e-01 -3.43646482e-02  0.00000000e+00  1.26112329e+02]
 [ 3.43646482e-02  9.99409361e-01  0.00000000e+00  2.83743626e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.28606649300002
Centerline is valid?  [True, True]
Translation: X:126.17, Y:2.84, Z:0.00
[[ 9.99346628e-01 -3.61430086e-02  0.00000000e+00  1.26172942e+02]
 [ 3.61430086e-02  9.99346628e-01  0.00000000e+00  2.84049742e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.34606649300001
Centerline is valid?  [True, True]
Translation: X:126.23, Y:2.84, Z:0.00
[[ 9.99280784e-01 -3.79198454e-02  0.00000000e+00  1.26234412e+02]
 [ 3.79198454e-02  9.99280784e-01  0.00000000e+00  2.84272801e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.40606649300001
Centerline is valid?  [True, True]
Translation: X:126.29, Y:2.85, Z:0.00
[[ 9.99128860e-01 -4.17315477e-02  0.00000000e+00  1.26294517e+02]
 [ 4.17315477e-02  9.99128860e-01  0.00000000e+00  2.84679680e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.46606649300001
Centerline is valid?  [True, True]
Translation: X:126.36, Y:2.85, Z:0.00
[[ 9.99098024e-01 -4.24633770e-02  0.00000000e+00  1.26356377e+02]
 [ 4.24633770e-02  9.99098024e-01  0.00000000e+00  2.85220263e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.52606649300002
Centerline is valid?  [True, True]
Translation: X:126.42, Y:2.86, Z:0.00
[[ 9.99299655e-01 -3.74192529e-02  0.00000000e+00  1.26417350e+02]
 [ 3.74192529e-02  9.99299655e-01  0.00000000e+00  2.85978359e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.58606649300002
Centerline is valid?  [True, True]
Translation: X:126.48, Y:2.86, Z:0.00
[[ 9.99532240e-01 -3.05826988e-02  0.00000000e+00  1.26477977e+02]
 [ 3.05826988e-02  9.99532240e-01  0.00000000e+00  2.86429873e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.64606649300002
Centerline is valid?  [True, True]
Translation: X:126.54, Y:2.88, Z:0.00
[[ 9.99836105e-01 -1.81042099e-02  0.00000000e+00  1.26538138e+02]
 [ 1.81042099e-02  9.99836105e-01  0.00000000e+00  2.87819383e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.70606649300001
Centerline is valid?  [True, True]
Translation: X:126.60, Y:2.88, Z:0.00
[[ 9.99975927e-01 -6.93869405e-03  0.00000000e+00  1.26598570e+02]
 [ 6.93869405e-03  9.99975927e-01  0.00000000e+00  2.88203599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.76606649300001
Centerline is valid?  [True, True]
Translation: X:126.66, Y:2.88, Z:0.00
[[ 9.99964533e-01 -8.42213493e-03  0.00000000e+00  1.26660889e+02]
 [ 8.42213493e-03  9.99964533e-01  0.00000000e+00  2.87746455e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.82606649300001
Centerline is valid?  [True, True]
Translation: X:126.72, Y:2.88, Z:0.00
[[ 9.99954449e-01 -9.54465794e-03  0.00000000e+00  1.26721781e+02]
 [ 9.54465794e-03  9.99954449e-01  0.00000000e+00  2.87670662e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.88606649300002
Centerline is valid?  [True, True]
Translation: X:126.78, Y:2.88, Z:0.00
[[ 9.99957107e-01 -9.26202235e-03  0.00000000e+00  1.26783808e+02]
 [ 9.26202235e-03  9.99957107e-01  0.00000000e+00  2.87642926e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.94606649300002
Centerline is valid?  [True, True]
Translation: X:126.85, Y:2.88, Z:0.00
[[ 9.99975086e-01 -7.05881238e-03  0.00000000e+00  1.26845085e+02]
 [ 7.05881238e-03  9.99975086e-01  0.00000000e+00  2.87603245e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 126.00606649300002
Centerline is valid?  [True, True]
Translation: X:126.91, Y:2.87, Z:0.00
[[ 9.99988050e-01 -4.88864708e-03  0.00000000e+00  1.26907062e+02]
 [ 4.88864708e-03  9.99988050e-01  0.00000000e+00  2.87451359e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.06606649300002
Centerline is valid?  [True, True]
Translation: X:126.97, Y:2.87, Z:0.00
[[ 9.99981727e-01 -6.04523297e-03  0.00000000e+00  1.26969379e+02]
 [ 6.04523297e-03  9.99981727e-01  0.00000000e+00  2.87374251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.12606649300001
Centerline is valid?  [True, True]
Translation: X:127.03, Y:2.87, Z:0.00
[[ 9.99936045e-01 -1.13095503e-02  0.00000000e+00  1.27031560e+02]
 [ 1.13095503e-02  9.99936045e-01  0.00000000e+00  2.87148585e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.18606649300001
Centerline is valid?  [True, True]
Translation: X:127.09, Y:2.87, Z:0.00
[[ 9.99847639e-01 -1.74556179e-02  0.00000000e+00  1.27092048e+02]
 [ 1.74556179e-02  9.99847639e-01  0.00000000e+00  2.87089543e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.24606649300001
Centerline is valid?  [True, True]
Translation: X:127.15, Y:2.87, Z:0.00
[[ 9.99912967e-01 -1.31931556e-02  0.00000000e+00  1.27152967e+02]
 [ 1.31931556e-02  9.99912967e-01  0.00000000e+00  2.86844039e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.30606649300002
Centerline is valid?  [True, True]
Translation: X:127.21, Y:2.87, Z:0.00
[[ 9.99891920e-01 -1.47020139e-02  0.00000000e+00  1.27213950e+02]
 [ 1.47020139e-02  9.99891920e-01  0.00000000e+00  2.86588943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.36606649300002
Centerline is valid?  [True, True]
Translation: X:127.28, Y:2.86, Z:0.00
[[ 9.99827181e-01 -1.85905322e-02  0.00000000e+00  1.27275369e+02]
 [ 1.85905322e-02  9.99827181e-01  0.00000000e+00  2.86193845e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.42606649300002
Centerline is valid?  [True, True]
Translation: X:127.34, Y:2.86, Z:0.00
[[ 9.99641567e-01 -2.67719588e-02  0.00000000e+00  1.27336608e+02]
 [ 2.67719588e-02  9.99641567e-01  0.00000000e+00  2.86129948e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.48606649300001
Centerline is valid?  [True, True]
Translation: X:127.40, Y:2.87, Z:0.00
[[ 9.99709150e-01 -2.41166990e-02  0.00000000e+00  1.27396716e+02]
 [ 2.41166990e-02  9.99709150e-01  0.00000000e+00  2.86652525e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.54606649300001
Centerline is valid?  [True, True]
Translation: X:127.46, Y:2.87, Z:0.00
[[ 9.99723214e-01 -2.35265029e-02  0.00000000e+00  1.27458731e+02]
 [ 2.35265029e-02  9.99723214e-01  0.00000000e+00  2.86506479e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.60606649300001
Centerline is valid?  [True, True]
Translation: X:127.52, Y:2.87, Z:0.00
[[ 9.99824572e-01 -1.87303236e-02  0.00000000e+00  1.27518702e+02]
 [ 1.87303236e-02  9.99824572e-01  0.00000000e+00  2.86531019e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.66606649300002
Centerline is valid?  [True, True]
Translation: X:127.58, Y:2.87, Z:0.00
[[ 9.99893731e-01 -1.45783004e-02  0.00000000e+00  1.27579056e+02]
 [ 1.45783004e-02  9.99893731e-01  0.00000000e+00  2.86771455e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.72606649300002
Centerline is valid?  [True, True]
Translation: X:127.64, Y:2.87, Z:0.00
[[ 9.99818708e-01 -1.90407516e-02  0.00000000e+00  1.27639696e+02]
 [ 1.90407516e-02  9.99818708e-01  0.00000000e+00  2.86707740e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.78606649300002
Centerline is valid?  [True, True]
Translation: X:127.70, Y:2.87, Z:0.00
[[ 9.99814976e-01 -1.92357443e-02  0.00000000e+00  1.27700586e+02]
 [ 1.92357443e-02  9.99814976e-01  0.00000000e+00  2.86969768e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.84606649300001
Centerline is valid?  [True, True]
Translation: X:127.76, Y:2.87, Z:0.00
[[ 9.99816888e-01 -1.91361169e-02  0.00000000e+00  1.27762648e+02]
 [ 1.91361169e-02  9.99816888e-01  0.00000000e+00  2.86988876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.90606649300001
Centerline is valid?  [True, True]
Translation: X:127.82, Y:2.87, Z:0.00
[[ 9.99811672e-01 -1.94066882e-02  0.00000000e+00  1.27823956e+02]
 [ 1.94066882e-02  9.99811672e-01  0.00000000e+00  2.86813282e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.96606649300001
Centerline is valid?  [True, True]
Translation: X:127.88, Y:2.87, Z:0.00
[[ 9.99758359e-01 -2.19823486e-02  0.00000000e+00  1.27883443e+02]
 [ 2.19823486e-02  9.99758359e-01  0.00000000e+00  2.86628139e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.02606649300002
Centerline is valid?  [True, True]
Translation: X:127.95, Y:2.87, Z:0.00
[[ 9.99730558e-01 -2.32123196e-02  0.00000000e+00  1.27945654e+02]
 [ 2.32123196e-02  9.99730558e-01  0.00000000e+00  2.86924849e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.08606649300002
Centerline is valid?  [True, True]
Translation: X:128.01, Y:2.87, Z:0.00
[[ 9.99771924e-01 -2.13564809e-02  0.00000000e+00  1.28006920e+02]
 [ 2.13564809e-02  9.99771924e-01  0.00000000e+00  2.86744568e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.14606649300002
Centerline is valid?  [True, True]
Translation: X:128.07, Y:2.87, Z:0.00
[[ 9.99899680e-01 -1.41643773e-02  0.00000000e+00  1.28067834e+02]
 [ 1.41643773e-02  9.99899680e-01  0.00000000e+00  2.86552827e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 127.20606649300002
Centerline is valid?  [True, True]
Translation: X:128.13, Y:2.87, Z:0.00
[[ 9.99956327e-01 -9.34584778e-03  0.00000000e+00  1.28129341e+02]
 [ 9.34584778e-03  9.99956327e-01  0.00000000e+00  2.86652078e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.26606649300001
Centerline is valid?  [True, True]
Translation: X:128.19, Y:2.87, Z:0.00
[[ 9.99948073e-01 -1.01907327e-02  0.00000000e+00  1.28192478e+02]
 [ 1.01907327e-02  9.99948073e-01  0.00000000e+00  2.86672599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.32606649300001
Centerline is valid?  [True, True]
Translation: X:128.25, Y:2.87, Z:0.00
[[ 9.99895555e-01 -1.44526702e-02  0.00000000e+00  1.28252490e+02]
 [ 1.44526702e-02  9.99895555e-01  0.00000000e+00  2.86562600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.38606649300002
Centerline is valid?  [True, True]
Translation: X:128.32, Y:2.87, Z:0.00
[[ 9.99864864e-01 -1.64393737e-02  0.00000000e+00  1.28315029e+02]
 [ 1.64393737e-02  9.99864864e-01  0.00000000e+00  2.86912335e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.44606649300002
Centerline is valid?  [True, True]
Translation: X:128.38, Y:2.87, Z:0.00
[[ 9.99928113e-01 -1.19904046e-02  0.00000000e+00  1.28375194e+02]
 [ 1.19904046e-02  9.99928113e-01  0.00000000e+00  2.86926552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.50606649300002
Centerline is valid?  [True, True]
Translation: X:128.44, Y:2.87, Z:0.00
[[ 9.99930308e-01 -1.18058818e-02  0.00000000e+00  1.28437360e+02]
 [ 1.18058818e-02  9.99930308e-01  0.00000000e+00  2.86652063e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.56606649300002
Centerline is valid?  [True, True]
Translation: X:128.50, Y:2.87, Z:0.00
[[ 9.99952484e-01 -9.74830542e-03  0.00000000e+00  1.28497775e+02]
 [ 9.74830542e-03  9.99952484e-01  0.00000000e+00  2.86702100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.62606649300001
Centerline is valid?  [True, True]
Translation: X:128.56, Y:2.87, Z:0.00
[[ 9.99937835e-01 -1.11501937e-02  0.00000000e+00  1.28560236e+02]
 [ 1.11501937e-02  9.99937835e-01  0.00000000e+00  2.86661555e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.68606649300001
Centerline is valid?  [True, True]
Translation: X:128.62, Y:2.86, Z:0.00
[[ 9.99892991e-01 -1.46289543e-02  0.00000000e+00  1.28620066e+02]
 [ 1.46289543e-02  9.99892991e-01  0.00000000e+00  2.86440151e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.74606649300001
Centerline is valid?  [True, True]
Translation: X:128.68, Y:2.86, Z:0.00
[[ 9.99895783e-01 -1.44368528e-02  0.00000000e+00  1.28679546e+02]
 [ 1.44368528e-02  9.99895783e-01  0.00000000e+00  2.86329102e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.80606649300002
Centerline is valid?  [True, True]
Translation: X:128.74, Y:2.86, Z:0.00
[[ 9.99876254e-01 -1.57313836e-02  0.00000000e+00  1.28740618e+02]
 [ 1.57313836e-02  9.99876254e-01  0.00000000e+00  2.86461133e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.86606649300002
Centerline is valid?  [True, True]
Translation: X:128.80, Y:2.86, Z:0.00
[[ 9.99818883e-01 -1.90316021e-02  0.00000000e+00  1.28803767e+02]
 [ 1.90316021e-02  9.99818883e-01  0.00000000e+00  2.86309946e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.92606649300002
Centerline is valid?  [True, True]
Translation: X:128.87, Y:2.86, Z:0.00
[[ 9.99787448e-01 -2.06169409e-02  0.00000000e+00  1.28865344e+02]
 [ 2.06169409e-02  9.99787448e-01  0.00000000e+00  2.86497985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.98606649300001
Centerline is valid?  [True, True]
Translation: X:128.93, Y:2.87, Z:0.00
[[ 9.99737758e-01 -2.29001257e-02  0.00000000e+00  1.28926854e+02]
 [ 2.29001257e-02  9.99737758e-01  0.00000000e+00  2.86526476e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.046066493
Centerline is valid?  [True, True]
Translation: X:128.99, Y:2.86, Z:0.00
[[ 9.99731058e-01 -2.31907460e-02  0.00000000e+00  1.28989383e+02]
 [ 2.31907460e-02  9.99731058e-01  0.00000000e+00  2.86428075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.10606649300001
Centerline is valid?  [True, True]
Translation: X:129.05, Y:2.86, Z:0.00
[[ 9.99660441e-01 -2.60576672e-02  0.00000000e+00  1.29049005e+02]
 [ 2.60576672e-02  9.99660441e-01  0.00000000e+00  2.86298055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.166066493
Centerline is valid?  [True, True]
Translation: X:129.11, Y:2.86, Z:0.00
[[ 9.99540606e-01 -3.03080380e-02  0.00000000e+00  1.29109770e+02]
 [ 3.03080380e-02  9.99540606e-01  0.00000000e+00  2.86459888e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.226066493
Centerline is valid?  [True, True]
Translation: X:129.17, Y:2.86, Z:0.00
[[ 9.99659447e-01 -2.60957680e-02  0.00000000e+00  1.29170228e+02]
 [ 2.60957680e-02  9.99659447e-01  0.00000000e+00  2.86193726e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.286066493
Centerline is valid?  [True, True]
Translation: X:129.23, Y:2.87, Z:0.00
[[ 9.99776801e-01 -2.11269315e-02  0.00000000e+00  1.29231322e+02]
 [ 2.11269315e-02  9.99776801e-01  0.00000000e+00  2.86521445e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.346066493
Centerline is valid?  [True, True]
Translation: X:129.29, Y:2.87, Z:0.00
[[ 9.99916147e-01 -1.29498786e-02  0.00000000e+00  1.29291612e+02]
 [ 1.29498786e-02  9.99916147e-01  0.00000000e+00  2.86625197e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 128.406066493
Centerline is valid?  [True, True]
Translation: X:129.35, Y:2.86, Z:0.00
[[ 9.99978407e-01 -6.57150305e-03  0.00000000e+00  1.29354144e+02]
 [ 6.57150305e-03  9.99978407e-01  0.00000000e+00  2.85830100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.466066493
Centerline is valid?  [True, True]
Translation: X:129.42, Y:2.86, Z:0.00
[[ 9.99987585e-01 -4.98286978e-03  0.00000000e+00  1.29415726e+02]
 [ 4.98286978e-03  9.99987585e-01  0.00000000e+00  2.85857139e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.526066493
Centerline is valid?  [True, True]
Translation: X:129.48, Y:2.86, Z:0.00
[[ 9.99978808e-01 -6.51022282e-03  0.00000000e+00  1.29477886e+02]
 [ 6.51022282e-03  9.99978808e-01  0.00000000e+00  2.86485596e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.586066493
Centerline is valid?  [True, True]
Translation: X:129.54, Y:2.87, Z:0.00
[[ 9.99973782e-01 -7.24125160e-03  0.00000000e+00  1.29538429e+02]
 [ 7.24125160e-03  9.99973782e-01  0.00000000e+00  2.86557463e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.646066493
Centerline is valid?  [True, True]
Translation: X:129.60, Y:2.87, Z:0.00
[[ 9.99970467e-01 -7.68539029e-03  0.00000000e+00  1.29600362e+02]
 [ 7.68539029e-03  9.99970467e-01  0.00000000e+00  2.86852557e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.706066493
Centerline is valid?  [True, True]
Translation: X:129.66, Y:2.87, Z:0.00
[[ 9.99982513e-01 -5.91392494e-03  0.00000000e+00  1.29661773e+02]
 [ 5.91392494e-03  9.99982513e-01  0.00000000e+00  2.87130532e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.766066493
Centerline is valid?  [True, True]
Translation: X:129.72, Y:2.87, Z:0.00
[[ 9.99989555e-01 -4.57052367e-03  0.00000000e+00  1.29723989e+02]
 [ 4.57052367e-03  9.99989555e-01  0.00000000e+00  2.87446959e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.826066493
Centerline is valid?  [True, True]
Translation: X:129.79, Y:2.88, Z:0.00
[[ 9.99999176e-01 -1.28335856e-03  0.00000000e+00  1.29785086e+02]
 [ 1.28335856e-03  9.99999176e-01  0.00000000e+00  2.87571734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.88606649300002
Centerline is valid?  [True, True]
Translation: X:129.85, Y:2.88, Z:0.00
[[ 9.99999953e-01  3.05623058e-04  0.00000000e+00  1.29845270e+02]
 [-3.05623058e-04  9.99999953e-01  0.00000000e+00  2.87900556e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.946066493
Centerline is valid?  [True, True]
Translation: X:129.91, Y:2.88, Z:0.00
[[ 9.99996321e-01  2.71257198e-03  0.00000000e+00  1.29905942e+02]
 [-2.71257198e-03  9.99996321e-01  0.00000000e+00  2.87667964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.006066493
Centerline is valid?  [True, True]
Translation: X:129.96, Y:2.88, Z:0.00
[[ 9.99986244e-01  5.24512082e-03  0.00000000e+00  1.29964773e+02]
 [-5.24512082e-03  9.99986244e-01  0.00000000e+00  2.87594366e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.066066493
Centerline is valid?  [True, True]
Translation: X:130.02, Y:2.88, Z:0.00
[[ 9.99982289e-01  5.95169499e-03  0.00000000e+00  1.30023012e+02]
 [-5.95169499e-03  9.99982289e-01  0.00000000e+00  2.87740086e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.126066493
Centerline is valid?  [True, True]
Translation: X:130.08, Y:2.88, Z:0.00
[[ 9.99991155e-01  4.20583705e-03  0.00000000e+00  1.30081901e+02]
 [-4.20583705e-03  9.99991155e-01  0.00000000e+00  2.87663550e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.186066493
Centerline is valid?  [True, True]
Translation: X:130.14, Y:2.88, Z:0.00
[[ 9.99955465e-01  9.43755377e-03  0.00000000e+00  1.30139712e+02]
 [-9.43755377e-03  9.99955465e-01  0.00000000e+00  2.87537440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.246066493
Centerline is valid?  [True, True]
Translation: X:130.20, Y:2.87, Z:0.00
[[ 9.99939817e-01  1.09710168e-02  0.00000000e+00  1.30200092e+02]
 [-1.09710168e-02  9.99939817e-01  0.00000000e+00  2.87088735e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.306066493
Centerline is valid?  [True, True]
Translation: X:130.26, Y:2.87, Z:0.00
[[ 9.99960309e-01  8.90956759e-03  0.00000000e+00  1.30258580e+02]
 [-8.90956759e-03  9.99960309e-01  0.00000000e+00  2.86786082e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.366066493
Centerline is valid?  [True, True]
Translation: X:130.32, Y:2.86, Z:0.00
[[ 9.99999364e-01  1.12823810e-03  0.00000000e+00  1.30318476e+02]
 [-1.12823810e-03  9.99999364e-01  0.00000000e+00  2.86324039e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.426066493
Centerline is valid?  [True, True]
Translation: X:130.38, Y:2.86, Z:0.00
[[ 9.99999148e-01 -1.30547882e-03  0.00000000e+00  1.30378430e+02]
 [ 1.30547882e-03  9.99999148e-01  0.00000000e+00  2.86291801e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.486066493
Centerline is valid?  [True, True]
Translation: X:130.44, Y:2.86, Z:0.00
[[ 9.99992941e-01 -3.75750721e-03  0.00000000e+00  1.30440031e+02]
 [ 3.75750721e-03  9.99992941e-01  0.00000000e+00  2.85951417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.546066493
Centerline is valid?  [True, True]
Translation: X:130.50, Y:2.86, Z:0.00
[[ 9.99997402e-01 -2.27965385e-03  0.00000000e+00  1.30501607e+02]
 [ 2.27965385e-03  9.99997402e-01  0.00000000e+00  2.85602010e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 129.60606649300001
Centerline is valid?  [True, True]
Translation: X:130.56, Y:2.86, Z:0.00
[[ 9.99974515e-01 -7.13932228e-03  0.00000000e+00  1.30561680e+02]
 [ 7.13932228e-03  9.99974515e-01  0.00000000e+00  2.85662881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.666066493
Centerline is valid?  [True, True]
Translation: X:130.62, Y:2.86, Z:0.00
[[ 9.99970787e-01 -7.64367734e-03  0.00000000e+00  1.30624026e+02]
 [ 7.64367734e-03  9.99970787e-01  0.00000000e+00  2.85617184e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.726066493
Centerline is valid?  [True, True]
Translation: X:130.68, Y:2.85, Z:0.00
[[ 9.99988410e-01 -4.81461772e-03  0.00000000e+00  1.30683157e+02]
 [ 4.81461772e-03  9.99988410e-01  0.00000000e+00  2.85275914e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.786066493
Centerline is valid?  [True, True]
Translation: X:130.74, Y:2.85, Z:0.00
[[ 9.99998821e-01  1.53587027e-03  0.00000000e+00  1.30744086e+02]
 [-1.53587027e-03  9.99998821e-01  0.00000000e+00  2.84657230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.846066493
Centerline is valid?  [True, True]
Translation: X:130.80, Y:2.85, Z:0.00
[[ 9.99999507e-01  9.92875757e-04  0.00000000e+00  1.30803374e+02]
 [-9.92875757e-04  9.99999507e-01  0.00000000e+00  2.84543372e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.906066493
Centerline is valid?  [True, True]
Translation: X:130.86, Y:2.84, Z:0.00
[[ 9.99972524e-01 -7.41294445e-03  0.00000000e+00  1.30864060e+02]
 [ 7.41294445e-03  9.99972524e-01  0.00000000e+00  2.83919978e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.966066493
Centerline is valid?  [True, True]
Translation: X:130.93, Y:2.84, Z:0.00
[[ 9.99877127e-01 -1.56757868e-02  0.00000000e+00  1.30925949e+02]
 [ 1.56757868e-02  9.99877127e-01  0.00000000e+00  2.83552879e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.026066493
Centerline is valid?  [True, True]
Translation: X:130.99, Y:2.83, Z:0.00
[[ 9.99604827e-01 -2.81103222e-02  0.00000000e+00  1.30985379e+02]
 [ 2.81103222e-02  9.99604827e-01  0.00000000e+00  2.83288291e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.086066493
Centerline is valid?  [True, True]
Translation: X:131.05, Y:2.83, Z:0.00
[[ 9.99506565e-01 -3.14106131e-02  0.00000000e+00  1.31045950e+02]
 [ 3.14106131e-02  9.99506565e-01  0.00000000e+00  2.83120099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.146066493
Centerline is valid?  [True, True]
Translation: X:131.11, Y:2.83, Z:0.00
[[ 9.99481454e-01 -3.21997289e-02  0.00000000e+00  1.31108406e+02]
 [ 3.21997289e-02  9.99481454e-01  0.00000000e+00  2.83079003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.206066493
Centerline is valid?  [True, True]
Translation: X:131.17, Y:2.83, Z:0.00
[[ 9.99587044e-01 -2.87357119e-02  0.00000000e+00  1.31169366e+02]
 [ 2.87357119e-02  9.99587044e-01  0.00000000e+00  2.83407522e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.266066493
Centerline is valid?  [True, True]
Translation: X:131.23, Y:2.84, Z:0.00
[[ 9.99652822e-01 -2.63483594e-02  0.00000000e+00  1.31230431e+02]
 [ 2.63483594e-02  9.99652822e-01  0.00000000e+00  2.83787302e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.326066493
Centerline is valid?  [True, True]
Translation: X:131.29, Y:2.84, Z:0.00
[[ 9.99649732e-01 -2.64653150e-02  0.00000000e+00  1.31290279e+02]
 [ 2.64653150e-02  9.99649732e-01  0.00000000e+00  2.84010620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.38606649300002
Centerline is valid?  [True, True]
Translation: X:131.35, Y:2.84, Z:0.00
[[ 9.99687189e-01 -2.50104666e-02  0.00000000e+00  1.31353636e+02]
 [ 2.50104666e-02  9.99687189e-01  0.00000000e+00  2.84317835e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.446066493
Centerline is valid?  [True, True]
Translation: X:131.42, Y:2.85, Z:0.00
[[ 9.99648967e-01 -2.64941924e-02  0.00000000e+00  1.31415610e+02]
 [ 2.64941924e-02  9.99648967e-01  0.00000000e+00  2.84519193e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.506066493
Centerline is valid?  [True, True]
Translation: X:131.48, Y:2.85, Z:0.00
[[ 9.99659325e-01 -2.61004649e-02  0.00000000e+00  1.31477021e+02]
 [ 2.61004649e-02  9.99659325e-01  0.00000000e+00  2.84773292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.566066493
Centerline is valid?  [True, True]
Translation: X:131.54, Y:2.85, Z:0.00
[[ 9.99755993e-01 -2.20896802e-02  0.00000000e+00  1.31537922e+02]
 [ 2.20896802e-02  9.99755993e-01  0.00000000e+00  2.84942282e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.626066493
Centerline is valid?  [True, True]
Translation: X:131.60, Y:2.85, Z:0.00
[[ 9.99773870e-01 -2.12652233e-02  0.00000000e+00  1.31599190e+02]
 [ 2.12652233e-02  9.99773870e-01  0.00000000e+00  2.84982097e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.686066493
Centerline is valid?  [True, True]
Translation: X:131.66, Y:2.85, Z:0.00
[[ 9.99859623e-01 -1.67551259e-02  0.00000000e+00  1.31659642e+02]
 [ 1.67551259e-02  9.99859623e-01  0.00000000e+00  2.85123757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.746066493
Centerline is valid?  [True, True]
Translation: X:131.72, Y:2.85, Z:0.00
[[ 9.99905961e-01 -1.37138664e-02  0.00000000e+00  1.31718887e+02]
 [ 1.37138664e-02  9.99905961e-01  0.00000000e+00  2.84956059e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 130.806066493
Centerline is valid?  [True, True]
Translation: X:131.78, Y:2.85, Z:0.00
[[ 9.99799295e-01 -2.00342131e-02  0.00000000e+00  1.31778749e+02]
 [ 2.00342131e-02  9.99799295e-01  0.00000000e+00  2.84814685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.866066493
Centerline is valid?  [True, True]
Translation: X:131.84, Y:2.85, Z:0.00
[[ 9.99828650e-01 -1.85113577e-02  0.00000000e+00  1.31839762e+02]
 [ 1.85113577e-02  9.99828650e-01  0.00000000e+00  2.85024245e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.926066493
Centerline is valid?  [True, True]
Translation: X:131.90, Y:2.85, Z:0.00
[[ 9.99771350e-01 -2.13833639e-02  0.00000000e+00  1.31902043e+02]
 [ 2.13833639e-02  9.99771350e-01  0.00000000e+00  2.84726836e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.986066493
Centerline is valid?  [True, True]
Translation: X:131.96, Y:2.84, Z:0.00
[[ 9.99743806e-01 -2.26345343e-02  0.00000000e+00  1.31963514e+02]
 [ 2.26345343e-02  9.99743806e-01  0.00000000e+00  2.84296870e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.046066493
Centerline is valid?  [True, True]
Translation: X:132.03, Y:2.84, Z:0.00
[[ 9.99809108e-01 -1.95383532e-02  0.00000000e+00  1.32025750e+02]
 [ 1.95383532e-02  9.99809108e-01  0.00000000e+00  2.84274967e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.10606649300001
Centerline is valid?  [True, True]
Translation: X:132.09, Y:2.84, Z:0.00
[[ 9.99850834e-01 -1.72716442e-02  0.00000000e+00  1.32085170e+02]
 [ 1.72716442e-02  9.99850834e-01  0.00000000e+00  2.84077683e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.166066493
Centerline is valid?  [True, True]
Translation: X:132.15, Y:2.84, Z:0.00
[[ 9.99898016e-01 -1.42813964e-02  0.00000000e+00  1.32147186e+02]
 [ 1.42813964e-02  9.99898016e-01  0.00000000e+00  2.84093315e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.226066493
Centerline is valid?  [True, True]
Translation: X:132.21, Y:2.84, Z:0.00
[[ 9.99909816e-01 -1.34298048e-02  0.00000000e+00  1.32209111e+02]
 [ 1.34298048e-02  9.99909816e-01  0.00000000e+00  2.84088633e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.286066493
Centerline is valid?  [True, True]
Translation: X:132.27, Y:2.84, Z:0.00
[[ 9.99889691e-01 -1.48528378e-02  0.00000000e+00  1.32270519e+02]
 [ 1.48528378e-02  9.99889691e-01  0.00000000e+00  2.83901762e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.346066493
Centerline is valid?  [True, True]
Translation: X:132.33, Y:2.84, Z:0.00
[[ 9.99864601e-01 -1.64553802e-02  0.00000000e+00  1.32331781e+02]
 [ 1.64553802e-02  9.99864601e-01  0.00000000e+00  2.83589851e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.406066493
Centerline is valid?  [True, True]
Translation: X:132.39, Y:2.84, Z:0.00
[[ 9.99816658e-01 -1.91481192e-02  0.00000000e+00  1.32391441e+02]
 [ 1.91481192e-02  9.99816658e-01  0.00000000e+00  2.83670573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.466066493
Centerline is valid?  [True, True]
Translation: X:132.45, Y:2.84, Z:0.00
[[ 9.99739543e-01 -2.28220741e-02  0.00000000e+00  1.32453563e+02]
 [ 2.28220741e-02  9.99739543e-01  0.00000000e+00  2.83635952e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.526066493
Centerline is valid?  [True, True]
Translation: X:132.52, Y:2.84, Z:0.00
[[ 9.99778850e-01 -2.10297462e-02  0.00000000e+00  1.32515645e+02]
 [ 2.10297462e-02  9.99778850e-01  0.00000000e+00  2.83540074e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.586066493
Centerline is valid?  [True, True]
Translation: X:132.58, Y:2.83, Z:0.00
[[ 9.99878538e-01 -1.55855493e-02  0.00000000e+00  1.32576143e+02]
 [ 1.55855493e-02  9.99878538e-01  0.00000000e+00  2.83365734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.646066493
Centerline is valid?  [True, True]
Translation: X:132.64, Y:2.83, Z:0.00
[[ 9.99890369e-01 -1.48070774e-02  0.00000000e+00  1.32637186e+02]
 [ 1.48070774e-02  9.99890369e-01  0.00000000e+00  2.83177719e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.706066493
Centerline is valid?  [True, True]
Translation: X:132.70, Y:2.83, Z:0.00
[[ 9.99854299e-01 -1.70699015e-02  0.00000000e+00  1.32697666e+02]
 [ 1.70699015e-02  9.99854299e-01  0.00000000e+00  2.83165205e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.766066493
Centerline is valid?  [True, True]
Translation: X:132.76, Y:2.83, Z:0.00
[[ 9.99730426e-01 -2.32179874e-02  0.00000000e+00  1.32757515e+02]
 [ 2.32179874e-02  9.99730426e-01  0.00000000e+00  2.82969709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.826066493
Centerline is valid?  [True, True]
Translation: X:132.82, Y:2.83, Z:0.00
[[ 9.99640915e-01 -2.67962746e-02  0.00000000e+00  1.32818831e+02]
 [ 2.67962746e-02  9.99640915e-01  0.00000000e+00  2.83112887e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.88606649300002
Centerline is valid?  [True, True]
Translation: X:132.88, Y:2.83, Z:0.00
[[ 9.99735757e-01 -2.29873086e-02  0.00000000e+00  1.32880153e+02]
 [ 2.29873086e-02  9.99735757e-01  0.00000000e+00  2.82738189e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.946066493
Centerline is valid?  [True, True]
Translation: X:132.94, Y:2.82, Z:0.00
[[ 9.99692013e-01 -2.48169275e-02  0.00000000e+00  1.32941158e+02]
 [ 2.48169275e-02  9.99692013e-01  0.00000000e+00  2.82046338e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 132.006066493
Centerline is valid?  [True, True]
Translation: X:133.00, Y:2.81, Z:0.00
[[ 9.99582875e-01 -2.88803722e-02  0.00000000e+00  1.33001718e+02]
 [ 2.88803722e-02  9.99582875e-01  0.00000000e+00  2.81155938e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.066066493
Centerline is valid?  [True, True]
Translation: X:133.06, Y:2.81, Z:0.00
[[ 9.99685567e-01 -2.50752375e-02  0.00000000e+00  1.33063458e+02]
 [ 2.50752375e-02  9.99685567e-01  0.00000000e+00  2.80896165e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.126066493
Centerline is valid?  [True, True]
Translation: X:133.13, Y:2.81, Z:0.00
[[ 9.99683830e-01 -2.51443931e-02  0.00000000e+00  1.33125344e+02]
 [ 2.51443931e-02  9.99683830e-01  0.00000000e+00  2.80629037e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.186066493
Centerline is valid?  [True, True]
Translation: X:133.19, Y:2.80, Z:0.00
[[ 9.99692233e-01 -2.48080373e-02  0.00000000e+00  1.33187161e+02]
 [ 2.48080373e-02  9.99692233e-01  0.00000000e+00  2.80156191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.246066493
Centerline is valid?  [True, True]
Translation: X:133.25, Y:2.80, Z:0.00
[[ 9.99711962e-01 -2.39998576e-02  0.00000000e+00  1.33246566e+02]
 [ 2.39998576e-02  9.99711962e-01  0.00000000e+00  2.80060132e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.306066493
Centerline is valid?  [True, True]
Translation: X:133.31, Y:2.80, Z:0.00
[[ 9.99741487e-01 -2.27367190e-02  0.00000000e+00  1.33310052e+02]
 [ 2.27367190e-02  9.99741487e-01  0.00000000e+00  2.80188824e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.366066493
Centerline is valid?  [True, True]
Translation: X:133.37, Y:2.80, Z:0.00
[[ 9.99756593e-01 -2.20625107e-02  0.00000000e+00  1.33372296e+02]
 [ 2.20625107e-02  9.99756593e-01  0.00000000e+00  2.80189343e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.426066493
Centerline is valid?  [True, True]
Translation: X:133.43, Y:2.80, Z:0.00
[[ 9.99795232e-01 -2.02359512e-02  0.00000000e+00  1.33433567e+02]
 [ 2.02359512e-02  9.99795232e-01  0.00000000e+00  2.80127249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.486066493
Centerline is valid?  [True, True]
Translation: X:133.49, Y:2.80, Z:0.00
[[ 9.99769046e-01 -2.14908135e-02  0.00000000e+00  1.33493591e+02]
 [ 2.14908135e-02  9.99769046e-01  0.00000000e+00  2.80474436e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.546066493
Centerline is valid?  [True, True]
Translation: X:133.55, Y:2.81, Z:0.00
[[ 9.99746698e-01 -2.25064504e-02  0.00000000e+00  1.33553908e+02]
 [ 2.25064504e-02  9.99746698e-01  0.00000000e+00  2.80643717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.60606649300001
Centerline is valid?  [True, True]
Translation: X:133.62, Y:2.81, Z:0.00
[[ 9.99745411e-01 -2.25635573e-02  0.00000000e+00  1.33615678e+02]
 [ 2.25635573e-02  9.99745411e-01  0.00000000e+00  2.80632075e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.666066493
Centerline is valid?  [True, True]
Translation: X:133.68, Y:2.81, Z:0.00
[[ 9.99699326e-01 -2.45205356e-02  0.00000000e+00  1.33675679e+02]
 [ 2.45205356e-02  9.99699326e-01  0.00000000e+00  2.80798473e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.726066493
Centerline is valid?  [True, True]
Translation: X:133.74, Y:2.81, Z:0.00
[[ 9.99471416e-01 -3.25098129e-02  0.00000000e+00  1.33735124e+02]
 [ 3.25098129e-02  9.99471416e-01  0.00000000e+00  2.81004428e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.786066493
Centerline is valid?  [True, True]
Translation: X:133.80, Y:2.81, Z:0.00
[[ 9.99422576e-01 -3.39781489e-02  0.00000000e+00  1.33796970e+02]
 [ 3.39781489e-02  9.99422576e-01  0.00000000e+00  2.81335198e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.846066493
Centerline is valid?  [True, True]
Translation: X:133.86, Y:2.82, Z:0.00
[[ 9.99519435e-01 -3.09983568e-02  0.00000000e+00  1.33857642e+02]
 [ 3.09983568e-02  9.99519435e-01  0.00000000e+00  2.81573878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.906066493
Centerline is valid?  [True, True]
Translation: X:133.92, Y:2.82, Z:0.00
[[ 9.99654030e-01 -2.63024700e-02  0.00000000e+00  1.33917940e+02]
 [ 2.63024700e-02  9.99654030e-01  0.00000000e+00  2.81617109e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.966066493
Centerline is valid?  [True, True]
Translation: X:133.98, Y:2.82, Z:0.00
[[ 9.99733839e-01 -2.30705727e-02  0.00000000e+00  1.33978120e+02]
 [ 2.30705727e-02  9.99733839e-01  0.00000000e+00  2.81693778e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.026066493
Centerline is valid?  [True, True]
Translation: X:134.04, Y:2.82, Z:0.00
[[ 9.99781933e-01 -2.08826976e-02  0.00000000e+00  1.34040466e+02]
 [ 2.08826976e-02  9.99781933e-01  0.00000000e+00  2.82083292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.086066493
Centerline is valid?  [True, True]
Translation: X:134.10, Y:2.82, Z:0.00
[[ 9.99774448e-01 -2.12380016e-02  0.00000000e+00  1.34103199e+02]
 [ 2.12380016e-02  9.99774448e-01  0.00000000e+00  2.82399168e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.146066493
Centerline is valid?  [True, True]
Translation: X:134.16, Y:2.83, Z:0.00
[[ 9.99781059e-01 -2.09244906e-02  0.00000000e+00  1.34164539e+02]
 [ 2.09244906e-02  9.99781059e-01  0.00000000e+00  2.82595412e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 133.206066493
Centerline is valid?  [True, True]
Translation: X:134.23, Y:2.83, Z:0.00
[[ 9.99799352e-01 -2.00313904e-02  0.00000000e+00  1.34225480e+02]
 [ 2.00313904e-02  9.99799352e-01  0.00000000e+00  2.82816155e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.266066493
Centerline is valid?  [True, True]
Translation: X:134.29, Y:2.83, Z:0.00
[[ 9.99905040e-01 -1.37807968e-02  0.00000000e+00  1.34286171e+02]
 [ 1.37807968e-02  9.99905040e-01  0.00000000e+00  2.83146249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.326066493
Centerline is valid?  [True, True]
Translation: X:134.35, Y:2.83, Z:0.00
[[ 9.99873970e-01 -1.58759081e-02  0.00000000e+00  1.34347095e+02]
 [ 1.58759081e-02  9.99873970e-01  0.00000000e+00  2.82902091e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.38606649300002
Centerline is valid?  [True, True]
Translation: X:134.41, Y:2.83, Z:0.00
[[ 9.99828769e-01 -1.85049396e-02  0.00000000e+00  1.34407322e+02]
 [ 1.85049396e-02  9.99828769e-01  0.00000000e+00  2.82790768e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.446066493
Centerline is valid?  [True, True]
Translation: X:134.47, Y:2.83, Z:0.00
[[ 9.99863823e-01 -1.65026134e-02  0.00000000e+00  1.34467439e+02]
 [ 1.65026134e-02  9.99863823e-01  0.00000000e+00  2.83074665e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.506066493
Centerline is valid?  [True, True]
Translation: X:134.53, Y:2.83, Z:0.00
[[ 9.99907455e-01 -1.36044974e-02  0.00000000e+00  1.34528172e+02]
 [ 1.36044974e-02  9.99907455e-01  0.00000000e+00  2.82507950e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.566066493
Centerline is valid?  [True, True]
Translation: X:134.59, Y:2.82, Z:0.00
[[ 9.99872123e-01 -1.59918086e-02  0.00000000e+00  1.34588707e+02]
 [ 1.59918086e-02  9.99872123e-01  0.00000000e+00  2.82331285e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.626066493
Centerline is valid?  [True, True]
Translation: X:134.65, Y:2.83, Z:0.00
[[ 9.99832652e-01 -1.82939577e-02  0.00000000e+00  1.34650343e+02]
 [ 1.82939577e-02  9.99832652e-01  0.00000000e+00  2.82645207e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.686066493
Centerline is valid?  [True, True]
Translation: X:134.71, Y:2.82, Z:0.00
[[ 9.99779235e-01 -2.10114675e-02  0.00000000e+00  1.34711400e+02]
 [ 2.10114675e-02  9.99779235e-01  0.00000000e+00  2.82482046e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.746066493
Centerline is valid?  [True, True]
Translation: X:134.77, Y:2.82, Z:0.00
[[ 9.99752285e-01 -2.22568623e-02  0.00000000e+00  1.34771362e+02]
 [ 2.22568623e-02  9.99752285e-01  0.00000000e+00  2.81994821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.806066493
Centerline is valid?  [True, True]
Translation: X:134.83, Y:2.82, Z:0.00
[[ 9.99720937e-01 -2.36230316e-02  0.00000000e+00  1.34833132e+02]
 [ 2.36230316e-02  9.99720937e-01  0.00000000e+00  2.82010704e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.866066493
Centerline is valid?  [True, True]
Translation: X:134.89, Y:2.82, Z:0.00
[[ 9.99731644e-01 -2.31654831e-02  0.00000000e+00  1.34894486e+02]
 [ 2.31654831e-02  9.99731644e-01  0.00000000e+00  2.82292495e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.926066493
Centerline is valid?  [True, True]
Translation: X:134.96, Y:2.82, Z:0.00
[[ 9.99701813e-01 -2.44189327e-02  0.00000000e+00  1.34957033e+02]
 [ 2.44189327e-02  9.99701813e-01  0.00000000e+00  2.82050298e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.986066493
Centerline is valid?  [True, True]
Translation: X:135.02, Y:2.82, Z:0.00
[[ 9.99802334e-01 -1.98819752e-02  0.00000000e+00  1.35016602e+02]
 [ 1.98819752e-02  9.99802334e-01  0.00000000e+00  2.82158844e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.046066493
Centerline is valid?  [True, True]
Translation: X:135.08, Y:2.82, Z:0.00
[[ 9.99792790e-01 -2.03562608e-02  0.00000000e+00  1.35078643e+02]
 [ 2.03562608e-02  9.99792790e-01  0.00000000e+00  2.82084749e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.10606649300001
Centerline is valid?  [True, True]
Translation: X:135.14, Y:2.82, Z:0.00
[[ 9.99738872e-01 -2.28514265e-02  0.00000000e+00  1.35139214e+02]
 [ 2.28514265e-02  9.99738872e-01  0.00000000e+00  2.82070987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.166066493
Centerline is valid?  [True, True]
Translation: X:135.20, Y:2.82, Z:0.00
[[ 9.99660316e-01 -2.60624675e-02  0.00000000e+00  1.35200371e+02]
 [ 2.60624675e-02  9.99660316e-01  0.00000000e+00  2.82041982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.226066493
Centerline is valid?  [True, True]
Translation: X:135.26, Y:2.82, Z:0.00
[[ 9.99695959e-01 -2.46574327e-02  0.00000000e+00  1.35262084e+02]
 [ 2.46574327e-02  9.99695959e-01  0.00000000e+00  2.81683294e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.286066493
Centerline is valid?  [True, True]
Translation: X:135.32, Y:2.81, Z:0.00
[[ 9.99724362e-01 -2.34776604e-02  0.00000000e+00  1.35322327e+02]
 [ 2.34776604e-02  9.99724362e-01  0.00000000e+00  2.81027395e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.346066493
Centerline is valid?  [True, True]
Translation: X:135.38, Y:2.81, Z:0.00
[[ 9.99675513e-01 -2.54729092e-02  0.00000000e+00  1.35384139e+02]
 [ 2.54729092e-02  9.99675513e-01  0.00000000e+00  2.80877805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 134.406066493
Centerline is valid?  [True, True]
Translation: X:135.45, Y:2.81, Z:0.00
[[ 9.99698049e-01 -2.45725670e-02  0.00000000e+00  1.35445145e+02]
 [ 2.45725670e-02  9.99698049e-01  0.00000000e+00  2.80732234e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.466066493
Centerline is valid?  [True, True]
Translation: X:135.51, Y:2.81, Z:0.00
[[ 9.99742410e-01 -2.26961049e-02  0.00000000e+00  1.35507860e+02]
 [ 2.26961049e-02  9.99742410e-01  0.00000000e+00  2.80690702e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.526066493
Centerline is valid?  [True, True]
Translation: X:135.57, Y:2.81, Z:0.00
[[ 9.99923564e-01 -1.23639331e-02  0.00000000e+00  1.35567499e+02]
 [ 1.23639331e-02  9.99923564e-01  0.00000000e+00  2.80528901e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.586066493
Centerline is valid?  [True, True]
Translation: X:135.63, Y:2.81, Z:0.00
[[ 9.99971738e-01 -7.51817166e-03  0.00000000e+00  1.35628168e+02]
 [ 7.51817166e-03  9.99971738e-01  0.00000000e+00  2.80876734e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.646066493
Centerline is valid?  [True, True]
Translation: X:135.69, Y:2.81, Z:0.00
[[ 9.99999640e-01 -8.48092604e-04  0.00000000e+00  1.35687369e+02]
 [ 8.48092604e-04  9.99999640e-01  0.00000000e+00  2.80806758e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.706066493
Centerline is valid?  [True, True]
Translation: X:135.75, Y:2.81, Z:0.00
[[ 9.99998837e-01  1.52517033e-03  0.00000000e+00  1.35747745e+02]
 [-1.52517033e-03  9.99998837e-01  0.00000000e+00  2.80642223e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.766066493
Centerline is valid?  [True, True]
Translation: X:135.81, Y:2.81, Z:0.00
[[ 9.99997097e-01 -2.40963081e-03  0.00000000e+00  1.35807746e+02]
 [ 2.40963081e-03  9.99997097e-01  0.00000000e+00  2.80853016e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.826066493
Centerline is valid?  [True, True]
Translation: X:135.87, Y:2.81, Z:0.00
[[ 9.99979172e-01 -6.45407998e-03  0.00000000e+00  1.35868708e+02]
 [ 6.45407998e-03  9.99979172e-01  0.00000000e+00  2.80849282e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.88606649300002
Centerline is valid?  [True, True]
Translation: X:135.93, Y:2.81, Z:0.00
[[ 9.99945502e-01 -1.04399293e-02  0.00000000e+00  1.35927848e+02]
 [ 1.04399293e-02  9.99945502e-01  0.00000000e+00  2.80701032e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.946066493
Centerline is valid?  [True, True]
Translation: X:135.99, Y:2.81, Z:0.00
[[ 9.99910874e-01 -1.33508202e-02  0.00000000e+00  1.35989669e+02]
 [ 1.33508202e-02  9.99910874e-01  0.00000000e+00  2.80803395e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.006066493
Centerline is valid?  [True, True]
Translation: X:136.05, Y:2.81, Z:0.00
[[ 9.99923216e-01 -1.23920280e-02  0.00000000e+00  1.36052211e+02]
 [ 1.23920280e-02  9.99923216e-01  0.00000000e+00  2.80772528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.066066493
Centerline is valid?  [True, True]
Translation: X:136.11, Y:2.81, Z:0.00
[[ 9.99895221e-01 -1.44757521e-02  0.00000000e+00  1.36113343e+02]
 [ 1.44757521e-02  9.99895221e-01  0.00000000e+00  2.80626957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.126066493
Centerline is valid?  [True, True]
Translation: X:136.17, Y:2.81, Z:0.00
[[ 9.99828370e-01 -1.85265022e-02  0.00000000e+00  1.36173716e+02]
 [ 1.85265022e-02  9.99828370e-01  0.00000000e+00  2.80641856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.186066493
Centerline is valid?  [True, True]
Translation: X:136.24, Y:2.80, Z:0.00
[[ 9.99794953e-01 -2.02497497e-02  0.00000000e+00  1.36236199e+02]
 [ 2.02497497e-02  9.99794953e-01  0.00000000e+00  2.80448440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.246066493
Centerline is valid?  [True, True]
Translation: X:136.30, Y:2.80, Z:0.00
[[ 9.99798073e-01 -2.00950974e-02  0.00000000e+00  1.36299082e+02]
 [ 2.00950974e-02  9.99798073e-01  0.00000000e+00  2.80428571e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.306066493
Centerline is valid?  [True, True]
Translation: X:136.36, Y:2.81, Z:0.00
[[ 9.99865078e-01 -1.64263619e-02  0.00000000e+00  1.36359305e+02]
 [ 1.64263619e-02  9.99865078e-01  0.00000000e+00  2.80608468e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.366066493
Centerline is valid?  [True, True]
Translation: X:136.42, Y:2.81, Z:0.00
[[ 9.99887078e-01 -1.50277017e-02  0.00000000e+00  1.36422817e+02]
 [ 1.50277017e-02  9.99887078e-01  0.00000000e+00  2.80852298e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.426066493
Centerline is valid?  [True, True]
Translation: X:136.48, Y:2.81, Z:0.00
[[ 9.99938699e-01 -1.10724189e-02  0.00000000e+00  1.36484396e+02]
 [ 1.10724189e-02  9.99938699e-01  0.00000000e+00  2.81110309e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.486066493
Centerline is valid?  [True, True]
Translation: X:136.55, Y:2.81, Z:0.00
[[ 9.99996488e-01 -2.65024080e-03  0.00000000e+00  1.36546421e+02]
 [ 2.65024080e-03  9.99996488e-01  0.00000000e+00  2.81423902e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.546066493
Centerline is valid?  [True, True]
Translation: X:136.61, Y:2.81, Z:0.00
[[ 9.99997196e-01  2.36816650e-03  0.00000000e+00  1.36606959e+02]
 [-2.36816650e-03  9.99997196e-01  0.00000000e+00  2.81045123e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 135.60606649300001
Centerline is valid?  [True, True]
Translation: X:136.67, Y:2.81, Z:0.00
[[ 9.99997250e-01  2.34526492e-03  0.00000000e+00  1.36667376e+02]
 [-2.34526492e-03  9.99997250e-01  0.00000000e+00  2.81047955e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.666066493
Centerline is valid?  [True, True]
Translation: X:136.73, Y:2.81, Z:0.00
[[ 9.99999848e-01 -5.51936685e-04  0.00000000e+00  1.36726293e+02]
 [ 5.51936685e-04  9.99999848e-01  0.00000000e+00  2.81241047e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.726066493
Centerline is valid?  [True, True]
Translation: X:136.79, Y:2.81, Z:0.00
[[ 9.99999634e-01 -8.55473814e-04  0.00000000e+00  1.36786947e+02]
 [ 8.55473814e-04  9.99999634e-01  0.00000000e+00  2.81143068e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.786066493
Centerline is valid?  [True, True]
Translation: X:136.85, Y:2.81, Z:0.00
[[ 9.99998830e-01 -1.52949872e-03  0.00000000e+00  1.36848107e+02]
 [ 1.52949872e-03  9.99998830e-01  0.00000000e+00  2.80707756e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.846066493
Centerline is valid?  [True, True]
Translation: X:136.91, Y:2.81, Z:0.00
[[ 9.99994946e-01 -3.17944626e-03  0.00000000e+00  1.36910020e+02]
 [ 3.17944626e-03  9.99994946e-01  0.00000000e+00  2.80670850e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.906066493
Centerline is valid?  [True, True]
Translation: X:136.97, Y:2.81, Z:0.00
[[ 9.99983851e-01 -5.68302501e-03  0.00000000e+00  1.36969890e+02]
 [ 5.68302501e-03  9.99983851e-01  0.00000000e+00  2.80638339e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.966066493
Centerline is valid?  [True, True]
Translation: X:137.03, Y:2.81, Z:0.00
[[ 9.99995019e-01 -3.15638060e-03  0.00000000e+00  1.37030010e+02]
 [ 3.15638060e-03  9.99995019e-01  0.00000000e+00  2.80529689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.026066493
Centerline is valid?  [True, True]
Translation: X:137.09, Y:2.80, Z:0.00
[[ 9.99999186e-01 -1.27625307e-03  0.00000000e+00  1.37091023e+02]
 [ 1.27625307e-03  9.99999186e-01  0.00000000e+00  2.80169292e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.086066493
Centerline is valid?  [True, True]
Translation: X:137.15, Y:2.80, Z:0.00
[[ 9.99998922e-01  1.46817589e-03  0.00000000e+00  1.37152368e+02]
 [-1.46817589e-03  9.99998922e-01  0.00000000e+00  2.80159303e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.146066493
Centerline is valid?  [True, True]
Translation: X:137.21, Y:2.80, Z:0.00
[[ 9.99998433e-01 -1.77016446e-03  0.00000000e+00  1.37211874e+02]
 [ 1.77016446e-03  9.99998433e-01  0.00000000e+00  2.79951676e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.206066493
Centerline is valid?  [True, True]
Translation: X:137.27, Y:2.80, Z:0.00
[[ 9.99989782e-01 -4.52062840e-03  0.00000000e+00  1.37273187e+02]
 [ 4.52062840e-03  9.99989782e-01  0.00000000e+00  2.79822608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.266066493
Centerline is valid?  [True, True]
Translation: X:137.33, Y:2.79, Z:0.00
[[ 9.99949861e-01 -1.00137593e-02  0.00000000e+00  1.37334416e+02]
 [ 1.00137593e-02  9.99949861e-01  0.00000000e+00  2.79247163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.326066493
Centerline is valid?  [True, True]
Translation: X:137.40, Y:2.79, Z:0.00
[[ 9.99903129e-01 -1.39187727e-02  0.00000000e+00  1.37395699e+02]
 [ 1.39187727e-02  9.99903129e-01  0.00000000e+00  2.79104203e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.38606649300002
Centerline is valid?  [True, True]
Translation: X:137.46, Y:2.79, Z:0.00
[[ 9.99910524e-01 -1.33769698e-02  0.00000000e+00  1.37458034e+02]
 [ 1.33769698e-02  9.99910524e-01  0.00000000e+00  2.79255422e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.446066493
Centerline is valid?  [True, True]
Translation: X:137.52, Y:2.79, Z:0.00
[[ 9.99911722e-01 -1.32871082e-02  0.00000000e+00  1.37519109e+02]
 [ 1.32871082e-02  9.99911722e-01  0.00000000e+00  2.78982805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.506066493
Centerline is valid?  [True, True]
Translation: X:137.58, Y:2.79, Z:0.00
[[ 9.99934739e-01 -1.14244733e-02  0.00000000e+00  1.37581159e+02]
 [ 1.14244733e-02  9.99934739e-01  0.00000000e+00  2.78964646e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.566066493
Centerline is valid?  [True, True]
Translation: X:137.64, Y:2.79, Z:0.00
[[ 9.99986103e-01 -5.27189668e-03  0.00000000e+00  1.37642463e+02]
 [ 5.27189668e-03  9.99986103e-01  0.00000000e+00  2.79273928e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.626066493
Centerline is valid?  [True, True]
Translation: X:137.70, Y:2.80, Z:0.00
[[ 9.99999467e-01 -1.03205000e-03  0.00000000e+00  1.37703045e+02]
 [ 1.03205000e-03  9.99999467e-01  0.00000000e+00  2.79524447e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.686066493
Centerline is valid?  [True, True]
Translation: X:137.76, Y:2.79, Z:0.00
[[ 9.99997876e-01 -2.06085741e-03  0.00000000e+00  1.37763001e+02]
 [ 2.06085741e-03  9.99997876e-01  0.00000000e+00  2.79205885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.746066493
Centerline is valid?  [True, True]
Translation: X:137.83, Y:2.79, Z:0.00
[[ 9.99998269e-01 -1.86064062e-03  0.00000000e+00  1.37825017e+02]
 [ 1.86064062e-03  9.99998269e-01  0.00000000e+00  2.79339811e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 136.806066493
Centerline is valid?  [True, True]
Translation: X:137.89, Y:2.80, Z:0.00
[[ 9.99999642e-01  8.45729992e-04  0.00000000e+00  1.37885379e+02]
 [-8.45729992e-04  9.99999642e-01  0.00000000e+00  2.80061742e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.866066493
Centerline is valid?  [True, True]
Translation: X:137.95, Y:2.80, Z:0.00
[[ 9.99999048e-01  1.38012388e-03  0.00000000e+00  1.37945001e+02]
 [-1.38012388e-03  9.99999048e-01  0.00000000e+00  2.79847609e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.926066493
Centerline is valid?  [True, True]
Translation: X:138.00, Y:2.79, Z:0.00
[[ 9.99998187e-01  1.90434633e-03  0.00000000e+00  1.38004875e+02]
 [-1.90434633e-03  9.99998187e-01  0.00000000e+00  2.79359356e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.986066493
Centerline is valid?  [True, True]
Translation: X:138.06, Y:2.80, Z:0.00
[[ 9.99998526e-01  1.71681568e-03  0.00000000e+00  1.38062482e+02]
 [-1.71681568e-03  9.99998526e-01  0.00000000e+00  2.79523278e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.046066493
Centerline is valid?  [True, True]
Translation: X:138.12, Y:2.80, Z:0.00
[[ 9.99999525e-01  9.74843976e-04  0.00000000e+00  1.38122495e+02]
 [-9.74843976e-04  9.99999525e-01  0.00000000e+00  2.79787130e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.10606649300001
Centerline is valid?  [True, True]
Translation: X:138.18, Y:2.80, Z:0.00
[[ 9.99997294e-01  2.32635227e-03  0.00000000e+00  1.38182143e+02]
 [-2.32635227e-03  9.99997294e-01  0.00000000e+00  2.79786643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.166066493
Centerline is valid?  [True, True]
Translation: X:138.24, Y:2.79, Z:0.00
[[ 9.99981736e-01  6.04388349e-03  0.00000000e+00  1.38239554e+02]
 [-6.04388349e-03  9.99981736e-01  0.00000000e+00  2.79430504e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.226066493
Centerline is valid?  [True, True]
Translation: X:138.30, Y:2.79, Z:0.00
[[ 9.99977690e-01  6.67974737e-03  0.00000000e+00  1.38299868e+02]
 [-6.67974737e-03  9.99977690e-01  0.00000000e+00  2.79359244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.286066493
Centerline is valid?  [True, True]
Translation: X:138.36, Y:2.79, Z:0.00
[[ 9.99894797e-01  1.45049696e-02  0.00000000e+00  1.38358269e+02]
 [-1.45049696e-02  9.99894797e-01  0.00000000e+00  2.79038156e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.346066493
Centerline is valid?  [True, True]
Translation: X:138.42, Y:2.78, Z:0.00
[[ 9.99912146e-01  1.32551700e-02  0.00000000e+00  1.38417364e+02]
 [-1.32551700e-02  9.99912146e-01  0.00000000e+00  2.78480344e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.406066493
Centerline is valid?  [True, True]
Translation: X:138.48, Y:2.78, Z:0.00
[[ 9.99991254e-01  4.18238662e-03  0.00000000e+00  1.38475033e+02]
 [-4.18238662e-03  9.99991254e-01  0.00000000e+00  2.77824025e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.466066493
Centerline is valid?  [True, True]
Translation: X:138.54, Y:2.77, Z:0.00
[[ 9.99997029e-01 -2.43760239e-03  0.00000000e+00  1.38535240e+02]
 [ 2.43760239e-03  9.99997029e-01  0.00000000e+00  2.77263487e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.526066493
Centerline is valid?  [True, True]
Translation: X:138.60, Y:2.77, Z:0.00
[[ 9.99993736e-01 -3.53948679e-03  0.00000000e+00  1.38597481e+02]
 [ 3.53948679e-03  9.99993736e-01  0.00000000e+00  2.76935663e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.586066493
Centerline is valid?  [True, True]
Translation: X:138.66, Y:2.77, Z:0.00
[[ 9.99999027e-01 -1.39503410e-03  0.00000000e+00  1.38659629e+02]
 [ 1.39503410e-03  9.99999027e-01  0.00000000e+00  2.76944375e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.646066493
Centerline is valid?  [True, True]
Translation: X:138.72, Y:2.77, Z:0.00
[[ 9.99987203e-01  5.05893826e-03  0.00000000e+00  1.38720532e+02]
 [-5.05893826e-03  9.99987203e-01  0.00000000e+00  2.77009229e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.706066493
Centerline is valid?  [True, True]
Translation: X:138.78, Y:2.77, Z:0.00
[[ 9.99961170e-01  8.81237770e-03  0.00000000e+00  1.38778822e+02]
 [-8.81237770e-03  9.99961170e-01  0.00000000e+00  2.76989848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.766066493
Centerline is valid?  [True, True]
Translation: X:138.84, Y:2.77, Z:0.00
[[ 9.99896745e-01  1.43700834e-02  0.00000000e+00  1.38838041e+02]
 [-1.43700834e-02  9.99896745e-01  0.00000000e+00  2.77101752e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.826066493
Centerline is valid?  [True, True]
Translation: X:138.90, Y:2.77, Z:0.00
[[ 9.99899109e-01  1.42046225e-02  0.00000000e+00  1.38898714e+02]
 [-1.42046225e-02  9.99899109e-01  0.00000000e+00  2.77166101e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.88606649300002
Centerline is valid?  [True, True]
Translation: X:138.96, Y:2.77, Z:0.00
[[ 9.99969127e-01  7.85783614e-03  0.00000000e+00  1.38957731e+02]
 [-7.85783614e-03  9.99969127e-01  0.00000000e+00  2.77135788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.946066493
Centerline is valid?  [True, True]
Translation: X:139.02, Y:2.77, Z:0.00
[[ 9.99999046e-01  1.38111734e-03  0.00000000e+00  1.39016658e+02]
 [-1.38111734e-03  9.99999046e-01  0.00000000e+00  2.77005401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 138.006066493
Centerline is valid?  [True, True]
Translation: X:139.08, Y:2.77, Z:0.00
[[ 9.99996383e-01 -2.68962197e-03  0.00000000e+00  1.39076143e+02]
 [ 2.68962197e-03  9.99996383e-01  0.00000000e+00  2.77215665e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.066066493
Centerline is valid?  [True, True]
Translation: X:139.14, Y:2.77, Z:0.00
[[ 9.99994516e-01 -3.31172059e-03  0.00000000e+00  1.39137500e+02]
 [ 3.31172059e-03  9.99994516e-01  0.00000000e+00  2.77282689e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.126066493
Centerline is valid?  [True, True]
Translation: X:139.20, Y:2.77, Z:0.00
[[ 9.99999912e-01  4.18600983e-04  0.00000000e+00  1.39198106e+02]
 [-4.18600983e-04  9.99999912e-01  0.00000000e+00  2.77022842e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.186066493
Centerline is valid?  [True, True]
Translation: X:139.26, Y:2.77, Z:0.00
[[ 9.99999446e-01  1.05275491e-03  0.00000000e+00  1.39258035e+02]
 [-1.05275491e-03  9.99999446e-01  0.00000000e+00  2.77077089e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.246066493
Centerline is valid?  [True, True]
Translation: X:139.32, Y:2.77, Z:0.00
[[ 9.99998830e-01 -1.52985947e-03  0.00000000e+00  1.39317987e+02]
 [ 1.52985947e-03  9.99998830e-01  0.00000000e+00  2.77389792e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.306066493
Centerline is valid?  [True, True]
Translation: X:139.38, Y:2.77, Z:0.00
[[ 9.99996420e-01 -2.67575216e-03  0.00000000e+00  1.39379677e+02]
 [ 2.67575216e-03  9.99996420e-01  0.00000000e+00  2.77388180e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.366066493
Centerline is valid?  [True, True]
Translation: X:139.44, Y:2.77, Z:0.00
[[ 9.99994875e-01 -3.20157077e-03  0.00000000e+00  1.39442301e+02]
 [ 3.20157077e-03  9.99994875e-01  0.00000000e+00  2.77064564e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.426066493
Centerline is valid?  [True, True]
Translation: X:139.50, Y:2.77, Z:0.00
[[ 9.99998494e-01 -1.73579051e-03  0.00000000e+00  1.39504226e+02]
 [ 1.73579051e-03  9.99998494e-01  0.00000000e+00  2.77045079e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.486066493
Centerline is valid?  [True, True]
Translation: X:139.57, Y:2.77, Z:0.00
[[ 9.99982140e-01  5.97666698e-03  0.00000000e+00  1.39565796e+02]
 [-5.97666698e-03  9.99982140e-01  0.00000000e+00  2.76939107e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.546066493
Centerline is valid?  [True, True]
Translation: X:139.62, Y:2.77, Z:0.00
[[ 9.99967565e-01  8.05414894e-03  0.00000000e+00  1.39624763e+02]
 [-8.05414894e-03  9.99967565e-01  0.00000000e+00  2.76693600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.60606649300001
Centerline is valid?  [True, True]
Translation: X:139.68, Y:2.76, Z:0.00
[[ 9.99996051e-01  2.81020381e-03  0.00000000e+00  1.39683645e+02]
 [-2.81020381e-03  9.99996051e-01  0.00000000e+00  2.76162143e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.66606649300002
Centerline is valid?  [True, True]
Translation: X:139.74, Y:2.76, Z:0.00
[[ 9.99993522e-01 -3.59956669e-03  0.00000000e+00  1.39742490e+02]
 [ 3.59956669e-03  9.99993522e-01  0.00000000e+00  2.75854818e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.726066493
Centerline is valid?  [True, True]
Translation: X:139.80, Y:2.76, Z:0.00
[[ 9.99957912e-01 -9.17464606e-03  0.00000000e+00  1.39802844e+02]
 [ 9.17464606e-03  9.99957912e-01  0.00000000e+00  2.75782035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.786066493
Centerline is valid?  [True, True]
Translation: X:139.86, Y:2.76, Z:0.00
[[ 9.99957643e-01 -9.20387636e-03  0.00000000e+00  1.39864986e+02]
 [ 9.20387636e-03  9.99957643e-01  0.00000000e+00  2.75701126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.846066493
Centerline is valid?  [True, True]
Translation: X:139.93, Y:2.76, Z:0.00
[[ 9.99985399e-01 -5.40388994e-03  0.00000000e+00  1.39926499e+02]
 [ 5.40388994e-03  9.99985399e-01  0.00000000e+00  2.75560163e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.906066493
Centerline is valid?  [True, True]
Translation: X:139.99, Y:2.76, Z:0.00
[[ 9.99999527e-01 -9.72436710e-04  0.00000000e+00  1.39986127e+02]
 [ 9.72436710e-04  9.99999527e-01  0.00000000e+00  2.75732443e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.966066493
Centerline is valid?  [True, True]
Translation: X:140.05, Y:2.76, Z:0.00
[[ 9.99992493e-01  3.87465715e-03  0.00000000e+00  1.40047032e+02]
 [-3.87465715e-03  9.99992493e-01  0.00000000e+00  2.76001733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.026066493
Centerline is valid?  [True, True]
Translation: X:140.11, Y:2.76, Z:0.00
[[ 9.99965835e-01  8.26613717e-03  0.00000000e+00  1.40106744e+02]
 [-8.26613717e-03  9.99965835e-01  0.00000000e+00  2.76282603e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.086066493
Centerline is valid?  [True, True]
Translation: X:140.17, Y:2.76, Z:0.00
[[ 9.99874112e-01  1.58669251e-02  0.00000000e+00  1.40167458e+02]
 [-1.58669251e-02  9.99874112e-01  0.00000000e+00  2.76463371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.146066493
Centerline is valid?  [True, True]
Translation: X:140.23, Y:2.76, Z:0.00
[[ 9.99863183e-01  1.65413284e-02  0.00000000e+00  1.40226209e+02]
 [-1.65413284e-02  9.99863183e-01  0.00000000e+00  2.76113637e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 139.206066493
Centerline is valid?  [True, True]
Translation: X:140.29, Y:2.76, Z:0.00
[[ 9.99900013e-01  1.41408732e-02  0.00000000e+00  1.40286337e+02]
 [-1.41408732e-02  9.99900013e-01  0.00000000e+00  2.76333481e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.266066493
Centerline is valid?  [True, True]
Translation: X:140.35, Y:2.76, Z:0.00
[[ 9.99939669e-01  1.09844778e-02  0.00000000e+00  1.40345685e+02]
 [-1.09844778e-02  9.99939669e-01  0.00000000e+00  2.76397680e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.326066493
Centerline is valid?  [True, True]
Translation: X:140.40, Y:2.76, Z:0.00
[[ 9.99972791e-01  7.37682591e-03  0.00000000e+00  1.40403206e+02]
 [-7.37682591e-03  9.99972791e-01  0.00000000e+00  2.76178832e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.38606649300002
Centerline is valid?  [True, True]
Translation: X:140.46, Y:2.76, Z:0.00
[[ 9.99974017e-01  7.20874831e-03  0.00000000e+00  1.40462379e+02]
 [-7.20874831e-03  9.99974017e-01  0.00000000e+00  2.75755561e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.446066493
Centerline is valid?  [True, True]
Translation: X:140.52, Y:2.76, Z:0.00
[[ 9.99954809e-01  9.50682646e-03  0.00000000e+00  1.40519981e+02]
 [-9.50682646e-03  9.99954809e-01  0.00000000e+00  2.76060386e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.506066493
Centerline is valid?  [True, True]
Translation: X:140.58, Y:2.76, Z:0.00
[[ 9.99885376e-01  1.51405295e-02  0.00000000e+00  1.40578735e+02]
 [-1.51405295e-02  9.99885376e-01  0.00000000e+00  2.75753909e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.566066493
Centerline is valid?  [True, True]
Translation: X:140.64, Y:2.76, Z:0.00
[[ 9.99904095e-01  1.38492516e-02  0.00000000e+00  1.40637011e+02]
 [-1.38492516e-02  9.99904095e-01  0.00000000e+00  2.75820251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.626066493
Centerline is valid?  [True, True]
Translation: X:140.70, Y:2.76, Z:0.00
[[ 9.99861494e-01  1.66431220e-02  0.00000000e+00  1.40696729e+02]
 [-1.66431220e-02  9.99861494e-01  0.00000000e+00  2.75784189e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.686066493
Centerline is valid?  [True, True]
Translation: X:140.76, Y:2.76, Z:0.00
[[ 9.99868998e-01  1.61860340e-02  0.00000000e+00  1.40755537e+02]
 [-1.61860340e-02  9.99868998e-01  0.00000000e+00  2.75716137e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.746066493
Centerline is valid?  [True, True]
Translation: X:140.81, Y:2.76, Z:0.00
[[ 9.99892677e-01  1.46504191e-02  0.00000000e+00  1.40814912e+02]
 [-1.46504191e-02  9.99892677e-01  0.00000000e+00  2.75642554e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.806066493
Centerline is valid?  [True, True]
Translation: X:140.87, Y:2.75, Z:0.00
[[ 9.99900508e-01  1.41058335e-02  0.00000000e+00  1.40874196e+02]
 [-1.41058335e-02  9.99900508e-01  0.00000000e+00  2.75474349e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.866066493
Centerline is valid?  [True, True]
Translation: X:140.93, Y:2.75, Z:0.00
[[ 9.99991590e-01  4.10117770e-03  0.00000000e+00  1.40931744e+02]
 [-4.10117770e-03  9.99991590e-01  0.00000000e+00  2.75370756e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.926066493
Centerline is valid?  [True, True]
Translation: X:140.99, Y:2.75, Z:0.00
[[ 9.99993680e-01 -3.55526334e-03  0.00000000e+00  1.40992591e+02]
 [ 3.55526334e-03  9.99993680e-01  0.00000000e+00  2.75189027e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.986066493
Centerline is valid?  [True, True]
Translation: X:141.05, Y:2.75, Z:0.00
[[ 9.99887779e-01 -1.49809526e-02  0.00000000e+00  1.41051911e+02]
 [ 1.49809526e-02  9.99887779e-01  0.00000000e+00  2.75112466e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.046066493
Centerline is valid?  [True, True]
Translation: X:141.11, Y:2.75, Z:0.00
[[ 9.99922800e-01 -1.24255228e-02  0.00000000e+00  1.41114048e+02]
 [ 1.24255228e-02  9.99922800e-01  0.00000000e+00  2.75454354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.10606649300001
Centerline is valid?  [True, True]
Translation: X:141.18, Y:2.75, Z:0.00
[[ 9.99907814e-01 -1.35780379e-02  0.00000000e+00  1.41175796e+02]
 [ 1.35780379e-02  9.99907814e-01  0.00000000e+00  2.75269652e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.16606649300002
Centerline is valid?  [True, True]
Translation: X:141.24, Y:2.76, Z:0.00
[[ 9.99923421e-01 -1.23754767e-02  0.00000000e+00  1.41238369e+02]
 [ 1.23754767e-02  9.99923421e-01  0.00000000e+00  2.75564242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.226066493
Centerline is valid?  [True, True]
Translation: X:141.30, Y:2.76, Z:0.00
[[ 9.99925022e-01 -1.22454416e-02  0.00000000e+00  1.41299616e+02]
 [ 1.22454416e-02  9.99925022e-01  0.00000000e+00  2.75668425e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.286066493
Centerline is valid?  [True, True]
Translation: X:141.36, Y:2.76, Z:0.00
[[ 9.99937304e-01 -1.11976856e-02  0.00000000e+00  1.41362106e+02]
 [ 1.11976856e-02  9.99937304e-01  0.00000000e+00  2.75947498e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.346066493
Centerline is valid?  [True, True]
Translation: X:141.42, Y:2.76, Z:0.00
[[ 9.99981297e-01 -6.11597060e-03  0.00000000e+00  1.41423028e+02]
 [ 6.11597060e-03  9.99981297e-01  0.00000000e+00  2.76262624e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 140.406066493
Centerline is valid?  [True, True]
Translation: X:141.49, Y:2.77, Z:0.00
[[ 9.99985776e-01 -5.33368921e-03  0.00000000e+00  1.41485725e+02]
 [ 5.33368921e-03  9.99985776e-01  0.00000000e+00  2.76556549e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.466066493
Centerline is valid?  [True, True]
Translation: X:141.55, Y:2.76, Z:0.00
[[ 9.99985065e-01 -5.46536773e-03  0.00000000e+00  1.41547424e+02]
 [ 5.46536773e-03  9.99985065e-01  0.00000000e+00  2.76479678e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.526066493
Centerline is valid?  [True, True]
Translation: X:141.61, Y:2.76, Z:0.00
[[ 9.99998162e-01 -1.91722277e-03  0.00000000e+00  1.41608610e+02]
 [ 1.91722277e-03  9.99998162e-01  0.00000000e+00  2.76426062e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.586066493
Centerline is valid?  [True, True]
Translation: X:141.67, Y:2.76, Z:0.00
[[ 9.99998630e-01 -1.65520620e-03  0.00000000e+00  1.41670807e+02]
 [ 1.65520620e-03  9.99998630e-01  0.00000000e+00  2.76029670e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.646066493
Centerline is valid?  [True, True]
Translation: X:141.73, Y:2.76, Z:0.00
[[ 9.99999895e-01  4.57306658e-04  0.00000000e+00  1.41731123e+02]
 [-4.57306658e-04  9.99999895e-01  0.00000000e+00  2.75607964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.706066493
Centerline is valid?  [True, True]
Translation: X:141.79, Y:2.76, Z:0.00
[[ 9.99999985e-01  1.70794396e-04  0.00000000e+00  1.41791151e+02]
 [-1.70794396e-04  9.99999985e-01  0.00000000e+00  2.75637533e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.766066493
Centerline is valid?  [True, True]
Translation: X:141.85, Y:2.76, Z:0.00
[[ 9.99999432e-01  1.06621314e-03  0.00000000e+00  1.41851997e+02]
 [-1.06621314e-03  9.99999432e-01  0.00000000e+00  2.75746195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.826066493
Centerline is valid?  [True, True]
Translation: X:141.91, Y:2.76, Z:0.00
[[ 9.99975686e-01  6.97326641e-03  0.00000000e+00  1.41912102e+02]
 [-6.97326641e-03  9.99975686e-01  0.00000000e+00  2.75732358e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.88606649300002
Centerline is valid?  [True, True]
Translation: X:141.97, Y:2.75, Z:0.00
[[ 9.99967919e-01  8.01000341e-03  0.00000000e+00  1.41970683e+02]
 [-8.01000341e-03  9.99967919e-01  0.00000000e+00  2.75369146e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.946066493
Centerline is valid?  [True, True]
Translation: X:142.03, Y:2.75, Z:0.00
[[ 9.99999562e-01  9.35998806e-04  0.00000000e+00  1.42028923e+02]
 [-9.35998806e-04  9.99999562e-01  0.00000000e+00  2.75081684e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.006066493
Centerline is valid?  [True, True]
Translation: X:142.09, Y:2.75, Z:0.00
[[ 9.99985648e-01 -5.35767753e-03  0.00000000e+00  1.42089577e+02]
 [ 5.35767753e-03  9.99985648e-01  0.00000000e+00  2.74937699e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.066066493
Centerline is valid?  [True, True]
Translation: X:142.15, Y:2.75, Z:0.00
[[ 9.99942017e-01 -1.07685806e-02  0.00000000e+00  1.42150716e+02]
 [ 1.07685806e-02  9.99942017e-01  0.00000000e+00  2.74675730e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.126066493
Centerline is valid?  [True, True]
Translation: X:142.21, Y:2.74, Z:0.00
[[ 9.99909082e-01 -1.34843516e-02  0.00000000e+00  1.42212341e+02]
 [ 1.34843516e-02  9.99909082e-01  0.00000000e+00  2.74161680e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.186066493
Centerline is valid?  [True, True]
Translation: X:142.27, Y:2.73, Z:0.00
[[ 9.99844682e-01 -1.76241595e-02  0.00000000e+00  1.42273016e+02]
 [ 1.76241595e-02  9.99844682e-01  0.00000000e+00  2.73403793e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.246066493
Centerline is valid?  [True, True]
Translation: X:142.33, Y:2.72, Z:0.00
[[ 9.99718618e-01 -2.37209797e-02  0.00000000e+00  1.42333851e+02]
 [ 2.37209797e-02  9.99718618e-01  0.00000000e+00  2.72385237e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.306066493
Centerline is valid?  [True, True]
Translation: X:142.39, Y:2.71, Z:0.00
[[ 9.99524570e-01 -3.08323423e-02  0.00000000e+00  1.42394306e+02]
 [ 3.08323423e-02  9.99524570e-01  0.00000000e+00  2.70993732e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.366066493
Centerline is valid?  [True, True]
Translation: X:142.45, Y:2.70, Z:0.00
[[ 9.99488961e-01 -3.19658829e-02  0.00000000e+00  1.42454011e+02]
 [ 3.19658829e-02  9.99488961e-01  0.00000000e+00  2.69763871e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.426066493
Centerline is valid?  [True, True]
Translation: X:142.51, Y:2.69, Z:0.00
[[ 9.99482918e-01 -3.21542630e-02  0.00000000e+00  1.42514770e+02]
 [ 3.21542630e-02  9.99482918e-01  0.00000000e+00  2.69218156e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.486066493
Centerline is valid?  [True, True]
Translation: X:142.58, Y:2.69, Z:0.00
[[ 9.99559855e-01 -2.96664131e-02  0.00000000e+00  1.42575698e+02]
 [ 2.96664131e-02  9.99559855e-01  0.00000000e+00  2.68735791e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.546066493
Centerline is valid?  [True, True]
Translation: X:142.64, Y:2.68, Z:0.00
[[ 9.99605704e-01 -2.80790992e-02  0.00000000e+00  1.42636920e+02]
 [ 2.80790992e-02  9.99605704e-01  0.00000000e+00  2.68441666e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 141.60606649300001
Centerline is valid?  [True, True]
Translation: X:142.70, Y:2.68, Z:0.00
[[ 9.99769844e-01 -2.14536652e-02  0.00000000e+00  1.42696067e+02]
 [ 2.14536652e-02  9.99769844e-01  0.00000000e+00  2.68199703e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.66606649300002
Centerline is valid?  [True, True]
Translation: X:142.76, Y:2.68, Z:0.00
[[ 9.99855409e-01 -1.70047126e-02  0.00000000e+00  1.42756280e+02]
 [ 1.70047126e-02  9.99855409e-01  0.00000000e+00  2.67644291e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.726066493
Centerline is valid?  [True, True]
Translation: X:142.82, Y:2.68, Z:0.00
[[ 9.99874416e-01 -1.58477982e-02  0.00000000e+00  1.42819204e+02]
 [ 1.58477982e-02  9.99874416e-01  0.00000000e+00  2.67859924e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.786066493
Centerline is valid?  [True, True]
Translation: X:142.88, Y:2.68, Z:0.00
[[ 9.99912085e-01 -1.32597979e-02  0.00000000e+00  1.42879460e+02]
 [ 1.32597979e-02  9.99912085e-01  0.00000000e+00  2.68157280e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.846066493
Centerline is valid?  [True, True]
Translation: X:142.94, Y:2.68, Z:0.00
[[ 9.99925638e-01 -1.21949924e-02  0.00000000e+00  1.42941552e+02]
 [ 1.21949924e-02  9.99925638e-01  0.00000000e+00  2.68195964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.906066493
Centerline is valid?  [True, True]
Translation: X:143.00, Y:2.68, Z:0.00
[[ 9.99899084e-01 -1.42063912e-02  0.00000000e+00  1.43001011e+02]
 [ 1.42063912e-02  9.99899084e-01  0.00000000e+00  2.68385944e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.966066493
Centerline is valid?  [True, True]
Translation: X:143.06, Y:2.69, Z:0.00
[[ 9.99835296e-01 -1.81488380e-02  0.00000000e+00  1.43062281e+02]
 [ 1.81488380e-02  9.99835296e-01  0.00000000e+00  2.68810188e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.026066493
Centerline is valid?  [True, True]
Translation: X:143.12, Y:2.69, Z:0.00
[[ 9.99764341e-01 -2.17085866e-02  0.00000000e+00  1.43123346e+02]
 [ 2.17085866e-02  9.99764341e-01  0.00000000e+00  2.69409824e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.086066493
Centerline is valid?  [True, True]
Translation: X:143.18, Y:2.70, Z:0.00
[[ 9.99776457e-01 -2.11432360e-02  0.00000000e+00  1.43184385e+02]
 [ 2.11432360e-02  9.99776457e-01  0.00000000e+00  2.69859034e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.146066493
Centerline is valid?  [True, True]
Translation: X:143.24, Y:2.70, Z:0.00
[[ 9.99823594e-01 -1.87824504e-02  0.00000000e+00  1.43244917e+02]
 [ 1.87824504e-02  9.99823594e-01  0.00000000e+00  2.69947912e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.206066493
Centerline is valid?  [True, True]
Translation: X:143.31, Y:2.71, Z:0.00
[[ 9.99896133e-01 -1.44125946e-02  0.00000000e+00  1.43305426e+02]
 [ 1.44125946e-02  9.99896133e-01  0.00000000e+00  2.70506272e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.266066493
Centerline is valid?  [True, True]
Translation: X:143.37, Y:2.72, Z:0.00
[[ 9.99953947e-01 -9.59707988e-03  0.00000000e+00  1.43366910e+02]
 [ 9.59707988e-03  9.99953947e-01  0.00000000e+00  2.71694576e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.326066493
Centerline is valid?  [True, True]
Translation: X:143.43, Y:2.72, Z:0.00
[[ 9.99983550e-01 -5.73583734e-03  0.00000000e+00  1.43427269e+02]
 [ 5.73583734e-03  9.99983550e-01  0.00000000e+00  2.72206717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.38606649300002
Centerline is valid?  [True, True]
Translation: X:143.49, Y:2.73, Z:0.00
[[ 9.99995486e-01  3.00474045e-03  0.00000000e+00  1.43487583e+02]
 [-3.00474045e-03  9.99995486e-01  0.00000000e+00  2.72580168e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.446066493
Centerline is valid?  [True, True]
Translation: X:143.55, Y:2.73, Z:0.00
[[ 9.99986669e-01  5.16349407e-03  0.00000000e+00  1.43546629e+02]
 [-5.16349407e-03  9.99986669e-01  0.00000000e+00  2.73068013e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.506066493
Centerline is valid?  [True, True]
Translation: X:143.61, Y:2.74, Z:0.00
[[ 9.99948626e-01  1.01363754e-02  0.00000000e+00  1.43605612e+02]
 [-1.01363754e-02  9.99948626e-01  0.00000000e+00  2.73646836e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.566066493
Centerline is valid?  [True, True]
Translation: X:143.67, Y:2.74, Z:0.00
[[ 9.99926539e-01  1.21209471e-02  0.00000000e+00  1.43665418e+02]
 [-1.21209471e-02  9.99926539e-01  0.00000000e+00  2.73965007e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.626066493
Centerline is valid?  [True, True]
Translation: X:143.73, Y:2.74, Z:0.00
[[ 9.99911274e-01  1.33208322e-02  0.00000000e+00  1.43725471e+02]
 [-1.33208322e-02  9.99911274e-01  0.00000000e+00  2.73926510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.686066493
Centerline is valid?  [True, True]
Translation: X:143.78, Y:2.74, Z:0.00
[[ 9.99918093e-01  1.27987519e-02  0.00000000e+00  1.43784495e+02]
 [-1.27987519e-02  9.99918093e-01  0.00000000e+00  2.74035848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.746066493
Centerline is valid?  [True, True]
Translation: X:143.84, Y:2.74, Z:0.00
[[ 9.99953003e-01  9.69493707e-03  0.00000000e+00  1.43843318e+02]
 [-9.69493707e-03  9.99953003e-01  0.00000000e+00  2.73858364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 142.806066493
Centerline is valid?  [True, True]
Translation: X:143.90, Y:2.73, Z:0.00
[[ 9.99993246e-01  3.67542066e-03  0.00000000e+00  1.43902345e+02]
 [-3.67542066e-03  9.99993246e-01  0.00000000e+00  2.73310899e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.866066493
Centerline is valid?  [True, True]
Translation: X:143.96, Y:2.73, Z:0.00
[[ 9.99998081e-01 -1.95914185e-03  0.00000000e+00  1.43962852e+02]
 [ 1.95914185e-03  9.99998081e-01  0.00000000e+00  2.72942450e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.926066493
Centerline is valid?  [True, True]
Translation: X:144.02, Y:2.73, Z:0.00
[[ 9.99991940e-01 -4.01504028e-03  0.00000000e+00  1.44024858e+02]
 [ 4.01504028e-03  9.99991940e-01  0.00000000e+00  2.72965673e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.986066493
Centerline is valid?  [True, True]
Translation: X:144.08, Y:2.72, Z:0.00
[[ 9.99994391e-01 -3.34923857e-03  0.00000000e+00  1.44084589e+02]
 [ 3.34923857e-03  9.99994391e-01  0.00000000e+00  2.72491840e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.046066493
Centerline is valid?  [True, True]
Translation: X:144.15, Y:2.72, Z:0.00
[[ 9.99991379e-01 -4.15233328e-03  0.00000000e+00  1.44146630e+02]
 [ 4.15233328e-03  9.99991379e-01  0.00000000e+00  2.72229760e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.10606649300001
Centerline is valid?  [True, True]
Translation: X:144.21, Y:2.72, Z:0.00
[[ 9.99991435e-01 -4.13886679e-03  0.00000000e+00  1.44207171e+02]
 [ 4.13886679e-03  9.99991435e-01  0.00000000e+00  2.72300558e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.16606649300002
Centerline is valid?  [True, True]
Translation: X:144.27, Y:2.72, Z:0.00
[[ 9.99994316e-01 -3.37153444e-03  0.00000000e+00  1.44268792e+02]
 [ 3.37153444e-03  9.99994316e-01  0.00000000e+00  2.72360112e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.226066493
Centerline is valid?  [True, True]
Translation: X:144.33, Y:2.72, Z:0.00
[[ 9.99998226e-01 -1.88368108e-03  0.00000000e+00  1.44329507e+02]
 [ 1.88368108e-03  9.99998226e-01  0.00000000e+00  2.72210213e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.286066493
Centerline is valid?  [True, True]
Translation: X:144.39, Y:2.72, Z:0.00
[[ 9.99999975e-01 -2.24844450e-04  0.00000000e+00  1.44390827e+02]
 [ 2.24844450e-04  9.99999975e-01  0.00000000e+00  2.72150952e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.346066493
Centerline is valid?  [True, True]
Translation: X:144.45, Y:2.72, Z:0.00
[[ 9.99996895e-01  2.49199650e-03  0.00000000e+00  1.44451370e+02]
 [-2.49199650e-03  9.99996895e-01  0.00000000e+00  2.72127758e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.406066493
Centerline is valid?  [True, True]
Translation: X:144.51, Y:2.72, Z:0.00
[[ 9.99999902e-01  4.42903394e-04  0.00000000e+00  1.44510981e+02]
 [-4.42903394e-04  9.99999902e-01  0.00000000e+00  2.72117549e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.466066493
Centerline is valid?  [True, True]
Translation: X:144.57, Y:2.72, Z:0.00
[[ 9.99995328e-01 -3.05672500e-03  0.00000000e+00  1.44570175e+02]
 [ 3.05672500e-03  9.99995328e-01  0.00000000e+00  2.71890412e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.526066493
Centerline is valid?  [True, True]
Translation: X:144.63, Y:2.72, Z:0.00
[[ 9.99999414e-01 -1.08302239e-03  0.00000000e+00  1.44631766e+02]
 [ 1.08302239e-03  9.99999414e-01  0.00000000e+00  2.72416208e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.586066493
Centerline is valid?  [True, True]
Translation: X:144.69, Y:2.72, Z:0.00
[[ 9.99995239e-01  3.08574792e-03  0.00000000e+00  1.44692551e+02]
 [-3.08574792e-03  9.99995239e-01  0.00000000e+00  2.72461823e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.646066493
Centerline is valid?  [True, True]
Translation: X:144.75, Y:2.72, Z:0.00
[[ 9.99983164e-01  5.80278441e-03  0.00000000e+00  1.44752717e+02]
 [-5.80278441e-03  9.99983164e-01  0.00000000e+00  2.72293576e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.706066493
Centerline is valid?  [True, True]
Translation: X:144.81, Y:2.73, Z:0.00
[[ 9.99994053e-01  3.44863055e-03  0.00000000e+00  1.44811710e+02]
 [-3.44863055e-03  9.99994053e-01  0.00000000e+00  2.72504515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.766066493
Centerline is valid?  [True, True]
Translation: X:144.87, Y:2.72, Z:0.00
[[ 1.00000000e+00 -1.91668086e-05  0.00000000e+00  1.44869805e+02]
 [ 1.91668086e-05  1.00000000e+00  0.00000000e+00  2.72239848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.826066493
Centerline is valid?  [True, True]
Translation: X:144.93, Y:2.72, Z:0.00
[[ 9.99996337e-01 -2.70655055e-03  0.00000000e+00  1.44930120e+02]
 [ 2.70655055e-03  9.99996337e-01  0.00000000e+00  2.71909569e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.88606649300002
Centerline is valid?  [True, True]
Translation: X:144.99, Y:2.72, Z:0.00
[[ 9.99997032e-01 -2.43652820e-03  0.00000000e+00  1.44991465e+02]
 [ 2.43652820e-03  9.99997032e-01  0.00000000e+00  2.71930608e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.946066493
Centerline is valid?  [True, True]
Translation: X:145.05, Y:2.72, Z:0.00
[[ 9.99999823e-01  5.95102860e-04  0.00000000e+00  1.45052183e+02]
 [-5.95102860e-04  9.99999823e-01  0.00000000e+00  2.71635269e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 144.006066493
Centerline is valid?  [True, True]
Translation: X:145.11, Y:2.71, Z:0.00
[[ 9.99999992e-01  1.23694690e-04  0.00000000e+00  1.45112389e+02]
 [-1.23694690e-04  9.99999992e-01  0.00000000e+00  2.71323318e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.066066493
Centerline is valid?  [True, True]
Translation: X:145.17, Y:2.71, Z:0.00
[[ 9.99999555e-01 -9.42868572e-04  0.00000000e+00  1.45171890e+02]
 [ 9.42868572e-04  9.99999555e-01  0.00000000e+00  2.71046356e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.126066493
Centerline is valid?  [True, True]
Translation: X:145.23, Y:2.71, Z:0.00
[[ 9.99994949e-01 -3.17835274e-03  0.00000000e+00  1.45232955e+02]
 [ 3.17835274e-03  9.99994949e-01  0.00000000e+00  2.71092580e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.186066493
Centerline is valid?  [True, True]
Translation: X:145.29, Y:2.71, Z:0.00
[[ 9.99999810e-01 -6.16609158e-04  0.00000000e+00  1.45294898e+02]
 [ 6.16609158e-04  9.99999810e-01  0.00000000e+00  2.70883729e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.246066493
Centerline is valid?  [True, True]
Translation: X:145.36, Y:2.70, Z:0.00
[[ 9.99997192e-01 -2.36973723e-03  0.00000000e+00  1.45356129e+02]
 [ 2.36973723e-03  9.99997192e-01  0.00000000e+00  2.70366957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.306066493
Centerline is valid?  [True, True]
Translation: X:145.42, Y:2.70, Z:0.00
[[ 9.99991692e-01 -4.07616974e-03  0.00000000e+00  1.45417621e+02]
 [ 4.07616974e-03  9.99991692e-01  0.00000000e+00  2.70243469e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.366066493
Centerline is valid?  [True, True]
Translation: X:145.48, Y:2.70, Z:0.00
[[ 9.99993123e-01 -3.70875176e-03  0.00000000e+00  1.45480024e+02]
 [ 3.70875176e-03  9.99993123e-01  0.00000000e+00  2.70241881e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.426066493
Centerline is valid?  [True, True]
Translation: X:145.54, Y:2.70, Z:0.00
[[ 9.99992308e-01 -3.92236264e-03  0.00000000e+00  1.45542210e+02]
 [ 3.92236264e-03  9.99992308e-01  0.00000000e+00  2.70197226e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.486066493
Centerline is valid?  [True, True]
Translation: X:145.60, Y:2.70, Z:0.00
[[ 9.99987605e-01 -4.97887236e-03  0.00000000e+00  1.45603480e+02]
 [ 4.97887236e-03  9.99987605e-01  0.00000000e+00  2.69511691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.546066493
Centerline is valid?  [True, True]
Translation: X:145.67, Y:2.69, Z:0.00
[[ 9.99961739e-01 -8.74760893e-03  0.00000000e+00  1.45665638e+02]
 [ 8.74760893e-03  9.99961739e-01  0.00000000e+00  2.69214251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.60606649300001
Centerline is valid?  [True, True]
Translation: X:145.73, Y:2.70, Z:0.00
[[ 9.99894405e-01 -1.45320159e-02  0.00000000e+00  1.45726437e+02]
 [ 1.45320159e-02  9.99894405e-01  0.00000000e+00  2.69597636e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.66606649300002
Centerline is valid?  [True, True]
Translation: X:145.79, Y:2.69, Z:0.00
[[ 9.99881119e-01 -1.54190940e-02  0.00000000e+00  1.45788286e+02]
 [ 1.54190940e-02  9.99881119e-01  0.00000000e+00  2.69060741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.726066493
Centerline is valid?  [True, True]
Translation: X:145.85, Y:2.69, Z:0.00
[[ 9.99882288e-01 -1.53430510e-02  0.00000000e+00  1.45849711e+02]
 [ 1.53430510e-02  9.99882288e-01  0.00000000e+00  2.68729371e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.786066493
Centerline is valid?  [True, True]
Translation: X:145.91, Y:2.69, Z:0.00
[[ 9.99959726e-01 -8.97480714e-03  0.00000000e+00  1.45910794e+02]
 [ 8.97480714e-03  9.99959726e-01  0.00000000e+00  2.68744965e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.846066493
Centerline is valid?  [True, True]
Translation: X:145.97, Y:2.68, Z:0.00
[[ 9.99941633e-01 -1.08041619e-02  0.00000000e+00  1.45972553e+02]
 [ 1.08041619e-02  9.99941633e-01  0.00000000e+00  2.68381648e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.906066493
Centerline is valid?  [True, True]
Translation: X:146.03, Y:2.68, Z:0.00
[[ 9.99825049e-01 -1.87048331e-02  0.00000000e+00  1.46031969e+02]
 [ 1.87048331e-02  9.99825049e-01  0.00000000e+00  2.67879965e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.966066493
Centerline is valid?  [True, True]
Translation: X:146.09, Y:2.68, Z:0.00
[[ 9.99643325e-01 -2.67062458e-02  0.00000000e+00  1.46092020e+02]
 [ 2.67062458e-02  9.99643325e-01  0.00000000e+00  2.68070380e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.026066493
Centerline is valid?  [True, True]
Translation: X:146.15, Y:2.68, Z:0.00
[[ 9.99576096e-01 -2.91140536e-02  0.00000000e+00  1.46153041e+02]
 [ 2.91140536e-02  9.99576096e-01  0.00000000e+00  2.68051695e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.086066493
Centerline is valid?  [True, True]
Translation: X:146.21, Y:2.68, Z:0.00
[[ 9.99651436e-01 -2.64008656e-02  0.00000000e+00  1.46213363e+02]
 [ 2.64008656e-02  9.99651436e-01  0.00000000e+00  2.67714189e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.146066493
Centerline is valid?  [True, True]
Translation: X:146.27, Y:2.68, Z:0.00
[[ 9.99911709e-01 -1.32881407e-02  0.00000000e+00  1.46273494e+02]
 [ 1.32881407e-02  9.99911709e-01  0.00000000e+00  2.67860585e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 145.206066493
Centerline is valid?  [True, True]
Translation: X:146.33, Y:2.68, Z:0.00
[[ 9.99997088e-01  2.41326227e-03  0.00000000e+00  1.46334152e+02]
 [-2.41326227e-03  9.99997088e-01  0.00000000e+00  2.68173186e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.266066493
Centerline is valid?  [True, True]
Translation: X:146.39, Y:2.68, Z:0.00
[[ 9.99918327e-01  1.27804012e-02  0.00000000e+00  1.46394169e+02]
 [-1.27804012e-02  9.99918327e-01  0.00000000e+00  2.68144102e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.326066493
Centerline is valid?  [True, True]
Translation: X:146.46, Y:2.68, Z:0.00
[[ 9.99946161e-01  1.03766324e-02  0.00000000e+00  1.46455057e+02]
 [-1.03766324e-02  9.99946161e-01  0.00000000e+00  2.68116528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.38606649300002
Centerline is valid?  [True, True]
Translation: X:146.51, Y:2.68, Z:0.00
[[ 9.99995494e-01  3.00187517e-03  0.00000000e+00  1.46514070e+02]
 [-3.00187517e-03  9.99995494e-01  0.00000000e+00  2.68217799e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.446066493
Centerline is valid?  [True, True]
Translation: X:146.57, Y:2.68, Z:0.00
[[ 9.99991824e-01 -4.04380128e-03  0.00000000e+00  1.46573223e+02]
 [ 4.04380128e-03  9.99991824e-01  0.00000000e+00  2.68151135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.506066493
Centerline is valid?  [True, True]
Translation: X:146.63, Y:2.68, Z:0.00
[[ 9.99948351e-01 -1.01634454e-02  0.00000000e+00  1.46633389e+02]
 [ 1.01634454e-02  9.99948351e-01  0.00000000e+00  2.68109567e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.566066493
Centerline is valid?  [True, True]
Translation: X:146.69, Y:2.68, Z:0.00
[[ 9.99943447e-01 -1.06349343e-02  0.00000000e+00  1.46694622e+02]
 [ 1.06349343e-02  9.99943447e-01  0.00000000e+00  2.68057059e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.626066493
Centerline is valid?  [True, True]
Translation: X:146.76, Y:2.68, Z:0.00
[[ 9.99939522e-01 -1.09978651e-02  0.00000000e+00  1.46757155e+02]
 [ 1.09978651e-02  9.99939522e-01  0.00000000e+00  2.68214052e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.686066493
Centerline is valid?  [True, True]
Translation: X:146.82, Y:2.68, Z:0.00
[[ 9.99925163e-01 -1.22338834e-02  0.00000000e+00  1.46819335e+02]
 [ 1.22338834e-02  9.99925163e-01  0.00000000e+00  2.68063202e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.746066493
Centerline is valid?  [True, True]
Translation: X:146.88, Y:2.68, Z:0.00
[[ 9.99893611e-01 -1.45865368e-02  0.00000000e+00  1.46879085e+02]
 [ 1.45865368e-02  9.99893611e-01  0.00000000e+00  2.67694662e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.806066493
Centerline is valid?  [True, True]
Translation: X:146.94, Y:2.68, Z:0.00
[[ 9.99897430e-01 -1.43223397e-02  0.00000000e+00  1.46941434e+02]
 [ 1.43223397e-02  9.99897430e-01  0.00000000e+00  2.67554182e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.866066493
Centerline is valid?  [True, True]
Translation: X:147.00, Y:2.67, Z:0.00
[[ 9.99913762e-01 -1.31327253e-02  0.00000000e+00  1.47002711e+02]
 [ 1.31327253e-02  9.99913762e-01  0.00000000e+00  2.66793505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.926066493
Centerline is valid?  [True, True]
Translation: X:147.07, Y:2.67, Z:0.00
[[ 9.99903079e-01 -1.39223640e-02  0.00000000e+00  1.47065362e+02]
 [ 1.39223640e-02  9.99903079e-01  0.00000000e+00  2.66715218e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.986066493
Centerline is valid?  [True, True]
Translation: X:147.13, Y:2.66, Z:0.00
[[ 9.99821516e-01 -1.88927394e-02  0.00000000e+00  1.47125477e+02]
 [ 1.88927394e-02  9.99821516e-01  0.00000000e+00  2.66260282e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.046066493
Centerline is valid?  [True, True]
Translation: X:147.19, Y:2.66, Z:0.00
[[ 9.99711785e-01 -2.40072336e-02  0.00000000e+00  1.47186270e+02]
 [ 2.40072336e-02  9.99711785e-01  0.00000000e+00  2.66222604e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.10606649300001
Centerline is valid?  [True, True]
Translation: X:147.25, Y:2.66, Z:0.00
[[ 9.99701690e-01 -2.44239975e-02  0.00000000e+00  1.47248285e+02]
 [ 2.44239975e-02  9.99701690e-01  0.00000000e+00  2.66074911e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.16606649300002
Centerline is valid?  [True, True]
Translation: X:147.31, Y:2.66, Z:0.00
[[ 9.99719185e-01 -2.36970583e-02  0.00000000e+00  1.47309569e+02]
 [ 2.36970583e-02  9.99719185e-01  0.00000000e+00  2.66149167e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.226066493
Centerline is valid?  [True, True]
Translation: X:147.37, Y:2.67, Z:0.00
[[ 9.99806925e-01 -1.96497451e-02  0.00000000e+00  1.47370739e+02]
 [ 1.96497451e-02  9.99806925e-01  0.00000000e+00  2.66795876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.286066493
Centerline is valid?  [True, True]
Translation: X:147.43, Y:2.68, Z:0.00
[[ 9.99952836e-01 -9.71211754e-03  0.00000000e+00  1.47430145e+02]
 [ 9.71211754e-03  9.99952836e-01  0.00000000e+00  2.67507657e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.346066493
Centerline is valid?  [True, True]
Translation: X:147.49, Y:2.68, Z:0.00
[[ 9.99991855e-01 -4.03605549e-03  0.00000000e+00  1.47491236e+02]
 [ 4.03605549e-03  9.99991855e-01  0.00000000e+00  2.68068887e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 146.406066493
Centerline is valid?  [True, True]
Translation: X:147.55, Y:2.69, Z:0.00
[[ 9.99981011e-01  6.16263400e-03  0.00000000e+00  1.47552399e+02]
 [-6.16263400e-03  9.99981011e-01  0.00000000e+00  2.68912127e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.466066493
Centerline is valid?  [True, True]
Translation: X:147.61, Y:2.69, Z:0.00
[[ 9.99938529e-01  1.10877191e-02  0.00000000e+00  1.47610755e+02]
 [-1.10877191e-02  9.99938529e-01  0.00000000e+00  2.68915057e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.526066493
Centerline is valid?  [True, True]
Translation: X:147.67, Y:2.69, Z:0.00
[[ 9.99882317e-01  1.53411905e-02  0.00000000e+00  1.47670641e+02]
 [-1.53411905e-02  9.99882317e-01  0.00000000e+00  2.69041569e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.586066493
Centerline is valid?  [True, True]
Translation: X:147.73, Y:2.69, Z:0.00
[[ 9.99794285e-01  2.02826877e-02  0.00000000e+00  1.47731244e+02]
 [-2.02826877e-02  9.99794285e-01  0.00000000e+00  2.68758279e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.646066493
Centerline is valid?  [True, True]
Translation: X:147.79, Y:2.69, Z:0.00
[[ 9.99745223e-01  2.25718621e-02  0.00000000e+00  1.47789477e+02]
 [-2.25718621e-02  9.99745223e-01  0.00000000e+00  2.68799517e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.706066493
Centerline is valid?  [True, True]
Translation: X:147.85, Y:2.69, Z:0.00
[[ 9.99742902e-01  2.26744309e-02  0.00000000e+00  1.47848836e+02]
 [-2.26744309e-02  9.99742902e-01  0.00000000e+00  2.68547212e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.766066493
Centerline is valid?  [True, True]
Translation: X:147.91, Y:2.68, Z:0.00
[[ 9.99837133e-01  1.80473693e-02  0.00000000e+00  1.47907069e+02]
 [-1.80473693e-02  9.99837133e-01  0.00000000e+00  2.68014415e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.826066493
Centerline is valid?  [True, True]
Translation: X:147.97, Y:2.68, Z:0.00
[[ 9.99915466e-01  1.30023267e-02  0.00000000e+00  1.47965394e+02]
 [-1.30023267e-02  9.99915466e-01  0.00000000e+00  2.67671385e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.88606649300002
Centerline is valid?  [True, True]
Translation: X:148.02, Y:2.67, Z:0.00
[[ 9.99923500e-01  1.23690964e-02  0.00000000e+00  1.48023810e+02]
 [-1.23690964e-02  9.99923500e-01  0.00000000e+00  2.67463611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.946066493
Centerline is valid?  [True, True]
Translation: X:148.08, Y:2.68, Z:0.00
[[ 9.99940764e-01  1.08843682e-02  0.00000000e+00  1.48083076e+02]
 [-1.08843682e-02  9.99940764e-01  0.00000000e+00  2.67515323e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.006066493
Centerline is valid?  [True, True]
Translation: X:148.14, Y:2.67, Z:0.00
[[ 9.99981049e-01  6.15637674e-03  0.00000000e+00  1.48141718e+02]
 [-6.15637674e-03  9.99981049e-01  0.00000000e+00  2.67118346e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.066066493
Centerline is valid?  [True, True]
Translation: X:148.20, Y:2.67, Z:0.00
[[ 9.99996217e-01  2.75054183e-03  0.00000000e+00  1.48200503e+02]
 [-2.75054183e-03  9.99996217e-01  0.00000000e+00  2.66933865e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.126066493
Centerline is valid?  [True, True]
Translation: X:148.26, Y:2.67, Z:0.00
[[ 9.99991536e-01 -4.11430761e-03  0.00000000e+00  1.48259568e+02]
 [ 4.11430761e-03  9.99991536e-01  0.00000000e+00  2.67081600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.186066493
Centerline is valid?  [True, True]
Translation: X:148.32, Y:2.67, Z:0.00
[[ 9.99969156e-01 -7.85415335e-03  0.00000000e+00  1.48318923e+02]
 [ 7.85415335e-03  9.99969156e-01  0.00000000e+00  2.67353134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.246066493
Centerline is valid?  [True, True]
Translation: X:148.38, Y:2.68, Z:0.00
[[ 9.99996850e-01 -2.50992522e-03  0.00000000e+00  1.48379919e+02]
 [ 2.50992522e-03  9.99996850e-01  0.00000000e+00  2.67981993e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.306066493
Centerline is valid?  [True, True]
Translation: X:148.44, Y:2.68, Z:0.00
[[ 9.99993338e-01  3.65010102e-03  0.00000000e+00  1.48439280e+02]
 [-3.65010102e-03  9.99993338e-01  0.00000000e+00  2.68223399e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.366066493
Centerline is valid?  [True, True]
Translation: X:148.50, Y:2.69, Z:0.00
[[ 9.99971965e-01  7.48788070e-03  0.00000000e+00  1.48498856e+02]
 [-7.48788070e-03  9.99971965e-01  0.00000000e+00  2.68505772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.426066493
Centerline is valid?  [True, True]
Translation: X:148.56, Y:2.69, Z:0.00
[[ 9.99929841e-01  1.18453686e-02  0.00000000e+00  1.48557982e+02]
 [-1.18453686e-02  9.99929841e-01  0.00000000e+00  2.68850132e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.486066493
Centerline is valid?  [True, True]
Translation: X:148.62, Y:2.69, Z:0.00
[[ 9.99910511e-01  1.33779621e-02  0.00000000e+00  1.48617129e+02]
 [-1.33779621e-02  9.99910511e-01  0.00000000e+00  2.69418956e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.546066493
Centerline is valid?  [True, True]
Translation: X:148.68, Y:2.69, Z:0.00
[[ 9.99879215e-01  1.55420318e-02  0.00000000e+00  1.48676041e+02]
 [-1.55420318e-02  9.99879215e-01  0.00000000e+00  2.69070544e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 147.60606649300001
Centerline is valid?  [True, True]
Translation: X:148.73, Y:2.69, Z:0.00
[[ 9.99836911e-01  1.80596522e-02  0.00000000e+00  1.48733526e+02]
 [-1.80596522e-02  9.99836911e-01  0.00000000e+00  2.68720510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.66606649300002
Centerline is valid?  [True, True]
Translation: X:148.79, Y:2.69, Z:0.00
[[ 9.99548236e-01  3.00553512e-02  0.00000000e+00  1.48792893e+02]
 [-3.00553512e-02  9.99548236e-01  0.00000000e+00  2.68825461e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.726066493
Centerline is valid?  [True, True]
Translation: X:148.85, Y:2.69, Z:0.00
[[ 9.99050885e-01  4.35583483e-02  0.00000000e+00  1.48853028e+02]
 [-4.35583483e-02  9.99050885e-01  0.00000000e+00  2.68517964e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.786066493
Centerline is valid?  [True, True]
Translation: X:148.91, Y:2.68, Z:0.00
[[ 9.98818294e-01  4.86005773e-02  0.00000000e+00  1.48913377e+02]
 [-4.86005773e-02  9.98818294e-01  0.00000000e+00  2.68294519e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.846066493
Centerline is valid?  [True, True]
Translation: X:148.97, Y:2.68, Z:0.00
[[ 9.98112409e-01  6.14135054e-02  0.00000000e+00  1.48973797e+02]
 [-6.14135054e-02  9.98112409e-01  0.00000000e+00  2.67842501e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.906066493
Centerline is valid?  [True, True]
Translation: X:149.03, Y:2.67, Z:0.00
[[ 9.97857799e-01  6.54202748e-02  0.00000000e+00  1.49033675e+02]
 [-6.54202748e-02  9.97857799e-01  0.00000000e+00  2.67199821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.966066493
Centerline is valid?  [True, True]
Translation: X:149.09, Y:2.66, Z:0.00
[[ 9.97837276e-01  6.57325742e-02  0.00000000e+00  1.49091846e+02]
 [-6.57325742e-02  9.97837276e-01  0.00000000e+00  2.65728717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.026066493
Centerline is valid?  [True, True]
Translation: X:149.15, Y:2.65, Z:0.00
[[ 9.98023943e-01  6.28347825e-02  0.00000000e+00  1.49152327e+02]
 [-6.28347825e-02  9.98023943e-01  0.00000000e+00  2.64556947e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.086066493
Centerline is valid?  [True, True]
Translation: X:149.21, Y:2.63, Z:0.00
[[ 9.98136647e-01  6.10183117e-02  0.00000000e+00  1.49212042e+02]
 [-6.10183117e-02  9.98136647e-01  0.00000000e+00  2.62623635e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.146066493
Centerline is valid?  [True, True]
Translation: X:149.27, Y:2.61, Z:0.00
[[ 9.98287442e-01  5.84994336e-02  0.00000000e+00  1.49272220e+02]
 [-5.84994336e-02  9.98287442e-01  0.00000000e+00  2.60691913e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.206066493
Centerline is valid?  [True, True]
Translation: X:149.33, Y:2.59, Z:0.00
[[ 9.98583373e-01  5.32094665e-02  0.00000000e+00  1.49330722e+02]
 [-5.32094665e-02  9.98583373e-01  0.00000000e+00  2.58651057e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.266066493
Centerline is valid?  [True, True]
Translation: X:149.39, Y:2.57, Z:0.00
[[ 9.98983003e-01  4.50883454e-02  0.00000000e+00  1.49390726e+02]
 [-4.50883454e-02  9.98983003e-01  0.00000000e+00  2.57178491e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.326066493
Centerline is valid?  [True, True]
Translation: X:149.45, Y:2.56, Z:0.00
[[ 9.99237369e-01  3.90471541e-02  0.00000000e+00  1.49450838e+02]
 [-3.90471541e-02  9.99237369e-01  0.00000000e+00  2.56116708e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.38606649300002
Centerline is valid?  [True, True]
Translation: X:149.51, Y:2.55, Z:0.00
[[ 9.99613381e-01  2.78044847e-02  0.00000000e+00  1.49510908e+02]
 [-2.78044847e-02  9.99613381e-01  0.00000000e+00  2.54651563e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.446066493
Centerline is valid?  [True, True]
Translation: X:149.57, Y:2.54, Z:0.00
[[ 9.99782554e-01  2.08529123e-02  0.00000000e+00  1.49570635e+02]
 [-2.08529123e-02  9.99782554e-01  0.00000000e+00  2.53838036e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.506066493
Centerline is valid?  [True, True]
Translation: X:149.63, Y:2.53, Z:0.00
[[ 9.99956145e-01  9.36526311e-03  0.00000000e+00  1.49630743e+02]
 [-9.36526311e-03  9.99956145e-01  0.00000000e+00  2.52782138e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.566066493
Centerline is valid?  [True, True]
Translation: X:149.69, Y:2.52, Z:0.00
[[ 9.99989422e-01  4.59952753e-03  0.00000000e+00  1.49689446e+02]
 [-4.59952753e-03  9.99989422e-01  0.00000000e+00  2.52444231e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.626066493
Centerline is valid?  [True, True]
Translation: X:149.75, Y:2.52, Z:0.00
[[ 9.99989832e-01  4.50951093e-03  0.00000000e+00  1.49748122e+02]
 [-4.50951093e-03  9.99989832e-01  0.00000000e+00  2.51670329e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.686066493
Centerline is valid?  [True, True]
Translation: X:149.81, Y:2.52, Z:0.00
[[ 9.99991793e-01  4.05151023e-03  0.00000000e+00  1.49806644e+02]
 [-4.05151023e-03  9.99991793e-01  0.00000000e+00  2.51560783e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.746066493
Centerline is valid?  [True, True]
Translation: X:149.87, Y:2.52, Z:0.00
[[ 9.99989582e-01  4.56468789e-03  0.00000000e+00  1.49865214e+02]
 [-4.56468789e-03  9.99989582e-01  0.00000000e+00  2.51690920e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 148.806066493
Centerline is valid?  [True, True]
Translation: X:149.92, Y:2.52, Z:0.00
[[ 9.99980214e-01  6.29060292e-03  0.00000000e+00  1.49922909e+02]
 [-6.29060292e-03  9.99980214e-01  0.00000000e+00  2.51731931e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.866066493
Centerline is valid?  [True, True]
Translation: X:149.98, Y:2.52, Z:0.00
[[ 9.99942334e-01  1.07390813e-02  0.00000000e+00  1.49982020e+02]
 [-1.07390813e-02  9.99942334e-01  0.00000000e+00  2.52133582e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.926066493
Centerline is valid?  [True, True]
Translation: X:150.04, Y:2.52, Z:0.00
[[ 9.99901166e-01  1.40591092e-02  0.00000000e+00  1.50041911e+02]
 [-1.40591092e-02  9.99901166e-01  0.00000000e+00  2.52387244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.986066493
Centerline is valid?  [True, True]
Translation: X:150.10, Y:2.53, Z:0.00
[[ 9.99865682e-01  1.63895946e-02  0.00000000e+00  1.50099869e+02]
 [-1.63895946e-02  9.99865682e-01  0.00000000e+00  2.52963185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.046066493
Centerline is valid?  [True, True]
Translation: X:150.16, Y:2.53, Z:0.00
[[ 9.99808545e-01  1.95671701e-02  0.00000000e+00  1.50158011e+02]
 [-1.95671701e-02  9.99808545e-01  0.00000000e+00  2.53434030e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.10606649300001
Centerline is valid?  [True, True]
Translation: X:150.22, Y:2.53, Z:0.00
[[ 9.99625734e-01  2.73567432e-02  0.00000000e+00  1.50218034e+02]
 [-2.73567432e-02  9.99625734e-01  0.00000000e+00  2.53380054e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.16606649300002
Centerline is valid?  [True, True]
Translation: X:150.28, Y:2.54, Z:0.00
[[ 9.99109119e-01  4.22015127e-02  0.00000000e+00  1.50277117e+02]
 [-4.22015127e-02  9.99109119e-01  0.00000000e+00  2.53676537e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.226066493
Centerline is valid?  [True, True]
Translation: X:150.34, Y:2.54, Z:0.00
[[ 9.98654325e-01  5.18607676e-02  0.00000000e+00  1.50337552e+02]
 [-5.18607676e-02  9.98654325e-01  0.00000000e+00  2.53731512e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.286066493
Centerline is valid?  [True, True]
Translation: X:150.40, Y:2.53, Z:0.00
[[ 9.98126352e-01  6.11864763e-02  0.00000000e+00  1.50396709e+02]
 [-6.11864763e-02  9.98126352e-01  0.00000000e+00  2.52820135e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.346066493
Centerline is valid?  [True, True]
Translation: X:150.46, Y:2.52, Z:0.00
[[ 9.98109253e-01  6.14647758e-02  0.00000000e+00  1.50456487e+02]
 [-6.14647758e-02  9.98109253e-01  0.00000000e+00  2.52397816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.406066493
Centerline is valid?  [True, True]
Translation: X:150.52, Y:2.50, Z:0.00
[[ 9.98269244e-01  5.88091563e-02  0.00000000e+00  1.50515619e+02]
 [-5.88091563e-02  9.98269244e-01  0.00000000e+00  2.50396856e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.466066493
Centerline is valid?  [True, True]
Translation: X:150.58, Y:2.50, Z:0.00
[[ 9.98678382e-01  5.13954266e-02  0.00000000e+00  1.50575927e+02]
 [-5.13954266e-02  9.98678382e-01  0.00000000e+00  2.49502335e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.526066493
Centerline is valid?  [True, True]
Translation: X:150.64, Y:2.48, Z:0.00
[[ 9.99259819e-01  3.84683489e-02  0.00000000e+00  1.50636086e+02]
 [-3.84683489e-02  9.99259819e-01  0.00000000e+00  2.48080523e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.586066493
Centerline is valid?  [True, True]
Translation: X:150.70, Y:2.47, Z:0.00
[[ 9.99518211e-01  3.10378216e-02  0.00000000e+00  1.50696034e+02]
 [-3.10378216e-02  9.99518211e-01  0.00000000e+00  2.46686320e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.646066493
Centerline is valid?  [True, True]
Translation: X:150.75, Y:2.46, Z:0.00
[[ 9.99639450e-01  2.68508831e-02  0.00000000e+00  1.50754756e+02]
 [-2.68508831e-02  9.99639450e-01  0.00000000e+00  2.45671773e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.706066493
Centerline is valid?  [True, True]
Translation: X:150.81, Y:2.45, Z:0.00
[[ 9.99590433e-01  2.86175934e-02  0.00000000e+00  1.50814684e+02]
 [-2.86175934e-02  9.99590433e-01  0.00000000e+00  2.45051686e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.766066493
Centerline is valid?  [True, True]
Translation: X:150.87, Y:2.45, Z:0.00
[[ 9.99575878e-01  2.91215290e-02  0.00000000e+00  1.50872567e+02]
 [-2.91215290e-02  9.99575878e-01  0.00000000e+00  2.44901487e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.826066493
Centerline is valid?  [True, True]
Translation: X:150.93, Y:2.44, Z:0.00
[[ 9.99600981e-01  2.82467310e-02  0.00000000e+00  1.50930154e+02]
 [-2.82467310e-02  9.99600981e-01  0.00000000e+00  2.44048432e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.88606649300002
Centerline is valid?  [True, True]
Translation: X:150.99, Y:2.43, Z:0.00
[[ 9.99671748e-01  2.56202138e-02  0.00000000e+00  1.50989362e+02]
 [-2.56202138e-02  9.99671748e-01  0.00000000e+00  2.43484614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.946066493
Centerline is valid?  [True, True]
Translation: X:151.05, Y:2.43, Z:0.00
[[ 9.99775163e-01  2.12043101e-02  0.00000000e+00  1.51048600e+02]
 [-2.12043101e-02  9.99775163e-01  0.00000000e+00  2.43314527e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 150.006066493
Centerline is valid?  [True, True]
Translation: X:151.11, Y:2.43, Z:0.00
[[ 9.99765588e-01  2.16510953e-02  0.00000000e+00  1.51106925e+02]
 [-2.16510953e-02  9.99765588e-01  0.00000000e+00  2.43076963e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.066066493
Centerline is valid?  [True, True]
Translation: X:151.17, Y:2.43, Z:0.00
[[ 9.99784782e-01  2.07458125e-02  0.00000000e+00  1.51167181e+02]
 [-2.07458125e-02  9.99784782e-01  0.00000000e+00  2.42674893e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.126066493
Centerline is valid?  [True, True]
Translation: X:151.23, Y:2.43, Z:0.00
[[ 9.99800610e-01  1.99684756e-02  0.00000000e+00  1.51225023e+02]
 [-1.99684756e-02  9.99800610e-01  0.00000000e+00  2.42731584e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.186066493
Centerline is valid?  [True, True]
Translation: X:151.28, Y:2.43, Z:0.00
[[ 9.99771252e-01  2.13879434e-02  0.00000000e+00  1.51283983e+02]
 [-2.13879434e-02  9.99771252e-01  0.00000000e+00  2.42553466e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.246066493
Centerline is valid?  [True, True]
Translation: X:151.34, Y:2.43, Z:0.00
[[ 9.99813584e-01  1.93079757e-02  0.00000000e+00  1.51344199e+02]
 [-1.93079757e-02  9.99813584e-01  0.00000000e+00  2.42701401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.306066493
Centerline is valid?  [True, True]
Translation: X:151.40, Y:2.43, Z:0.00
[[ 9.99867354e-01  1.62872621e-02  0.00000000e+00  1.51402762e+02]
 [-1.62872621e-02  9.99867354e-01  0.00000000e+00  2.42806701e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.366066493
Centerline is valid?  [True, True]
Translation: X:151.46, Y:2.43, Z:0.00
[[ 9.99938158e-01  1.11211649e-02  0.00000000e+00  1.51462598e+02]
 [-1.11211649e-02  9.99938158e-01  0.00000000e+00  2.42672942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.426066493
Centerline is valid?  [True, True]
Translation: X:151.52, Y:2.43, Z:0.00
[[ 9.99984624e-01  5.54547437e-03  0.00000000e+00  1.51521716e+02]
 [-5.54547437e-03  9.99984624e-01  0.00000000e+00  2.42847061e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.486066493
Centerline is valid?  [True, True]
Translation: X:151.58, Y:2.43, Z:0.00
[[ 9.99999705e-01 -7.67746235e-04  0.00000000e+00  1.51579294e+02]
 [ 7.67746235e-04  9.99999705e-01  0.00000000e+00  2.43238451e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.546066493
Centerline is valid?  [True, True]
Translation: X:151.64, Y:2.43, Z:0.00
[[ 9.99977866e-01 -6.65338307e-03  0.00000000e+00  1.51639067e+02]
 [ 6.65338307e-03  9.99977866e-01  0.00000000e+00  2.43267140e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.60606649300001
Centerline is valid?  [True, True]
Translation: X:151.70, Y:2.44, Z:0.00
[[ 9.99854370e-01 -1.70657193e-02  0.00000000e+00  1.51699924e+02]
 [ 1.70657193e-02  9.99854370e-01  0.00000000e+00  2.43954827e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.66606649300002
Centerline is valid?  [True, True]
Translation: X:151.76, Y:2.44, Z:0.00
[[ 9.99785170e-01 -2.07271311e-02  0.00000000e+00  1.51759360e+02]
 [ 2.07271311e-02  9.99785170e-01  0.00000000e+00  2.44441515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.726066493
Centerline is valid?  [True, True]
Translation: X:151.82, Y:2.46, Z:0.00
[[ 9.99648579e-01 -2.65088424e-02  0.00000000e+00  1.51819515e+02]
 [ 2.65088424e-02  9.99648579e-01  0.00000000e+00  2.45600374e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.786066493
Centerline is valid?  [True, True]
Translation: X:151.88, Y:2.47, Z:0.00
[[ 9.99670623e-01 -2.56640733e-02  0.00000000e+00  1.51882292e+02]
 [ 2.56640733e-02  9.99670623e-01  0.00000000e+00  2.46747879e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.846066493
Centerline is valid?  [True, True]
Translation: X:151.94, Y:2.48, Z:0.00
[[ 9.99712416e-01 -2.39809442e-02  0.00000000e+00  1.51943966e+02]
 [ 2.39809442e-02  9.99712416e-01  0.00000000e+00  2.48185194e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.906066493
Centerline is valid?  [True, True]
Translation: X:152.00, Y:2.50, Z:0.00
[[ 9.99768329e-01 -2.15241236e-02  0.00000000e+00  1.52003598e+02]
 [ 2.15241236e-02  9.99768329e-01  0.00000000e+00  2.49683645e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.966066493
Centerline is valid?  [True, True]
Translation: X:152.07, Y:2.51, Z:0.00
[[ 9.99773700e-01 -2.12732119e-02  0.00000000e+00  1.52066202e+02]
 [ 2.12732119e-02  9.99773700e-01  0.00000000e+00  2.50948515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.026066493
Centerline is valid?  [True, True]
Translation: X:152.13, Y:2.52, Z:0.00
[[ 9.99735367e-01 -2.30042417e-02  0.00000000e+00  1.52126041e+02]
 [ 2.30042417e-02  9.99735367e-01  0.00000000e+00  2.52043820e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.086066493
Centerline is valid?  [True, True]
Translation: X:152.19, Y:2.53, Z:0.00
[[ 9.99667504e-01 -2.57853015e-02  0.00000000e+00  1.52187899e+02]
 [ 2.57853015e-02  9.99667504e-01  0.00000000e+00  2.53337461e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.146066493
Centerline is valid?  [True, True]
Translation: X:152.25, Y:2.55, Z:0.00
[[ 9.99610526e-01 -2.79069338e-02  0.00000000e+00  1.52248734e+02]
 [ 2.79069338e-02  9.99610526e-01  0.00000000e+00  2.54650536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 151.206066493
Centerline is valid?  [True, True]
Translation: X:152.31, Y:2.56, Z:0.00
[[ 9.99587600e-01 -2.87163817e-02  0.00000000e+00  1.52310598e+02]
 [ 2.87163817e-02  9.99587600e-01  0.00000000e+00  2.55554750e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.266066493
Centerline is valid?  [True, True]
Translation: X:152.37, Y:2.57, Z:0.00
[[ 9.99527099e-01 -3.07502446e-02  0.00000000e+00  1.52372521e+02]
 [ 3.07502446e-02  9.99527099e-01  0.00000000e+00  2.57146233e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.326066493
Centerline is valid?  [True, True]
Translation: X:152.43, Y:2.58, Z:0.00
[[ 9.99461942e-01 -3.27998066e-02  0.00000000e+00  1.52432438e+02]
 [ 3.27998066e-02  9.99461942e-01  0.00000000e+00  2.58326037e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.38606649300002
Centerline is valid?  [True, True]
Translation: X:152.49, Y:2.59, Z:0.00
[[ 9.99609643e-01 -2.79385464e-02  0.00000000e+00  1.52493410e+02]
 [ 2.79385464e-02  9.99609643e-01  0.00000000e+00  2.59251086e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.446066493
Centerline is valid?  [True, True]
Translation: X:152.56, Y:2.60, Z:0.00
[[ 9.99688426e-01 -2.49609762e-02  0.00000000e+00  1.52555743e+02]
 [ 2.49609762e-02  9.99688426e-01  0.00000000e+00  2.59876600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.506066493
Centerline is valid?  [True, True]
Translation: X:152.62, Y:2.60, Z:0.00
[[ 9.99754208e-01 -2.21703089e-02  0.00000000e+00  1.52616466e+02]
 [ 2.21703089e-02  9.99754208e-01  0.00000000e+00  2.60391864e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.566066493
Centerline is valid?  [True, True]
Translation: X:152.68, Y:2.60, Z:0.00
[[ 9.99775208e-01 -2.12021854e-02  0.00000000e+00  1.52676515e+02]
 [ 2.12021854e-02  9.99775208e-01  0.00000000e+00  2.60052646e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.626066493
Centerline is valid?  [True, True]
Translation: X:152.74, Y:2.60, Z:0.00
[[ 9.99767801e-01 -2.15486453e-02  0.00000000e+00  1.52738317e+02]
 [ 2.15486453e-02  9.99767801e-01  0.00000000e+00  2.60118206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.686066493
Centerline is valid?  [True, True]
Translation: X:152.80, Y:2.61, Z:0.00
[[ 9.99790067e-01 -2.04895613e-02  0.00000000e+00  1.52799684e+02]
 [ 2.04895613e-02  9.99790067e-01  0.00000000e+00  2.60667314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.746066493
Centerline is valid?  [True, True]
Translation: X:152.86, Y:2.61, Z:0.00
[[ 9.99956972e-01 -9.27652802e-03  0.00000000e+00  1.52860541e+02]
 [ 9.27652802e-03  9.99956972e-01  0.00000000e+00  2.61241896e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.806066493
Centerline is valid?  [True, True]
Translation: X:152.92, Y:2.61, Z:0.00
[[ 9.99986148e-01  5.26352835e-03  0.00000000e+00  1.52920121e+02]
 [-5.26352835e-03  9.99986148e-01  0.00000000e+00  2.61100937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.866066493
Centerline is valid?  [True, True]
Translation: X:152.98, Y:2.61, Z:0.00
[[ 9.99956129e-01  9.36698814e-03  0.00000000e+00  1.52978785e+02]
 [-9.36698814e-03  9.99956129e-01  0.00000000e+00  2.61157519e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.926066493
Centerline is valid?  [True, True]
Translation: X:153.04, Y:2.62, Z:0.00
[[ 9.99903512e-01  1.38912458e-02  0.00000000e+00  1.53036605e+02]
 [-1.38912458e-02  9.99903512e-01  0.00000000e+00  2.61716992e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.986066493
Centerline is valid?  [True, True]
Translation: X:153.10, Y:2.62, Z:0.00
[[ 9.99886339e-01  1.50767911e-02  0.00000000e+00  1.53095418e+02]
 [-1.50767911e-02  9.99886339e-01  0.00000000e+00  2.61963129e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.046066493
Centerline is valid?  [True, True]
Translation: X:153.16, Y:2.62, Z:0.00
[[ 9.99937717e-01  1.11607213e-02  0.00000000e+00  1.53155208e+02]
 [-1.11607213e-02  9.99937717e-01  0.00000000e+00  2.61719675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.10606649300001
Centerline is valid?  [True, True]
Translation: X:153.21, Y:2.61, Z:0.00
[[ 9.99966406e-01  8.19677049e-03  0.00000000e+00  1.53213253e+02]
 [-8.19677049e-03  9.99966406e-01  0.00000000e+00  2.61109817e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.16606649300002
Centerline is valid?  [True, True]
Translation: X:153.27, Y:2.61, Z:0.00
[[ 9.99978459e-01  6.56367718e-03  0.00000000e+00  1.53272380e+02]
 [-6.56367718e-03  9.99978459e-01  0.00000000e+00  2.61319087e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.226066493
Centerline is valid?  [True, True]
Translation: X:153.33, Y:2.61, Z:0.00
[[ 9.99987216e-01  5.05642806e-03  0.00000000e+00  1.53330368e+02]
 [-5.05642806e-03  9.99987216e-01  0.00000000e+00  2.61222246e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.286066493
Centerline is valid?  [True, True]
Translation: X:153.39, Y:2.61, Z:0.00
[[ 9.99989269e-01  4.63262910e-03  0.00000000e+00  1.53389106e+02]
 [-4.63262910e-03  9.99989269e-01  0.00000000e+00  2.60935838e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.346066493
Centerline is valid?  [True, True]
Translation: X:153.45, Y:2.61, Z:0.00
[[ 9.99993399e-01  3.63347838e-03  0.00000000e+00  1.53448263e+02]
 [-3.63347838e-03  9.99993399e-01  0.00000000e+00  2.60859567e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 152.406066493
Centerline is valid?  [True, True]
Translation: X:153.51, Y:2.61, Z:0.00
[[ 9.99998630e-01 -1.65556392e-03  0.00000000e+00  1.53507193e+02]
 [ 1.65556392e-03  9.99998630e-01  0.00000000e+00  2.61140491e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.466066493
Centerline is valid?  [True, True]
Translation: X:153.57, Y:2.61, Z:0.00
[[ 9.99991323e-01 -4.16574089e-03  0.00000000e+00  1.53568762e+02]
 [ 4.16574089e-03  9.99991323e-01  0.00000000e+00  2.61302165e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.526066493
Centerline is valid?  [True, True]
Translation: X:153.63, Y:2.61, Z:0.00
[[ 9.99990893e-01 -4.26779430e-03  0.00000000e+00  1.53630078e+02]
 [ 4.26779430e-03  9.99990893e-01  0.00000000e+00  2.61292437e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.586066493
Centerline is valid?  [True, True]
Translation: X:153.69, Y:2.61, Z:0.00
[[ 9.99999987e-01 -1.60412345e-04  0.00000000e+00  1.53691673e+02]
 [ 1.60412345e-04  9.99999987e-01  0.00000000e+00  2.61271965e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.646066493
Centerline is valid?  [True, True]
Translation: X:153.75, Y:2.61, Z:0.00
[[ 9.99999988e-01 -1.54555560e-04  0.00000000e+00  1.53752034e+02]
 [ 1.54555560e-04  9.99999988e-01  0.00000000e+00  2.61349165e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.706066493
Centerline is valid?  [True, True]
Translation: X:153.81, Y:2.61, Z:0.00
[[ 9.99999645e-01 -8.42754684e-04  0.00000000e+00  1.53812679e+02]
 [ 8.42754684e-04  9.99999645e-01  0.00000000e+00  2.60887658e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.766066493
Centerline is valid?  [True, True]
Translation: X:153.87, Y:2.60, Z:0.00
[[ 9.99994453e-01 -3.33083701e-03  0.00000000e+00  1.53874096e+02]
 [ 3.33083701e-03  9.99994453e-01  0.00000000e+00  2.60430472e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.826066493
Centerline is valid?  [True, True]
Translation: X:153.94, Y:2.61, Z:0.00
[[ 9.99993649e-01 -3.56389877e-03  0.00000000e+00  1.53936313e+02]
 [ 3.56389877e-03  9.99993649e-01  0.00000000e+00  2.60553579e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.88606649300002
Centerline is valid?  [True, True]
Translation: X:154.00, Y:2.60, Z:0.00
[[ 9.99990747e-01 -4.30178948e-03  0.00000000e+00  1.53998492e+02]
 [ 4.30178948e-03  9.99990747e-01  0.00000000e+00  2.59873519e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.94606649300002
Centerline is valid?  [True, True]
Translation: X:154.06, Y:2.59, Z:0.00
[[ 9.99962885e-01 -8.61556165e-03  0.00000000e+00  1.54060932e+02]
 [ 8.61556165e-03  9.99962885e-01  0.00000000e+00  2.59173118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.006066493
Centerline is valid?  [True, True]
Translation: X:154.12, Y:2.59, Z:0.00
[[ 9.99992768e-01 -3.80307277e-03  0.00000000e+00  1.54123141e+02]
 [ 3.80307277e-03  9.99992768e-01  0.00000000e+00  2.59112943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.066066493
Centerline is valid?  [True, True]
Translation: X:154.18, Y:2.59, Z:0.00
[[ 9.99999666e-01 -8.17131638e-04  0.00000000e+00  1.54183019e+02]
 [ 8.17131638e-04  9.99999666e-01  0.00000000e+00  2.58827207e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.126066493
Centerline is valid?  [True, True]
Translation: X:154.24, Y:2.58, Z:0.00
[[ 9.99989335e-01 -4.61852951e-03  0.00000000e+00  1.54243964e+02]
 [ 4.61852951e-03  9.99989335e-01  0.00000000e+00  2.58185437e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.186066493
Centerline is valid?  [True, True]
Translation: X:154.30, Y:2.58, Z:0.00
[[ 9.99961683e-01 -8.75405547e-03  0.00000000e+00  1.54304646e+02]
 [ 8.75405547e-03  9.99961683e-01  0.00000000e+00  2.57990860e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.246066493
Centerline is valid?  [True, True]
Translation: X:154.37, Y:2.58, Z:0.00
[[ 9.99906967e-01 -1.36402742e-02  0.00000000e+00  1.54365376e+02]
 [ 1.36402742e-02  9.99906967e-01  0.00000000e+00  2.58028326e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.306066493
Centerline is valid?  [True, True]
Translation: X:154.43, Y:2.58, Z:0.00
[[ 9.99841361e-01 -1.78116060e-02  0.00000000e+00  1.54426372e+02]
 [ 1.78116060e-02  9.99841361e-01  0.00000000e+00  2.58052004e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.366066493
Centerline is valid?  [True, True]
Translation: X:154.49, Y:2.58, Z:0.00
[[ 9.99785648e-01 -2.07040542e-02  0.00000000e+00  1.54486547e+02]
 [ 2.07040542e-02  9.99785648e-01  0.00000000e+00  2.57947724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.426066493
Centerline is valid?  [True, True]
Translation: X:154.55, Y:2.58, Z:0.00
[[ 9.99840727e-01 -1.78471290e-02  0.00000000e+00  1.54547101e+02]
 [ 1.78471290e-02  9.99840727e-01  0.00000000e+00  2.58013557e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.486066493
Centerline is valid?  [True, True]
Translation: X:154.61, Y:2.58, Z:0.00
[[ 9.99966770e-01 -8.15224707e-03  0.00000000e+00  1.54608142e+02]
 [ 8.15224707e-03  9.99966770e-01  0.00000000e+00  2.58218631e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.546066493
Centerline is valid?  [True, True]
Translation: X:154.67, Y:2.58, Z:0.00
[[ 9.99967703e-01 -8.03696737e-03  0.00000000e+00  1.54669579e+02]
 [ 8.03696737e-03  9.99967703e-01  0.00000000e+00  2.58046706e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 153.60606649300001
Centerline is valid?  [True, True]
Translation: X:154.73, Y:2.58, Z:0.00
[[ 9.99941289e-01 -1.08360062e-02  0.00000000e+00  1.54731553e+02]
 [ 1.08360062e-02  9.99941289e-01  0.00000000e+00  2.57706340e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.66606649300002
Centerline is valid?  [True, True]
Translation: X:154.79, Y:2.58, Z:0.00
[[ 9.99958357e-01 -9.12600681e-03  0.00000000e+00  1.54794897e+02]
 [ 9.12600681e-03  9.99958357e-01  0.00000000e+00  2.58108003e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.726066493
Centerline is valid?  [True, True]
Translation: X:154.86, Y:2.58, Z:0.00
[[ 9.99974739e-01 -7.10782825e-03  0.00000000e+00  1.54856893e+02]
 [ 7.10782825e-03  9.99974739e-01  0.00000000e+00  2.58395079e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.786066493
Centerline is valid?  [True, True]
Translation: X:154.92, Y:2.58, Z:0.00
[[ 9.99985039e-01 -5.47008487e-03  0.00000000e+00  1.54918261e+02]
 [ 5.47008487e-03  9.99985039e-01  0.00000000e+00  2.58499122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.846066493
Centerline is valid?  [True, True]
Translation: X:154.98, Y:2.59, Z:0.00
[[ 9.99997595e-01 -2.19338837e-03  0.00000000e+00  1.54980037e+02]
 [ 2.19338837e-03  9.99997595e-01  0.00000000e+00  2.58931942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.906066493
Centerline is valid?  [True, True]
Translation: X:155.04, Y:2.59, Z:0.00
[[ 9.99999934e-01  3.62159345e-04  0.00000000e+00  1.55041074e+02]
 [-3.62159345e-04  9.99999934e-01  0.00000000e+00  2.59271111e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.966066493
Centerline is valid?  [True, True]
Translation: X:155.10, Y:2.60, Z:0.00
[[ 9.99997001e-01  2.44928002e-03  0.00000000e+00  1.55100176e+02]
 [-2.44928002e-03  9.99997001e-01  0.00000000e+00  2.59793598e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.026066493
Centerline is valid?  [True, True]
Translation: X:155.16, Y:2.60, Z:0.00
[[ 9.99974382e-01  7.15791493e-03  0.00000000e+00  1.55158932e+02]
 [-7.15791493e-03  9.99974382e-01  0.00000000e+00  2.60050615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.086066493
Centerline is valid?  [True, True]
Translation: X:155.22, Y:2.60, Z:0.00
[[ 9.99953128e-01  9.68207580e-03  0.00000000e+00  1.55218378e+02]
 [-9.68207580e-03  9.99953128e-01  0.00000000e+00  2.59921776e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.146066493
Centerline is valid?  [True, True]
Translation: X:155.28, Y:2.60, Z:0.00
[[ 9.99958752e-01  9.08260343e-03  0.00000000e+00  1.55276427e+02]
 [-9.08260343e-03  9.99958752e-01  0.00000000e+00  2.59841251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.206066493
Centerline is valid?  [True, True]
Translation: X:155.33, Y:2.59, Z:0.00
[[ 9.99964236e-01  8.45730874e-03  0.00000000e+00  1.55334853e+02]
 [-8.45730874e-03  9.99964236e-01  0.00000000e+00  2.59395561e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.266066493
Centerline is valid?  [True, True]
Translation: X:155.39, Y:2.59, Z:0.00
[[ 9.99987782e-01  4.94316446e-03  0.00000000e+00  1.55392396e+02]
 [-4.94316446e-03  9.99987782e-01  0.00000000e+00  2.58753893e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.326066493
Centerline is valid?  [True, True]
Translation: X:155.45, Y:2.58, Z:0.00
[[ 9.99985784e-01  5.33214124e-03  0.00000000e+00  1.55450590e+02]
 [-5.33214124e-03  9.99985784e-01  0.00000000e+00  2.58136658e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.38606649300002
Centerline is valid?  [True, True]
Translation: X:155.51, Y:2.58, Z:0.00
[[ 9.99971726e-01  7.51973641e-03  0.00000000e+00  1.55510071e+02]
 [-7.51973641e-03  9.99971726e-01  0.00000000e+00  2.57570317e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.44606649300002
Centerline is valid?  [True, True]
Translation: X:155.57, Y:2.57, Z:0.00
[[ 9.99994823e-01  3.21772123e-03  0.00000000e+00  1.55568309e+02]
 [-3.21772123e-03  9.99994823e-01  0.00000000e+00  2.56501432e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.506066493
Centerline is valid?  [True, True]
Translation: X:155.63, Y:2.56, Z:0.00
[[ 9.99992600e-01 -3.84718453e-03  0.00000000e+00  1.55628225e+02]
 [ 3.84718453e-03  9.99992600e-01  0.00000000e+00  2.56076552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.566066493
Centerline is valid?  [True, True]
Translation: X:155.69, Y:2.56, Z:0.00
[[ 9.99877784e-01 -1.56338475e-02  0.00000000e+00  1.55688940e+02]
 [ 1.56338475e-02  9.99877784e-01  0.00000000e+00  2.55500350e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.626066493
Centerline is valid?  [True, True]
Translation: X:155.75, Y:2.55, Z:0.00
[[ 9.99708674e-01 -2.41364164e-02  0.00000000e+00  1.55749935e+02]
 [ 2.41364164e-02  9.99708674e-01  0.00000000e+00  2.54897714e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.686066493
Centerline is valid?  [True, True]
Translation: X:155.81, Y:2.54, Z:0.00
[[ 9.99410408e-01 -3.43341771e-02  0.00000000e+00  1.55809476e+02]
 [ 3.43341771e-02  9.99410408e-01  0.00000000e+00  2.54460535e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.746066493
Centerline is valid?  [True, True]
Translation: X:155.87, Y:2.54, Z:0.00
[[ 9.99297504e-01 -3.74766407e-02  0.00000000e+00  1.55868994e+02]
 [ 3.74766407e-02  9.99297504e-01  0.00000000e+00  2.54282109e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 154.806066493
Centerline is valid?  [True, True]
Translation: X:155.93, Y:2.54, Z:0.00
[[ 9.99352985e-01 -3.59668140e-02  0.00000000e+00  1.55930753e+02]
 [ 3.59668140e-02  9.99352985e-01  0.00000000e+00  2.54208630e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.866066493
Centerline is valid?  [True, True]
Translation: X:155.99, Y:2.55, Z:0.00
[[ 9.99597991e-01 -2.83523788e-02  0.00000000e+00  1.55991269e+02]
 [ 2.83523788e-02  9.99597991e-01  0.00000000e+00  2.54531572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.926066493
Centerline is valid?  [True, True]
Translation: X:156.05, Y:2.55, Z:0.00
[[ 9.99724925e-01 -2.34536470e-02  0.00000000e+00  1.56052137e+02]
 [ 2.34536470e-02  9.99724925e-01  0.00000000e+00  2.54733604e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.986066493
Centerline is valid?  [True, True]
Translation: X:156.11, Y:2.55, Z:0.00
[[ 9.99846183e-01 -1.75388132e-02  0.00000000e+00  1.56113369e+02]
 [ 1.75388132e-02  9.99846183e-01  0.00000000e+00  2.55129661e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.046066493
Centerline is valid?  [True, True]
Translation: X:156.18, Y:2.55, Z:0.00
[[ 9.99868007e-01 -1.62470987e-02  0.00000000e+00  1.56175321e+02]
 [ 1.62470987e-02  9.99868007e-01  0.00000000e+00  2.55393804e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.10606649300001
Centerline is valid?  [True, True]
Translation: X:156.24, Y:2.56, Z:0.00
[[ 9.99862342e-01 -1.65920532e-02  0.00000000e+00  1.56238149e+02]
 [ 1.65920532e-02  9.99862342e-01  0.00000000e+00  2.55798252e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.16606649300002
Centerline is valid?  [True, True]
Translation: X:156.30, Y:2.56, Z:0.00
[[ 9.99861703e-01 -1.66305199e-02  0.00000000e+00  1.56300480e+02]
 [ 1.66305199e-02  9.99861703e-01  0.00000000e+00  2.56080621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.226066493
Centerline is valid?  [True, True]
Translation: X:156.36, Y:2.56, Z:0.00
[[ 9.99862630e-01 -1.65746875e-02  0.00000000e+00  1.56360067e+02]
 [ 1.65746875e-02  9.99862630e-01  0.00000000e+00  2.56222615e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.286066493
Centerline is valid?  [True, True]
Translation: X:156.42, Y:2.57, Z:0.00
[[ 9.99876236e-01 -1.57325652e-02  0.00000000e+00  1.56421301e+02]
 [ 1.57325652e-02  9.99876236e-01  0.00000000e+00  2.56544088e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.346066493
Centerline is valid?  [True, True]
Translation: X:156.48, Y:2.57, Z:0.00
[[ 9.99955239e-01 -9.46149293e-03  0.00000000e+00  1.56482250e+02]
 [ 9.46149293e-03  9.99955239e-01  0.00000000e+00  2.57114690e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.406066493
Centerline is valid?  [True, True]
Translation: X:156.54, Y:2.57, Z:0.00
[[ 9.99988512e-01 -4.79333558e-03  0.00000000e+00  1.56543061e+02]
 [ 4.79333558e-03  9.99988512e-01  0.00000000e+00  2.57177319e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.466066493
Centerline is valid?  [True, True]
Translation: X:156.60, Y:2.57, Z:0.00
[[ 9.99999766e-01 -6.83904151e-04  0.00000000e+00  1.56603352e+02]
 [ 6.83904151e-04  9.99999766e-01  0.00000000e+00  2.57210247e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.526066493
Centerline is valid?  [True, True]
Translation: X:156.67, Y:2.57, Z:0.00
[[ 1.00000000e+00 -2.10427660e-05  0.00000000e+00  1.56665018e+02]
 [ 2.10427660e-05  1.00000000e+00  0.00000000e+00  2.57066670e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.586066493
Centerline is valid?  [True, True]
Translation: X:156.73, Y:2.57, Z:0.00
[[ 9.99998334e-01  1.82529655e-03  0.00000000e+00  1.56726053e+02]
 [-1.82529655e-03  9.99998334e-01  0.00000000e+00  2.57267286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.646066493
Centerline is valid?  [True, True]
Translation: X:156.78, Y:2.57, Z:0.00
[[ 9.99990827e-01  4.28314483e-03  0.00000000e+00  1.56784724e+02]
 [-4.28314483e-03  9.99990827e-01  0.00000000e+00  2.57275107e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.706066493
Centerline is valid?  [True, True]
Translation: X:156.84, Y:2.57, Z:0.00
[[ 9.99996110e-01  2.78941235e-03  0.00000000e+00  1.56843737e+02]
 [-2.78941235e-03  9.99996110e-01  0.00000000e+00  2.56757649e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.766066493
Centerline is valid?  [True, True]
Translation: X:156.90, Y:2.57, Z:0.00
[[ 9.99999659e-01  8.26292238e-04  0.00000000e+00  1.56902434e+02]
 [-8.26292238e-04  9.99999659e-01  0.00000000e+00  2.56555811e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.826066493
Centerline is valid?  [True, True]
Translation: X:156.96, Y:2.56, Z:0.00
[[ 9.99992649e-01  3.83439724e-03  0.00000000e+00  1.56961662e+02]
 [-3.83439724e-03  9.99992649e-01  0.00000000e+00  2.56477849e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.88606649300002
Centerline is valid?  [True, True]
Translation: X:157.02, Y:2.56, Z:0.00
[[ 9.99994541e-01  3.30418033e-03  0.00000000e+00  1.57020697e+02]
 [-3.30418033e-03  9.99994541e-01  0.00000000e+00  2.55932039e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.94606649300002
Centerline is valid?  [True, True]
Translation: X:157.08, Y:2.56, Z:0.00
[[ 9.99999988e-01  1.57589330e-04  0.00000000e+00  1.57079307e+02]
 [-1.57589330e-04  9.99999988e-01  0.00000000e+00  2.55653409e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 156.006066493
Centerline is valid?  [True, True]
Translation: X:157.14, Y:2.55, Z:0.00
[[ 9.99997379e-01 -2.28972738e-03  0.00000000e+00  1.57140032e+02]
 [ 2.28972738e-03  9.99997379e-01  0.00000000e+00  2.55412865e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.066066493
Centerline is valid?  [True, True]
Translation: X:157.20, Y:2.55, Z:0.00
[[ 9.99991025e-01 -4.23676617e-03  0.00000000e+00  1.57200620e+02]
 [ 4.23676617e-03  9.99991025e-01  0.00000000e+00  2.55262022e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.126066493
Centerline is valid?  [True, True]
Translation: X:157.26, Y:2.55, Z:0.00
[[ 9.99978857e-01 -6.50273986e-03  0.00000000e+00  1.57262051e+02]
 [ 6.50273986e-03  9.99978857e-01  0.00000000e+00  2.55186818e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.186066493
Centerline is valid?  [True, True]
Translation: X:157.32, Y:2.55, Z:0.00
[[ 9.99974521e-01 -7.13841402e-03  0.00000000e+00  1.57324283e+02]
 [ 7.13841402e-03  9.99974521e-01  0.00000000e+00  2.55177487e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.246066493
Centerline is valid?  [True, True]
Translation: X:157.39, Y:2.55, Z:0.00
[[ 9.99976178e-01 -6.90245459e-03  0.00000000e+00  1.57386527e+02]
 [ 6.90245459e-03  9.99976178e-01  0.00000000e+00  2.55274971e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.306066493
Centerline is valid?  [True, True]
Translation: X:157.45, Y:2.55, Z:0.00
[[ 9.99980108e-01 -6.30740857e-03  0.00000000e+00  1.57447594e+02]
 [ 6.30740857e-03  9.99980108e-01  0.00000000e+00  2.55277908e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.366066493
Centerline is valid?  [True, True]
Translation: X:157.51, Y:2.55, Z:0.00
[[ 9.99977220e-01 -6.74975472e-03  0.00000000e+00  1.57509455e+02]
 [ 6.74975472e-03  9.99977220e-01  0.00000000e+00  2.55368719e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.426066493
Centerline is valid?  [True, True]
Translation: X:157.57, Y:2.55, Z:0.00
[[ 9.99974716e-01 -7.11106783e-03  0.00000000e+00  1.57570646e+02]
 [ 7.11106783e-03  9.99974716e-01  0.00000000e+00  2.55395796e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.486066493
Centerline is valid?  [True, True]
Translation: X:157.63, Y:2.56, Z:0.00
[[ 9.99989853e-01 -4.50491837e-03  0.00000000e+00  1.57631158e+02]
 [ 4.50491837e-03  9.99989853e-01  0.00000000e+00  2.55556204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.546066493
Centerline is valid?  [True, True]
Translation: X:157.69, Y:2.55, Z:0.00
[[ 9.99999751e-01 -7.05020353e-04  0.00000000e+00  1.57693525e+02]
 [ 7.05020353e-04  9.99999751e-01  0.00000000e+00  2.55487586e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.60606649300001
Centerline is valid?  [True, True]
Translation: X:157.75, Y:2.55, Z:0.00
[[ 9.99988765e-01  4.74024962e-03  0.00000000e+00  1.57753611e+02]
 [-4.74024962e-03  9.99988765e-01  0.00000000e+00  2.55441155e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.66606649300002
Centerline is valid?  [True, True]
Translation: X:157.81, Y:2.55, Z:0.00
[[ 9.99993353e-01  3.64620079e-03  0.00000000e+00  1.57812441e+02]
 [-3.64620079e-03  9.99993353e-01  0.00000000e+00  2.55344256e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.726066493
Centerline is valid?  [True, True]
Translation: X:157.87, Y:2.56, Z:0.00
[[ 9.99995063e-01  3.14239860e-03  0.00000000e+00  1.57872411e+02]
 [-3.14239860e-03  9.99995063e-01  0.00000000e+00  2.55504322e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.786066493
Centerline is valid?  [True, True]
Translation: X:157.93, Y:2.55, Z:0.00
[[ 9.99999965e-01 -2.64909630e-04  0.00000000e+00  1.57931595e+02]
 [ 2.64909630e-04  9.99999965e-01  0.00000000e+00  2.55073116e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.846066493
Centerline is valid?  [True, True]
Translation: X:157.99, Y:2.55, Z:0.00
[[ 9.99993190e-01 -3.69052799e-03  0.00000000e+00  1.57991517e+02]
 [ 3.69052799e-03  9.99993190e-01  0.00000000e+00  2.54679014e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.906066493
Centerline is valid?  [True, True]
Translation: X:158.05, Y:2.54, Z:0.00
[[ 9.99984304e-01 -5.60279090e-03  0.00000000e+00  1.58051906e+02]
 [ 5.60279090e-03  9.99984304e-01  0.00000000e+00  2.54421430e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.966066493
Centerline is valid?  [True, True]
Translation: X:158.11, Y:2.54, Z:0.00
[[ 9.99956049e-01 -9.37550407e-03  0.00000000e+00  1.58114645e+02]
 [ 9.37550407e-03  9.99956049e-01  0.00000000e+00  2.54436058e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.026066493
Centerline is valid?  [True, True]
Translation: X:158.18, Y:2.55, Z:0.00
[[ 9.99997662e-01 -2.16259895e-03  0.00000000e+00  1.58175193e+02]
 [ 2.16259895e-03  9.99997662e-01  0.00000000e+00  2.54530638e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.086066493
Centerline is valid?  [True, True]
Translation: X:158.24, Y:2.54, Z:0.00
[[ 9.99990468e-01  4.36622170e-03  0.00000000e+00  1.58235360e+02]
 [-4.36622170e-03  9.99990468e-01  0.00000000e+00  2.53780118e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.146066493
Centerline is valid?  [True, True]
Translation: X:158.29, Y:2.53, Z:0.00
[[ 9.99995752e-01  2.91494590e-03  0.00000000e+00  1.58293145e+02]
 [-2.91494590e-03  9.99995752e-01  0.00000000e+00  2.53375044e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 157.206066493
Centerline is valid?  [True, True]
Translation: X:158.35, Y:2.53, Z:0.00
[[ 9.99998775e-01 -1.56522763e-03  0.00000000e+00  1.58352195e+02]
 [ 1.56522763e-03  9.99998775e-01  0.00000000e+00  2.53487397e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.266066493
Centerline is valid?  [True, True]
Translation: X:158.41, Y:2.53, Z:0.00
[[ 9.99969172e-01 -7.85205776e-03  0.00000000e+00  1.58412416e+02]
 [ 7.85205776e-03  9.99969172e-01  0.00000000e+00  2.52842087e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.326066493
Centerline is valid?  [True, True]
Translation: X:158.47, Y:2.52, Z:0.00
[[ 9.99919774e-01 -1.26666961e-02  0.00000000e+00  1.58472880e+02]
 [ 1.26666961e-02  9.99919774e-01  0.00000000e+00  2.52242848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.38606649300002
Centerline is valid?  [True, True]
Translation: X:158.53, Y:2.52, Z:0.00
[[ 9.99884946e-01 -1.51688674e-02  0.00000000e+00  1.58534051e+02]
 [ 1.51688674e-02  9.99884946e-01  0.00000000e+00  2.51990198e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.44606649300002
Centerline is valid?  [True, True]
Translation: X:158.60, Y:2.52, Z:0.00
[[ 9.99773990e-01 -2.12595545e-02  0.00000000e+00  1.58595455e+02]
 [ 2.12595545e-02  9.99773990e-01  0.00000000e+00  2.51621142e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.506066493
Centerline is valid?  [True, True]
Translation: X:158.65, Y:2.51, Z:0.00
[[ 9.99686876e-01 -2.50229821e-02  0.00000000e+00  1.58654951e+02]
 [ 2.50229821e-02  9.99686876e-01  0.00000000e+00  2.51422882e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.566066493
Centerline is valid?  [True, True]
Translation: X:158.71, Y:2.51, Z:0.00
[[ 9.99625478e-01 -2.73661172e-02  0.00000000e+00  1.58714728e+02]
 [ 2.73661172e-02  9.99625478e-01  0.00000000e+00  2.51284940e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.626066493
Centerline is valid?  [True, True]
Translation: X:158.78, Y:2.51, Z:0.00
[[ 9.99653626e-01 -2.63178185e-02  0.00000000e+00  1.58775561e+02]
 [ 2.63178185e-02  9.99653626e-01  0.00000000e+00  2.51395251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.686066493
Centerline is valid?  [True, True]
Translation: X:158.84, Y:2.52, Z:0.00
[[ 9.99845269e-01 -1.75908294e-02  0.00000000e+00  1.58836663e+02]
 [ 1.75908294e-02  9.99845269e-01  0.00000000e+00  2.51961560e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.746066493
Centerline is valid?  [True, True]
Translation: X:158.90, Y:2.52, Z:0.00
[[ 9.99967553e-01 -8.05556641e-03  0.00000000e+00  1.58897735e+02]
 [ 8.05556641e-03  9.99967553e-01  0.00000000e+00  2.51962533e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.806066493
Centerline is valid?  [True, True]
Translation: X:158.96, Y:2.52, Z:0.00
[[ 9.99998528e-01 -1.71608550e-03  0.00000000e+00  1.58959742e+02]
 [ 1.71608550e-03  9.99998528e-01  0.00000000e+00  2.52241221e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.866066493
Centerline is valid?  [True, True]
Translation: X:159.02, Y:2.52, Z:0.00
[[ 9.99997444e-01 -2.26086413e-03  0.00000000e+00  1.59021923e+02]
 [ 2.26086413e-03  9.99997444e-01  0.00000000e+00  2.52271781e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.926066493
Centerline is valid?  [True, True]
Translation: X:159.08, Y:2.52, Z:0.00
[[ 9.99988674e-01 -4.75945908e-03  0.00000000e+00  1.59083083e+02]
 [ 4.75945908e-03  9.99988674e-01  0.00000000e+00  2.52370842e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.986066493
Centerline is valid?  [True, True]
Translation: X:159.14, Y:2.53, Z:0.00
[[ 9.99997644e-01 -2.17064395e-03  0.00000000e+00  1.59144270e+02]
 [ 2.17064395e-03  9.99997644e-01  0.00000000e+00  2.52599386e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.046066493
Centerline is valid?  [True, True]
Translation: X:159.21, Y:2.52, Z:0.00
[[ 9.99999977e-01 -2.15704002e-04  0.00000000e+00  1.59206027e+02]
 [ 2.15704002e-04  9.99999977e-01  0.00000000e+00  2.51956706e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.10606649300001
Centerline is valid?  [True, True]
Translation: X:159.27, Y:2.51, Z:0.00
[[ 9.99994420e-01 -3.34055648e-03  0.00000000e+00  1.59266646e+02]
 [ 3.34055648e-03  9.99994420e-01  0.00000000e+00  2.51015770e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.16606649300002
Centerline is valid?  [True, True]
Translation: X:159.33, Y:2.51, Z:0.00
[[ 9.99938046e-01 -1.11312305e-02  0.00000000e+00  1.59325799e+02]
 [ 1.11312305e-02  9.99938046e-01  0.00000000e+00  2.50920543e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.226066493
Centerline is valid?  [True, True]
Translation: X:159.39, Y:2.51, Z:0.00
[[ 9.99878091e-01 -1.56142008e-02  0.00000000e+00  1.59385452e+02]
 [ 1.56142008e-02  9.99878091e-01  0.00000000e+00  2.50903216e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.286066493
Centerline is valid?  [True, True]
Translation: X:159.45, Y:2.50, Z:0.00
[[ 9.99737414e-01 -2.29151147e-02  0.00000000e+00  1.59445687e+02]
 [ 2.29151147e-02  9.99737414e-01  0.00000000e+00  2.50438399e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.346066493
Centerline is valid?  [True, True]
Translation: X:159.51, Y:2.50, Z:0.00
[[ 9.99706326e-01 -2.42334684e-02  0.00000000e+00  1.59506818e+02]
 [ 2.42334684e-02  9.99706326e-01  0.00000000e+00  2.50128745e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 158.406066493
Centerline is valid?  [True, True]
Translation: X:159.57, Y:2.50, Z:0.00
[[ 9.99731443e-01 -2.31741584e-02  0.00000000e+00  1.59567827e+02]
 [ 2.31741584e-02  9.99731443e-01  0.00000000e+00  2.50445942e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.466066493
Centerline is valid?  [True, True]
Translation: X:159.63, Y:2.51, Z:0.00
[[ 9.99717783e-01 -2.37561468e-02  0.00000000e+00  1.59629706e+02]
 [ 2.37561468e-02  9.99717783e-01  0.00000000e+00  2.50674355e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.526066493
Centerline is valid?  [True, True]
Translation: X:159.69, Y:2.51, Z:0.00
[[ 9.99641191e-01 -2.67859773e-02  0.00000000e+00  1.59690695e+02]
 [ 2.67859773e-02  9.99641191e-01  0.00000000e+00  2.50925611e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.586066493
Centerline is valid?  [True, True]
Translation: X:159.75, Y:2.51, Z:0.00
[[ 9.99791632e-01 -2.04130633e-02  0.00000000e+00  1.59751807e+02]
 [ 2.04130633e-02  9.99791632e-01  0.00000000e+00  2.51191845e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.646066493
Centerline is valid?  [True, True]
Translation: X:159.81, Y:2.51, Z:0.00
[[ 9.99845743e-01 -1.75638794e-02  0.00000000e+00  1.59812725e+02]
 [ 1.75638794e-02  9.99845743e-01  0.00000000e+00  2.50928485e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.706066493
Centerline is valid?  [True, True]
Translation: X:159.87, Y:2.51, Z:0.00
[[ 9.99950538e-01 -9.94594799e-03  0.00000000e+00  1.59871977e+02]
 [ 9.94594799e-03  9.99950538e-01  0.00000000e+00  2.50718534e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.766066493
Centerline is valid?  [True, True]
Translation: X:159.93, Y:2.50, Z:0.00
[[ 9.99950653e-01 -9.93437112e-03  0.00000000e+00  1.59932833e+02]
 [ 9.93437112e-03  9.99950653e-01  0.00000000e+00  2.50356599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.826066493
Centerline is valid?  [True, True]
Translation: X:159.99, Y:2.50, Z:0.00
[[ 9.99852350e-01 -1.71836582e-02  0.00000000e+00  1.59993328e+02]
 [ 1.71836582e-02  9.99852350e-01  0.00000000e+00  2.49810401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.88606649300002
Centerline is valid?  [True, True]
Translation: X:160.05, Y:2.50, Z:0.00
[[ 9.99765118e-01 -2.16727734e-02  0.00000000e+00  1.60054022e+02]
 [ 2.16727734e-02  9.99765118e-01  0.00000000e+00  2.49661147e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.94606649300002
Centerline is valid?  [True, True]
Translation: X:160.12, Y:2.49, Z:0.00
[[ 9.99690756e-01 -2.48675069e-02  0.00000000e+00  1.60115252e+02]
 [ 2.48675069e-02  9.99690756e-01  0.00000000e+00  2.49418515e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.006066493
Centerline is valid?  [True, True]
Translation: X:160.18, Y:2.49, Z:0.00
[[ 9.99572925e-01 -2.92227186e-02  0.00000000e+00  1.60176511e+02]
 [ 2.92227186e-02  9.99572925e-01  0.00000000e+00  2.49113408e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.066066493
Centerline is valid?  [True, True]
Translation: X:160.24, Y:2.49, Z:0.00
[[ 9.99447329e-01 -3.32420949e-02  0.00000000e+00  1.60237963e+02]
 [ 3.32420949e-02  9.99447329e-01  0.00000000e+00  2.48842017e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.126066493
Centerline is valid?  [True, True]
Translation: X:160.30, Y:2.49, Z:0.00
[[ 9.99325173e-01 -3.67314340e-02  0.00000000e+00  1.60298295e+02]
 [ 3.67314340e-02  9.99325173e-01  0.00000000e+00  2.48502731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.186066493
Centerline is valid?  [True, True]
Translation: X:160.36, Y:2.49, Z:0.00
[[ 9.99365621e-01 -3.56139778e-02  0.00000000e+00  1.60358477e+02]
 [ 3.56139778e-02  9.99365621e-01  0.00000000e+00  2.48615837e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.246066493
Centerline is valid?  [True, True]
Translation: X:160.42, Y:2.49, Z:0.00
[[ 9.99400105e-01 -3.46327864e-02  0.00000000e+00  1.60419484e+02]
 [ 3.46327864e-02  9.99400105e-01  0.00000000e+00  2.48604154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.306066493
Centerline is valid?  [True, True]
Translation: X:160.48, Y:2.49, Z:0.00
[[ 9.99462106e-01 -3.27947812e-02  0.00000000e+00  1.60479837e+02]
 [ 3.27947812e-02  9.99462106e-01  0.00000000e+00  2.48563504e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.366066493
Centerline is valid?  [True, True]
Translation: X:160.54, Y:2.48, Z:0.00
[[ 9.99509992e-01 -3.13013605e-02  0.00000000e+00  1.60541140e+02]
 [ 3.13013605e-02  9.99509992e-01  0.00000000e+00  2.48361171e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.426066493
Centerline is valid?  [True, True]
Translation: X:160.60, Y:2.49, Z:0.00
[[ 9.99646306e-01 -2.65944234e-02  0.00000000e+00  1.60600720e+02]
 [ 2.65944234e-02  9.99646306e-01  0.00000000e+00  2.48655383e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.486066493
Centerline is valid?  [True, True]
Translation: X:160.66, Y:2.49, Z:0.00
[[ 9.99702864e-01 -2.43758798e-02  0.00000000e+00  1.60660976e+02]
 [ 2.43758798e-02  9.99702864e-01  0.00000000e+00  2.48995854e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.546066493
Centerline is valid?  [True, True]
Translation: X:160.72, Y:2.49, Z:0.00
[[ 9.99685365e-01 -2.50832906e-02  0.00000000e+00  1.60722171e+02]
 [ 2.50832906e-02  9.99685365e-01  0.00000000e+00  2.49001563e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 159.60606649300001
Centerline is valid?  [True, True]
Translation: X:160.78, Y:2.49, Z:0.00
[[ 9.99641793e-01 -2.67635247e-02  0.00000000e+00  1.60782569e+02]
 [ 2.67635247e-02  9.99641793e-01  0.00000000e+00  2.48978242e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.66606649300002
Centerline is valid?  [True, True]
Translation: X:160.84, Y:2.49, Z:0.00
[[ 9.99747554e-01 -2.24683848e-02  0.00000000e+00  1.60842406e+02]
 [ 2.24683848e-02  9.99747554e-01  0.00000000e+00  2.49248735e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.726066493
Centerline is valid?  [True, True]
Translation: X:160.90, Y:2.49, Z:0.00
[[ 9.99864730e-01 -1.64475556e-02  0.00000000e+00  1.60904358e+02]
 [ 1.64475556e-02  9.99864730e-01  0.00000000e+00  2.49498694e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.786066493
Centerline is valid?  [True, True]
Translation: X:160.96, Y:2.49, Z:0.00
[[ 9.99903491e-01 -1.38927756e-02  0.00000000e+00  1.60963862e+02]
 [ 1.38927756e-02  9.99903491e-01  0.00000000e+00  2.49488440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.846066493
Centerline is valid?  [True, True]
Translation: X:161.02, Y:2.50, Z:0.00
[[ 9.99868820e-01 -1.61970063e-02  0.00000000e+00  1.61024125e+02]
 [ 1.61970063e-02  9.99868820e-01  0.00000000e+00  2.49634160e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.906066493
Centerline is valid?  [True, True]
Translation: X:161.09, Y:2.50, Z:0.00
[[ 9.99887365e-01 -1.50085843e-02  0.00000000e+00  1.61085903e+02]
 [ 1.50085843e-02  9.99887365e-01  0.00000000e+00  2.49969663e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.966066493
Centerline is valid?  [True, True]
Translation: X:161.15, Y:2.50, Z:0.00
[[ 9.99945495e-01 -1.04406434e-02  0.00000000e+00  1.61145786e+02]
 [ 1.04406434e-02  9.99945495e-01  0.00000000e+00  2.50244958e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.026066493
Centerline is valid?  [True, True]
Translation: X:161.21, Y:2.50, Z:0.00
[[ 9.99922501e-01 -1.24495411e-02  0.00000000e+00  1.61206878e+02]
 [ 1.24495411e-02  9.99922501e-01  0.00000000e+00  2.49584083e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.086066493
Centerline is valid?  [True, True]
Translation: X:161.27, Y:2.49, Z:0.00
[[ 9.99911727e-01 -1.32867651e-02  0.00000000e+00  1.61268773e+02]
 [ 1.32867651e-02  9.99911727e-01  0.00000000e+00  2.49402775e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.146066493
Centerline is valid?  [True, True]
Translation: X:161.33, Y:2.50, Z:0.00
[[ 9.99894420e-01 -1.45309280e-02  0.00000000e+00  1.61329499e+02]
 [ 1.45309280e-02  9.99894420e-01  0.00000000e+00  2.49750193e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.206066493
Centerline is valid?  [True, True]
Translation: X:161.39, Y:2.50, Z:0.00
[[ 9.99936296e-01 -1.12873208e-02  0.00000000e+00  1.61389250e+02]
 [ 1.12873208e-02  9.99936296e-01  0.00000000e+00  2.49696226e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.266066493
Centerline is valid?  [True, True]
Translation: X:161.45, Y:2.49, Z:0.00
[[ 9.99916136e-01 -1.29507454e-02  0.00000000e+00  1.61450765e+02]
 [ 1.29507454e-02  9.99916136e-01  0.00000000e+00  2.48859953e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.326066493
Centerline is valid?  [True, True]
Translation: X:161.51, Y:2.49, Z:0.00
[[ 9.99845270e-01 -1.75907838e-02  0.00000000e+00  1.61511779e+02]
 [ 1.75907838e-02  9.99845270e-01  0.00000000e+00  2.48532251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.38606649300002
Centerline is valid?  [True, True]
Translation: X:161.57, Y:2.49, Z:0.00
[[ 9.99916943e-01 -1.28882418e-02  0.00000000e+00  1.61571639e+02]
 [ 1.28882418e-02  9.99916943e-01  0.00000000e+00  2.48530798e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.44606649300002
Centerline is valid?  [True, True]
Translation: X:161.63, Y:2.48, Z:0.00
[[ 9.99864684e-01 -1.64503637e-02  0.00000000e+00  1.61632257e+02]
 [ 1.64503637e-02  9.99864684e-01  0.00000000e+00  2.48082921e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.506066493
Centerline is valid?  [True, True]
Translation: X:161.69, Y:2.48, Z:0.00
[[ 9.99769495e-01 -2.14699278e-02  0.00000000e+00  1.61692078e+02]
 [ 2.14699278e-02  9.99769495e-01  0.00000000e+00  2.47702731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.566066493
Centerline is valid?  [True, True]
Translation: X:161.75, Y:2.48, Z:0.00
[[ 9.99736352e-01 -2.29614023e-02  0.00000000e+00  1.61753243e+02]
 [ 2.29614023e-02  9.99736352e-01  0.00000000e+00  2.47720033e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.626066493
Centerline is valid?  [True, True]
Translation: X:161.82, Y:2.48, Z:0.00
[[ 9.99730138e-01 -2.32303853e-02  0.00000000e+00  1.61815584e+02]
 [ 2.32303853e-02  9.99730138e-01  0.00000000e+00  2.47763306e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.686066493
Centerline is valid?  [True, True]
Translation: X:161.88, Y:2.48, Z:0.00
[[ 9.99695102e-01 -2.46921486e-02  0.00000000e+00  1.61877958e+02]
 [ 2.46921486e-02  9.99695102e-01  0.00000000e+00  2.47732806e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.746066493
Centerline is valid?  [True, True]
Translation: X:161.94, Y:2.48, Z:0.00
[[ 9.99672773e-01 -2.55801991e-02  0.00000000e+00  1.61938187e+02]
 [ 2.55801991e-02  9.99672773e-01  0.00000000e+00  2.47720453e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 160.806066493
Centerline is valid?  [True, True]
Translation: X:162.00, Y:2.48, Z:0.00
[[ 9.99748947e-01 -2.24063115e-02  0.00000000e+00  1.61999304e+02]
 [ 2.24063115e-02  9.99748947e-01  0.00000000e+00  2.48126877e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.866066493
Centerline is valid?  [True, True]
Translation: X:162.06, Y:2.48, Z:0.00
[[ 9.99879950e-01 -1.54947030e-02  0.00000000e+00  1.62059954e+02]
 [ 1.54947030e-02  9.99879950e-01  0.00000000e+00  2.48072022e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.926066493
Centerline is valid?  [True, True]
Translation: X:162.12, Y:2.48, Z:0.00
[[ 9.99911700e-01 -1.32888183e-02  0.00000000e+00  1.62121918e+02]
 [ 1.32888183e-02  9.99911700e-01  0.00000000e+00  2.47939357e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.986066493
Centerline is valid?  [True, True]
Translation: X:162.18, Y:2.48, Z:0.00
[[ 9.99894787e-01 -1.45056709e-02  0.00000000e+00  1.62183660e+02]
 [ 1.45056709e-02  9.99894787e-01  0.00000000e+00  2.47649357e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.046066493
Centerline is valid?  [True, True]
Translation: X:162.24, Y:2.48, Z:0.00
[[ 9.99845100e-01 -1.76004752e-02  0.00000000e+00  1.62243155e+02]
 [ 1.76004752e-02  9.99845100e-01  0.00000000e+00  2.47636990e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.10606649300001
Centerline is valid?  [True, True]
Translation: X:162.30, Y:2.47, Z:0.00
[[ 9.99683470e-01 -2.51586849e-02  0.00000000e+00  1.62303802e+02]
 [ 2.51586849e-02  9.99683470e-01  0.00000000e+00  2.47145646e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.16606649300002
Centerline is valid?  [True, True]
Translation: X:162.36, Y:2.47, Z:0.00
[[ 9.99643599e-01 -2.66959878e-02  0.00000000e+00  1.62364552e+02]
 [ 2.66959878e-02  9.99643599e-01  0.00000000e+00  2.46790167e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.226066493
Centerline is valid?  [True, True]
Translation: X:162.43, Y:2.46, Z:0.00
[[ 9.99498883e-01 -3.16541260e-02  0.00000000e+00  1.62425345e+02]
 [ 3.16541260e-02  9.99498883e-01  0.00000000e+00  2.46380505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.286066493
Centerline is valid?  [True, True]
Translation: X:162.49, Y:2.46, Z:0.00
[[ 9.99591083e-01 -2.85948814e-02  0.00000000e+00  1.62485403e+02]
 [ 2.85948814e-02  9.99591083e-01  0.00000000e+00  2.46409912e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.346066493
Centerline is valid?  [True, True]
Translation: X:162.54, Y:2.46, Z:0.00
[[ 9.99836481e-01 -1.80834798e-02  0.00000000e+00  1.62544645e+02]
 [ 1.80834798e-02  9.99836481e-01  0.00000000e+00  2.46389354e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.406066493
Centerline is valid?  [True, True]
Translation: X:162.60, Y:2.46, Z:0.00
[[ 9.99923605e-01 -1.23605521e-02  0.00000000e+00  1.62604963e+02]
 [ 1.23605521e-02  9.99923605e-01  0.00000000e+00  2.45915302e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.466066493
Centerline is valid?  [True, True]
Translation: X:162.67, Y:2.46, Z:0.00
[[ 9.99962152e-01 -8.70028663e-03  0.00000000e+00  1.62666923e+02]
 [ 8.70028663e-03  9.99962152e-01  0.00000000e+00  2.45756777e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.526066493
Centerline is valid?  [True, True]
Translation: X:162.73, Y:2.46, Z:0.00
[[ 9.99998863e-01 -1.50769597e-03  0.00000000e+00  1.62726439e+02]
 [ 1.50769597e-03  9.99998863e-01  0.00000000e+00  2.45957600e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.586066493
Centerline is valid?  [True, True]
Translation: X:162.79, Y:2.46, Z:0.00
[[ 9.99996938e-01  2.47463277e-03  0.00000000e+00  1.62787479e+02]
 [-2.47463277e-03  9.99996938e-01  0.00000000e+00  2.45755876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.646066493
Centerline is valid?  [True, True]
Translation: X:162.85, Y:2.45, Z:0.00
[[ 9.99981653e-01  6.05756857e-03  0.00000000e+00  1.62846974e+02]
 [-6.05756857e-03  9.99981653e-01  0.00000000e+00  2.45497900e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.706066493
Centerline is valid?  [True, True]
Translation: X:162.90, Y:2.45, Z:0.00
[[ 9.99939965e-01  1.09574749e-02  0.00000000e+00  1.62904649e+02]
 [-1.09574749e-02  9.99939965e-01  0.00000000e+00  2.45324507e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.766066493
Centerline is valid?  [True, True]
Translation: X:162.96, Y:2.45, Z:0.00
[[ 9.99933488e-01  1.15334057e-02  0.00000000e+00  1.62962847e+02]
 [-1.15334057e-02  9.99933488e-01  0.00000000e+00  2.45258827e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.826066493
Centerline is valid?  [True, True]
Translation: X:163.02, Y:2.45, Z:0.00
[[ 9.99942316e-01  1.07407745e-02  0.00000000e+00  1.63021715e+02]
 [-1.07407745e-02  9.99942316e-01  0.00000000e+00  2.44773454e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.88606649300002
Centerline is valid?  [True, True]
Translation: X:163.08, Y:2.44, Z:0.00
[[ 9.99970025e-01  7.74273379e-03  0.00000000e+00  1.63081219e+02]
 [-7.74273379e-03  9.99970025e-01  0.00000000e+00  2.44450593e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.94606649300002
Centerline is valid?  [True, True]
Translation: X:163.14, Y:2.44, Z:0.00
[[ 9.99994563e-01  3.29746386e-03  0.00000000e+00  1.63140956e+02]
 [-3.29746386e-03  9.99994563e-01  0.00000000e+00  2.43792005e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 162.006066493
Centerline is valid?  [True, True]
Translation: X:163.20, Y:2.44, Z:0.00
[[ 9.99998354e-01 -1.81458811e-03  0.00000000e+00  1.63199993e+02]
 [ 1.81458811e-03  9.99998354e-01  0.00000000e+00  2.43558040e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.066066493
Centerline is valid?  [True, True]
Translation: X:163.26, Y:2.43, Z:0.00
[[ 9.99978289e-01 -6.58944912e-03  0.00000000e+00  1.63261415e+02]
 [ 6.58944912e-03  9.99978289e-01  0.00000000e+00  2.43251142e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.126066493
Centerline is valid?  [True, True]
Translation: X:163.32, Y:2.43, Z:0.00
[[ 9.99977843e-01 -6.65688159e-03  0.00000000e+00  1.63322110e+02]
 [ 6.65688159e-03  9.99977843e-01  0.00000000e+00  2.42848777e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.186066493
Centerline is valid?  [True, True]
Translation: X:163.38, Y:2.43, Z:0.00
[[ 9.99991569e-01 -4.10637303e-03  0.00000000e+00  1.63383095e+02]
 [ 4.10637303e-03  9.99991569e-01  0.00000000e+00  2.42569039e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.246066493
Centerline is valid?  [True, True]
Translation: X:163.44, Y:2.42, Z:0.00
[[ 9.99995919e-01 -2.85688868e-03  0.00000000e+00  1.63444408e+02]
 [ 2.85688868e-03  9.99995919e-01  0.00000000e+00  2.42470191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.306066493
Centerline is valid?  [True, True]
Translation: X:163.51, Y:2.42, Z:0.00
[[ 9.99995702e-01 -2.93195334e-03  0.00000000e+00  1.63506084e+02]
 [ 2.93195334e-03  9.99995702e-01  0.00000000e+00  2.42416583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.366066493
Centerline is valid?  [True, True]
Translation: X:163.57, Y:2.42, Z:0.00
[[ 9.99976596e-01 -6.84153414e-03  0.00000000e+00  1.63567156e+02]
 [ 6.84153414e-03  9.99976596e-01  0.00000000e+00  2.42088365e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.426066493
Centerline is valid?  [True, True]
Translation: X:163.63, Y:2.42, Z:0.00
[[ 9.99872083e-01 -1.59942727e-02  0.00000000e+00  1.63627692e+02]
 [ 1.59942727e-02  9.99872083e-01  0.00000000e+00  2.41709206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.486066493
Centerline is valid?  [True, True]
Translation: X:163.69, Y:2.42, Z:0.00
[[ 9.99696612e-01 -2.46309466e-02  0.00000000e+00  1.63687794e+02]
 [ 2.46309466e-02  9.99696612e-01  0.00000000e+00  2.41968897e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.546066493
Centerline is valid?  [True, True]
Translation: X:163.75, Y:2.42, Z:0.00
[[ 9.99632393e-01 -2.71123205e-02  0.00000000e+00  1.63748216e+02]
 [ 2.71123205e-02  9.99632393e-01  0.00000000e+00  2.41939767e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.60606649300001
Centerline is valid?  [True, True]
Translation: X:163.81, Y:2.42, Z:0.00
[[ 9.99429211e-01 -3.37824329e-02  0.00000000e+00  1.63808502e+02]
 [ 3.37824329e-02  9.99429211e-01  0.00000000e+00  2.41868640e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.66606649300002
Centerline is valid?  [True, True]
Translation: X:163.87, Y:2.42, Z:0.00
[[ 9.99279957e-01 -3.79416427e-02  0.00000000e+00  1.63868419e+02]
 [ 3.79416427e-02  9.99279957e-01  0.00000000e+00  2.41881711e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.726066493
Centerline is valid?  [True, True]
Translation: X:163.93, Y:2.42, Z:0.00
[[ 9.99459677e-01 -3.28687337e-02  0.00000000e+00  1.63927880e+02]
 [ 3.28687337e-02  9.99459677e-01  0.00000000e+00  2.42350177e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.786066493
Centerline is valid?  [True, True]
Translation: X:163.99, Y:2.43, Z:0.00
[[ 9.99508756e-01 -3.13408092e-02  0.00000000e+00  1.63987745e+02]
 [ 3.13408092e-02  9.99508756e-01  0.00000000e+00  2.42548127e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.846066493
Centerline is valid?  [True, True]
Translation: X:164.05, Y:2.43, Z:0.00
[[ 9.99597154e-01 -2.83818576e-02  0.00000000e+00  1.64048266e+02]
 [ 2.83818576e-02  9.99597154e-01  0.00000000e+00  2.42672257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.906066493
Centerline is valid?  [True, True]
Translation: X:164.11, Y:2.43, Z:0.00
[[ 9.99742598e-01 -2.26878121e-02  0.00000000e+00  1.64109137e+02]
 [ 2.26878121e-02  9.99742598e-01  0.00000000e+00  2.42875249e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.966066493
Centerline is valid?  [True, True]
Translation: X:164.17, Y:2.43, Z:0.00
[[ 9.99739541e-01 -2.28221460e-02  0.00000000e+00  1.64170395e+02]
 [ 2.28221460e-02  9.99739541e-01  0.00000000e+00  2.43242302e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.026066493
Centerline is valid?  [True, True]
Translation: X:164.23, Y:2.43, Z:0.00
[[ 9.99787128e-01 -2.06324660e-02  0.00000000e+00  1.64230847e+02]
 [ 2.06324660e-02  9.99787128e-01  0.00000000e+00  2.43247685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.086066493
Centerline is valid?  [True, True]
Translation: X:164.29, Y:2.43, Z:0.00
[[ 9.99906723e-01 -1.36581643e-02  0.00000000e+00  1.64290855e+02]
 [ 1.36581643e-02  9.99906723e-01  0.00000000e+00  2.43310532e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.146066493
Centerline is valid?  [True, True]
Translation: X:164.35, Y:2.43, Z:0.00
[[ 9.99926003e-01 -1.21650281e-02  0.00000000e+00  1.64352201e+02]
 [ 1.21650281e-02  9.99926003e-01  0.00000000e+00  2.43310376e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 163.206066493
Centerline is valid?  [True, True]
Translation: X:164.41, Y:2.43, Z:0.00
[[ 9.99906525e-01 -1.36726316e-02  0.00000000e+00  1.64413888e+02]
 [ 1.36726316e-02  9.99906525e-01  0.00000000e+00  2.43040322e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.266066493
Centerline is valid?  [True, True]
Translation: X:164.47, Y:2.43, Z:0.00
[[ 9.99990163e-01 -4.43555484e-03  0.00000000e+00  1.64474462e+02]
 [ 4.43555484e-03  9.99990163e-01  0.00000000e+00  2.43411464e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.326066493
Centerline is valid?  [True, True]
Translation: X:164.53, Y:2.43, Z:0.00
[[ 9.99991461e-01 -4.13259022e-03  0.00000000e+00  1.64534198e+02]
 [ 4.13259022e-03  9.99991461e-01  0.00000000e+00  2.43006906e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.38606649300002
Centerline is valid?  [True, True]
Translation: X:164.60, Y:2.43, Z:0.00
[[ 9.99993258e-01 -3.67194101e-03  0.00000000e+00  1.64595463e+02]
 [ 3.67194101e-03  9.99993258e-01  0.00000000e+00  2.42713100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.44606649300002
Centerline is valid?  [True, True]
Translation: X:164.66, Y:2.43, Z:0.00
[[ 9.99999614e-01  8.79100189e-04  0.00000000e+00  1.64657564e+02]
 [-8.79100189e-04  9.99999614e-01  0.00000000e+00  2.43173780e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.506066493
Centerline is valid?  [True, True]
Translation: X:164.72, Y:2.43, Z:0.00
[[ 9.99955197e-01  9.46590039e-03  0.00000000e+00  1.64717226e+02]
 [-9.46590039e-03  9.99955197e-01  0.00000000e+00  2.43358802e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.566066493
Centerline is valid?  [True, True]
Translation: X:164.78, Y:2.43, Z:0.00
[[ 9.99907027e-01  1.36359086e-02  0.00000000e+00  1.64775580e+02]
 [-1.36359086e-02  9.99907027e-01  0.00000000e+00  2.43002234e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.626066493
Centerline is valid?  [True, True]
Translation: X:164.83, Y:2.43, Z:0.00
[[ 9.99840265e-01  1.78730297e-02  0.00000000e+00  1.64833413e+02]
 [-1.78730297e-02  9.99840265e-01  0.00000000e+00  2.42694286e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.686066493
Centerline is valid?  [True, True]
Translation: X:164.89, Y:2.43, Z:0.00
[[ 9.99691463e-01  2.48390614e-02  0.00000000e+00  1.64891535e+02]
 [-2.48390614e-02  9.99691463e-01  0.00000000e+00  2.42884437e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.746066493
Centerline is valid?  [True, True]
Translation: X:164.95, Y:2.43, Z:0.00
[[ 9.99595538e-01  2.84387153e-02  0.00000000e+00  1.64951664e+02]
 [-2.84387153e-02  9.99595538e-01  0.00000000e+00  2.42523182e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.806066493
Centerline is valid?  [True, True]
Translation: X:165.01, Y:2.42, Z:0.00
[[ 9.99603992e-01  2.81399915e-02  0.00000000e+00  1.65009371e+02]
 [-2.81399915e-02  9.99603992e-01  0.00000000e+00  2.41890612e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.866066493
Centerline is valid?  [True, True]
Translation: X:165.07, Y:2.42, Z:0.00
[[ 9.99672192e-01  2.56028983e-02  0.00000000e+00  1.65069600e+02]
 [-2.56028983e-02  9.99672192e-01  0.00000000e+00  2.41708020e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.926066493
Centerline is valid?  [True, True]
Translation: X:165.13, Y:2.41, Z:0.00
[[ 9.99747955e-01  2.24505183e-02  0.00000000e+00  1.65127741e+02]
 [-2.24505183e-02  9.99747955e-01  0.00000000e+00  2.41136647e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.986066493
Centerline is valid?  [True, True]
Translation: X:165.19, Y:2.40, Z:0.00
[[ 9.99910129e-01  1.34064659e-02  0.00000000e+00  1.65186655e+02]
 [-1.34064659e-02  9.99910129e-01  0.00000000e+00  2.40111296e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.046066493
Centerline is valid?  [True, True]
Translation: X:165.24, Y:2.40, Z:0.00
[[ 9.99972062e-01  7.47491439e-03  0.00000000e+00  1.65244628e+02]
 [-7.47491439e-03  9.99972062e-01  0.00000000e+00  2.39851951e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.10606649300001
Centerline is valid?  [True, True]
Translation: X:165.30, Y:2.39, Z:0.00
[[ 9.99998257e-01 -1.86718098e-03  0.00000000e+00  1.65302853e+02]
 [ 1.86718098e-03  9.99998257e-01  0.00000000e+00  2.39365337e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.16606649300002
Centerline is valid?  [True, True]
Translation: X:165.36, Y:2.39, Z:0.00
[[ 9.99967559e-01 -8.05484889e-03  0.00000000e+00  1.65364705e+02]
 [ 8.05484889e-03  9.99967559e-01  0.00000000e+00  2.38762025e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.226066493
Centerline is valid?  [True, True]
Translation: X:165.42, Y:2.39, Z:0.00
[[ 9.99889842e-01 -1.48426166e-02  0.00000000e+00  1.65424200e+02]
 [ 1.48426166e-02  9.99889842e-01  0.00000000e+00  2.38501564e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.286066493
Centerline is valid?  [True, True]
Translation: X:165.48, Y:2.39, Z:0.00
[[ 9.99768882e-01 -2.14984174e-02  0.00000000e+00  1.65484504e+02]
 [ 2.14984174e-02  9.99768882e-01  0.00000000e+00  2.38736915e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.346066493
Centerline is valid?  [True, True]
Translation: X:165.55, Y:2.39, Z:0.00
[[ 9.99735018e-01 -2.30194394e-02  0.00000000e+00  1.65545600e+02]
 [ 2.30194394e-02  9.99735018e-01  0.00000000e+00  2.38521184e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 164.406066493
Centerline is valid?  [True, True]
Translation: X:165.61, Y:2.38, Z:0.00
[[ 9.99661179e-01 -2.60293484e-02  0.00000000e+00  1.65605458e+02]
 [ 2.60293484e-02  9.99661179e-01  0.00000000e+00  2.38346053e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.466066493
Centerline is valid?  [True, True]
Translation: X:165.67, Y:2.39, Z:0.00
[[ 9.99634867e-01 -2.70209698e-02  0.00000000e+00  1.65668258e+02]
 [ 2.70209698e-02  9.99634867e-01  0.00000000e+00  2.38891695e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.526066493
Centerline is valid?  [True, True]
Translation: X:165.73, Y:2.39, Z:0.00
[[ 9.99580125e-01 -2.89753975e-02  0.00000000e+00  1.65728572e+02]
 [ 2.89753975e-02  9.99580125e-01  0.00000000e+00  2.39109851e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.586066493
Centerline is valid?  [True, True]
Translation: X:165.79, Y:2.39, Z:0.00
[[ 9.99557564e-01 -2.97435231e-02  0.00000000e+00  1.65789732e+02]
 [ 2.97435231e-02  9.99557564e-01  0.00000000e+00  2.39256294e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.646066493
Centerline is valid?  [True, True]
Translation: X:165.85, Y:2.40, Z:0.00
[[ 9.99533364e-01 -3.05459252e-02  0.00000000e+00  1.65850494e+02]
 [ 3.05459252e-02  9.99533364e-01  0.00000000e+00  2.39968589e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.706066493
Centerline is valid?  [True, True]
Translation: X:165.91, Y:2.41, Z:0.00
[[ 9.99562111e-01 -2.95903213e-02  0.00000000e+00  1.65912457e+02]
 [ 2.95903213e-02  9.99562111e-01  0.00000000e+00  2.40640955e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.766066493
Centerline is valid?  [True, True]
Translation: X:165.97, Y:2.41, Z:0.00
[[ 9.99788913e-01 -2.05458021e-02  0.00000000e+00  1.65973090e+02]
 [ 2.05458021e-02  9.99788913e-01  0.00000000e+00  2.40875852e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.826066493
Centerline is valid?  [True, True]
Translation: X:166.03, Y:2.41, Z:0.00
[[ 9.99879795e-01 -1.55046683e-02  0.00000000e+00  1.66033528e+02]
 [ 1.55046683e-02  9.99879795e-01  0.00000000e+00  2.41024211e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.88606649300002
Centerline is valid?  [True, True]
Translation: X:166.09, Y:2.41, Z:0.00
[[ 9.99913845e-01 -1.31264255e-02  0.00000000e+00  1.66094674e+02]
 [ 1.31264255e-02  9.99913845e-01  0.00000000e+00  2.41337088e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.94606649300002
Centerline is valid?  [True, True]
Translation: X:166.16, Y:2.42, Z:0.00
[[ 9.99938647e-01 -1.10771106e-02  0.00000000e+00  1.66156674e+02]
 [ 1.10771106e-02  9.99938647e-01  0.00000000e+00  2.41778159e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.006066493
Centerline is valid?  [True, True]
Translation: X:166.22, Y:2.42, Z:0.00
[[ 9.99952217e-01 -9.77563566e-03  0.00000000e+00  1.66219316e+02]
 [ 9.77563566e-03  9.99952217e-01  0.00000000e+00  2.41858724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.066066493
Centerline is valid?  [True, True]
Translation: X:166.28, Y:2.42, Z:0.00
[[ 9.99979660e-01 -6.37800705e-03  0.00000000e+00  1.66279164e+02]
 [ 6.37800705e-03  9.99979660e-01  0.00000000e+00  2.42062195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.126066493
Centerline is valid?  [True, True]
Translation: X:166.34, Y:2.42, Z:0.00
[[ 9.99992299e-01 -3.92463456e-03  0.00000000e+00  1.66341797e+02]
 [ 3.92463456e-03  9.99992299e-01  0.00000000e+00  2.42154938e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.186066493
Centerline is valid?  [True, True]
Translation: X:166.40, Y:2.42, Z:0.00
[[ 9.99998962e-01 -1.44101487e-03  0.00000000e+00  1.66402163e+02]
 [ 1.44101487e-03  9.99998962e-01  0.00000000e+00  2.41989825e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.246066493
Centerline is valid?  [True, True]
Translation: X:166.46, Y:2.42, Z:0.00
[[ 9.99999025e-01  1.39629583e-03  0.00000000e+00  1.66463196e+02]
 [-1.39629583e-03  9.99999025e-01  0.00000000e+00  2.42199704e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.306066493
Centerline is valid?  [True, True]
Translation: X:166.52, Y:2.42, Z:0.00
[[ 9.99963805e-01  8.50811598e-03  0.00000000e+00  1.66521964e+02]
 [-8.50811598e-03  9.99963805e-01  0.00000000e+00  2.42327100e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.366066493
Centerline is valid?  [True, True]
Translation: X:166.58, Y:2.42, Z:0.00
[[ 9.99880085e-01  1.54860067e-02  0.00000000e+00  1.66580513e+02]
 [-1.54860067e-02  9.99880085e-01  0.00000000e+00  2.42263706e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.426066493
Centerline is valid?  [True, True]
Translation: X:166.64, Y:2.42, Z:0.00
[[ 9.99583601e-01  2.88552476e-02  0.00000000e+00  1.66641275e+02]
 [-2.88552476e-02  9.99583601e-01  0.00000000e+00  2.42369037e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.486066493
Centerline is valid?  [True, True]
Translation: X:166.70, Y:2.42, Z:0.00
[[ 9.99243942e-01  3.88785753e-02  0.00000000e+00  1.66701793e+02]
 [-3.88785753e-02  9.99243942e-01  0.00000000e+00  2.42358918e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.546066493
Centerline is valid?  [True, True]
Translation: X:166.76, Y:2.42, Z:0.00
[[ 9.98947180e-01  4.58751682e-02  0.00000000e+00  1.66761780e+02]
 [-4.58751682e-02  9.98947180e-01  0.00000000e+00  2.42179587e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 165.60606649300001
Centerline is valid?  [True, True]
Translation: X:166.82, Y:2.41, Z:0.00
[[ 9.98751220e-01  4.99599806e-02  0.00000000e+00  1.66821972e+02]
 [-4.99599806e-02  9.98751220e-01  0.00000000e+00  2.41194686e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.66606649300002
Centerline is valid?  [True, True]
Translation: X:166.88, Y:2.40, Z:0.00
[[ 9.98644116e-01  5.20569882e-02  0.00000000e+00  1.66881381e+02]
 [-5.20569882e-02  9.98644116e-01  0.00000000e+00  2.40112853e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.726066493
Centerline is valid?  [True, True]
Translation: X:166.94, Y:2.39, Z:0.00
[[ 9.98689693e-01  5.11751562e-02  0.00000000e+00  1.66940349e+02]
 [-5.11751562e-02  9.98689693e-01  0.00000000e+00  2.39350839e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.786066493
Centerline is valid?  [True, True]
Translation: X:167.00, Y:2.38, Z:0.00
[[ 9.98711653e-01  5.07447907e-02  0.00000000e+00  1.66998562e+02]
 [-5.07447907e-02  9.98711653e-01  0.00000000e+00  2.38082927e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.846066493
Centerline is valid?  [True, True]
Translation: X:167.06, Y:2.36, Z:0.00
[[ 9.98859953e-01  4.77367100e-02  0.00000000e+00  1.67057664e+02]
 [-4.77367100e-02  9.98859953e-01  0.00000000e+00  2.36180877e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.906066493
Centerline is valid?  [True, True]
Translation: X:167.12, Y:2.35, Z:0.00
[[ 9.98960760e-01  4.55784933e-02  0.00000000e+00  1.67117046e+02]
 [-4.55784933e-02  9.98960760e-01  0.00000000e+00  2.34971805e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.966066493
Centerline is valid?  [True, True]
Translation: X:167.18, Y:2.33, Z:0.00
[[ 9.99228181e-01  3.92815768e-02  0.00000000e+00  1.67176583e+02]
 [-3.92815768e-02  9.99228181e-01  0.00000000e+00  2.33175669e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.026066493
Centerline is valid?  [True, True]
Translation: X:167.24, Y:2.32, Z:0.00
[[ 9.99358325e-01  3.58181185e-02  0.00000000e+00  1.67236670e+02]
 [-3.58181185e-02  9.99358325e-01  0.00000000e+00  2.31811757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.086066493
Centerline is valid?  [True, True]
Translation: X:167.30, Y:2.30, Z:0.00
[[ 9.99496397e-01  3.17325186e-02  0.00000000e+00  1.67296233e+02]
 [-3.17325186e-02  9.99496397e-01  0.00000000e+00  2.30187816e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.146066493
Centerline is valid?  [True, True]
Translation: X:167.35, Y:2.29, Z:0.00
[[ 9.99583848e-01  2.88466730e-02  0.00000000e+00  1.67354085e+02]
 [-2.88466730e-02  9.99583848e-01  0.00000000e+00  2.28824445e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.206066493
Centerline is valid?  [True, True]
Translation: X:167.41, Y:2.28, Z:0.00
[[ 9.99473674e-01  3.24403355e-02  0.00000000e+00  1.67414255e+02]
 [-3.24403355e-02  9.99473674e-01  0.00000000e+00  2.27633333e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.266066493
Centerline is valid?  [True, True]
Translation: X:167.47, Y:2.27, Z:0.00
[[ 9.99391626e-01  3.48766037e-02  0.00000000e+00  1.67472782e+02]
 [-3.48766037e-02  9.99391626e-01  0.00000000e+00  2.26875512e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.326066493
Centerline is valid?  [True, True]
Translation: X:167.53, Y:2.25, Z:0.00
[[ 9.99191353e-01  4.02074644e-02  0.00000000e+00  1.67533088e+02]
 [-4.02074644e-02  9.99191353e-01  0.00000000e+00  2.25294029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.38606649300002
Centerline is valid?  [True, True]
Translation: X:167.59, Y:2.25, Z:0.00
[[ 9.99060894e-01  4.33281652e-02  0.00000000e+00  1.67592578e+02]
 [-4.33281652e-02  9.99060894e-01  0.00000000e+00  2.24755272e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.44606649300002
Centerline is valid?  [True, True]
Translation: X:167.65, Y:2.23, Z:0.00
[[ 9.98558900e-01  5.36667858e-02  0.00000000e+00  1.67652959e+02]
 [-5.36667858e-02  9.98558900e-01  0.00000000e+00  2.23429781e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.506066493
Centerline is valid?  [True, True]
Translation: X:167.71, Y:2.22, Z:0.00
[[ 9.98239679e-01  5.93088783e-02  0.00000000e+00  1.67712618e+02]
 [-5.93088783e-02  9.98239679e-01  0.00000000e+00  2.22224789e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.566066493
Centerline is valid?  [True, True]
Translation: X:167.77, Y:2.20, Z:0.00
[[ 9.97766304e-01  6.68012152e-02  0.00000000e+00  1.67772205e+02]
 [-6.68012152e-02  9.97766304e-01  0.00000000e+00  2.20338348e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.626066493
Centerline is valid?  [True, True]
Translation: X:167.83, Y:2.19, Z:0.00
[[ 9.97678214e-01  6.81041945e-02  0.00000000e+00  1.67830435e+02]
 [-6.81041945e-02  9.97678214e-01  0.00000000e+00  2.19036529e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.686066493
Centerline is valid?  [True, True]
Translation: X:167.89, Y:2.17, Z:0.00
[[ 9.97286014e-01  7.36247631e-02  0.00000000e+00  1.67889229e+02]
 [-7.36247631e-02  9.97286014e-01  0.00000000e+00  2.16815331e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.746066493
Centerline is valid?  [True, True]
Translation: X:167.95, Y:2.15, Z:0.00
[[ 9.97145343e-01  7.55060591e-02  0.00000000e+00  1.67948350e+02]
 [-7.55060591e-02  9.97145343e-01  0.00000000e+00  2.15272907e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 166.806066493
Centerline is valid?  [True, True]
Translation: X:168.01, Y:2.13, Z:0.00
[[ 9.97157300e-01  7.53479818e-02  0.00000000e+00  1.68006298e+02]
 [-7.53479818e-02  9.97157300e-01  0.00000000e+00  2.13049587e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.866066493
Centerline is valid?  [True, True]
Translation: X:168.07, Y:2.12, Z:0.00
[[ 9.97289540e-01  7.35769845e-02  0.00000000e+00  1.68065669e+02]
 [-7.35769845e-02  9.97289540e-01  0.00000000e+00  2.12243685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.926066493
Centerline is valid?  [True, True]
Translation: X:168.12, Y:2.10, Z:0.00
[[ 9.97804620e-01  6.62264321e-02  0.00000000e+00  1.68124120e+02]
 [-6.62264321e-02  9.97804620e-01  0.00000000e+00  2.09569989e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.986066493
Centerline is valid?  [True, True]
Translation: X:168.18, Y:2.08, Z:0.00
[[ 9.98298300e-01  5.83138440e-02  0.00000000e+00  1.68182810e+02]
 [-5.83138440e-02  9.98298300e-01  0.00000000e+00  2.08000167e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.046066493
Centerline is valid?  [True, True]
Translation: X:168.24, Y:2.06, Z:0.00
[[ 9.98337898e-01  5.76319430e-02  0.00000000e+00  1.68241213e+02]
 [-5.76319430e-02  9.98337898e-01  0.00000000e+00  2.06324505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.10606649300001
Centerline is valid?  [True, True]
Translation: X:168.30, Y:2.05, Z:0.00
[[ 9.98603463e-01  5.28310893e-02  0.00000000e+00  1.68301143e+02]
 [-5.28310893e-02  9.98603463e-01  0.00000000e+00  2.05047091e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.16606649300002
Centerline is valid?  [True, True]
Translation: X:168.36, Y:2.03, Z:0.00
[[ 9.98817485e-01  4.86172001e-02  0.00000000e+00  1.68359826e+02]
 [-4.86172001e-02  9.98817485e-01  0.00000000e+00  2.03014224e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.22606649300002
Centerline is valid?  [True, True]
Translation: X:168.42, Y:2.02, Z:0.00
[[ 9.98945778e-01  4.59056935e-02  0.00000000e+00  1.68419486e+02]
 [-4.59056935e-02  9.98945778e-01  0.00000000e+00  2.02088767e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.286066493
Centerline is valid?  [True, True]
Translation: X:168.48, Y:2.00, Z:0.00
[[ 9.99216943e-01  3.95664211e-02  0.00000000e+00  1.68479684e+02]
 [-3.95664211e-02  9.99216943e-01  0.00000000e+00  2.00454279e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.346066493
Centerline is valid?  [True, True]
Translation: X:168.54, Y:1.99, Z:0.00
[[ 9.99370317e-01  3.54819738e-02  0.00000000e+00  1.68537617e+02]
 [-3.54819738e-02  9.99370317e-01  0.00000000e+00  1.99286040e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.406066493
Centerline is valid?  [True, True]
Translation: X:168.60, Y:1.98, Z:0.00
[[ 9.99544550e-01  3.01776754e-02  0.00000000e+00  1.68595713e+02]
 [-3.01776754e-02  9.99544550e-01  0.00000000e+00  1.98183547e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.466066493
Centerline is valid?  [True, True]
Translation: X:168.65, Y:1.97, Z:0.00
[[ 9.99642141e-01  2.67505297e-02  0.00000000e+00  1.68654462e+02]
 [-2.67505297e-02  9.99642141e-01  0.00000000e+00  1.97444494e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.526066493
Centerline is valid?  [True, True]
Translation: X:168.71, Y:1.96, Z:0.00
[[ 9.99715859e-01  2.38369698e-02  0.00000000e+00  1.68714357e+02]
 [-2.38369698e-02  9.99715859e-01  0.00000000e+00  1.96452150e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.586066493
Centerline is valid?  [True, True]
Translation: X:168.77, Y:1.96, Z:0.00
[[ 9.99725572e-01  2.34260587e-02  0.00000000e+00  1.68772916e+02]
 [-2.34260587e-02  9.99725572e-01  0.00000000e+00  1.95674738e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.646066493
Centerline is valid?  [True, True]
Translation: X:168.83, Y:1.95, Z:0.00
[[ 9.99726623e-01  2.33811894e-02  0.00000000e+00  1.68832309e+02]
 [-2.33811894e-02  9.99726623e-01  0.00000000e+00  1.95405673e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.706066493
Centerline is valid?  [True, True]
Translation: X:168.89, Y:1.95, Z:0.00
[[ 9.99750663e-01  2.23296162e-02  0.00000000e+00  1.68890005e+02]
 [-2.23296162e-02  9.99750663e-01  0.00000000e+00  1.94585494e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.766066493
Centerline is valid?  [True, True]
Translation: X:168.95, Y:1.94, Z:0.00
[[ 9.99821026e-01  1.89186744e-02  0.00000000e+00  1.68948818e+02]
 [-1.89186744e-02  9.99821026e-01  0.00000000e+00  1.94076573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.826066493
Centerline is valid?  [True, True]
Translation: X:169.01, Y:1.94, Z:0.00
[[ 9.99859944e-01  1.67359804e-02  0.00000000e+00  1.69008902e+02]
 [-1.67359804e-02  9.99859944e-01  0.00000000e+00  1.93631350e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.88606649300002
Centerline is valid?  [True, True]
Translation: X:169.07, Y:1.93, Z:0.00
[[ 9.99924342e-01  1.23008633e-02  0.00000000e+00  1.69068093e+02]
 [-1.23008633e-02  9.99924342e-01  0.00000000e+00  1.93396866e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.94606649300002
Centerline is valid?  [True, True]
Translation: X:169.13, Y:1.93, Z:0.00
[[ 9.99912169e-01  1.32534367e-02  0.00000000e+00  1.69126630e+02]
 [-1.32534367e-02  9.99912169e-01  0.00000000e+00  1.93125815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 168.006066493
Centerline is valid?  [True, True]
Translation: X:169.18, Y:1.93, Z:0.00
[[ 9.99931404e-01  1.17126590e-02  0.00000000e+00  1.69183101e+02]
 [-1.17126590e-02  9.99931404e-01  0.00000000e+00  1.92779045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.066066493
Centerline is valid?  [True, True]
Translation: X:169.24, Y:1.93, Z:0.00
[[ 9.99914813e-01  1.30524678e-02  0.00000000e+00  1.69241905e+02]
 [-1.30524678e-02  9.99914813e-01  0.00000000e+00  1.92761699e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.126066493
Centerline is valid?  [True, True]
Translation: X:169.30, Y:1.93, Z:0.00
[[ 9.99947581e-01  1.02389529e-02  0.00000000e+00  1.69300568e+02]
 [-1.02389529e-02  9.99947581e-01  0.00000000e+00  1.92515985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.186066493
Centerline is valid?  [True, True]
Translation: X:169.36, Y:1.92, Z:0.00
[[ 9.99968692e-01  7.91302300e-03  0.00000000e+00  1.69359903e+02]
 [-7.91302300e-03  9.99968692e-01  0.00000000e+00  1.92429250e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.246066493
Centerline is valid?  [True, True]
Translation: X:169.42, Y:1.93, Z:0.00
[[ 9.99923608e-01  1.23603734e-02  0.00000000e+00  1.69418537e+02]
 [-1.23603734e-02  9.99923608e-01  0.00000000e+00  1.92681943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.306066493
Centerline is valid?  [True, True]
Translation: X:169.48, Y:1.93, Z:0.00
[[ 9.99870301e-01  1.61053069e-02  0.00000000e+00  1.69478269e+02]
 [-1.61053069e-02  9.99870301e-01  0.00000000e+00  1.92779379e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.366066493
Centerline is valid?  [True, True]
Translation: X:169.54, Y:1.93, Z:0.00
[[ 9.99665314e-01  2.58700563e-02  0.00000000e+00  1.69537911e+02]
 [-2.58700563e-02  9.99665314e-01  0.00000000e+00  1.92617079e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.426066493
Centerline is valid?  [True, True]
Translation: X:169.60, Y:1.93, Z:0.00
[[ 9.99314629e-01  3.70171992e-02  0.00000000e+00  1.69596204e+02]
 [-3.70171992e-02  9.99314629e-01  0.00000000e+00  1.92588446e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.486066493
Centerline is valid?  [True, True]
Translation: X:169.66, Y:1.93, Z:0.00
[[ 9.99046360e-01  4.36620138e-02  0.00000000e+00  1.69656404e+02]
 [-4.36620138e-02  9.99046360e-01  0.00000000e+00  1.92728994e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.546066493
Centerline is valid?  [True, True]
Translation: X:169.72, Y:1.93, Z:0.00
[[ 9.98554581e-01  5.37470763e-02  0.00000000e+00  1.69716622e+02]
 [-5.37470763e-02  9.98554581e-01  0.00000000e+00  1.92587957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.60606649300001
Centerline is valid?  [True, True]
Translation: X:169.78, Y:1.92, Z:0.00
[[ 9.98389311e-01  5.67343317e-02  0.00000000e+00  1.69775565e+02]
 [-5.67343317e-02  9.98389311e-01  0.00000000e+00  1.92359672e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.66606649300002
Centerline is valid?  [True, True]
Translation: X:169.84, Y:1.92, Z:0.00
[[ 9.98408448e-01  5.63965504e-02  0.00000000e+00  1.69835112e+02]
 [-5.63965504e-02  9.98408448e-01  0.00000000e+00  1.91648406e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.72606649300002
Centerline is valid?  [True, True]
Translation: X:169.89, Y:1.91, Z:0.00
[[ 9.98566854e-01  5.35185689e-02  0.00000000e+00  1.69892536e+02]
 [-5.35185689e-02  9.98566854e-01  0.00000000e+00  1.90970317e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.786066493
Centerline is valid?  [True, True]
Translation: X:169.95, Y:1.90, Z:0.00
[[ 9.98646030e-01  5.20202564e-02  0.00000000e+00  1.69952602e+02]
 [-5.20202564e-02  9.98646030e-01  0.00000000e+00  1.90314772e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.846066493
Centerline is valid?  [True, True]
Translation: X:170.01, Y:1.90, Z:0.00
[[ 9.98701208e-01  5.09499426e-02  0.00000000e+00  1.70011106e+02]
 [-5.09499426e-02  9.98701208e-01  0.00000000e+00  1.89590581e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.906066493
Centerline is valid?  [True, True]
Translation: X:170.07, Y:1.88, Z:0.00
[[ 9.98343126e-01  5.75413094e-02  0.00000000e+00  1.70071136e+02]
 [-5.75413094e-02  9.98343126e-01  0.00000000e+00  1.87691957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.966066493
Centerline is valid?  [True, True]
Translation: X:170.13, Y:1.87, Z:0.00
[[ 9.98031421e-01  6.27158956e-02  0.00000000e+00  1.70131209e+02]
 [-6.27158956e-02  9.98031421e-01  0.00000000e+00  1.86748387e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.026066493
Centerline is valid?  [True, True]
Translation: X:170.19, Y:1.85, Z:0.00
[[ 9.97640742e-01  6.86509290e-02  0.00000000e+00  1.70189970e+02]
 [-6.86509290e-02  9.97640742e-01  0.00000000e+00  1.85248511e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.086066493
Centerline is valid?  [True, True]
Translation: X:170.25, Y:1.84, Z:0.00
[[ 9.97614202e-01  6.90355306e-02  0.00000000e+00  1.70248421e+02]
 [-6.90355306e-02  9.97614202e-01  0.00000000e+00  1.83672796e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.146066493
Centerline is valid?  [True, True]
Translation: X:170.31, Y:1.82, Z:0.00
[[ 9.97742320e-01  6.71584882e-02  0.00000000e+00  1.70306072e+02]
 [-6.71584882e-02  9.97742320e-01  0.00000000e+00  1.81547668e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 169.206066493
Centerline is valid?  [True, True]
Translation: X:170.37, Y:1.80, Z:0.00
[[ 9.97826339e-01  6.58983857e-02  0.00000000e+00  1.70365181e+02]
 [-6.58983857e-02  9.97826339e-01  0.00000000e+00  1.80342709e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.266066493
Centerline is valid?  [True, True]
Translation: X:170.42, Y:1.78, Z:0.00
[[ 9.98194066e-01  6.00716776e-02  0.00000000e+00  1.70424368e+02]
 [-6.00716776e-02  9.98194066e-01  0.00000000e+00  1.77944413e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.326066493
Centerline is valid?  [True, True]
Translation: X:170.48, Y:1.76, Z:0.00
[[ 9.98386884e-01  5.67770143e-02  0.00000000e+00  1.70482674e+02]
 [-5.67770143e-02  9.98386884e-01  0.00000000e+00  1.75684760e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.38606649300002
Centerline is valid?  [True, True]
Translation: X:170.54, Y:1.74, Z:0.00
[[ 9.98345075e-01  5.75074921e-02  0.00000000e+00  1.70540838e+02]
 [-5.75074921e-02  9.98345075e-01  0.00000000e+00  1.74249120e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.44606649300002
Centerline is valid?  [True, True]
Translation: X:170.60, Y:1.72, Z:0.00
[[ 9.98497248e-01  5.48018793e-02  0.00000000e+00  1.70599464e+02]
 [-5.48018793e-02  9.98497248e-01  0.00000000e+00  1.72395843e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.506066493
Centerline is valid?  [True, True]
Translation: X:170.66, Y:1.71, Z:0.00
[[ 9.98669550e-01  5.15667574e-02  0.00000000e+00  1.70658739e+02]
 [-5.15667574e-02  9.98669550e-01  0.00000000e+00  1.70757438e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.566066493
Centerline is valid?  [True, True]
Translation: X:170.72, Y:1.69, Z:0.00
[[ 9.99159507e-01  4.09912071e-02  0.00000000e+00  1.70718994e+02]
 [-4.09912071e-02  9.99159507e-01  0.00000000e+00  1.68771728e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.626066493
Centerline is valid?  [True, True]
Translation: X:170.78, Y:1.67, Z:0.00
[[ 9.99610410e-01  2.79110817e-02  0.00000000e+00  1.70778201e+02]
 [-2.79110817e-02  9.99610410e-01  0.00000000e+00  1.66938659e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.686066493
Centerline is valid?  [True, True]
Translation: X:170.84, Y:1.66, Z:0.00
[[ 9.99771991e-01  2.13533830e-02  0.00000000e+00  1.70836698e+02]
 [-2.13533830e-02  9.99771991e-01  0.00000000e+00  1.65935278e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.746066493
Centerline is valid?  [True, True]
Translation: X:170.90, Y:1.65, Z:0.00
[[ 9.99832969e-01  1.82765985e-02  0.00000000e+00  1.70896008e+02]
 [-1.82765985e-02  9.99832969e-01  0.00000000e+00  1.65340360e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.806066493
Centerline is valid?  [True, True]
Translation: X:170.96, Y:1.65, Z:0.00
[[ 9.99678363e-01  2.53608221e-02  0.00000000e+00  1.70955836e+02]
 [-2.53608221e-02  9.99678363e-01  0.00000000e+00  1.64634029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.866066493
Centerline is valid?  [True, True]
Translation: X:171.01, Y:1.64, Z:0.00
[[ 9.99485552e-01  3.20722948e-02  0.00000000e+00  1.71014374e+02]
 [-3.20722948e-02  9.99485552e-01  0.00000000e+00  1.64396874e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.926066493
Centerline is valid?  [True, True]
Translation: X:171.07, Y:1.65, Z:0.00
[[ 9.99025449e-01  4.41378697e-02  0.00000000e+00  1.71074494e+02]
 [-4.41378697e-02  9.99025449e-01  0.00000000e+00  1.64610862e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.986066493
Centerline is valid?  [True, True]
Translation: X:171.13, Y:1.64, Z:0.00
[[ 9.98518641e-01  5.44106964e-02  0.00000000e+00  1.71134719e+02]
 [-5.44106964e-02  9.98518641e-01  0.00000000e+00  1.64216194e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.046066493
Centerline is valid?  [True, True]
Translation: X:171.19, Y:1.64, Z:0.00
[[ 9.98168301e-01  6.04982839e-02  0.00000000e+00  1.71194340e+02]
 [-6.04982839e-02  9.98168301e-01  0.00000000e+00  1.64006054e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.10606649300001
Centerline is valid?  [True, True]
Translation: X:171.25, Y:1.63, Z:0.00
[[ 9.97462401e-01  7.11952142e-02  0.00000000e+00  1.71254900e+02]
 [-7.11952142e-02  9.97462401e-01  0.00000000e+00  1.63254045e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.16606649300002
Centerline is valid?  [True, True]
Translation: X:171.32, Y:1.62, Z:0.00
[[ 9.97025113e-01  7.70773911e-02  0.00000000e+00  1.71315692e+02]
 [-7.70773911e-02  9.97025113e-01  0.00000000e+00  1.62442351e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.22606649300002
Centerline is valid?  [True, True]
Translation: X:171.37, Y:1.61, Z:0.00
[[ 9.96400664e-01  8.47686083e-02  0.00000000e+00  1.71374882e+02]
 [-8.47686083e-02  9.96400664e-01  0.00000000e+00  1.61131710e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.286066493
Centerline is valid?  [True, True]
Translation: X:171.43, Y:1.59, Z:0.00
[[ 9.96447468e-01  8.42166449e-02  0.00000000e+00  1.71432711e+02]
 [-8.42166449e-02  9.96447468e-01  0.00000000e+00  1.59216321e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.346066493
Centerline is valid?  [True, True]
Translation: X:171.49, Y:1.58, Z:0.00
[[ 9.96563496e-01  8.28323512e-02  0.00000000e+00  1.71492442e+02]
 [-8.28323512e-02  9.96563496e-01  0.00000000e+00  1.57711257e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 170.406066493
Centerline is valid?  [True, True]
Translation: X:171.55, Y:1.55, Z:0.00
[[ 9.96327870e-01  8.56199442e-02  0.00000000e+00  1.71552163e+02]
 [-8.56199442e-02  9.96327870e-01  0.00000000e+00  1.55396157e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.466066493
Centerline is valid?  [True, True]
Translation: X:171.61, Y:1.53, Z:0.00
[[ 9.95451014e-01  9.52747538e-02  0.00000000e+00  1.71611901e+02]
 [-9.52747538e-02  9.95451014e-01  0.00000000e+00  1.52876071e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.526066493
Centerline is valid?  [True, True]
Translation: X:171.67, Y:1.51, Z:0.00
[[ 9.95144064e-01  9.84291248e-02  0.00000000e+00  1.71672636e+02]
 [-9.84291248e-02  9.95144064e-01  0.00000000e+00  1.51431938e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.586066493
Centerline is valid?  [True, True]
Translation: X:171.73, Y:1.49, Z:0.00
[[ 9.95582242e-01  9.38935520e-02  0.00000000e+00  1.71732864e+02]
 [-9.38935520e-02  9.95582242e-01  0.00000000e+00  1.48645184e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.646066493
Centerline is valid?  [True, True]
Translation: X:171.79, Y:1.47, Z:0.00
[[ 9.96194081e-01  8.71627940e-02  0.00000000e+00  1.71792070e+02]
 [-8.71627940e-02  9.96194081e-01  0.00000000e+00  1.46773545e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.706066493
Centerline is valid?  [True, True]
Translation: X:171.85, Y:1.45, Z:0.00
[[ 9.96763675e-01  8.03876572e-02  0.00000000e+00  1.71852138e+02]
 [-8.03876572e-02  9.96763675e-01  0.00000000e+00  1.45132943e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.766066493
Centerline is valid?  [True, True]
Translation: X:171.91, Y:1.44, Z:0.00
[[ 9.97323952e-01  7.31090598e-02  0.00000000e+00  1.71912203e+02]
 [-7.31090598e-02  9.97323952e-01  0.00000000e+00  1.43508230e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.826066493
Centerline is valid?  [True, True]
Translation: X:171.97, Y:1.42, Z:0.00
[[ 9.98110743e-01  6.14405713e-02  0.00000000e+00  1.71972476e+02]
 [-6.14405713e-02  9.98110743e-01  0.00000000e+00  1.41797571e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.88606649300002
Centerline is valid?  [True, True]
Translation: X:172.03, Y:1.41, Z:0.00
[[ 9.98515793e-01  5.44629426e-02  0.00000000e+00  1.72032142e+02]
 [-5.44629426e-02  9.98515793e-01  0.00000000e+00  1.40570621e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.94606649300002
Centerline is valid?  [True, True]
Translation: X:172.09, Y:1.40, Z:0.00
[[ 9.98740086e-01  5.01820708e-02  0.00000000e+00  1.72092607e+02]
 [-5.01820708e-02  9.98740086e-01  0.00000000e+00  1.39563191e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.006066493
Centerline is valid?  [True, True]
Translation: X:172.15, Y:1.39, Z:0.00
[[ 9.98909405e-01  4.66904846e-02  0.00000000e+00  1.72154393e+02]
 [-4.66904846e-02  9.98909405e-01  0.00000000e+00  1.38884777e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.066066493
Centerline is valid?  [True, True]
Translation: X:172.22, Y:1.38, Z:0.00
[[ 9.98980046e-01  4.51538184e-02  0.00000000e+00  1.72216152e+02]
 [-4.51538184e-02  9.98980046e-01  0.00000000e+00  1.38424595e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.126066493
Centerline is valid?  [True, True]
Translation: X:172.28, Y:1.38, Z:0.00
[[ 9.99167772e-01  4.07892468e-02  0.00000000e+00  1.72277274e+02]
 [-4.07892468e-02  9.99167772e-01  0.00000000e+00  1.38385673e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.186066493
Centerline is valid?  [True, True]
Translation: X:172.34, Y:1.38, Z:0.00
[[ 9.99286339e-01  3.77731854e-02  0.00000000e+00  1.72338235e+02]
 [-3.77731854e-02  9.99286339e-01  0.00000000e+00  1.38461169e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.246066493
Centerline is valid?  [True, True]
Translation: X:172.40, Y:1.39, Z:0.00
[[ 9.99294633e-01  3.75531041e-02  0.00000000e+00  1.72399224e+02]
 [-3.75531041e-02  9.99294633e-01  0.00000000e+00  1.38527032e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.306066493
Centerline is valid?  [True, True]
Translation: X:172.46, Y:1.39, Z:0.00
[[ 9.99332042e-01  3.65440751e-02  0.00000000e+00  1.72460696e+02]
 [-3.65440751e-02  9.99332042e-01  0.00000000e+00  1.39489317e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.366066493
Centerline is valid?  [True, True]
Translation: X:172.52, Y:1.40, Z:0.00
[[ 9.99319107e-01  3.68960921e-02  0.00000000e+00  1.72522967e+02]
 [-3.68960921e-02  9.99319107e-01  0.00000000e+00  1.40286071e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.426066493
Centerline is valid?  [True, True]
Translation: X:172.58, Y:1.41, Z:0.00
[[ 9.99336715e-01  3.64160669e-02  0.00000000e+00  1.72583081e+02]
 [-3.64160669e-02  9.99336715e-01  0.00000000e+00  1.40621860e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.486066493
Centerline is valid?  [True, True]
Translation: X:172.64, Y:1.42, Z:0.00
[[ 9.99295389e-01  3.75329989e-02  0.00000000e+00  1.72644128e+02]
 [-3.75329989e-02  9.99295389e-01  0.00000000e+00  1.42042528e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.546066493
Centerline is valid?  [True, True]
Translation: X:172.71, Y:1.43, Z:0.00
[[ 9.99340948e-01  3.62997168e-02  0.00000000e+00  1.72705305e+02]
 [-3.62997168e-02  9.99340948e-01  0.00000000e+00  1.43202547e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 171.60606649300001
Centerline is valid?  [True, True]
Translation: X:172.77, Y:1.44, Z:0.00
[[ 9.99473055e-01  3.24593846e-02  0.00000000e+00  1.72765729e+02]
 [-3.24593846e-02  9.99473055e-01  0.00000000e+00  1.43631909e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.66606649300002
Centerline is valid?  [True, True]
Translation: X:172.83, Y:1.45, Z:0.00
[[ 9.99633656e-01  2.70657450e-02  0.00000000e+00  1.72826517e+02]
 [-2.70657450e-02  9.99633656e-01  0.00000000e+00  1.44773592e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.72606649300002
Centerline is valid?  [True, True]
Translation: X:172.89, Y:1.45, Z:0.00
[[ 9.99702819e-01  2.43777201e-02  0.00000000e+00  1.72887398e+02]
 [-2.43777201e-02  9.99702819e-01  0.00000000e+00  1.45482049e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.786066493
Centerline is valid?  [True, True]
Translation: X:172.95, Y:1.46, Z:0.00
[[ 9.99856300e-01  1.69522932e-02  0.00000000e+00  1.72947137e+02]
 [-1.69522932e-02  9.99856300e-01  0.00000000e+00  1.46008806e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.846066493
Centerline is valid?  [True, True]
Translation: X:173.01, Y:1.48, Z:0.00
[[ 9.99913648e-01  1.31413992e-02  0.00000000e+00  1.73007629e+02]
 [-1.31413992e-02  9.99913648e-01  0.00000000e+00  1.47784987e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.906066493
Centerline is valid?  [True, True]
Translation: X:173.07, Y:1.49, Z:0.00
[[ 9.99940352e-01  1.09220883e-02  0.00000000e+00  1.73068108e+02]
 [-1.09220883e-02  9.99940352e-01  0.00000000e+00  1.49263134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.966066493
Centerline is valid?  [True, True]
Translation: X:173.13, Y:1.51, Z:0.00
[[ 9.99998749e-01  1.58184331e-03  0.00000000e+00  1.73127745e+02]
 [-1.58184331e-03  9.99998749e-01  0.00000000e+00  1.50548506e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.026066493
Centerline is valid?  [True, True]
Translation: X:173.19, Y:1.52, Z:0.00
[[ 9.99992706e-01 -3.81946814e-03  0.00000000e+00  1.73187399e+02]
 [ 3.81946814e-03  9.99992706e-01  0.00000000e+00  1.51960217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.086066493
Centerline is valid?  [True, True]
Translation: X:173.25, Y:1.54, Z:0.00
[[ 9.99935960e-01 -1.13170201e-02  0.00000000e+00  1.73248206e+02]
 [ 1.13170201e-02  9.99935960e-01  0.00000000e+00  1.53930059e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.146066493
Centerline is valid?  [True, True]
Translation: X:173.31, Y:1.55, Z:0.00
[[ 9.99919755e-01 -1.26682116e-02  0.00000000e+00  1.73309050e+02]
 [ 1.26682116e-02  9.99919755e-01  0.00000000e+00  1.54888080e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.206066493
Centerline is valid?  [True, True]
Translation: X:173.37, Y:1.57, Z:0.00
[[ 9.99932471e-01 -1.16212216e-02  0.00000000e+00  1.73370892e+02]
 [ 1.16212216e-02  9.99932471e-01  0.00000000e+00  1.57185571e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.266066493
Centerline is valid?  [True, True]
Translation: X:173.43, Y:1.59, Z:0.00
[[ 9.99979651e-01 -6.37940031e-03  0.00000000e+00  1.73430974e+02]
 [ 6.37940031e-03  9.99979651e-01  0.00000000e+00  1.59383324e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.326066493
Centerline is valid?  [True, True]
Translation: X:173.49, Y:1.61, Z:0.00
[[ 9.99997248e-01  2.34586986e-03  0.00000000e+00  1.73491456e+02]
 [-2.34586986e-03  9.99997248e-01  0.00000000e+00  1.60522506e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.38606649300002
Centerline is valid?  [True, True]
Translation: X:173.55, Y:1.62, Z:0.00
[[ 9.99866656e-01  1.63300353e-02  0.00000000e+00  1.73551550e+02]
 [-1.63300353e-02  9.99866656e-01  0.00000000e+00  1.62478875e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.44606649300002
Centerline is valid?  [True, True]
Translation: X:173.61, Y:1.64, Z:0.00
[[ 9.99566667e-01  2.94359897e-02  0.00000000e+00  1.73612312e+02]
 [-2.94359897e-02  9.99566667e-01  0.00000000e+00  1.64377384e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.506066493
Centerline is valid?  [True, True]
Translation: X:173.67, Y:1.66, Z:0.00
[[ 9.99435401e-01  3.35988013e-02  0.00000000e+00  1.73670695e+02]
 [-3.35988013e-02  9.99435401e-01  0.00000000e+00  1.65591099e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.566066493
Centerline is valid?  [True, True]
Translation: X:173.73, Y:1.66, Z:0.00
[[ 9.99455022e-01  3.30099856e-02  0.00000000e+00  1.73729857e+02]
 [-3.30099856e-02  9.99455022e-01  0.00000000e+00  1.65625756e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.626066493
Centerline is valid?  [True, True]
Translation: X:173.79, Y:1.66, Z:0.00
[[ 9.99475109e-01  3.23960960e-02  0.00000000e+00  1.73789620e+02]
 [-3.23960960e-02  9.99475109e-01  0.00000000e+00  1.66287217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.686066493
Centerline is valid?  [True, True]
Translation: X:173.85, Y:1.66, Z:0.00
[[ 9.99425420e-01  3.38944059e-02  0.00000000e+00  1.73847851e+02]
 [-3.38944059e-02  9.99425420e-01  0.00000000e+00  1.66178136e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.746066493
Centerline is valid?  [True, True]
Translation: X:173.91, Y:1.66, Z:0.00
[[ 9.99167669e-01  4.07917848e-02  0.00000000e+00  1.73907874e+02]
 [-4.07917848e-02  9.99167669e-01  0.00000000e+00  1.65906873e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 172.806066493
Centerline is valid?  [True, True]
Translation: X:173.97, Y:1.66, Z:0.00
[[ 9.98492519e-01  5.48879644e-02  0.00000000e+00  1.73967800e+02]
 [-5.48879644e-02  9.98492519e-01  0.00000000e+00  1.65524754e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.866066493
Centerline is valid?  [True, True]
Translation: X:174.03, Y:1.64, Z:0.00
[[ 9.97887241e-01  6.49696336e-02  0.00000000e+00  1.74027702e+02]
 [-6.49696336e-02  9.97887241e-01  0.00000000e+00  1.64412795e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.926066493
Centerline is valid?  [True, True]
Translation: X:174.09, Y:1.63, Z:0.00
[[ 9.97866654e-01  6.52850679e-02  0.00000000e+00  1.74085815e+02]
 [-6.52850679e-02  9.97866654e-01  0.00000000e+00  1.63373401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.986066493
Centerline is valid?  [True, True]
Translation: X:174.14, Y:1.62, Z:0.00
[[ 9.97898042e-01  6.48035396e-02  0.00000000e+00  1.74143993e+02]
 [-6.48035396e-02  9.97898042e-01  0.00000000e+00  1.61995209e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.046066493
Centerline is valid?  [True, True]
Translation: X:174.20, Y:1.60, Z:0.00
[[ 9.97703451e-01  6.77334738e-02  0.00000000e+00  1.74204275e+02]
 [-6.77334738e-02  9.97703451e-01  0.00000000e+00  1.60161822e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.10606649300001
Centerline is valid?  [True, True]
Translation: X:174.26, Y:1.59, Z:0.00
[[ 9.97371906e-01  7.24519185e-02  0.00000000e+00  1.74264222e+02]
 [-7.24519185e-02  9.97371906e-01  0.00000000e+00  1.59000908e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.16606649300002
Centerline is valid?  [True, True]
Translation: X:174.32, Y:1.57, Z:0.00
[[ 9.97097919e-01  7.61297526e-02  0.00000000e+00  1.74323563e+02]
 [-7.61297526e-02  9.97097919e-01  0.00000000e+00  1.57072694e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.22606649300002
Centerline is valid?  [True, True]
Translation: X:174.38, Y:1.55, Z:0.00
[[ 9.97135605e-01  7.56345508e-02  0.00000000e+00  1.74381869e+02]
 [-7.56345508e-02  9.97135605e-01  0.00000000e+00  1.54647848e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.286066493
Centerline is valid?  [True, True]
Translation: X:174.44, Y:1.52, Z:0.00
[[ 9.97402532e-01  7.20290830e-02  0.00000000e+00  1.74441209e+02]
 [-7.20290830e-02  9.97402532e-01  0.00000000e+00  1.51723550e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.346066493
Centerline is valid?  [True, True]
Translation: X:174.50, Y:1.50, Z:0.00
[[ 9.97525659e-01  7.03033448e-02  0.00000000e+00  1.74500114e+02]
 [-7.03033448e-02  9.97525659e-01  0.00000000e+00  1.49948385e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.406066493
Centerline is valid?  [True, True]
Translation: X:174.56, Y:1.48, Z:0.00
[[ 9.97581535e-01  6.95059849e-02  0.00000000e+00  1.74558797e+02]
 [-6.95059849e-02  9.97581535e-01  0.00000000e+00  1.47732782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.466066493
Centerline is valid?  [True, True]
Translation: X:174.62, Y:1.45, Z:0.00
[[ 9.97494967e-01  7.07374841e-02  0.00000000e+00  1.74616824e+02]
 [-7.07374841e-02  9.97494967e-01  0.00000000e+00  1.44964785e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.526066493
Centerline is valid?  [True, True]
Translation: X:174.68, Y:1.43, Z:0.00
[[ 9.97084786e-01  7.63015732e-02  0.00000000e+00  1.74677063e+02]
 [-7.63015732e-02  9.97084786e-01  0.00000000e+00  1.42782973e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.586066493
Centerline is valid?  [True, True]
Translation: X:174.74, Y:1.41, Z:0.00
[[ 9.96627702e-01  8.20562258e-02  0.00000000e+00  1.74737494e+02]
 [-8.20562258e-02  9.96627702e-01  0.00000000e+00  1.40922543e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.646066493
Centerline is valid?  [True, True]
Translation: X:174.80, Y:1.39, Z:0.00
[[ 9.96673332e-01  8.15001196e-02  0.00000000e+00  1.74797470e+02]
 [-8.15001196e-02  9.96673332e-01  0.00000000e+00  1.39329878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.706066493
Centerline is valid?  [True, True]
Translation: X:174.86, Y:1.37, Z:0.00
[[ 9.97453769e-01  7.13160445e-02  0.00000000e+00  1.74858137e+02]
 [-7.13160445e-02  9.97453769e-01  0.00000000e+00  1.37485813e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.766066493
Centerline is valid?  [True, True]
Translation: X:174.92, Y:1.36, Z:0.00
[[ 9.98133168e-01  6.10751940e-02  0.00000000e+00  1.74918074e+02]
 [-6.10751940e-02  9.98133168e-01  0.00000000e+00  1.36024428e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.826066493
Centerline is valid?  [True, True]
Translation: X:174.98, Y:1.34, Z:0.00
[[ 9.98834702e-01  4.82621857e-02  0.00000000e+00  1.74978105e+02]
 [-4.82621857e-02  9.98834702e-01  0.00000000e+00  1.34281653e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.88606649300002
Centerline is valid?  [True, True]
Translation: X:175.04, Y:1.33, Z:0.00
[[ 9.99136555e-01  4.15468917e-02  0.00000000e+00  1.75038429e+02]
 [-4.15468917e-02  9.99136555e-01  0.00000000e+00  1.33438305e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.94606649300002
Centerline is valid?  [True, True]
Translation: X:175.10, Y:1.32, Z:0.00
[[ 9.99330450e-01  3.65875760e-02  0.00000000e+00  1.75097665e+02]
 [-3.65875760e-02  9.99330450e-01  0.00000000e+00  1.32452654e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 174.006066493
Centerline is valid?  [True, True]
Translation: X:175.16, Y:1.32, Z:0.00
[[ 9.99374928e-01  3.53518610e-02  0.00000000e+00  1.75159583e+02]
 [-3.53518610e-02  9.99374928e-01  0.00000000e+00  1.31932273e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.066066493
Centerline is valid?  [True, True]
Translation: X:175.22, Y:1.32, Z:0.00
[[ 9.99455834e-01  3.29853835e-02  0.00000000e+00  1.75221720e+02]
 [-3.29853835e-02  9.99455834e-01  0.00000000e+00  1.31875960e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.126066493
Centerline is valid?  [True, True]
Translation: X:175.28, Y:1.31, Z:0.00
[[ 9.99586889e-01  2.87411033e-02  0.00000000e+00  1.75282028e+02]
 [-2.87411033e-02  9.99586889e-01  0.00000000e+00  1.31317238e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.186066493
Centerline is valid?  [True, True]
Translation: X:175.34, Y:1.31, Z:0.00
[[ 9.99686983e-01  2.50186941e-02  0.00000000e+00  1.75343652e+02]
 [-2.50186941e-02  9.99686983e-01  0.00000000e+00  1.31477373e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.246066493
Centerline is valid?  [True, True]
Translation: X:175.41, Y:1.32, Z:0.00
[[ 9.99639053e-01  2.68656468e-02  0.00000000e+00  1.75405360e+02]
 [-2.68656468e-02  9.99639053e-01  0.00000000e+00  1.32069384e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.306066493
Centerline is valid?  [True, True]
Translation: X:175.46, Y:1.32, Z:0.00
[[ 9.99366607e-01  3.55862916e-02  0.00000000e+00  1.75464927e+02]
 [-3.55862916e-02  9.99366607e-01  0.00000000e+00  1.32471815e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.366066493
Centerline is valid?  [True, True]
Translation: X:175.53, Y:1.33, Z:0.00
[[ 9.98776194e-01  4.94582054e-02  0.00000000e+00  1.75525814e+02]
 [-4.94582054e-02  9.98776194e-01  0.00000000e+00  1.33198329e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.426066493
Centerline is valid?  [True, True]
Translation: X:175.59, Y:1.34, Z:0.00
[[ 9.98070434e-01  6.20919450e-02  0.00000000e+00  1.75586137e+02]
 [-6.20919450e-02  9.98070434e-01  0.00000000e+00  1.33716847e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.486066493
Centerline is valid?  [True, True]
Translation: X:175.65, Y:1.34, Z:0.00
[[ 9.97435880e-01  7.15658159e-02  0.00000000e+00  1.75646383e+02]
 [-7.15658159e-02  9.97435880e-01  0.00000000e+00  1.33708060e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.546066493
Centerline is valid?  [True, True]
Translation: X:175.71, Y:1.34, Z:0.00
[[ 9.97152040e-01  7.54175640e-02  0.00000000e+00  1.75706617e+02]
 [-7.54175640e-02  9.97152040e-01  0.00000000e+00  1.33685752e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.60606649300001
Centerline is valid?  [True, True]
Translation: X:175.77, Y:1.33, Z:0.00
[[ 9.97044675e-01  7.68239342e-02  0.00000000e+00  1.75767002e+02]
 [-7.68239342e-02  9.97044675e-01  0.00000000e+00  1.33451953e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.66606649300002
Centerline is valid?  [True, True]
Translation: X:175.83, Y:1.33, Z:0.00
[[ 9.97120218e-01  7.58371317e-02  0.00000000e+00  1.75827438e+02]
 [-7.58371317e-02  9.97120218e-01  0.00000000e+00  1.33332700e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.72606649300002
Centerline is valid?  [True, True]
Translation: X:175.89, Y:1.33, Z:0.00
[[ 9.97259266e-01  7.39861913e-02  0.00000000e+00  1.75888126e+02]
 [-7.39861913e-02  9.97259266e-01  0.00000000e+00  1.32803535e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.786066493
Centerline is valid?  [True, True]
Translation: X:175.95, Y:1.32, Z:0.00
[[ 9.97650922e-01  6.85028303e-02  0.00000000e+00  1.75947891e+02]
 [-6.85028303e-02  9.97650922e-01  0.00000000e+00  1.32238786e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.846066493
Centerline is valid?  [True, True]
Translation: X:176.01, Y:1.32, Z:0.00
[[ 9.97862716e-01  6.53452306e-02  0.00000000e+00  1.76009771e+02]
 [-6.53452306e-02  9.97862716e-01  0.00000000e+00  1.31772575e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.906066493
Centerline is valid?  [True, True]
Translation: X:176.07, Y:1.31, Z:0.00
[[ 9.97694320e-01  6.78678372e-02  0.00000000e+00  1.76071770e+02]
 [-6.78678372e-02  9.97694320e-01  0.00000000e+00  1.30578358e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.966066493
Centerline is valid?  [True, True]
Translation: X:176.13, Y:1.30, Z:0.00
[[ 9.97580142e-01  6.95259661e-02  0.00000000e+00  1.76132369e+02]
 [-6.95259661e-02  9.97580142e-01  0.00000000e+00  1.30099217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.026066493
Centerline is valid?  [True, True]
Translation: X:176.19, Y:1.29, Z:0.00
[[ 9.97569545e-01  6.96778529e-02  0.00000000e+00  1.76194823e+02]
 [-6.96778529e-02  9.97569545e-01  0.00000000e+00  1.29361111e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.086066493
Centerline is valid?  [True, True]
Translation: X:176.26, Y:1.28, Z:0.00
[[ 9.97491375e-01  7.07881078e-02  0.00000000e+00  1.76256023e+02]
 [-7.07881078e-02  9.97491375e-01  0.00000000e+00  1.28160582e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.146066493
Centerline is valid?  [True, True]
Translation: X:176.32, Y:1.27, Z:0.00
[[ 9.97289849e-01  7.35728045e-02  0.00000000e+00  1.76316807e+02]
 [-7.35728045e-02  9.97289849e-01  0.00000000e+00  1.27396122e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 175.206066493
Centerline is valid?  [True, True]
Translation: X:176.38, Y:1.26, Z:0.00
[[ 9.97108161e-01  7.59954980e-02  0.00000000e+00  1.76376621e+02]
 [-7.59954980e-02  9.97108161e-01  0.00000000e+00  1.26432154e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.266066493
Centerline is valid?  [True, True]
Translation: X:176.44, Y:1.25, Z:0.00
[[ 9.96938778e-01  7.81861481e-02  0.00000000e+00  1.76438256e+02]
 [-7.81861481e-02  9.96938778e-01  0.00000000e+00  1.25400213e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.326066493
Centerline is valid?  [True, True]
Translation: X:176.50, Y:1.24, Z:0.00
[[ 9.96501734e-01  8.35720839e-02  0.00000000e+00  1.76498394e+02]
 [-8.35720839e-02  9.96501734e-01  0.00000000e+00  1.24042314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.38606649300002
Centerline is valid?  [True, True]
Translation: X:176.56, Y:1.23, Z:0.00
[[ 9.96447338e-01  8.42181829e-02  0.00000000e+00  1.76558457e+02]
 [-8.42181829e-02  9.96447338e-01  0.00000000e+00  1.22772243e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.44606649300002
Centerline is valid?  [True, True]
Translation: X:176.62, Y:1.22, Z:0.00
[[ 9.96670777e-01  8.15313608e-02  0.00000000e+00  1.76619384e+02]
 [-8.15313608e-02  9.96670777e-01  0.00000000e+00  1.21816966e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.506066493
Centerline is valid?  [True, True]
Translation: X:176.68, Y:1.20, Z:0.00
[[ 9.97309012e-01  7.33125846e-02  0.00000000e+00  1.76679013e+02]
 [-7.33125846e-02  9.97309012e-01  0.00000000e+00  1.20495042e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.566066493
Centerline is valid?  [True, True]
Translation: X:176.74, Y:1.19, Z:0.00
[[ 9.97999845e-01  6.32163706e-02  0.00000000e+00  1.76739268e+02]
 [-6.32163706e-02  9.97999845e-01  0.00000000e+00  1.19398040e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.626066493
Centerline is valid?  [True, True]
Translation: X:176.80, Y:1.18, Z:0.00
[[ 9.98689167e-01  5.11854230e-02  0.00000000e+00  1.76799934e+02]
 [-5.11854230e-02  9.98689167e-01  0.00000000e+00  1.18193362e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.686066493
Centerline is valid?  [True, True]
Translation: X:176.86, Y:1.17, Z:0.00
[[ 9.99496343e-01  3.17342015e-02  0.00000000e+00  1.76860603e+02]
 [-3.17342015e-02  9.99496343e-01  0.00000000e+00  1.17389940e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.746066493
Centerline is valid?  [True, True]
Translation: X:176.92, Y:1.17, Z:0.00
[[ 9.99752328e-01  2.22549520e-02  0.00000000e+00  1.76921784e+02]
 [-2.22549520e-02  9.99752328e-01  0.00000000e+00  1.16807295e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.806066493
Centerline is valid?  [True, True]
Translation: X:176.98, Y:1.17, Z:0.00
[[ 9.99819740e-01  1.89864862e-02  0.00000000e+00  1.76983860e+02]
 [-1.89864862e-02  9.99819740e-01  0.00000000e+00  1.16953782e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.866066493
Centerline is valid?  [True, True]
Translation: X:177.05, Y:1.18, Z:0.00
[[ 9.99744454e-01  2.26058853e-02  0.00000000e+00  1.77045154e+02]
 [-2.26058853e-02  9.99744454e-01  0.00000000e+00  1.17651101e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.926066493
Centerline is valid?  [True, True]
Translation: X:177.11, Y:1.18, Z:0.00
[[ 9.99665584e-01  2.58596265e-02  0.00000000e+00  1.77107508e+02]
 [-2.58596265e-02  9.99665584e-01  0.00000000e+00  1.18287545e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.986066493
Centerline is valid?  [True, True]
Translation: X:177.17, Y:1.19, Z:0.00
[[ 9.99453885e-01  3.30443840e-02  0.00000000e+00  1.77168524e+02]
 [-3.30443840e-02  9.99453885e-01  0.00000000e+00  1.19441415e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.046066493
Centerline is valid?  [True, True]
Translation: X:177.23, Y:1.20, Z:0.00
[[ 9.99147575e-01  4.12810410e-02  0.00000000e+00  1.77229053e+02]
 [-4.12810410e-02  9.99147575e-01  0.00000000e+00  1.20472876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.10606649300001
Centerline is valid?  [True, True]
Translation: X:177.29, Y:1.21, Z:0.00
[[ 9.99055252e-01  4.34580712e-02  0.00000000e+00  1.77292076e+02]
 [-4.34580712e-02  9.99055252e-01  0.00000000e+00  1.20924577e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.16606649300002
Centerline is valid?  [True, True]
Translation: X:177.35, Y:1.21, Z:0.00
[[ 9.99116627e-01  4.20234059e-02  0.00000000e+00  1.77352710e+02]
 [-4.20234059e-02  9.99116627e-01  0.00000000e+00  1.21480004e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.22606649300002
Centerline is valid?  [True, True]
Translation: X:177.41, Y:1.22, Z:0.00
[[ 9.98969240e-01  4.53922706e-02  0.00000000e+00  1.77414220e+02]
 [-4.53922706e-02  9.98969240e-01  0.00000000e+00  1.22240830e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.286066493
Centerline is valid?  [True, True]
Translation: X:177.47, Y:1.23, Z:0.00
[[ 9.98570757e-01  5.34457047e-02  0.00000000e+00  1.77474589e+02]
 [-5.34457047e-02  9.98570757e-01  0.00000000e+00  1.23063073e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.346066493
Centerline is valid?  [True, True]
Translation: X:177.53, Y:1.23, Z:0.00
[[ 9.98320500e-01  5.79325350e-02  0.00000000e+00  1.77534243e+02]
 [-5.79325350e-02  9.98320500e-01  0.00000000e+00  1.23387219e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 176.406066493
Centerline is valid?  [True, True]
Translation: X:177.60, Y:1.24, Z:0.00
[[ 9.98078672e-01  6.19593719e-02  0.00000000e+00  1.77595283e+02]
 [-6.19593719e-02  9.98078672e-01  0.00000000e+00  1.23847524e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.466066493
Centerline is valid?  [True, True]
Translation: X:177.66, Y:1.24, Z:0.00
[[ 9.98025744e-01  6.28061599e-02  0.00000000e+00  1.77656212e+02]
 [-6.28061599e-02  9.98025744e-01  0.00000000e+00  1.24043276e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.526066493
Centerline is valid?  [True, True]
Translation: X:177.72, Y:1.24, Z:0.00
[[ 9.98538878e-01  5.40380295e-02  0.00000000e+00  1.77715505e+02]
 [-5.40380295e-02  9.98538878e-01  0.00000000e+00  1.24263833e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.586066493
Centerline is valid?  [True, True]
Translation: X:177.78, Y:1.24, Z:0.00
[[ 9.98872287e-01  4.74779270e-02  0.00000000e+00  1.77776031e+02]
 [-4.74779270e-02  9.98872287e-01  0.00000000e+00  1.24382908e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.646066493
Centerline is valid?  [True, True]
Translation: X:177.84, Y:1.25, Z:0.00
[[ 9.99242972e-01  3.89035118e-02  0.00000000e+00  1.77837053e+02]
 [-3.89035118e-02  9.99242972e-01  0.00000000e+00  1.24533877e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.706066493
Centerline is valid?  [True, True]
Translation: X:177.90, Y:1.25, Z:0.00
[[ 9.99564859e-01  2.94973347e-02  0.00000000e+00  1.77896784e+02]
 [-2.94973347e-02  9.99564859e-01  0.00000000e+00  1.24598857e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.766066493
Centerline is valid?  [True, True]
Translation: X:177.96, Y:1.25, Z:0.00
[[ 9.99738393e-01  2.28723902e-02  0.00000000e+00  1.77958897e+02]
 [-2.28723902e-02  9.99738393e-01  0.00000000e+00  1.24849012e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.826066493
Centerline is valid?  [True, True]
Translation: X:178.02, Y:1.26, Z:0.00
[[ 9.99813218e-01  1.93269227e-02  0.00000000e+00  1.78019274e+02]
 [-1.93269227e-02  9.99813218e-01  0.00000000e+00  1.25750547e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.88606649300002
Centerline is valid?  [True, True]
Translation: X:178.08, Y:1.27, Z:0.00
[[ 9.99858340e-01  1.68314876e-02  0.00000000e+00  1.78081177e+02]
 [-1.68314876e-02  9.99858340e-01  0.00000000e+00  1.26777983e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.94606649300002
Centerline is valid?  [True, True]
Translation: X:178.14, Y:1.28, Z:0.00
[[ 9.99912653e-01  1.32169173e-02  0.00000000e+00  1.78142706e+02]
 [-1.32169173e-02  9.99912653e-01  0.00000000e+00  1.27911234e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.006066493
Centerline is valid?  [True, True]
Translation: X:178.20, Y:1.30, Z:0.00
[[ 9.99956909e-01  9.28334393e-03  0.00000000e+00  1.78203512e+02]
 [-9.28334393e-03  9.99956909e-01  0.00000000e+00  1.29596033e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.066066493
Centerline is valid?  [True, True]
Translation: X:178.27, Y:1.31, Z:0.00
[[ 9.99962837e-01  8.62114460e-03  0.00000000e+00  1.78265036e+02]
 [-8.62114460e-03  9.99962837e-01  0.00000000e+00  1.30619989e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.126066493
Centerline is valid?  [True, True]
Translation: X:178.33, Y:1.33, Z:0.00
[[ 9.99955042e-01  9.48227352e-03  0.00000000e+00  1.78325821e+02]
 [-9.48227352e-03  9.99955042e-01  0.00000000e+00  1.32620583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.186066493
Centerline is valid?  [True, True]
Translation: X:178.39, Y:1.34, Z:0.00
[[ 9.99957250e-01  9.24651117e-03  0.00000000e+00  1.78386917e+02]
 [-9.24651117e-03  9.99957250e-01  0.00000000e+00  1.33668527e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.246066493
Centerline is valid?  [True, True]
Translation: X:178.45, Y:1.35, Z:0.00
[[ 9.99911336e-01  1.33161948e-02  0.00000000e+00  1.78447202e+02]
 [-1.33161948e-02  9.99911336e-01  0.00000000e+00  1.35484187e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.306066493
Centerline is valid?  [True, True]
Translation: X:178.51, Y:1.37, Z:0.00
[[ 9.99827018e-01  1.85992951e-02  0.00000000e+00  1.78507967e+02]
 [-1.85992951e-02  9.99827018e-01  0.00000000e+00  1.36564480e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.366066493
Centerline is valid?  [True, True]
Translation: X:178.57, Y:1.38, Z:0.00
[[ 9.99487415e-01  3.20141584e-02  0.00000000e+00  1.78568792e+02]
 [-3.20141584e-02  9.99487415e-01  0.00000000e+00  1.38235946e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.426066493
Centerline is valid?  [True, True]
Translation: X:178.63, Y:1.39, Z:0.00
[[ 9.99081754e-01  4.28444810e-02  0.00000000e+00  1.78629427e+02]
 [-4.28444810e-02  9.99081754e-01  0.00000000e+00  1.39208425e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.486066493
Centerline is valid?  [True, True]
Translation: X:178.69, Y:1.40, Z:0.00
[[ 9.98467620e-01  5.53390703e-02  0.00000000e+00  1.78688741e+02]
 [-5.53390703e-02  9.98467620e-01  0.00000000e+00  1.39998396e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.546066493
Centerline is valid?  [True, True]
Translation: X:178.75, Y:1.40, Z:0.00
[[ 9.98255764e-01  5.90375236e-02  0.00000000e+00  1.78748224e+02]
 [-5.90375236e-02  9.98255764e-01  0.00000000e+00  1.40293779e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 177.60606649300001
Centerline is valid?  [True, True]
Translation: X:178.81, Y:1.40, Z:0.00
[[ 9.98365779e-01  5.71469239e-02  0.00000000e+00  1.78805804e+02]
 [-5.71469239e-02  9.98365779e-01  0.00000000e+00  1.40300203e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.66606649300002
Centerline is valid?  [True, True]
Translation: X:178.87, Y:1.40, Z:0.00
[[ 9.98525172e-01  5.42907155e-02  0.00000000e+00  1.78865376e+02]
 [-5.42907155e-02  9.98525172e-01  0.00000000e+00  1.40194999e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.72606649300002
Centerline is valid?  [True, True]
Translation: X:178.92, Y:1.39, Z:0.00
[[ 9.98587720e-01  5.31278304e-02  0.00000000e+00  1.78924297e+02]
 [-5.31278304e-02  9.98587720e-01  0.00000000e+00  1.39261696e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.786066493
Centerline is valid?  [True, True]
Translation: X:178.98, Y:1.39, Z:0.00
[[ 9.98114025e-01  6.13872396e-02  0.00000000e+00  1.78984295e+02]
 [-6.13872396e-02  9.98114025e-01  0.00000000e+00  1.38839414e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.846066493
Centerline is valid?  [True, True]
Translation: X:179.04, Y:1.38, Z:0.00
[[ 9.97704013e-01  6.77251952e-02  0.00000000e+00  1.79044924e+02]
 [-6.77251952e-02  9.97704013e-01  0.00000000e+00  1.38155381e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.906066493
Centerline is valid?  [True, True]
Translation: X:179.10, Y:1.37, Z:0.00
[[ 9.97268510e-01  7.38614872e-02  0.00000000e+00  1.79104783e+02]
 [-7.38614872e-02  9.97268510e-01  0.00000000e+00  1.37245449e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.966066493
Centerline is valid?  [True, True]
Translation: X:179.16, Y:1.36, Z:0.00
[[ 9.96820842e-01  7.96756517e-02  0.00000000e+00  1.79164006e+02]
 [-7.96756517e-02  9.96820842e-01  0.00000000e+00  1.35798712e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.026066493
Centerline is valid?  [True, True]
Translation: X:179.22, Y:1.35, Z:0.00
[[ 9.96814052e-01  7.97605536e-02  0.00000000e+00  1.79224785e+02]
 [-7.97605536e-02  9.96814052e-01  0.00000000e+00  1.34726536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.086066493
Centerline is valid?  [True, True]
Translation: X:179.29, Y:1.33, Z:0.00
[[ 9.97335952e-01  7.29451802e-02  0.00000000e+00  1.79285469e+02]
 [-7.29451802e-02  9.97335952e-01  0.00000000e+00  1.33292111e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.146066493
Centerline is valid?  [True, True]
Translation: X:179.35, Y:1.32, Z:0.00
[[ 9.97798248e-01  6.63223678e-02  0.00000000e+00  1.79345701e+02]
 [-6.63223678e-02  9.97798248e-01  0.00000000e+00  1.32202303e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.206066493
Centerline is valid?  [True, True]
Translation: X:179.41, Y:1.31, Z:0.00
[[ 9.98668242e-01  5.15920755e-02  0.00000000e+00  1.79405401e+02]
 [-5.15920755e-02  9.98668242e-01  0.00000000e+00  1.30742319e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.266066493
Centerline is valid?  [True, True]
Translation: X:179.47, Y:1.30, Z:0.00
[[ 9.99308134e-01  3.71921038e-02  0.00000000e+00  1.79466169e+02]
 [-3.71921038e-02  9.99308134e-01  0.00000000e+00  1.30259460e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.326066493
Centerline is valid?  [True, True]
Translation: X:179.53, Y:1.30, Z:0.00
[[ 9.99730016e-01  2.32356605e-02  0.00000000e+00  1.79525572e+02]
 [-2.32356605e-02  9.99730016e-01  0.00000000e+00  1.29880480e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.38606649300002
Centerline is valid?  [True, True]
Translation: X:179.59, Y:1.30, Z:0.00
[[ 9.99903162e-01  1.39164028e-02  0.00000000e+00  1.79587396e+02]
 [-1.39164028e-02  9.99903162e-01  0.00000000e+00  1.29787302e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.44606649300002
Centerline is valid?  [True, True]
Translation: X:179.65, Y:1.30, Z:0.00
[[ 9.99905309e-01  1.37612989e-02  0.00000000e+00  1.79648621e+02]
 [-1.37612989e-02  9.99905309e-01  0.00000000e+00  1.30236972e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.506066493
Centerline is valid?  [True, True]
Translation: X:179.71, Y:1.31, Z:0.00
[[ 9.99840379e-01  1.78666239e-02  0.00000000e+00  1.79708916e+02]
 [-1.78666239e-02  9.99840379e-01  0.00000000e+00  1.31460788e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.566066493
Centerline is valid?  [True, True]
Translation: X:179.77, Y:1.32, Z:0.00
[[ 9.99829312e-01  1.84755752e-02  0.00000000e+00  1.79770202e+02]
 [-1.84755752e-02  9.99829312e-01  0.00000000e+00  1.32048700e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.626066493
Centerline is valid?  [True, True]
Translation: X:179.83, Y:1.32, Z:0.00
[[ 9.99834580e-01  1.81882509e-02  0.00000000e+00  1.79831420e+02]
 [-1.81882509e-02  9.99834580e-01  0.00000000e+00  1.32492095e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.686066493
Centerline is valid?  [True, True]
Translation: X:179.89, Y:1.34, Z:0.00
[[ 9.99793216e-01  2.03353069e-02  0.00000000e+00  1.79891922e+02]
 [-2.03353069e-02  9.99793216e-01  0.00000000e+00  1.34031940e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.746066493
Centerline is valid?  [True, True]
Translation: X:179.95, Y:1.35, Z:0.00
[[ 9.99686938e-01  2.50205130e-02  0.00000000e+00  1.79952368e+02]
 [-2.50205130e-02  9.99686938e-01  0.00000000e+00  1.34743617e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 178.806066493
Centerline is valid?  [True, True]
Translation: X:180.01, Y:1.35, Z:0.00
[[ 9.99412619e-01  3.42697599e-02  0.00000000e+00  1.80011960e+02]
 [-3.42697599e-02  9.99412619e-01  0.00000000e+00  1.35179768e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.866066493
Centerline is valid?  [True, True]
Translation: X:180.07, Y:1.36, Z:0.00
[[ 9.98745057e-01  5.00830361e-02  0.00000000e+00  1.80072232e+02]
 [-5.00830361e-02  9.98745057e-01  0.00000000e+00  1.36291769e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.926066493
Centerline is valid?  [True, True]
Translation: X:180.13, Y:1.37, Z:0.00
[[ 9.98168812e-01  6.04898536e-02  0.00000000e+00  1.80132529e+02]
 [-6.04898536e-02  9.98168812e-01  0.00000000e+00  1.36789251e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.986066493
Centerline is valid?  [True, True]
Translation: X:180.19, Y:1.37, Z:0.00
[[ 9.98110144e-01  6.14503168e-02  0.00000000e+00  1.80192438e+02]
 [-6.14503168e-02  9.98110144e-01  0.00000000e+00  1.36689386e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.046066493
Centerline is valid?  [True, True]
Translation: X:180.25, Y:1.37, Z:0.00
[[ 9.98420121e-01  5.61895243e-02  0.00000000e+00  1.80251933e+02]
 [-5.61895243e-02  9.98420121e-01  0.00000000e+00  1.36600489e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.10606649300001
Centerline is valid?  [True, True]
Translation: X:180.31, Y:1.36, Z:0.00
[[ 9.98884834e-01  4.72132272e-02  0.00000000e+00  1.80312774e+02]
 [-4.72132272e-02  9.98884834e-01  0.00000000e+00  1.36281581e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.16606649300002
Centerline is valid?  [True, True]
Translation: X:180.37, Y:1.36, Z:0.00
[[ 9.99256468e-01  3.85553040e-02  0.00000000e+00  1.80372778e+02]
 [-3.85553040e-02  9.99256468e-01  0.00000000e+00  1.35551501e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.22606649300002
Centerline is valid?  [True, True]
Translation: X:180.43, Y:1.35, Z:0.00
[[ 9.99729712e-01  2.32487337e-02  0.00000000e+00  1.80433443e+02]
 [-2.32487337e-02  9.99729712e-01  0.00000000e+00  1.34782378e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.286066493
Centerline is valid?  [True, True]
Translation: X:180.49, Y:1.35, Z:0.00
[[ 9.99852116e-01  1.71972561e-02  0.00000000e+00  1.80494277e+02]
 [-1.71972561e-02  9.99852116e-01  0.00000000e+00  1.34558300e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.346066493
Centerline is valid?  [True, True]
Translation: X:180.55, Y:1.34, Z:0.00
[[ 9.99876235e-01  1.57326230e-02  0.00000000e+00  1.80554470e+02]
 [-1.57326230e-02  9.99876235e-01  0.00000000e+00  1.34406878e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.406066493
Centerline is valid?  [True, True]
Translation: X:180.61, Y:1.35, Z:0.00
[[ 9.99846632e-01  1.75132133e-02  0.00000000e+00  1.80614837e+02]
 [-1.75132133e-02  9.99846632e-01  0.00000000e+00  1.34723900e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.466066493
Centerline is valid?  [True, True]
Translation: X:180.67, Y:1.35, Z:0.00
[[ 9.99862926e-01  1.65568308e-02  0.00000000e+00  1.80674420e+02]
 [-1.65568308e-02  9.99862926e-01  0.00000000e+00  1.35001722e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.526066493
Centerline is valid?  [True, True]
Translation: X:180.74, Y:1.35, Z:0.00
[[ 9.99901777e-01  1.40155789e-02  0.00000000e+00  1.80735311e+02]
 [-1.40155789e-02  9.99901777e-01  0.00000000e+00  1.35338799e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.586066493
Centerline is valid?  [True, True]
Translation: X:180.80, Y:1.36, Z:0.00
[[ 9.99971328e-01  7.57249130e-03  0.00000000e+00  1.80795736e+02]
 [-7.57249130e-03  9.99971328e-01  0.00000000e+00  1.35930182e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.646066493
Centerline is valid?  [True, True]
Translation: X:180.86, Y:1.37, Z:0.00
[[ 9.99976099e-01  6.91386227e-03  0.00000000e+00  1.80855280e+02]
 [-6.91386227e-03  9.99976099e-01  0.00000000e+00  1.36675957e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.706066493
Centerline is valid?  [True, True]
Translation: X:180.91, Y:1.38, Z:0.00
[[ 9.99890939e-01  1.47685424e-02  0.00000000e+00  1.80914964e+02]
 [-1.47685424e-02  9.99890939e-01  0.00000000e+00  1.37694495e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.766066493
Centerline is valid?  [True, True]
Translation: X:180.98, Y:1.39, Z:0.00
[[ 9.99503887e-01  3.14957099e-02  0.00000000e+00  1.80975630e+02]
 [-3.14957099e-02  9.99503887e-01  0.00000000e+00  1.38704290e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.826066493
Centerline is valid?  [True, True]
Translation: X:181.04, Y:1.39, Z:0.00
[[ 9.99092746e-01  4.25873860e-02  0.00000000e+00  1.81036022e+02]
 [-4.25873860e-02  9.99092746e-01  0.00000000e+00  1.39406499e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.88606649300002
Centerline is valid?  [True, True]
Translation: X:181.10, Y:1.40, Z:0.00
[[ 9.98789159e-01  4.91956798e-02  0.00000000e+00  1.81096372e+02]
 [-4.91956798e-02  9.98789159e-01  0.00000000e+00  1.39646883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.94606649300002
Centerline is valid?  [True, True]
Translation: X:181.15, Y:1.40, Z:0.00
[[ 9.98861302e-01  4.77084936e-02  0.00000000e+00  1.81154354e+02]
 [-4.77084936e-02  9.98861302e-01  0.00000000e+00  1.39672719e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 180.006066493
Centerline is valid?  [True, True]
Translation: X:181.21, Y:1.40, Z:0.00
[[ 9.99045222e-01  4.36880426e-02  0.00000000e+00  1.81212561e+02]
 [-4.36880426e-02  9.99045222e-01  0.00000000e+00  1.39577452e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.066066493
Centerline is valid?  [True, True]
Translation: X:181.27, Y:1.40, Z:0.00
[[ 9.99436334e-01  3.35710307e-02  0.00000000e+00  1.81273300e+02]
 [-3.35710307e-02  9.99436334e-01  0.00000000e+00  1.39656948e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.126066493
Centerline is valid?  [True, True]
Translation: X:181.33, Y:1.39, Z:0.00
[[ 9.99692799e-01  2.47852215e-02  0.00000000e+00  1.81331538e+02]
 [-2.47852215e-02  9.99692799e-01  0.00000000e+00  1.39484921e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.186066493
Centerline is valid?  [True, True]
Translation: X:181.39, Y:1.39, Z:0.00
[[ 9.99784915e-01  2.07394484e-02  0.00000000e+00  1.81391729e+02]
 [-2.07394484e-02  9.99784915e-01  0.00000000e+00  1.39439572e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.246066493
Centerline is valid?  [True, True]
Translation: X:181.45, Y:1.40, Z:0.00
[[ 9.99825905e-01  1.86590142e-02  0.00000000e+00  1.81451269e+02]
 [-1.86590142e-02  9.99825905e-01  0.00000000e+00  1.39516859e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.306066493
Centerline is valid?  [True, True]
Translation: X:181.51, Y:1.40, Z:0.00
[[ 9.99739723e-01  2.28141545e-02  0.00000000e+00  1.81511021e+02]
 [-2.28141545e-02  9.99739723e-01  0.00000000e+00  1.39812573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.366066493
Centerline is valid?  [True, True]
Translation: X:181.57, Y:1.40, Z:0.00
[[ 9.99641954e-01  2.67575151e-02  0.00000000e+00  1.81570529e+02]
 [-2.67575151e-02  9.99641954e-01  0.00000000e+00  1.39799722e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.426066493
Centerline is valid?  [True, True]
Translation: X:181.63, Y:1.40, Z:0.00
[[ 9.99501984e-01  3.15560507e-02  0.00000000e+00  1.81629325e+02]
 [-3.15560507e-02  9.99501984e-01  0.00000000e+00  1.39979999e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.486066493
Centerline is valid?  [True, True]
Translation: X:181.69, Y:1.40, Z:0.00
[[ 9.99488847e-01  3.19694475e-02  0.00000000e+00  1.81686843e+02]
 [-3.19694475e-02  9.99488847e-01  0.00000000e+00  1.39872378e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.546066493
Centerline is valid?  [True, True]
Translation: X:181.75, Y:1.40, Z:0.00
[[ 9.99395076e-01  3.47776019e-02  0.00000000e+00  1.81747550e+02]
 [-3.47776019e-02  9.99395076e-01  0.00000000e+00  1.40202444e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.60606649300001
Centerline is valid?  [True, True]
Translation: X:181.81, Y:1.40, Z:0.00
[[ 9.99244683e-01  3.88595345e-02  0.00000000e+00  1.81806908e+02]
 [-3.88595345e-02  9.99244683e-01  0.00000000e+00  1.40138487e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.66606649300002
Centerline is valid?  [True, True]
Translation: X:181.87, Y:1.40, Z:0.00
[[ 9.98927601e-01  4.62995544e-02  0.00000000e+00  1.81866714e+02]
 [-4.62995544e-02  9.98927601e-01  0.00000000e+00  1.40261658e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.72606649300002
Centerline is valid?  [True, True]
Translation: X:181.93, Y:1.40, Z:0.00
[[ 9.98384068e-01  5.68265067e-02  0.00000000e+00  1.81926440e+02]
 [-5.68265067e-02  9.98384068e-01  0.00000000e+00  1.40450244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.786066493
Centerline is valid?  [True, True]
Translation: X:181.99, Y:1.40, Z:0.00
[[ 9.98039753e-01  6.25831488e-02  0.00000000e+00  1.81987194e+02]
 [-6.25831488e-02  9.98039753e-01  0.00000000e+00  1.40264829e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.846066493
Centerline is valid?  [True, True]
Translation: X:182.05, Y:1.40, Z:0.00
[[ 9.97582861e-01  6.94869444e-02  0.00000000e+00  1.82047155e+02]
 [-6.94869444e-02  9.97582861e-01  0.00000000e+00  1.39730604e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.906066493
Centerline is valid?  [True, True]
Translation: X:182.11, Y:1.39, Z:0.00
[[ 9.97120163e-01  7.58378573e-02  0.00000000e+00  1.82106747e+02]
 [-7.58378573e-02  9.97120163e-01  0.00000000e+00  1.39038461e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.966066493
Centerline is valid?  [True, True]
Translation: X:182.17, Y:1.38, Z:0.00
[[ 9.96609398e-01  8.22782358e-02  0.00000000e+00  1.82165887e+02]
 [-8.22782358e-02  9.96609398e-01  0.00000000e+00  1.37986244e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.026066493
Centerline is valid?  [True, True]
Translation: X:182.22, Y:1.37, Z:0.00
[[ 9.96621728e-01  8.21287495e-02  0.00000000e+00  1.82224900e+02]
 [-8.21287495e-02  9.96621728e-01  0.00000000e+00  1.36912946e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.086066493
Centerline is valid?  [True, True]
Translation: X:182.28, Y:1.35, Z:0.00
[[ 9.97090705e-01  7.62241823e-02  0.00000000e+00  1.82284790e+02]
 [-7.62241823e-02  9.97090705e-01  0.00000000e+00  1.34801545e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.146066493
Centerline is valid?  [True, True]
Translation: X:182.35, Y:1.33, Z:0.00
[[ 9.97842367e-01  6.56552354e-02  0.00000000e+00  1.82345470e+02]
 [-6.56552354e-02  9.97842367e-01  0.00000000e+00  1.33166339e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 181.206066493
Centerline is valid?  [True, True]
Translation: X:182.41, Y:1.31, Z:0.00
[[ 9.98593775e-01  5.30138945e-02  0.00000000e+00  1.82406138e+02]
 [-5.30138945e-02  9.98593775e-01  0.00000000e+00  1.31205605e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.266066493
Centerline is valid?  [True, True]
Translation: X:182.47, Y:1.30, Z:0.00
[[ 9.98895163e-01  4.69941802e-02  0.00000000e+00  1.82465083e+02]
 [-4.69941802e-02  9.98895163e-01  0.00000000e+00  1.29965675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.326066493
Centerline is valid?  [True, True]
Translation: X:182.52, Y:1.29, Z:0.00
[[ 9.99021913e-01  4.42178347e-02  0.00000000e+00  1.82524276e+02]
 [-4.42178347e-02  9.99021913e-01  0.00000000e+00  1.29129338e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.38606649300002
Centerline is valid?  [True, True]
Translation: X:182.59, Y:1.28, Z:0.00
[[ 9.99202436e-01  3.99310946e-02  0.00000000e+00  1.82585037e+02]
 [-3.99310946e-02  9.99202436e-01  0.00000000e+00  1.27853883e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.44606649300002
Centerline is valid?  [True, True]
Translation: X:182.65, Y:1.27, Z:0.00
[[ 9.99356495e-01  3.58691358e-02  0.00000000e+00  1.82646288e+02]
 [-3.58691358e-02  9.99356495e-01  0.00000000e+00  1.27460864e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.50606649300002
Centerline is valid?  [True, True]
Translation: X:182.71, Y:1.27, Z:0.00
[[ 9.99644005e-01  2.66807500e-02  0.00000000e+00  1.82706901e+02]
 [-2.66807500e-02  9.99644005e-01  0.00000000e+00  1.26893183e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.566066493
Centerline is valid?  [True, True]
Translation: X:182.77, Y:1.27, Z:0.00
[[ 9.99814624e-01  1.92540047e-02  0.00000000e+00  1.82767780e+02]
 [-1.92540047e-02  9.99814624e-01  0.00000000e+00  1.26794029e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.626066493
Centerline is valid?  [True, True]
Translation: X:182.83, Y:1.27, Z:0.00
[[ 9.99902296e-01  1.39785066e-02  0.00000000e+00  1.82827828e+02]
 [-1.39785066e-02  9.99902296e-01  0.00000000e+00  1.26858677e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.686066493
Centerline is valid?  [True, True]
Translation: X:182.89, Y:1.28, Z:0.00
[[ 9.99913330e-01  1.31655986e-02  0.00000000e+00  1.82888432e+02]
 [-1.31655986e-02  9.99913330e-01  0.00000000e+00  1.27539933e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.746066493
Centerline is valid?  [True, True]
Translation: X:182.95, Y:1.28, Z:0.00
[[ 9.99760430e-01  2.18879565e-02  0.00000000e+00  1.82949091e+02]
 [-2.18879565e-02  9.99760430e-01  0.00000000e+00  1.28421455e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.806066493
Centerline is valid?  [True, True]
Translation: X:183.01, Y:1.29, Z:0.00
[[ 9.99469485e-01  3.25691270e-02  0.00000000e+00  1.83009415e+02]
 [-3.25691270e-02  9.99469485e-01  0.00000000e+00  1.29370356e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.866066493
Centerline is valid?  [True, True]
Translation: X:183.07, Y:1.30, Z:0.00
[[ 9.99068888e-01  4.31434458e-02  0.00000000e+00  1.83070247e+02]
 [-4.31434458e-02  9.99068888e-01  0.00000000e+00  1.30344275e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.926066493
Centerline is valid?  [True, True]
Translation: X:183.13, Y:1.31, Z:0.00
[[ 9.98532702e-01  5.41520373e-02  0.00000000e+00  1.83129990e+02]
 [-5.41520373e-02  9.98532702e-01  0.00000000e+00  1.31182431e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.986066493
Centerline is valid?  [True, True]
Translation: X:183.19, Y:1.32, Z:0.00
[[ 9.98404312e-01  5.64697324e-02  0.00000000e+00  1.83190142e+02]
 [-5.64697324e-02  9.98404312e-01  0.00000000e+00  1.31641031e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.046066493
Centerline is valid?  [True, True]
Translation: X:183.25, Y:1.32, Z:0.00
[[ 9.98413463e-01  5.63076942e-02  0.00000000e+00  1.83250395e+02]
 [-5.63076942e-02  9.98413463e-01  0.00000000e+00  1.31864919e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.10606649300001
Centerline is valid?  [True, True]
Translation: X:183.31, Y:1.32, Z:0.00
[[ 9.98465544e-01  5.53765085e-02  0.00000000e+00  1.83310560e+02]
 [-5.53765085e-02  9.98465544e-01  0.00000000e+00  1.31824659e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.16606649300002
Centerline is valid?  [True, True]
Translation: X:183.37, Y:1.31, Z:0.00
[[ 9.98484080e-01  5.50412708e-02  0.00000000e+00  1.83371176e+02]
 [-5.50412708e-02  9.98484080e-01  0.00000000e+00  1.31495850e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.22606649300002
Centerline is valid?  [True, True]
Translation: X:183.43, Y:1.31, Z:0.00
[[ 9.98753598e-01  4.99124349e-02  0.00000000e+00  1.83431915e+02]
 [-4.99124349e-02  9.98753598e-01  0.00000000e+00  1.31206300e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.286066493
Centerline is valid?  [True, True]
Translation: X:183.49, Y:1.31, Z:0.00
[[ 9.99047425e-01  4.36376337e-02  0.00000000e+00  1.83492779e+02]
 [-4.36376337e-02  9.99047425e-01  0.00000000e+00  1.30883944e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.346066493
Centerline is valid?  [True, True]
Translation: X:183.55, Y:1.30, Z:0.00
[[ 9.99393839e-01  3.48131341e-02  0.00000000e+00  1.83553532e+02]
 [-3.48131341e-02  9.99393839e-01  0.00000000e+00  1.30438923e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 182.406066493
Centerline is valid?  [True, True]
Translation: X:183.61, Y:1.30, Z:0.00
[[ 9.99600553e-01  2.82618891e-02  0.00000000e+00  1.83614179e+02]
 [-2.82618891e-02  9.99600553e-01  0.00000000e+00  1.30074098e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.466066493
Centerline is valid?  [True, True]
Translation: X:183.67, Y:1.30, Z:0.00
[[ 9.99849597e-01  1.73431335e-02  0.00000000e+00  1.83674441e+02]
 [-1.73431335e-02  9.99849597e-01  0.00000000e+00  1.29944589e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.526066493
Centerline is valid?  [True, True]
Translation: X:183.73, Y:1.30, Z:0.00
[[ 9.99924952e-01  1.22511392e-02  0.00000000e+00  1.83734994e+02]
 [-1.22511392e-02  9.99924952e-01  0.00000000e+00  1.30030741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.586066493
Centerline is valid?  [True, True]
Translation: X:183.80, Y:1.30, Z:0.00
[[ 9.99953374e-01  9.65659336e-03  0.00000000e+00  1.83795450e+02]
 [-9.65659336e-03  9.99953374e-01  0.00000000e+00  1.30158681e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.646066493
Centerline is valid?  [True, True]
Translation: X:183.86, Y:1.31, Z:0.00
[[ 9.99936703e-01  1.12512545e-02  0.00000000e+00  1.83855189e+02]
 [-1.12512545e-02  9.99936703e-01  0.00000000e+00  1.30700821e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.706066493
Centerline is valid?  [True, True]
Translation: X:183.92, Y:1.31, Z:0.00
[[ 9.99880541e-01  1.54565404e-02  0.00000000e+00  1.83915899e+02]
 [-1.54565404e-02  9.99880541e-01  0.00000000e+00  1.31474265e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.766066493
Centerline is valid?  [True, True]
Translation: X:183.98, Y:1.32, Z:0.00
[[ 9.99761645e-01  2.18323956e-02  0.00000000e+00  1.83976541e+02]
 [-2.18323956e-02  9.99761645e-01  0.00000000e+00  1.32475184e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.826066493
Centerline is valid?  [True, True]
Translation: X:184.04, Y:1.33, Z:0.00
[[ 9.99581915e-01  2.89135730e-02  0.00000000e+00  1.84036820e+02]
 [-2.89135730e-02  9.99581915e-01  0.00000000e+00  1.32982199e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.88606649300002
Centerline is valid?  [True, True]
Translation: X:184.10, Y:1.34, Z:0.00
[[ 9.99029169e-01  4.40535929e-02  0.00000000e+00  1.84096701e+02]
 [-4.40535929e-02  9.99029169e-01  0.00000000e+00  1.34077604e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.94606649300002
Centerline is valid?  [True, True]
Translation: X:184.16, Y:1.34, Z:0.00
[[ 9.98463213e-01  5.54185280e-02  0.00000000e+00  1.84156890e+02]
 [-5.54185280e-02  9.98463213e-01  0.00000000e+00  1.34319504e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.00606649300002
Centerline is valid?  [True, True]
Translation: X:184.22, Y:1.34, Z:0.00
[[ 9.97809499e-01  6.61528758e-02  0.00000000e+00  1.84217252e+02]
 [-6.61528758e-02  9.97809499e-01  0.00000000e+00  1.34251194e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.066066493
Centerline is valid?  [True, True]
Translation: X:184.28, Y:1.34, Z:0.00
[[ 9.97473514e-01  7.10393520e-02  0.00000000e+00  1.84277631e+02]
 [-7.10393520e-02  9.97473514e-01  0.00000000e+00  1.33940462e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.126066493
Centerline is valid?  [True, True]
Translation: X:184.34, Y:1.33, Z:0.00
[[ 9.97252829e-01  7.40729090e-02  0.00000000e+00  1.84338074e+02]
 [-7.40729090e-02  9.97252829e-01  0.00000000e+00  1.32917464e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.186066493
Centerline is valid?  [True, True]
Translation: X:184.40, Y:1.32, Z:0.00
[[ 9.97237301e-01  7.42816565e-02  0.00000000e+00  1.84396555e+02]
 [-7.42816565e-02  9.97237301e-01  0.00000000e+00  1.31913018e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.246066493
Centerline is valid?  [True, True]
Translation: X:184.46, Y:1.31, Z:0.00
[[ 9.97344680e-01  7.28257416e-02  0.00000000e+00  1.84456123e+02]
 [-7.28257416e-02  9.97344680e-01  0.00000000e+00  1.30988433e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.306066493
Centerline is valid?  [True, True]
Translation: X:184.52, Y:1.29, Z:0.00
[[ 9.97722426e-01  6.74533943e-02  0.00000000e+00  1.84515746e+02]
 [-6.74533943e-02  9.97722426e-01  0.00000000e+00  1.28857394e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.366066493
Centerline is valid?  [True, True]
Translation: X:184.58, Y:1.27, Z:0.00
[[ 9.98342324e-01  5.75552276e-02  0.00000000e+00  1.84575867e+02]
 [-5.75552276e-02  9.98342324e-01  0.00000000e+00  1.26708177e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.426066493
Centerline is valid?  [True, True]
Translation: X:184.64, Y:1.25, Z:0.00
[[ 9.98850427e-01  4.79356370e-02  0.00000000e+00  1.84636707e+02]
 [-4.79356370e-02  9.98850427e-01  0.00000000e+00  1.25390992e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.486066493
Centerline is valid?  [True, True]
Translation: X:184.70, Y:1.24, Z:0.00
[[ 9.99359130e-01  3.57956643e-02  0.00000000e+00  1.84696659e+02]
 [-3.57956643e-02  9.99359130e-01  0.00000000e+00  1.24096939e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.546066493
Centerline is valid?  [True, True]
Translation: X:184.76, Y:1.22, Z:0.00
[[ 9.99863845e-01  1.65012332e-02  0.00000000e+00  1.84756248e+02]
 [-1.65012332e-02  9.99863845e-01  0.00000000e+00  1.22461566e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 183.60606649300001
Centerline is valid?  [True, True]
Translation: X:184.82, Y:1.22, Z:0.00
[[ 9.99963456e-01  8.54908973e-03  0.00000000e+00  1.84817437e+02]
 [-8.54908973e-03  9.99963456e-01  0.00000000e+00  1.22181079e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.66606649300002
Centerline is valid?  [True, True]
Translation: X:184.88, Y:1.22, Z:0.00
[[ 9.99981557e-01  6.07330437e-03  0.00000000e+00  1.84879050e+02]
 [-6.07330437e-03  9.99981557e-01  0.00000000e+00  1.21926127e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.72606649300002
Centerline is valid?  [True, True]
Translation: X:184.94, Y:1.22, Z:0.00
[[ 9.99961536e-01  8.77077821e-03  0.00000000e+00  1.84939513e+02]
 [-8.77077821e-03  9.99961536e-01  0.00000000e+00  1.22391791e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.786066493
Centerline is valid?  [True, True]
Translation: X:185.00, Y:1.23, Z:0.00
[[ 9.99920073e-01  1.26431053e-02  0.00000000e+00  1.85000624e+02]
 [-1.26431053e-02  9.99920073e-01  0.00000000e+00  1.22989620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.846066493
Centerline is valid?  [True, True]
Translation: X:185.06, Y:1.24, Z:0.00
[[ 9.99856206e-01  1.69577938e-02  0.00000000e+00  1.85061379e+02]
 [-1.69577938e-02  9.99856206e-01  0.00000000e+00  1.23596416e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.906066493
Centerline is valid?  [True, True]
Translation: X:185.12, Y:1.25, Z:0.00
[[ 9.99669890e-01  2.56926274e-02  0.00000000e+00  1.85122433e+02]
 [-2.56926274e-02  9.99669890e-01  0.00000000e+00  1.24687055e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.966066493
Centerline is valid?  [True, True]
Translation: X:185.18, Y:1.26, Z:0.00
[[ 9.99177381e-01  4.05531918e-02  0.00000000e+00  1.85182500e+02]
 [-4.05531918e-02  9.99177381e-01  0.00000000e+00  1.26237731e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.026066493
Centerline is valid?  [True, True]
Translation: X:185.24, Y:1.26, Z:0.00
[[ 9.99044376e-01  4.37073712e-02  0.00000000e+00  1.85242404e+02]
 [-4.37073712e-02  9.99044376e-01  0.00000000e+00  1.26299231e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.086066493
Centerline is valid?  [True, True]
Translation: X:185.30, Y:1.27, Z:0.00
[[ 9.98621949e-01  5.24805024e-02  0.00000000e+00  1.85303012e+02]
 [-5.24805024e-02  9.98621949e-01  0.00000000e+00  1.26844540e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.146066493
Centerline is valid?  [True, True]
Translation: X:185.36, Y:1.27, Z:0.00
[[ 9.98167826e-01  6.05061170e-02  0.00000000e+00  1.85363485e+02]
 [-6.05061170e-02  9.98167826e-01  0.00000000e+00  1.27490685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.206066493
Centerline is valid?  [True, True]
Translation: X:185.42, Y:1.28, Z:0.00
[[ 9.97673167e-01  6.81780907e-02  0.00000000e+00  1.85423683e+02]
 [-6.81780907e-02  9.97673167e-01  0.00000000e+00  1.28169631e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.266066493
Centerline is valid?  [True, True]
Translation: X:185.48, Y:1.28, Z:0.00
[[ 9.97654057e-01  6.84571564e-02  0.00000000e+00  1.85483653e+02]
 [-6.84571564e-02  9.97654057e-01  0.00000000e+00  1.27821394e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.326066493
Centerline is valid?  [True, True]
Translation: X:185.54, Y:1.27, Z:0.00
[[ 9.97803176e-01  6.62481835e-02  0.00000000e+00  1.85544090e+02]
 [-6.62481835e-02  9.97803176e-01  0.00000000e+00  1.27498791e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.38606649300002
Centerline is valid?  [True, True]
Translation: X:185.61, Y:1.27, Z:0.00
[[ 9.98002750e-01  6.31704914e-02  0.00000000e+00  1.85605008e+02]
 [-6.31704914e-02  9.98002750e-01  0.00000000e+00  1.26949092e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.44606649300002
Centerline is valid?  [True, True]
Translation: X:185.67, Y:1.26, Z:0.00
[[ 9.98434685e-01  5.59301328e-02  0.00000000e+00  1.85665378e+02]
 [-5.59301328e-02  9.98434685e-01  0.00000000e+00  1.25619911e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.50606649300002
Centerline is valid?  [True, True]
Translation: X:185.72, Y:1.25, Z:0.00
[[ 9.98796507e-01  4.90462712e-02  0.00000000e+00  1.85724828e+02]
 [-4.90462712e-02  9.98796507e-01  0.00000000e+00  1.24777487e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.566066493
Centerline is valid?  [True, True]
Translation: X:185.78, Y:1.24, Z:0.00
[[ 9.99416759e-01  3.41488250e-02  0.00000000e+00  1.85784197e+02]
 [-3.41488250e-02  9.99416759e-01  0.00000000e+00  1.23747314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.626066493
Centerline is valid?  [True, True]
Translation: X:185.85, Y:1.23, Z:0.00
[[ 9.99722743e-01  2.35464888e-02  0.00000000e+00  1.85846482e+02]
 [-2.35464888e-02  9.99722743e-01  0.00000000e+00  1.23039890e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.686066493
Centerline is valid?  [True, True]
Translation: X:185.91, Y:1.23, Z:0.00
[[ 9.99891094e-01  1.47580465e-02  0.00000000e+00  1.85906959e+02]
 [-1.47580465e-02  9.99891094e-01  0.00000000e+00  1.22771401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.746066493
Centerline is valid?  [True, True]
Translation: X:185.97, Y:1.23, Z:0.00
[[ 9.99896546e-01  1.43839264e-02  0.00000000e+00  1.85968238e+02]
 [-1.43839264e-02  9.99896546e-01  0.00000000e+00  1.23333195e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 184.806066493
Centerline is valid?  [True, True]
Translation: X:186.03, Y:1.24, Z:0.00
[[ 9.99832148e-01  1.83214625e-02  0.00000000e+00  1.86029639e+02]
 [-1.83214625e-02  9.99832148e-01  0.00000000e+00  1.23818518e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.866066493
Centerline is valid?  [True, True]
Translation: X:186.09, Y:1.24, Z:0.00
[[ 9.99795146e-01  2.02401879e-02  0.00000000e+00  1.86089792e+02]
 [-2.02401879e-02  9.99795146e-01  0.00000000e+00  1.24431949e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.926066493
Centerline is valid?  [True, True]
Translation: X:186.15, Y:1.25, Z:0.00
[[ 9.99753880e-01  2.21851309e-02  0.00000000e+00  1.86150633e+02]
 [-2.21851309e-02  9.99753880e-01  0.00000000e+00  1.25105346e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.986066493
Centerline is valid?  [True, True]
Translation: X:186.21, Y:1.26, Z:0.00
[[ 9.99539630e-01  3.03402121e-02  0.00000000e+00  1.86211164e+02]
 [-3.03402121e-02  9.99539630e-01  0.00000000e+00  1.26229101e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.046066493
Centerline is valid?  [True, True]
Translation: X:186.27, Y:1.27, Z:0.00
[[ 9.99299503e-01  3.74232921e-02  0.00000000e+00  1.86270682e+02]
 [-3.74232921e-02  9.99299503e-01  0.00000000e+00  1.27132936e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.10606649300001
Centerline is valid?  [True, True]
Translation: X:186.33, Y:1.28, Z:0.00
[[ 9.99105120e-01  4.22960847e-02  0.00000000e+00  1.86330884e+02]
 [-4.22960847e-02  9.99105120e-01  0.00000000e+00  1.27697841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.16606649300002
Centerline is valid?  [True, True]
Translation: X:186.39, Y:1.28, Z:0.00
[[ 9.98905376e-01  4.67765976e-02  0.00000000e+00  1.86390920e+02]
 [-4.67765976e-02  9.98905376e-01  0.00000000e+00  1.28067505e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.22606649300002
Centerline is valid?  [True, True]
Translation: X:186.45, Y:1.28, Z:0.00
[[ 9.98763529e-01  4.97133012e-02  0.00000000e+00  1.86450413e+02]
 [-4.97133012e-02  9.98763529e-01  0.00000000e+00  1.28458415e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.286066493
Centerline is valid?  [True, True]
Translation: X:186.51, Y:1.29, Z:0.00
[[ 9.98745219e-01  5.00798214e-02  0.00000000e+00  1.86509878e+02]
 [-5.00798214e-02  9.98745219e-01  0.00000000e+00  1.28553350e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.346066493
Centerline is valid?  [True, True]
Translation: X:186.57, Y:1.29, Z:0.00
[[ 9.98703883e-01  5.08974806e-02  0.00000000e+00  1.86568967e+02]
 [-5.08974806e-02  9.98703883e-01  0.00000000e+00  1.28735724e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.406066493
Centerline is valid?  [True, True]
Translation: X:186.63, Y:1.29, Z:0.00
[[ 9.98554941e-01  5.37403853e-02  0.00000000e+00  1.86629378e+02]
 [-5.37403853e-02  9.98554941e-01  0.00000000e+00  1.28800476e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.466066493
Centerline is valid?  [True, True]
Translation: X:186.69, Y:1.29, Z:0.00
[[ 9.98178982e-01  6.03218073e-02  0.00000000e+00  1.86689188e+02]
 [-6.03218073e-02  9.98178982e-01  0.00000000e+00  1.28620240e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.526066493
Centerline is valid?  [True, True]
Translation: X:186.75, Y:1.28, Z:0.00
[[ 9.97580841e-01  6.95159330e-02  0.00000000e+00  1.86749658e+02]
 [-6.95159330e-02  9.97580841e-01  0.00000000e+00  1.28395614e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.586066493
Centerline is valid?  [True, True]
Translation: X:186.81, Y:1.28, Z:0.00
[[ 9.96988062e-01  7.75551638e-02  0.00000000e+00  1.86809691e+02]
 [-7.75551638e-02  9.96988062e-01  0.00000000e+00  1.27613753e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.646066493
Centerline is valid?  [True, True]
Translation: X:186.87, Y:1.27, Z:0.00
[[ 9.96763508e-01  8.03897273e-02  0.00000000e+00  1.86870063e+02]
 [-8.03897273e-02  9.96763508e-01  0.00000000e+00  1.26717461e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.706066493
Centerline is valid?  [True, True]
Translation: X:186.93, Y:1.25, Z:0.00
[[ 9.96872755e-01  7.90234852e-02  0.00000000e+00  1.86930143e+02]
 [-7.90234852e-02  9.96872755e-01  0.00000000e+00  1.25143773e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.766066493
Centerline is valid?  [True, True]
Translation: X:186.99, Y:1.24, Z:0.00
[[ 9.96996090e-01  7.74518968e-02  0.00000000e+00  1.86991661e+02]
 [-7.74518968e-02  9.96996090e-01  0.00000000e+00  1.23829173e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.826066493
Centerline is valid?  [True, True]
Translation: X:187.05, Y:1.22, Z:0.00
[[ 9.97191413e-01  7.48951665e-02  0.00000000e+00  1.87052452e+02]
 [-7.48951665e-02  9.97191413e-01  0.00000000e+00  1.22156285e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.88606649300002
Centerline is valid?  [True, True]
Translation: X:187.11, Y:1.21, Z:0.00
[[ 9.97453492e-01  7.13199196e-02  0.00000000e+00  1.87111859e+02]
 [-7.13199196e-02  9.97453492e-01  0.00000000e+00  1.21131995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.94606649300002
Centerline is valid?  [True, True]
Translation: X:187.17, Y:1.20, Z:0.00
[[ 9.97564577e-01  6.97489474e-02  0.00000000e+00  1.87171623e+02]
 [-6.97489474e-02  9.97564577e-01  0.00000000e+00  1.20354134e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 186.00606649300002
Centerline is valid?  [True, True]
Translation: X:187.23, Y:1.18, Z:0.00
[[ 9.97959259e-01  6.38538805e-02  0.00000000e+00  1.87232424e+02]
 [-6.38538805e-02  9.97959259e-01  0.00000000e+00  1.18415995e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.066066493
Centerline is valid?  [True, True]
Translation: X:187.29, Y:1.18, Z:0.00
[[ 9.98007711e-01  6.30920708e-02  0.00000000e+00  1.87293840e+02]
 [-6.30920708e-02  9.98007711e-01  0.00000000e+00  1.17519392e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.126066493
Centerline is valid?  [True, True]
Translation: X:187.36, Y:1.16, Z:0.00
[[ 9.98087792e-01  6.18122842e-02  0.00000000e+00  1.87356369e+02]
 [-6.18122842e-02  9.98087792e-01  0.00000000e+00  1.16447687e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.186066493
Centerline is valid?  [True, True]
Translation: X:187.42, Y:1.15, Z:0.00
[[ 9.98390332e-01  5.67163564e-02  0.00000000e+00  1.87415735e+02]
 [-5.67163564e-02  9.98390332e-01  0.00000000e+00  1.14712098e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.246066493
Centerline is valid?  [True, True]
Translation: X:187.48, Y:1.14, Z:0.00
[[ 9.98812679e-01  4.87158267e-02  0.00000000e+00  1.87476268e+02]
 [-4.87158267e-02  9.98812679e-01  0.00000000e+00  1.13567348e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.306066493
Centerline is valid?  [True, True]
Translation: X:187.54, Y:1.13, Z:0.00
[[ 9.98910485e-01  4.66673689e-02  0.00000000e+00  1.87537724e+02]
 [-4.66673689e-02  9.98910485e-01  0.00000000e+00  1.12729421e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.366066493
Centerline is valid?  [True, True]
Translation: X:187.60, Y:1.12, Z:0.00
[[ 9.98961829e-01  4.55550678e-02  0.00000000e+00  1.87597002e+02]
 [-4.55550678e-02  9.98961829e-01  0.00000000e+00  1.11590948e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.426066493
Centerline is valid?  [True, True]
Translation: X:187.66, Y:1.11, Z:0.00
[[ 9.98768114e-01  4.96211184e-02  0.00000000e+00  1.87656639e+02]
 [-4.96211184e-02  9.98768114e-01  0.00000000e+00  1.10555697e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.486066493
Centerline is valid?  [True, True]
Translation: X:187.72, Y:1.11, Z:0.00
[[ 9.98740965e-01  5.01645768e-02  0.00000000e+00  1.87719006e+02]
 [-5.01645768e-02  9.98740965e-01  0.00000000e+00  1.10506320e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.546066493
Centerline is valid?  [True, True]
Translation: X:187.78, Y:1.10, Z:0.00
[[ 9.99013760e-01  4.44016691e-02  0.00000000e+00  1.87779119e+02]
 [-4.44016691e-02  9.99013760e-01  0.00000000e+00  1.09796773e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.60606649300001
Centerline is valid?  [True, True]
Translation: X:187.84, Y:1.09, Z:0.00
[[ 9.99297107e-01  3.74872247e-02  0.00000000e+00  1.87839943e+02]
 [-3.74872247e-02  9.99297107e-01  0.00000000e+00  1.09026982e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.66606649300002
Centerline is valid?  [True, True]
Translation: X:187.90, Y:1.09, Z:0.00
[[ 9.99562100e-01  2.95906821e-02  0.00000000e+00  1.87901379e+02]
 [-2.95906821e-02  9.99562100e-01  0.00000000e+00  1.09210032e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.72606649300002
Centerline is valid?  [True, True]
Translation: X:187.96, Y:1.09, Z:0.00
[[ 9.99617587e-01  2.76528374e-02  0.00000000e+00  1.87963638e+02]
 [-2.76528374e-02  9.99617587e-01  0.00000000e+00  1.09477886e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.786066493
Centerline is valid?  [True, True]
Translation: X:188.02, Y:1.10, Z:0.00
[[ 9.99685727e-01  2.50688389e-02  0.00000000e+00  1.88024407e+02]
 [-2.50688389e-02  9.99685727e-01  0.00000000e+00  1.10029983e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.846066493
Centerline is valid?  [True, True]
Translation: X:188.09, Y:1.10, Z:0.00
[[ 9.99493572e-01  3.18213642e-02  0.00000000e+00  1.88086846e+02]
 [-3.18213642e-02  9.99493572e-01  0.00000000e+00  1.10404150e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.906066493
Centerline is valid?  [True, True]
Translation: X:188.15, Y:1.11, Z:0.00
[[ 9.99351925e-01  3.59962520e-02  0.00000000e+00  1.88147496e+02]
 [-3.59962520e-02  9.99351925e-01  0.00000000e+00  1.10820256e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.966066493
Centerline is valid?  [True, True]
Translation: X:188.21, Y:1.11, Z:0.00
[[ 9.99181373e-01  4.04547034e-02  0.00000000e+00  1.88208305e+02]
 [-4.04547034e-02  9.99181373e-01  0.00000000e+00  1.11470298e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.026066493
Centerline is valid?  [True, True]
Translation: X:188.27, Y:1.12, Z:0.00
[[ 9.98874806e-01  4.74249145e-02  0.00000000e+00  1.88269817e+02]
 [-4.74249145e-02  9.98874806e-01  0.00000000e+00  1.12327853e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.086066493
Centerline is valid?  [True, True]
Translation: X:188.33, Y:1.13, Z:0.00
[[ 9.98707925e-01  5.08181156e-02  0.00000000e+00  1.88330625e+02]
 [-5.08181156e-02  9.98707925e-01  0.00000000e+00  1.12544891e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.146066493
Centerline is valid?  [True, True]
Translation: X:188.39, Y:1.13, Z:0.00
[[ 9.98695075e-01  5.10700287e-02  0.00000000e+00  1.88390734e+02]
 [-5.10700287e-02  9.98695075e-01  0.00000000e+00  1.12803931e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 187.206066493
Centerline is valid?  [True, True]
Translation: X:188.45, Y:1.13, Z:0.00
[[ 9.98583447e-01  5.32080850e-02  0.00000000e+00  1.88451590e+02]
 [-5.32080850e-02  9.98583447e-01  0.00000000e+00  1.13165510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.266066493
Centerline is valid?  [True, True]
Translation: X:188.51, Y:1.13, Z:0.00
[[ 9.98217651e-01  5.96784769e-02  0.00000000e+00  1.88512176e+02]
 [-5.96784769e-02  9.98217651e-01  0.00000000e+00  1.13417876e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.326066493
Centerline is valid?  [True, True]
Translation: X:188.57, Y:1.13, Z:0.00
[[ 9.97291116e-01  7.35556298e-02  0.00000000e+00  1.88571653e+02]
 [-7.35556298e-02  9.97291116e-01  0.00000000e+00  1.13134860e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.38606649300002
Centerline is valid?  [True, True]
Translation: X:188.63, Y:1.13, Z:0.00
[[ 9.96582189e-01  8.26071457e-02  0.00000000e+00  1.88631846e+02]
 [-8.26071457e-02  9.96582189e-01  0.00000000e+00  1.12881375e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.44606649300002
Centerline is valid?  [True, True]
Translation: X:188.69, Y:1.12, Z:0.00
[[ 9.96078427e-01  8.84746704e-02  0.00000000e+00  1.88692636e+02]
 [-8.84746704e-02  9.96078427e-01  0.00000000e+00  1.11860868e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.50606649300002
Centerline is valid?  [True, True]
Translation: X:188.75, Y:1.11, Z:0.00
[[ 9.95994330e-01  8.94164100e-02  0.00000000e+00  1.88752465e+02]
 [-8.94164100e-02  9.95994330e-01  0.00000000e+00  1.10593729e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.566066493
Centerline is valid?  [True, True]
Translation: X:188.81, Y:1.09, Z:0.00
[[ 9.95947320e-01  8.99385142e-02  0.00000000e+00  1.88813888e+02]
 [-8.99385142e-02  9.95947320e-01  0.00000000e+00  1.08851147e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.626066493
Centerline is valid?  [True, True]
Translation: X:188.88, Y:1.08, Z:0.00
[[ 9.96029992e-01  8.90182894e-02  0.00000000e+00  1.88876461e+02]
 [-8.90182894e-02  9.96029992e-01  0.00000000e+00  1.07575671e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.686066493
Centerline is valid?  [True, True]
Translation: X:188.94, Y:1.06, Z:0.00
[[ 9.96640941e-01  8.18952705e-02  0.00000000e+00  1.88936913e+02]
 [-8.18952705e-02  9.96640941e-01  0.00000000e+00  1.05770568e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.746066493
Centerline is valid?  [True, True]
Translation: X:189.00, Y:1.04, Z:0.00
[[ 9.97114558e-01  7.59115216e-02  0.00000000e+00  1.88997041e+02]
 [-7.59115216e-02  9.97114558e-01  0.00000000e+00  1.04017091e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.806066493
Centerline is valid?  [True, True]
Translation: X:189.06, Y:1.03, Z:0.00
[[ 9.97737369e-01  6.72319978e-02  0.00000000e+00  1.89057738e+02]
 [-6.72319978e-02  9.97737369e-01  0.00000000e+00  1.02929206e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.866066493
Centerline is valid?  [True, True]
Translation: X:189.12, Y:1.02, Z:0.00
[[ 9.98229342e-01  5.94826114e-02  0.00000000e+00  1.89117539e+02]
 [-5.94826114e-02  9.98229342e-01  0.00000000e+00  1.01854715e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.926066493
Centerline is valid?  [True, True]
Translation: X:189.18, Y:1.00, Z:0.00
[[ 9.98760693e-01  4.97702571e-02  0.00000000e+00  1.89178075e+02]
 [-4.97702571e-02  9.98760693e-01  0.00000000e+00  1.00115228e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.986066493
Centerline is valid?  [True, True]
Translation: X:189.24, Y:0.99, Z:0.00
[[ 9.99009992e-01  4.44863614e-02  0.00000000e+00  1.89240186e+02]
 [-4.44863614e-02  9.99009992e-01  0.00000000e+00  9.94641937e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.046066493
Centerline is valid?  [True, True]
Translation: X:189.30, Y:0.99, Z:0.00
[[ 9.99119451e-01  4.19562044e-02  0.00000000e+00  1.89301673e+02]
 [-4.19562044e-02  9.99119451e-01  0.00000000e+00  9.88173164e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.10606649300001
Centerline is valid?  [True, True]
Translation: X:189.36, Y:0.99, Z:0.00
[[ 9.99045676e-01  4.36776467e-02  0.00000000e+00  1.89363354e+02]
 [-4.36776467e-02  9.99045676e-01  0.00000000e+00  9.85290970e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.16606649300002
Centerline is valid?  [True, True]
Translation: X:189.42, Y:0.98, Z:0.00
[[ 9.99097875e-01  4.24668844e-02  0.00000000e+00  1.89424946e+02]
 [-4.24668844e-02  9.99097875e-01  0.00000000e+00  9.84227022e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.22606649300002
Centerline is valid?  [True, True]
Translation: X:189.49, Y:0.98, Z:0.00
[[ 9.99076509e-01  4.29666145e-02  0.00000000e+00  1.89485077e+02]
 [-4.29666145e-02  9.99076509e-01  0.00000000e+00  9.80977849e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.286066493
Centerline is valid?  [True, True]
Translation: X:189.55, Y:0.98, Z:0.00
[[ 9.98904595e-01  4.67932675e-02  0.00000000e+00  1.89546948e+02]
 [-4.67932675e-02  9.98904595e-01  0.00000000e+00  9.79818919e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.346066493
Centerline is valid?  [True, True]
Translation: X:189.61, Y:0.98, Z:0.00
[[ 9.98572818e-01  5.34071894e-02  0.00000000e+00  1.89606415e+02]
 [-5.34071894e-02  9.98572818e-01  0.00000000e+00  9.81746603e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 188.406066493
Centerline is valid?  [True, True]
Translation: X:189.67, Y:0.98, Z:0.00
[[ 9.98420744e-01  5.61784500e-02  0.00000000e+00  1.89667277e+02]
 [-5.61784500e-02  9.98420744e-01  0.00000000e+00  9.83722312e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.466066493
Centerline is valid?  [True, True]
Translation: X:189.73, Y:0.99, Z:0.00
[[ 9.98292159e-01  5.84188794e-02  0.00000000e+00  1.89729247e+02]
 [-5.84188794e-02  9.98292159e-01  0.00000000e+00  9.85628443e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.526066493
Centerline is valid?  [True, True]
Translation: X:189.79, Y:0.99, Z:0.00
[[ 9.98190220e-01  6.01355525e-02  0.00000000e+00  1.89789486e+02]
 [-6.01355525e-02  9.98190220e-01  0.00000000e+00  9.85395438e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.586066493
Centerline is valid?  [True, True]
Translation: X:189.85, Y:0.99, Z:0.00
[[ 9.97892438e-01  6.48897638e-02  0.00000000e+00  1.89850360e+02]
 [-6.48897638e-02  9.97892438e-01  0.00000000e+00  9.90010305e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.646066493
Centerline is valid?  [True, True]
Translation: X:189.91, Y:0.99, Z:0.00
[[ 9.97892531e-01  6.48883444e-02  0.00000000e+00  1.89912894e+02]
 [-6.48883444e-02  9.97892531e-01  0.00000000e+00  9.89066895e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.706066493
Centerline is valid?  [True, True]
Translation: X:189.97, Y:0.98, Z:0.00
[[ 9.98263467e-01  5.89071389e-02  0.00000000e+00  1.89973307e+02]
 [-5.89071389e-02  9.98263467e-01  0.00000000e+00  9.83480396e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.766066493
Centerline is valid?  [True, True]
Translation: X:190.03, Y:0.98, Z:0.00
[[ 9.98675575e-01  5.14499300e-02  0.00000000e+00  1.90034470e+02]
 [-5.14499300e-02  9.98675575e-01  0.00000000e+00  9.80986560e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.826066493
Centerline is valid?  [True, True]
Translation: X:190.10, Y:0.98, Z:0.00
[[ 9.98995883e-01  4.48020782e-02  0.00000000e+00  1.90095021e+02]
 [-4.48020782e-02  9.98995883e-01  0.00000000e+00  9.78053955e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.88606649300002
Centerline is valid?  [True, True]
Translation: X:190.16, Y:0.98, Z:0.00
[[ 9.99367181e-01  3.55701807e-02  0.00000000e+00  1.90155863e+02]
 [-3.55701807e-02  9.99367181e-01  0.00000000e+00  9.76391705e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.94606649300002
Centerline is valid?  [True, True]
Translation: X:190.22, Y:0.98, Z:0.00
[[ 9.99358917e-01  3.58016143e-02  0.00000000e+00  1.90217177e+02]
 [-3.58016143e-02  9.99358917e-01  0.00000000e+00  9.77592280e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.00606649300002
Centerline is valid?  [True, True]
Translation: X:190.28, Y:0.98, Z:0.00
[[ 9.99455466e-01  3.29965501e-02  0.00000000e+00  1.90277789e+02]
 [-3.29965501e-02  9.99455466e-01  0.00000000e+00  9.84197499e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.066066493
Centerline is valid?  [True, True]
Translation: X:190.34, Y:0.99, Z:0.00
[[ 9.99547808e-01  3.00695792e-02  0.00000000e+00  1.90340159e+02]
 [-3.00695792e-02  9.99547808e-01  0.00000000e+00  9.87547747e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.126066493
Centerline is valid?  [True, True]
Translation: X:190.40, Y:1.00, Z:0.00
[[ 9.99684102e-01  2.51335744e-02  0.00000000e+00  1.90399730e+02]
 [-2.51335744e-02  9.99684102e-01  0.00000000e+00  9.95853174e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.186066493
Centerline is valid?  [True, True]
Translation: X:190.46, Y:1.01, Z:0.00
[[ 9.99675193e-01  2.54854736e-02  0.00000000e+00  1.90461459e+02]
 [-2.54854736e-02  9.99675193e-01  0.00000000e+00  1.00623236e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.246066493
Centerline is valid?  [True, True]
Translation: X:190.52, Y:1.02, Z:0.00
[[ 9.99620573e-01  2.75446908e-02  0.00000000e+00  1.90524198e+02]
 [-2.75446908e-02  9.99620573e-01  0.00000000e+00  1.02171433e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.306066493
Centerline is valid?  [True, True]
Translation: X:190.59, Y:1.03, Z:0.00
[[ 9.99415170e-01  3.41952972e-02  0.00000000e+00  1.90585319e+02]
 [-3.41952972e-02  9.99415170e-01  0.00000000e+00  1.03157675e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.366066493
Centerline is valid?  [True, True]
Translation: X:190.65, Y:1.04, Z:0.00
[[ 9.99133185e-01  4.16278488e-02  0.00000000e+00  1.90645643e+02]
 [-4.16278488e-02  9.99133185e-01  0.00000000e+00  1.03868692e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.426066493
Centerline is valid?  [True, True]
Translation: X:190.71, Y:1.05, Z:0.00
[[ 9.98739576e-01  5.01922310e-02  0.00000000e+00  1.90705846e+02]
 [-5.01922310e-02  9.98739576e-01  0.00000000e+00  1.04942711e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.486066493
Centerline is valid?  [True, True]
Translation: X:190.77, Y:1.06, Z:0.00
[[ 9.98538535e-01  5.40443753e-02  0.00000000e+00  1.90766784e+02]
 [-5.40443753e-02  9.98538535e-01  0.00000000e+00  1.05757889e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.546066493
Centerline is valid?  [True, True]
Translation: X:190.83, Y:1.06, Z:0.00
[[ 9.98457546e-01  5.55205241e-02  0.00000000e+00  1.90826974e+02]
 [-5.55205241e-02  9.98457546e-01  0.00000000e+00  1.06189573e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 189.60606649300001
Centerline is valid?  [True, True]
Translation: X:190.89, Y:1.06, Z:0.00
[[ 9.98512208e-01  5.45286182e-02  0.00000000e+00  1.90888437e+02]
 [-5.45286182e-02  9.98512208e-01  0.00000000e+00  1.06489079e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.66606649300002
Centerline is valid?  [True, True]
Translation: X:190.95, Y:1.07, Z:0.00
[[ 9.98817703e-01  4.86127190e-02  0.00000000e+00  1.90948627e+02]
 [-4.86127190e-02  9.98817703e-01  0.00000000e+00  1.07256981e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.72606649300002
Centerline is valid?  [True, True]
Translation: X:191.01, Y:1.07, Z:0.00
[[ 9.99007084e-01  4.45516171e-02  0.00000000e+00  1.91009115e+02]
 [-4.45516171e-02  9.99007084e-01  0.00000000e+00  1.07362060e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.786066493
Centerline is valid?  [True, True]
Translation: X:191.07, Y:1.08, Z:0.00
[[ 9.99390997e-01  3.48946333e-02  0.00000000e+00  1.91070491e+02]
 [-3.48946333e-02  9.99390997e-01  0.00000000e+00  1.07728529e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.846066493
Centerline is valid?  [True, True]
Translation: X:191.13, Y:1.08, Z:0.00
[[ 9.99490506e-01  3.19175257e-02  0.00000000e+00  1.91132220e+02]
 [-3.19175257e-02  9.99490506e-01  0.00000000e+00  1.08147314e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.906066493
Centerline is valid?  [True, True]
Translation: X:191.19, Y:1.09, Z:0.00
[[ 9.99428557e-01  3.38017531e-02  0.00000000e+00  1.91193965e+02]
 [-3.38017531e-02  9.99428557e-01  0.00000000e+00  1.08930440e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.966066493
Centerline is valid?  [True, True]
Translation: X:191.26, Y:1.09, Z:0.00
[[ 9.99276063e-01  3.80440622e-02  0.00000000e+00  1.91255414e+02]
 [-3.80440622e-02  9.99276063e-01  0.00000000e+00  1.09394131e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.026066493
Centerline is valid?  [True, True]
Translation: X:191.32, Y:1.10, Z:0.00
[[ 9.99111830e-01  4.21372892e-02  0.00000000e+00  1.91315283e+02]
 [-4.21372892e-02  9.99111830e-01  0.00000000e+00  1.09748767e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.086066493
Centerline is valid?  [True, True]
Translation: X:191.38, Y:1.10, Z:0.00
[[ 9.98943730e-01  4.59502440e-02  0.00000000e+00  1.91376831e+02]
 [-4.59502440e-02  9.98943730e-01  0.00000000e+00  1.10499588e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.146066493
Centerline is valid?  [True, True]
Translation: X:191.44, Y:1.11, Z:0.00
[[ 9.98989212e-01  4.49505761e-02  0.00000000e+00  1.91438225e+02]
 [-4.49505761e-02  9.98989212e-01  0.00000000e+00  1.10824620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.206066493
Centerline is valid?  [True, True]
Translation: X:191.50, Y:1.11, Z:0.00
[[ 9.99070587e-01  4.31040953e-02  0.00000000e+00  1.91498643e+02]
 [-4.31040953e-02  9.99070587e-01  0.00000000e+00  1.11091030e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.266066493
Centerline is valid?  [True, True]
Translation: X:191.56, Y:1.12, Z:0.00
[[ 9.98964767e-01  4.54906011e-02  0.00000000e+00  1.91557855e+02]
 [-4.54906011e-02  9.98964767e-01  0.00000000e+00  1.11611368e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.326066493
Centerline is valid?  [True, True]
Translation: X:191.62, Y:1.12, Z:0.00
[[ 9.98647974e-01  5.19829125e-02  0.00000000e+00  1.91619349e+02]
 [-5.19829125e-02  9.98647974e-01  0.00000000e+00  1.12065091e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.38606649300002
Centerline is valid?  [True, True]
Translation: X:191.68, Y:1.12, Z:0.00
[[ 9.98221630e-01  5.96118933e-02  0.00000000e+00  1.91679628e+02]
 [-5.96118933e-02  9.98221630e-01  0.00000000e+00  1.12148364e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.44606649300002
Centerline is valid?  [True, True]
Translation: X:191.74, Y:1.13, Z:0.00
[[ 9.97392106e-01  7.21733086e-02  0.00000000e+00  1.91739447e+02]
 [-7.21733086e-02  9.97392106e-01  0.00000000e+00  1.12610443e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.50606649300002
Centerline is valid?  [True, True]
Translation: X:191.80, Y:1.12, Z:0.00
[[ 9.96603961e-01  8.23440646e-02  0.00000000e+00  1.91800016e+02]
 [-8.23440646e-02  9.96603961e-01  0.00000000e+00  1.12389844e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.566066493
Centerline is valid?  [True, True]
Translation: X:191.86, Y:1.12, Z:0.00
[[ 9.96443275e-01  8.42662486e-02  0.00000000e+00  1.91860929e+02]
 [-8.42662486e-02  9.96443275e-01  0.00000000e+00  1.11730294e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.626066493
Centerline is valid?  [True, True]
Translation: X:191.92, Y:1.11, Z:0.00
[[ 9.96599536e-01  8.23976000e-02  0.00000000e+00  1.91921859e+02]
 [-8.23976000e-02  9.96599536e-01  0.00000000e+00  1.10571119e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.686066493
Centerline is valid?  [True, True]
Translation: X:191.98, Y:1.10, Z:0.00
[[ 9.96863545e-01  7.91395778e-02  0.00000000e+00  1.91980968e+02]
 [-7.91395778e-02  9.96863545e-01  0.00000000e+00  1.09598051e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.746066493
Centerline is valid?  [True, True]
Translation: X:192.04, Y:1.08, Z:0.00
[[ 9.96976188e-01  7.77076572e-02  0.00000000e+00  1.92042000e+02]
 [-7.77076572e-02  9.96976188e-01  0.00000000e+00  1.07717454e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 190.806066493
Centerline is valid?  [True, True]
Translation: X:192.10, Y:1.07, Z:0.00
[[ 9.96668808e-01  8.15554218e-02  0.00000000e+00  1.92102758e+02]
 [-8.15554218e-02  9.96668808e-01  0.00000000e+00  1.06751819e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.866066493
Centerline is valid?  [True, True]
Translation: X:192.16, Y:1.05, Z:0.00
[[ 9.96539622e-01  8.31190790e-02  0.00000000e+00  1.92163262e+02]
 [-8.31190790e-02  9.96539622e-01  0.00000000e+00  1.05333216e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.926066493
Centerline is valid?  [True, True]
Translation: X:192.22, Y:1.04, Z:0.00
[[ 9.96521205e-01  8.33395969e-02  0.00000000e+00  1.92224207e+02]
 [-8.33395969e-02  9.96521205e-01  0.00000000e+00  1.04326219e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.986066493
Centerline is valid?  [True, True]
Translation: X:192.28, Y:1.03, Z:0.00
[[ 9.96831298e-01  7.95447207e-02  0.00000000e+00  1.92284455e+02]
 [-7.95447207e-02  9.96831298e-01  0.00000000e+00  1.02946717e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.046066493
Centerline is valid?  [True, True]
Translation: X:192.35, Y:1.02, Z:0.00
[[ 9.97415399e-01  7.18506951e-02  0.00000000e+00  1.92345363e+02]
 [-7.18506951e-02  9.97415399e-01  0.00000000e+00  1.01686536e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.10606649300001
Centerline is valid?  [True, True]
Translation: X:192.41, Y:1.01, Z:0.00
[[ 9.97774115e-01  6.66844470e-02  0.00000000e+00  1.92405978e+02]
 [-6.66844470e-02  9.97774115e-01  0.00000000e+00  1.00780909e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.16606649300002
Centerline is valid?  [True, True]
Translation: X:192.47, Y:1.00, Z:0.00
[[ 9.98226838e-01  5.95246231e-02  0.00000000e+00  1.92466497e+02]
 [-5.95246231e-02  9.98226838e-01  0.00000000e+00  9.97756784e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.22606649300002
Centerline is valid?  [True, True]
Translation: X:192.53, Y:0.99, Z:0.00
[[ 9.98936784e-01  4.61009836e-02  0.00000000e+00  1.92526928e+02]
 [-4.61009836e-02  9.98936784e-01  0.00000000e+00  9.87043625e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.286066493
Centerline is valid?  [True, True]
Translation: X:192.59, Y:0.98, Z:0.00
[[ 9.99281998e-01  3.78878418e-02  0.00000000e+00  1.92586138e+02]
 [-3.78878418e-02  9.99281998e-01  0.00000000e+00  9.81004008e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.346066493
Centerline is valid?  [True, True]
Translation: X:192.65, Y:0.98, Z:0.00
[[ 9.99633987e-01  2.70535180e-02  0.00000000e+00  1.92647311e+02]
 [-2.70535180e-02  9.99633987e-01  0.00000000e+00  9.78298332e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.406066493
Centerline is valid?  [True, True]
Translation: X:192.71, Y:0.98, Z:0.00
[[ 9.99782748e-01  2.08436179e-02  0.00000000e+00  1.92708912e+02]
 [-2.08436179e-02  9.99782748e-01  0.00000000e+00  9.76395698e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.466066493
Centerline is valid?  [True, True]
Translation: X:192.77, Y:0.98, Z:0.00
[[ 9.99878643e-01  1.55787925e-02  0.00000000e+00  1.92771310e+02]
 [-1.55787925e-02  9.99878643e-01  0.00000000e+00  9.80160533e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.526066493
Centerline is valid?  [True, True]
Translation: X:192.83, Y:0.99, Z:0.00
[[ 9.99990965e-01  4.25094933e-03  0.00000000e+00  1.92834759e+02]
 [-4.25094933e-03  9.99990965e-01  0.00000000e+00  9.88639457e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.586066493
Centerline is valid?  [True, True]
Translation: X:192.90, Y:1.00, Z:0.00
[[ 9.99999803e-01  6.26972277e-04  0.00000000e+00  1.92896299e+02]
 [-6.26972277e-04  9.99999803e-01  0.00000000e+00  1.00063469e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.646066493
Centerline is valid?  [True, True]
Translation: X:192.96, Y:1.01, Z:0.00
[[ 9.99999762e-01  6.89285677e-04  0.00000000e+00  1.92956610e+02]
 [-6.89285677e-04  9.99999762e-01  0.00000000e+00  1.00570267e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.706066493
Centerline is valid?  [True, True]
Translation: X:193.02, Y:1.02, Z:0.00
[[ 9.99997168e-01  2.38003300e-03  0.00000000e+00  1.93016759e+02]
 [-2.38003300e-03  9.99997168e-01  0.00000000e+00  1.02151510e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.766066493
Centerline is valid?  [True, True]
Translation: X:193.08, Y:1.05, Z:0.00
[[ 9.99975780e-01  6.95977247e-03  0.00000000e+00  1.93077967e+02]
 [-6.95977247e-03  9.99975780e-01  0.00000000e+00  1.04778196e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.826066493
Centerline is valid?  [True, True]
Translation: X:193.14, Y:1.07, Z:0.00
[[ 9.99884324e-01  1.52098012e-02  0.00000000e+00  1.93139290e+02]
 [-1.52098012e-02  9.99884324e-01  0.00000000e+00  1.07270841e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.88606649300002
Centerline is valid?  [True, True]
Translation: X:193.20, Y:1.09, Z:0.00
[[ 9.99774382e-01  2.12411365e-02  0.00000000e+00  1.93200460e+02]
 [-2.12411365e-02  9.99774382e-01  0.00000000e+00  1.08886937e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.94606649300002
Centerline is valid?  [True, True]
Translation: X:193.26, Y:1.10, Z:0.00
[[ 9.99581157e-01  2.89397626e-02  0.00000000e+00  1.93262018e+02]
 [-2.89397626e-02  9.99581157e-01  0.00000000e+00  1.10192360e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 192.00606649300002
Centerline is valid?  [True, True]
Translation: X:193.32, Y:1.12, Z:0.00
[[ 9.98953884e-01  4.57289612e-02  0.00000000e+00  1.93321597e+02]
 [-4.57289612e-02  9.98953884e-01  0.00000000e+00  1.11949413e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.066066493
Centerline is valid?  [True, True]
Translation: X:193.38, Y:1.13, Z:0.00
[[ 9.98283683e-01  5.85635370e-02  0.00000000e+00  1.93382128e+02]
 [-5.85635370e-02  9.98283683e-01  0.00000000e+00  1.12744635e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.126066493
Centerline is valid?  [True, True]
Translation: X:193.44, Y:1.13, Z:0.00
[[ 9.97738411e-01  6.72165354e-02  0.00000000e+00  1.93442289e+02]
 [-6.72165354e-02  9.97738411e-01  0.00000000e+00  1.13244955e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.186066493
Centerline is valid?  [True, True]
Translation: X:193.50, Y:1.13, Z:0.00
[[ 9.97034147e-01  7.69604452e-02  0.00000000e+00  1.93503180e+02]
 [-7.69604452e-02  9.97034147e-01  0.00000000e+00  1.13329279e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.246066493
Centerline is valid?  [True, True]
Translation: X:193.56, Y:1.13, Z:0.00
[[ 9.96655605e-01  8.17166168e-02  0.00000000e+00  1.93563498e+02]
 [-8.17166168e-02  9.96655605e-01  0.00000000e+00  1.13118272e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.306066493
Centerline is valid?  [True, True]
Translation: X:193.62, Y:1.13, Z:0.00
[[ 9.96530616e-01  8.32269894e-02  0.00000000e+00  1.93624642e+02]
 [-8.32269894e-02  9.96530616e-01  0.00000000e+00  1.12957401e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.366066493
Centerline is valid?  [True, True]
Translation: X:193.68, Y:1.12, Z:0.00
[[ 9.96343124e-01  8.54422589e-02  0.00000000e+00  1.93684597e+02]
 [-8.54422589e-02  9.96343124e-01  0.00000000e+00  1.12378091e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.426066493
Centerline is valid?  [True, True]
Translation: X:193.74, Y:1.11, Z:0.00
[[ 9.96591972e-01  8.24890392e-02  0.00000000e+00  1.93744893e+02]
 [-8.24890392e-02  9.96591972e-01  0.00000000e+00  1.11254583e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.486066493
Centerline is valid?  [True, True]
Translation: X:193.81, Y:1.10, Z:0.00
[[ 9.97168039e-01  7.52057325e-02  0.00000000e+00  1.93805868e+02]
 [-7.52057325e-02  9.97168039e-01  0.00000000e+00  1.10177412e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.546066493
Centerline is valid?  [True, True]
Translation: X:193.87, Y:1.10, Z:0.00
[[ 9.97299145e-01  7.34466822e-02  0.00000000e+00  1.93866243e+02]
 [-7.34466822e-02  9.97299145e-01  0.00000000e+00  1.09534691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.60606649300001
Centerline is valid?  [True, True]
Translation: X:193.93, Y:1.07, Z:0.00
[[ 9.97492856e-01  7.07672468e-02  0.00000000e+00  1.93926482e+02]
 [-7.07672468e-02  9.97492856e-01  0.00000000e+00  1.07272757e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.66606649300002
Centerline is valid?  [True, True]
Translation: X:193.99, Y:1.06, Z:0.00
[[ 9.97654772e-01  6.84467361e-02  0.00000000e+00  1.93987607e+02]
 [-6.84467361e-02  9.97654772e-01  0.00000000e+00  1.05937599e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.72606649300002
Centerline is valid?  [True, True]
Translation: X:194.05, Y:1.05, Z:0.00
[[ 9.97695586e-01  6.78492226e-02  0.00000000e+00  1.94048730e+02]
 [-6.78492226e-02  9.97695586e-01  0.00000000e+00  1.04857620e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.786066493
Centerline is valid?  [True, True]
Translation: X:194.11, Y:1.04, Z:0.00
[[ 9.97528088e-01  7.02688731e-02  0.00000000e+00  1.94110186e+02]
 [-7.02688731e-02  9.97528088e-01  0.00000000e+00  1.04025450e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.846066493
Centerline is valid?  [True, True]
Translation: X:194.17, Y:1.03, Z:0.00
[[ 9.97411126e-01  7.19099775e-02  0.00000000e+00  1.94169081e+02]
 [-7.19099775e-02  9.97411126e-01  0.00000000e+00  1.02696126e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.906066493
Centerline is valid?  [True, True]
Translation: X:194.23, Y:1.02, Z:0.00
[[ 9.97455934e-01  7.12857612e-02  0.00000000e+00  1.94230472e+02]
 [-7.12857612e-02  9.97455934e-01  0.00000000e+00  1.02238509e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.966066493
Centerline is valid?  [True, True]
Translation: X:194.29, Y:1.01, Z:0.00
[[ 9.97634312e-01  6.87443111e-02  0.00000000e+00  1.94289530e+02]
 [-6.87443111e-02  9.97634312e-01  0.00000000e+00  1.01343685e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.026066493
Centerline is valid?  [True, True]
Translation: X:194.35, Y:1.00, Z:0.00
[[ 9.98220240e-01  5.96351569e-02  0.00000000e+00  1.94348883e+02]
 [-5.96351569e-02  9.98220240e-01  0.00000000e+00  1.00136245e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.086066493
Centerline is valid?  [True, True]
Translation: X:194.41, Y:1.00, Z:0.00
[[ 9.98718479e-01  5.06102648e-02  0.00000000e+00  1.94409544e+02]
 [-5.06102648e-02  9.98718479e-01  0.00000000e+00  9.97457893e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.146066493
Centerline is valid?  [True, True]
Translation: X:194.47, Y:0.99, Z:0.00
[[ 9.99205626e-01  3.98511827e-02  0.00000000e+00  1.94470016e+02]
 [-3.98511827e-02  9.99205626e-01  0.00000000e+00  9.89001727e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 193.206066493
Centerline is valid?  [True, True]
Translation: X:194.53, Y:0.98, Z:0.00
[[ 9.99484924e-01  3.20918450e-02  0.00000000e+00  1.94530585e+02]
 [-3.20918450e-02  9.99484924e-01  0.00000000e+00  9.81318403e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.266066493
Centerline is valid?  [True, True]
Translation: X:194.59, Y:0.98, Z:0.00
[[ 9.99668041e-01  2.57644667e-02  0.00000000e+00  1.94593096e+02]
 [-2.57644667e-02  9.99668041e-01  0.00000000e+00  9.75621045e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.326066493
Centerline is valid?  [True, True]
Translation: X:194.66, Y:0.97, Z:0.00
[[ 9.99856601e-01  1.69345243e-02  0.00000000e+00  1.94656021e+02]
 [-1.69345243e-02  9.99856601e-01  0.00000000e+00  9.74919254e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.38606649300002
Centerline is valid?  [True, True]
Translation: X:194.72, Y:0.98, Z:0.00
[[ 9.99919855e-01  1.26603062e-02  0.00000000e+00  1.94717786e+02]
 [-1.26603062e-02  9.99919855e-01  0.00000000e+00  9.75387074e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.44606649300002
Centerline is valid?  [True, True]
Translation: X:194.78, Y:0.98, Z:0.00
[[ 9.99978897e-01  6.49662439e-03  0.00000000e+00  1.94778735e+02]
 [-6.49662439e-03  9.99978897e-01  0.00000000e+00  9.77899039e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.50606649300002
Centerline is valid?  [True, True]
Translation: X:194.84, Y:0.99, Z:0.00
[[ 9.99994341e-01  3.36424741e-03  0.00000000e+00  1.94840189e+02]
 [-3.36424741e-03  9.99994341e-01  0.00000000e+00  9.86050858e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.566066493
Centerline is valid?  [True, True]
Translation: X:194.90, Y:0.99, Z:0.00
[[ 9.99996271e-01  2.73084477e-03  0.00000000e+00  1.94902010e+02]
 [-2.73084477e-03  9.99996271e-01  0.00000000e+00  9.90156615e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.626066493
Centerline is valid?  [True, True]
Translation: X:194.96, Y:1.00, Z:0.00
[[ 9.99955584e-01  9.42497350e-03  0.00000000e+00  1.94961918e+02]
 [-9.42497350e-03  9.99955584e-01  0.00000000e+00  1.00499035e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.686066493
Centerline is valid?  [True, True]
Translation: X:195.02, Y:1.02, Z:0.00
[[ 9.99859324e-01  1.67729417e-02  0.00000000e+00  1.95023056e+02]
 [-1.67729417e-02  9.99859324e-01  0.00000000e+00  1.01553204e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.746066493
Centerline is valid?  [True, True]
Translation: X:195.08, Y:1.04, Z:0.00
[[ 9.99440635e-01  3.34427291e-02  0.00000000e+00  1.95083728e+02]
 [-3.34427291e-02  9.99440635e-01  0.00000000e+00  1.03648306e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.806066493
Centerline is valid?  [True, True]
Translation: X:195.14, Y:1.05, Z:0.00
[[ 9.99194230e-01  4.01358970e-02  0.00000000e+00  1.95144245e+02]
 [-4.01358970e-02  9.99194230e-01  0.00000000e+00  1.04711449e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.866066493
Centerline is valid?  [True, True]
Translation: X:195.21, Y:1.05, Z:0.00
[[ 9.99153207e-01  4.11444934e-02  0.00000000e+00  1.95206938e+02]
 [-4.11444934e-02  9.99153207e-01  0.00000000e+00  1.05406362e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.926066493
Centerline is valid?  [True, True]
Translation: X:195.27, Y:1.07, Z:0.00
[[ 9.99125856e-01  4.18033908e-02  0.00000000e+00  1.95267066e+02]
 [-4.18033908e-02  9.99125856e-01  0.00000000e+00  1.06589960e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.986066493
Centerline is valid?  [True, True]
Translation: X:195.33, Y:1.07, Z:0.00
[[ 9.99108670e-01  4.22121575e-02  0.00000000e+00  1.95327741e+02]
 [-4.22121575e-02  9.99108670e-01  0.00000000e+00  1.07453417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.046066493
Centerline is valid?  [True, True]
Translation: X:195.39, Y:1.08, Z:0.00
[[ 9.99013462e-01  4.44083639e-02  0.00000000e+00  1.95388869e+02]
 [-4.44083639e-02  9.99013462e-01  0.00000000e+00  1.07807565e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.10606649300001
Centerline is valid?  [True, True]
Translation: X:195.45, Y:1.08, Z:0.00
[[ 9.98832069e-01  4.83166507e-02  0.00000000e+00  1.95450158e+02]
 [-4.83166507e-02  9.98832069e-01  0.00000000e+00  1.08184345e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.16606649300002
Centerline is valid?  [True, True]
Translation: X:195.51, Y:1.09, Z:0.00
[[ 9.98444045e-01  5.57627913e-02  0.00000000e+00  1.95511207e+02]
 [-5.57627913e-02  9.98444045e-01  0.00000000e+00  1.08661214e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.22606649300002
Centerline is valid?  [True, True]
Translation: X:195.57, Y:1.09, Z:0.00
[[ 9.98020759e-01  6.28853328e-02  0.00000000e+00  1.95570724e+02]
 [-6.28853328e-02  9.98020759e-01  0.00000000e+00  1.08866688e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.286066493
Centerline is valid?  [True, True]
Translation: X:195.63, Y:1.09, Z:0.00
[[ 9.97454271e-01  7.13090224e-02  0.00000000e+00  1.95631500e+02]
 [-7.13090224e-02  9.97454271e-01  0.00000000e+00  1.08751799e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.346066493
Centerline is valid?  [True, True]
Translation: X:195.69, Y:1.09, Z:0.00
[[ 9.97336009e-01  7.29443950e-02  0.00000000e+00  1.95692398e+02]
 [-7.29443950e-02  9.97336009e-01  0.00000000e+00  1.08589164e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 194.406066493
Centerline is valid?  [True, True]
Translation: X:195.75, Y:1.08, Z:0.00
[[ 9.97371751e-01  7.24540592e-02  0.00000000e+00  1.95752811e+02]
 [-7.24540592e-02  9.97371751e-01  0.00000000e+00  1.07663185e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.466066493
Centerline is valid?  [True, True]
Translation: X:195.82, Y:1.07, Z:0.00
[[ 9.97284112e-01  7.36505307e-02  0.00000000e+00  1.95815030e+02]
 [-7.36505307e-02  9.97284112e-01  0.00000000e+00  1.06735721e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.526066493
Centerline is valid?  [True, True]
Translation: X:195.87, Y:1.06, Z:0.00
[[ 9.97190871e-01  7.49023835e-02  0.00000000e+00  1.95874980e+02]
 [-7.49023835e-02  9.97190871e-01  0.00000000e+00  1.05854113e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.586066493
Centerline is valid?  [True, True]
Translation: X:195.93, Y:1.04, Z:0.00
[[ 9.96776637e-01  8.02267738e-02  0.00000000e+00  1.95934821e+02]
 [-8.02267738e-02  9.96776637e-01  0.00000000e+00  1.04391209e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.646066493
Centerline is valid?  [True, True]
Translation: X:196.00, Y:1.03, Z:0.00
[[ 9.96712795e-01  8.10160692e-02  0.00000000e+00  1.95995466e+02]
 [-8.10160692e-02  9.96712795e-01  0.00000000e+00  1.03075248e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.706066493
Centerline is valid?  [True, True]
Translation: X:196.06, Y:1.01, Z:0.00
[[ 9.97311084e-01  7.32843918e-02  0.00000000e+00  1.96055779e+02]
 [-7.32843918e-02  9.97311084e-01  0.00000000e+00  1.01148417e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.766066493
Centerline is valid?  [True, True]
Translation: X:196.12, Y:0.99, Z:0.00
[[ 9.98293189e-01  5.84012724e-02  0.00000000e+00  1.96115269e+02]
 [-5.84012724e-02  9.98293189e-01  0.00000000e+00  9.94086478e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.826066493
Centerline is valid?  [True, True]
Translation: X:196.18, Y:0.98, Z:0.00
[[ 9.98985979e-01  4.50223617e-02  0.00000000e+00  1.96175395e+02]
 [-4.50223617e-02  9.98985979e-01  0.00000000e+00  9.79547563e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.88606649300002
Centerline is valid?  [True, True]
Translation: X:196.24, Y:0.97, Z:0.00
[[ 9.99419327e-01  3.40735939e-02  0.00000000e+00  1.96235739e+02]
 [-3.40735939e-02  9.99419327e-01  0.00000000e+00  9.69684520e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.94606649300002
Centerline is valid?  [True, True]
Translation: X:196.30, Y:0.96, Z:0.00
[[ 9.99768969e-01  2.14943953e-02  0.00000000e+00  1.96298193e+02]
 [-2.14943953e-02  9.99768969e-01  0.00000000e+00  9.64374757e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.00606649300002
Centerline is valid?  [True, True]
Translation: X:196.36, Y:0.96, Z:0.00
[[ 9.99866084e-01  1.63650440e-02  0.00000000e+00  1.96358351e+02]
 [-1.63650440e-02  9.99866084e-01  0.00000000e+00  9.62446529e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.066066493
Centerline is valid?  [True, True]
Translation: X:196.42, Y:0.96, Z:0.00
[[ 9.99940216e-01  1.09345599e-02  0.00000000e+00  1.96419889e+02]
 [-1.09345599e-02  9.99940216e-01  0.00000000e+00  9.63791359e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.126066493
Centerline is valid?  [True, True]
Translation: X:196.48, Y:0.97, Z:0.00
[[ 9.99955884e-01  9.39312415e-03  0.00000000e+00  1.96481052e+02]
 [-9.39312415e-03  9.99955884e-01  0.00000000e+00  9.69750257e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.186066493
Centerline is valid?  [True, True]
Translation: X:196.54, Y:0.98, Z:0.00
[[ 9.99961020e-01  8.82937236e-03  0.00000000e+00  1.96542881e+02]
 [-8.82937236e-03  9.99961020e-01  0.00000000e+00  9.78188415e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.246066493
Centerline is valid?  [True, True]
Translation: X:196.60, Y:0.99, Z:0.00
[[ 9.99958209e-01  9.14223122e-03  0.00000000e+00  1.96604201e+02]
 [-9.14223122e-03  9.99958209e-01  0.00000000e+00  9.88501575e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.306066493
Centerline is valid?  [True, True]
Translation: X:196.67, Y:1.00, Z:0.00
[[ 9.99943389e-01  1.06404321e-02  0.00000000e+00  1.96665826e+02]
 [-1.06404321e-02  9.99943389e-01  0.00000000e+00  9.99175709e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.366066493
Centerline is valid?  [True, True]
Translation: X:196.73, Y:1.02, Z:0.00
[[ 9.99796628e-01  2.01668643e-02  0.00000000e+00  1.96726615e+02]
 [-2.01668643e-02  9.99796628e-01  0.00000000e+00  1.01590164e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.426066493
Centerline is valid?  [True, True]
Translation: X:196.79, Y:1.03, Z:0.00
[[ 9.99550712e-01  2.99728872e-02  0.00000000e+00  1.96788403e+02]
 [-2.99728872e-02  9.99550712e-01  0.00000000e+00  1.02768552e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.486066493
Centerline is valid?  [True, True]
Translation: X:196.85, Y:1.03, Z:0.00
[[ 9.99389797e-01  3.49289849e-02  0.00000000e+00  1.96850251e+02]
 [-3.49289849e-02  9.99389797e-01  0.00000000e+00  1.03240327e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.546066493
Centerline is valid?  [True, True]
Translation: X:196.91, Y:1.05, Z:0.00
[[ 9.98619966e-01  5.25182160e-02  0.00000000e+00  1.96911138e+02]
 [-5.25182160e-02  9.98619966e-01  0.00000000e+00  1.04505098e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 195.60606649300001
Centerline is valid?  [True, True]
Translation: X:196.97, Y:1.05, Z:0.00
[[ 9.98124687e-01  6.12136290e-02  0.00000000e+00  1.96971630e+02]
 [-6.12136290e-02  9.98124687e-01  0.00000000e+00  1.05356507e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.66606649300002
Centerline is valid?  [True, True]
Translation: X:197.03, Y:1.06, Z:0.00
[[ 9.97638993e-01  6.86763389e-02  0.00000000e+00  1.97033149e+02]
 [-6.86763389e-02  9.97638993e-01  0.00000000e+00  1.06116952e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.72606649300002
Centerline is valid?  [True, True]
Translation: X:197.09, Y:1.06, Z:0.00
[[ 9.97551515e-01  6.99355004e-02  0.00000000e+00  1.97094244e+02]
 [-6.99355004e-02  9.97551515e-01  0.00000000e+00  1.06302506e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.78606649300002
Centerline is valid?  [True, True]
Translation: X:197.15, Y:1.06, Z:0.00
[[ 9.97741516e-01  6.71704372e-02  0.00000000e+00  1.97153749e+02]
 [-6.71704372e-02  9.97741516e-01  0.00000000e+00  1.06388162e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.846066493
Centerline is valid?  [True, True]
Translation: X:197.21, Y:1.06, Z:0.00
[[ 9.98059867e-01  6.22615576e-02  0.00000000e+00  1.97214489e+02]
 [-6.22615576e-02  9.98059867e-01  0.00000000e+00  1.06215921e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.906066493
Centerline is valid?  [True, True]
Translation: X:197.27, Y:1.06, Z:0.00
[[ 9.98378271e-01  5.69282757e-02  0.00000000e+00  1.97274700e+02]
 [-5.69282757e-02  9.98378271e-01  0.00000000e+00  1.05700581e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.966066493
Centerline is valid?  [True, True]
Translation: X:197.34, Y:1.05, Z:0.00
[[ 9.98513960e-01  5.44965235e-02  0.00000000e+00  1.97337131e+02]
 [-5.44965235e-02  9.98513960e-01  0.00000000e+00  1.05224509e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.026066493
Centerline is valid?  [True, True]
Translation: X:197.40, Y:1.05, Z:0.00
[[ 9.98389848e-01  5.67248826e-02  0.00000000e+00  1.97398778e+02]
 [-5.67248826e-02  9.98389848e-01  0.00000000e+00  1.04775741e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.086066493
Centerline is valid?  [True, True]
Translation: X:197.46, Y:1.04, Z:0.00
[[ 9.97596069e-01  6.92970703e-02  0.00000000e+00  1.97459403e+02]
 [-6.92970703e-02  9.97596069e-01  0.00000000e+00  1.03786021e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.146066493
Centerline is valid?  [True, True]
Translation: X:197.52, Y:1.03, Z:0.00
[[ 9.96558709e-01  8.28899274e-02  0.00000000e+00  1.97520012e+02]
 [-8.28899274e-02  9.96558709e-01  0.00000000e+00  1.02738728e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.206066493
Centerline is valid?  [True, True]
Translation: X:197.58, Y:1.02, Z:0.00
[[ 9.96251873e-01  8.64997450e-02  0.00000000e+00  1.97579940e+02]
 [-8.64997450e-02  9.96251873e-01  0.00000000e+00  1.01780342e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.266066493
Centerline is valid?  [True, True]
Translation: X:197.64, Y:1.01, Z:0.00
[[ 9.96090990e-01  8.83331128e-02  0.00000000e+00  1.97642060e+02]
 [-8.83331128e-02  9.96090990e-01  0.00000000e+00  1.00583940e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.326066493
Centerline is valid?  [True, True]
Translation: X:197.70, Y:0.99, Z:0.00
[[ 9.95925105e-01  9.01841719e-02  0.00000000e+00  1.97701210e+02]
 [-9.01841719e-02  9.95925105e-01  0.00000000e+00  9.87006025e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.38606649300002
Centerline is valid?  [True, True]
Translation: X:197.76, Y:0.97, Z:0.00
[[ 9.95876840e-01  9.07156012e-02  0.00000000e+00  1.97763106e+02]
 [-9.07156012e-02  9.95876840e-01  0.00000000e+00  9.74483126e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.44606649300002
Centerline is valid?  [True, True]
Translation: X:197.82, Y:0.96, Z:0.00
[[ 9.95962334e-01  8.97720922e-02  0.00000000e+00  1.97824755e+02]
 [-8.97720922e-02  9.95962334e-01  0.00000000e+00  9.55914878e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.50606649300002
Centerline is valid?  [True, True]
Translation: X:197.89, Y:0.94, Z:0.00
[[ 9.96029147e-01  8.90277354e-02  0.00000000e+00  1.97885623e+02]
 [-8.90277354e-02  9.96029147e-01  0.00000000e+00  9.41215601e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.566066493
Centerline is valid?  [True, True]
Translation: X:197.95, Y:0.92, Z:0.00
[[ 9.96355263e-01  8.53005861e-02  0.00000000e+00  1.97946377e+02]
 [-8.53005861e-02  9.96355263e-01  0.00000000e+00  9.23923171e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.626066493
Centerline is valid?  [True, True]
Translation: X:198.01, Y:0.91, Z:0.00
[[ 9.96473538e-01  8.39076139e-02  0.00000000e+00  1.98008094e+02]
 [-8.39076139e-02  9.96473538e-01  0.00000000e+00  9.13316312e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.686066493
Centerline is valid?  [True, True]
Translation: X:198.07, Y:0.89, Z:0.00
[[ 9.97158733e-01  7.53290244e-02  0.00000000e+00  1.98067851e+02]
 [-7.53290244e-02  9.97158733e-01  0.00000000e+00  8.93094261e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.746066493
Centerline is valid?  [True, True]
Translation: X:198.13, Y:0.88, Z:0.00
[[ 9.97727743e-01  6.73747098e-02  0.00000000e+00  1.98127969e+02]
 [-6.73747098e-02  9.97727743e-01  0.00000000e+00  8.80406494e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 196.806066493
Centerline is valid?  [True, True]
Translation: X:198.19, Y:0.87, Z:0.00
[[ 9.98810783e-01  4.87546857e-02  0.00000000e+00  1.98187610e+02]
 [-4.87546857e-02  9.98810783e-01  0.00000000e+00  8.65046776e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.866066493
Centerline is valid?  [True, True]
Translation: X:198.25, Y:0.85, Z:0.00
[[ 9.99331839e-01  3.65496409e-02  0.00000000e+00  1.98247753e+02]
 [-3.65496409e-02  9.99331839e-01  0.00000000e+00  8.53565537e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.926066493
Centerline is valid?  [True, True]
Translation: X:198.31, Y:0.85, Z:0.00
[[ 9.99758163e-01  2.19912629e-02  0.00000000e+00  1.98308673e+02]
 [-2.19912629e-02  9.99758163e-01  0.00000000e+00  8.49110388e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.986066493
Centerline is valid?  [True, True]
Translation: X:198.37, Y:0.85, Z:0.00
[[ 9.99845255e-01  1.75916472e-02  0.00000000e+00  1.98371070e+02]
 [-1.75916472e-02  9.99845255e-01  0.00000000e+00  8.52422943e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.046066493
Centerline is valid?  [True, True]
Translation: X:198.43, Y:0.86, Z:0.00
[[ 9.99884727e-01  1.51833173e-02  0.00000000e+00  1.98432534e+02]
 [-1.51833173e-02  9.99884727e-01  0.00000000e+00  8.59584488e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.10606649300001
Centerline is valid?  [True, True]
Translation: X:198.49, Y:0.87, Z:0.00
[[ 9.99900778e-01  1.40866468e-02  0.00000000e+00  1.98493496e+02]
 [-1.40866468e-02  9.99900778e-01  0.00000000e+00  8.67151603e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.16606649300002
Centerline is valid?  [True, True]
Translation: X:198.56, Y:0.89, Z:0.00
[[ 9.99887336e-01  1.50105391e-02  0.00000000e+00  1.98555716e+02]
 [-1.50105391e-02  9.99887336e-01  0.00000000e+00  8.85084959e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.22606649300002
Centerline is valid?  [True, True]
Translation: X:198.62, Y:0.90, Z:0.00
[[ 9.99800525e-01  1.99727150e-02  0.00000000e+00  1.98617495e+02]
 [-1.99727150e-02  9.99800525e-01  0.00000000e+00  8.97408245e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.28606649300002
Centerline is valid?  [True, True]
Translation: X:198.68, Y:0.91, Z:0.00
[[ 9.99583330e-01  2.88646368e-02  0.00000000e+00  1.98677373e+02]
 [-2.88646368e-02  9.99583330e-01  0.00000000e+00  9.08808069e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.346066493
Centerline is valid?  [True, True]
Translation: X:198.74, Y:0.92, Z:0.00
[[ 9.99299086e-01  3.74344373e-02  0.00000000e+00  1.98738289e+02]
 [-3.74344373e-02  9.99299086e-01  0.00000000e+00  9.20890459e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.406066493
Centerline is valid?  [True, True]
Translation: X:198.80, Y:0.93, Z:0.00
[[ 9.98879393e-01  4.73282017e-02  0.00000000e+00  1.98798737e+02]
 [-4.73282017e-02  9.98879393e-01  0.00000000e+00  9.32058767e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.466066493
Centerline is valid?  [True, True]
Translation: X:198.86, Y:0.94, Z:0.00
[[ 9.98289928e-01  5.84569879e-02  0.00000000e+00  1.98859013e+02]
 [-5.84569879e-02  9.98289928e-01  0.00000000e+00  9.41556093e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.526066493
Centerline is valid?  [True, True]
Translation: X:198.92, Y:0.94, Z:0.00
[[ 9.97970692e-01  6.36749465e-02  0.00000000e+00  1.98918835e+02]
 [-6.36749465e-02  9.97970692e-01  0.00000000e+00  9.44262803e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.586066493
Centerline is valid?  [True, True]
Translation: X:198.98, Y:0.95, Z:0.00
[[ 9.98056756e-01  6.23114046e-02  0.00000000e+00  1.98981137e+02]
 [-6.23114046e-02  9.98056756e-01  0.00000000e+00  9.51732603e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.646066493
Centerline is valid?  [True, True]
Translation: X:199.04, Y:0.95, Z:0.00
[[ 9.98252497e-01  5.90927429e-02  0.00000000e+00  1.99041440e+02]
 [-5.90927429e-02  9.98252497e-01  0.00000000e+00  9.51405140e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.706066493
Centerline is valid?  [True, True]
Translation: X:199.10, Y:0.95, Z:0.00
[[ 9.98656303e-01  5.18226569e-02  0.00000000e+00  1.99101750e+02]
 [-5.18226569e-02  9.98656303e-01  0.00000000e+00  9.47437238e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.766066493
Centerline is valid?  [True, True]
Translation: X:199.16, Y:0.95, Z:0.00
[[ 9.99175141e-01  4.06083354e-02  0.00000000e+00  1.99161286e+02]
 [-4.06083354e-02  9.99175141e-01  0.00000000e+00  9.48214548e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.826066493
Centerline is valid?  [True, True]
Translation: X:199.22, Y:0.94, Z:0.00
[[ 9.99456205e-01  3.29741536e-02  0.00000000e+00  1.99223032e+02]
 [-3.29741536e-02  9.99456205e-01  0.00000000e+00  9.42529736e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.88606649300002
Centerline is valid?  [True, True]
Translation: X:199.28, Y:0.94, Z:0.00
[[ 9.99714246e-01  2.39045359e-02  0.00000000e+00  1.99283200e+02]
 [-2.39045359e-02  9.99714246e-01  0.00000000e+00  9.38478269e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.94606649300002
Centerline is valid?  [True, True]
Translation: X:199.35, Y:0.94, Z:0.00
[[ 9.99670653e-01  2.56629124e-02  0.00000000e+00  1.99345048e+02]
 [-2.56629124e-02  9.99670653e-01  0.00000000e+00  9.36255421e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 198.00606649300002
Centerline is valid?  [True, True]
Translation: X:199.41, Y:0.94, Z:0.00
[[ 9.99655244e-01  2.62563052e-02  0.00000000e+00  1.99406562e+02]
 [-2.62563052e-02  9.99655244e-01  0.00000000e+00  9.38954538e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.066066493
Centerline is valid?  [True, True]
Translation: X:199.47, Y:0.94, Z:0.00
[[ 9.99737762e-01  2.28999433e-02  0.00000000e+00  1.99468859e+02]
 [-2.28999433e-02  9.99737762e-01  0.00000000e+00  9.41255852e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.126066493
Centerline is valid?  [True, True]
Translation: X:199.53, Y:0.94, Z:0.00
[[ 9.99855455e-01  1.70020374e-02  0.00000000e+00  1.99531273e+02]
 [-1.70020374e-02  9.99855455e-01  0.00000000e+00  9.42452969e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.186066493
Centerline is valid?  [True, True]
Translation: X:199.59, Y:0.95, Z:0.00
[[ 9.99917178e-01  1.28700423e-02  0.00000000e+00  1.99592688e+02]
 [-1.28700423e-02  9.99917178e-01  0.00000000e+00  9.45153063e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.246066493
Centerline is valid?  [True, True]
Translation: X:199.65, Y:0.95, Z:0.00
[[ 9.99952723e-01  9.72382045e-03  0.00000000e+00  1.99654561e+02]
 [-9.72382045e-03  9.99952723e-01  0.00000000e+00  9.52816720e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.306066493
Centerline is valid?  [True, True]
Translation: X:199.72, Y:0.96, Z:0.00
[[ 9.99957925e-01  9.17320035e-03  0.00000000e+00  1.99715172e+02]
 [-9.17320035e-03  9.99957925e-01  0.00000000e+00  9.62135585e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.366066493
Centerline is valid?  [True, True]
Translation: X:199.78, Y:0.98, Z:0.00
[[ 9.99899578e-01  1.41715605e-02  0.00000000e+00  1.99775477e+02]
 [-1.41715605e-02  9.99899578e-01  0.00000000e+00  9.80171390e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.426066493
Centerline is valid?  [True, True]
Translation: X:199.84, Y:0.99, Z:0.00
[[ 9.99708550e-01  2.41415759e-02  0.00000000e+00  1.99836679e+02]
 [-2.41415759e-02  9.99708550e-01  0.00000000e+00  9.92543094e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.486066493
Centerline is valid?  [True, True]
Translation: X:199.90, Y:1.01, Z:0.00
[[ 9.99046377e-01  4.36616245e-02  0.00000000e+00  1.99897563e+02]
 [-4.36616245e-02  9.99046377e-01  0.00000000e+00  1.00874217e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.546066493
Centerline is valid?  [True, True]
Translation: X:199.96, Y:1.01, Z:0.00
[[ 9.98551173e-01  5.38103598e-02  0.00000000e+00  1.99958341e+02]
 [-5.38103598e-02  9.98551173e-01  0.00000000e+00  1.01374985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.60606649300001
Centerline is valid?  [True, True]
Translation: X:200.02, Y:1.02, Z:0.00
[[ 9.98443048e-01  5.57806441e-02  0.00000000e+00  2.00019631e+02]
 [-5.57806441e-02  9.98443048e-01  0.00000000e+00  1.02225378e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.66606649300002
Centerline is valid?  [True, True]
Translation: X:200.08, Y:1.02, Z:0.00
[[ 9.98653374e-01  5.18790820e-02  0.00000000e+00  2.00081292e+02]
 [-5.18790820e-02  9.98653374e-01  0.00000000e+00  1.01746580e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.72606649300002
Centerline is valid?  [True, True]
Translation: X:200.14, Y:1.01, Z:0.00
[[ 9.99175783e-01  4.05925368e-02  0.00000000e+00  2.00141184e+02]
 [-4.05925368e-02  9.99175783e-01  0.00000000e+00  1.00924031e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.78606649300002
Centerline is valid?  [True, True]
Translation: X:200.20, Y:1.01, Z:0.00
[[ 9.99604505e-01  2.81217573e-02  0.00000000e+00  2.00202844e+02]
 [-2.81217573e-02  9.99604505e-01  0.00000000e+00  1.00652808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.846066493
Centerline is valid?  [True, True]
Translation: X:200.26, Y:1.01, Z:0.00
[[ 9.99892901e-01  1.46351131e-02  0.00000000e+00  2.00263262e+02]
 [-1.46351131e-02  9.99892901e-01  0.00000000e+00  1.00940531e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.906066493
Centerline is valid?  [True, True]
Translation: X:200.32, Y:1.01, Z:0.00
[[ 9.99941355e-01  1.08298503e-02  0.00000000e+00  2.00324227e+02]
 [-1.08298503e-02  9.99941355e-01  0.00000000e+00  1.01323337e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.966066493
Centerline is valid?  [True, True]
Translation: X:200.38, Y:1.03, Z:0.00
[[ 9.99978615e-01  6.53982660e-03  0.00000000e+00  2.00384686e+02]
 [-6.53982660e-03  9.99978615e-01  0.00000000e+00  1.03045186e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.026066493
Centerline is valid?  [True, True]
Translation: X:200.45, Y:1.04, Z:0.00
[[ 9.99995928e-01  2.85382863e-03  0.00000000e+00  2.00445478e+02]
 [-2.85382863e-03  9.99995928e-01  0.00000000e+00  1.04175885e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.086066493
Centerline is valid?  [True, True]
Translation: X:200.51, Y:1.06, Z:0.00
[[ 9.99996957e-01 -2.46705394e-03  0.00000000e+00  2.00505588e+02]
 [ 2.46705394e-03  9.99996957e-01  0.00000000e+00  1.05712198e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.146066493
Centerline is valid?  [True, True]
Translation: X:200.57, Y:1.08, Z:0.00
[[ 9.99954564e-01 -9.53258352e-03  0.00000000e+00  2.00566028e+02]
 [ 9.53258352e-03  9.99954564e-01  0.00000000e+00  1.07624691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 199.206066493
Centerline is valid?  [True, True]
Translation: X:200.63, Y:1.09, Z:0.00
[[ 9.99932665e-01 -1.16045553e-02  0.00000000e+00  2.00627065e+02]
 [ 1.16045553e-02  9.99932665e-01  0.00000000e+00  1.08924808e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.266066493
Centerline is valid?  [True, True]
Translation: X:200.69, Y:1.10, Z:0.00
[[ 9.99918647e-01 -1.27553285e-02  0.00000000e+00  2.00688112e+02]
 [ 1.27553285e-02  9.99918647e-01  0.00000000e+00  1.09527119e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.326066493
Centerline is valid?  [True, True]
Translation: X:200.75, Y:1.12, Z:0.00
[[ 9.99905650e-01 -1.37364526e-02  0.00000000e+00  2.00748818e+02]
 [ 1.37364526e-02  9.99905650e-01  0.00000000e+00  1.11678702e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.38606649300002
Centerline is valid?  [True, True]
Translation: X:200.81, Y:1.13, Z:0.00
[[ 9.99937843e-01 -1.11494317e-02  0.00000000e+00  2.00810135e+02]
 [ 1.11494317e-02  9.99937843e-01  0.00000000e+00  1.13064506e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.44606649300002
Centerline is valid?  [True, True]
Translation: X:200.87, Y:1.16, Z:0.00
[[ 9.99999876e-01 -4.98548417e-04  0.00000000e+00  2.00870877e+02]
 [ 4.98548417e-04  9.99999876e-01  0.00000000e+00  1.15577346e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.50606649300002
Centerline is valid?  [True, True]
Translation: X:200.93, Y:1.17, Z:0.00
[[ 9.99928181e-01  1.19847108e-02  0.00000000e+00  2.00930418e+02]
 [-1.19847108e-02  9.99928181e-01  0.00000000e+00  1.17130921e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.566066493
Centerline is valid?  [True, True]
Translation: X:200.99, Y:1.19, Z:0.00
[[ 9.99523007e-01  3.08829855e-02  0.00000000e+00  2.00989928e+02]
 [-3.08829855e-02  9.99523007e-01  0.00000000e+00  1.19150092e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.626066493
Centerline is valid?  [True, True]
Translation: X:201.05, Y:1.20, Z:0.00
[[ 9.99176408e-01  4.05771512e-02  0.00000000e+00  2.01050133e+02]
 [-4.05771512e-02  9.99176408e-01  0.00000000e+00  1.19973455e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.686066493
Centerline is valid?  [True, True]
Translation: X:201.11, Y:1.20, Z:0.00
[[ 9.98880023e-01  4.73148929e-02  0.00000000e+00  2.01110430e+02]
 [-4.73148929e-02  9.98880023e-01  0.00000000e+00  1.20448643e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.746066493
Centerline is valid?  [True, True]
Translation: X:201.17, Y:1.20, Z:0.00
[[ 9.98758377e-01  4.98167101e-02  0.00000000e+00  2.01170346e+02]
 [-4.98167101e-02  9.98758377e-01  0.00000000e+00  1.20219607e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.806066493
Centerline is valid?  [True, True]
Translation: X:201.23, Y:1.20, Z:0.00
[[ 9.98461599e-01  5.54475919e-02  0.00000000e+00  2.01229542e+02]
 [-5.54475919e-02  9.98461599e-01  0.00000000e+00  1.19702988e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.866066493
Centerline is valid?  [True, True]
Translation: X:201.29, Y:1.19, Z:0.00
[[ 9.98238472e-01  5.93291874e-02  0.00000000e+00  2.01290122e+02]
 [-5.93291874e-02  9.98238472e-01  0.00000000e+00  1.18917691e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.926066493
Centerline is valid?  [True, True]
Translation: X:201.35, Y:1.17, Z:0.00
[[ 9.98017142e-01  6.29427006e-02  0.00000000e+00  2.01349537e+02]
 [-6.29427006e-02  9.98017142e-01  0.00000000e+00  1.17324727e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.986066493
Centerline is valid?  [True, True]
Translation: X:201.41, Y:1.16, Z:0.00
[[ 9.97793738e-01  6.63901792e-02  0.00000000e+00  2.01409368e+02]
 [-6.63901792e-02  9.97793738e-01  0.00000000e+00  1.16178923e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.046066493
Centerline is valid?  [True, True]
Translation: X:201.47, Y:1.14, Z:0.00
[[ 9.97225278e-01  7.44428928e-02  0.00000000e+00  2.01468260e+02]
 [-7.44428928e-02  9.97225278e-01  0.00000000e+00  1.14359426e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.10606649300001
Centerline is valid?  [True, True]
Translation: X:201.53, Y:1.12, Z:0.00
[[ 9.96994573e-01  7.74714171e-02  0.00000000e+00  2.01527129e+02]
 [-7.74714171e-02  9.96994573e-01  0.00000000e+00  1.12113985e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.16606649300002
Centerline is valid?  [True, True]
Translation: X:201.59, Y:1.10, Z:0.00
[[ 9.97187293e-01  7.49500046e-02  0.00000000e+00  2.01587063e+02]
 [-7.49500046e-02  9.97187293e-01  0.00000000e+00  1.10431295e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.22606649300002
Centerline is valid?  [True, True]
Translation: X:201.65, Y:1.09, Z:0.00
[[ 9.97467950e-01  7.11174299e-02  0.00000000e+00  2.01646028e+02]
 [-7.11174299e-02  9.97467950e-01  0.00000000e+00  1.08871008e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.28606649300002
Centerline is valid?  [True, True]
Translation: X:201.71, Y:1.07, Z:0.00
[[ 9.98043083e-01  6.25300341e-02  0.00000000e+00  2.01705367e+02]
 [-6.25300341e-02  9.98043083e-01  0.00000000e+00  1.06698174e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.346066493
Centerline is valid?  [True, True]
Translation: X:201.76, Y:1.04, Z:0.00
[[ 9.98755254e-01  4.98792761e-02  0.00000000e+00  2.01764544e+02]
 [-4.98792761e-02  9.98755254e-01  0.00000000e+00  1.04085719e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 200.406066493
Centerline is valid?  [True, True]
Translation: X:201.83, Y:1.03, Z:0.00
[[ 9.99277050e-01  3.80181122e-02  0.00000000e+00  2.01825257e+02]
 [-3.80181122e-02  9.99277050e-01  0.00000000e+00  1.02818332e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.466066493
Centerline is valid?  [True, True]
Translation: X:201.89, Y:1.01, Z:0.00
[[ 9.99799036e-01  2.00471183e-02  0.00000000e+00  2.01885978e+02]
 [-2.00471183e-02  9.99799036e-01  0.00000000e+00  1.01381064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.526066493
Centerline is valid?  [True, True]
Translation: X:201.95, Y:1.00, Z:0.00
[[ 9.99945466e-01  1.04434301e-02  0.00000000e+00  2.01946046e+02]
 [-1.04434301e-02  9.99945466e-01  0.00000000e+00  1.00357439e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.586066493
Centerline is valid?  [True, True]
Translation: X:202.01, Y:1.00, Z:0.00
[[ 9.99981716e-01  6.04713679e-03  0.00000000e+00  2.02005700e+02]
 [-6.04713679e-03  9.99981716e-01  0.00000000e+00  9.99661046e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.646066493
Centerline is valid?  [True, True]
Translation: X:202.07, Y:1.01, Z:0.00
[[ 9.99929587e-01  1.18668294e-02  0.00000000e+00  2.02066128e+02]
 [-1.18668294e-02  9.99929587e-01  0.00000000e+00  1.00575561e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.706066493
Centerline is valid?  [True, True]
Translation: X:202.13, Y:1.01, Z:0.00
[[ 9.99598705e-01  2.83271684e-02  0.00000000e+00  2.02126594e+02]
 [-2.83271684e-02  9.99598705e-01  0.00000000e+00  1.01237148e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.766066493
Centerline is valid?  [True, True]
Translation: X:202.19, Y:1.02, Z:0.00
[[ 9.98817406e-01  4.86188116e-02  0.00000000e+00  2.02186443e+02]
 [-4.86188116e-02  9.98817406e-01  0.00000000e+00  1.02431833e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.826066493
Centerline is valid?  [True, True]
Translation: X:202.25, Y:1.03, Z:0.00
[[ 9.98269292e-01  5.88083423e-02  0.00000000e+00  2.02247217e+02]
 [-5.88083423e-02  9.98269292e-01  0.00000000e+00  1.02744382e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.88606649300002
Centerline is valid?  [True, True]
Translation: X:202.31, Y:1.03, Z:0.00
[[ 9.98105941e-01  6.15185355e-02  0.00000000e+00  2.02307446e+02]
 [-6.15185355e-02  9.98105941e-01  0.00000000e+00  1.03305700e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.94606649300002
Centerline is valid?  [True, True]
Translation: X:202.37, Y:1.03, Z:0.00
[[ 9.98231616e-01  5.94444345e-02  0.00000000e+00  2.02366777e+02]
 [-5.94444345e-02  9.98231616e-01  0.00000000e+00  1.03454064e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.00606649300002
Centerline is valid?  [True, True]
Translation: X:202.43, Y:1.03, Z:0.00
[[ 9.98386111e-01  5.67906057e-02  0.00000000e+00  2.02426166e+02]
 [-5.67906057e-02  9.98386111e-01  0.00000000e+00  1.03016235e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.066066493
Centerline is valid?  [True, True]
Translation: X:202.48, Y:1.03, Z:0.00
[[ 9.98192932e-01  6.00905140e-02  0.00000000e+00  2.02484986e+02]
 [-6.00905140e-02  9.98192932e-01  0.00000000e+00  1.03181546e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.126066493
Centerline is valid?  [True, True]
Translation: X:202.54, Y:1.03, Z:0.00
[[ 9.98026518e-01  6.27938617e-02  0.00000000e+00  2.02544728e+02]
 [-6.27938617e-02  9.98026518e-01  0.00000000e+00  1.03171733e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.186066493
Centerline is valid?  [True, True]
Translation: X:202.60, Y:1.03, Z:0.00
[[ 9.97595787e-01  6.93011173e-02  0.00000000e+00  2.02604096e+02]
 [-6.93011173e-02  9.97595787e-01  0.00000000e+00  1.02821442e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.246066493
Centerline is valid?  [True, True]
Translation: X:202.66, Y:1.02, Z:0.00
[[ 9.97412810e-01  7.18866278e-02  0.00000000e+00  2.02663009e+02]
 [-7.18866278e-02  9.97412810e-01  0.00000000e+00  1.02207156e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.306066493
Centerline is valid?  [True, True]
Translation: X:202.72, Y:1.02, Z:0.00
[[ 9.97668227e-01  6.82503422e-02  0.00000000e+00  2.02722370e+02]
 [-6.82503422e-02  9.97668227e-01  0.00000000e+00  1.01653215e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.366066493
Centerline is valid?  [True, True]
Translation: X:202.78, Y:1.00, Z:0.00
[[ 9.98308069e-01  5.81463693e-02  0.00000000e+00  2.02782467e+02]
 [-5.81463693e-02  9.98308069e-01  0.00000000e+00  1.00366625e+00]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.426066493
Centerline is valid?  [True, True]
Translation: X:202.84, Y:0.99, Z:0.00
[[ 9.98557996e-01  5.36835932e-02  0.00000000e+00  2.02842445e+02]
 [-5.36835932e-02  9.98557996e-01  0.00000000e+00  9.94082275e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.486066493
Centerline is valid?  [True, True]
Translation: X:202.90, Y:0.99, Z:0.00
[[ 9.98214130e-01  5.97373477e-02  0.00000000e+00  2.02902652e+02]
 [-5.97373477e-02  9.98214130e-01  0.00000000e+00  9.87541380e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.546066493
Centerline is valid?  [True, True]
Translation: X:202.96, Y:0.98, Z:0.00
[[ 9.97195532e-01  7.48403001e-02  0.00000000e+00  2.02962996e+02]
 [-7.48403001e-02  9.97195532e-01  0.00000000e+00  9.79952966e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 201.60606649300001
Centerline is valid?  [True, True]
Translation: X:203.02, Y:0.98, Z:0.00
[[ 9.96683823e-01  8.13717235e-02  0.00000000e+00  2.03022410e+02]
 [-8.13717235e-02  9.96683823e-01  0.00000000e+00  9.76879347e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.66606649300002
Centerline is valid?  [True, True]
Translation: X:203.08, Y:0.97, Z:0.00
[[ 9.96191933e-01  8.71873420e-02  0.00000000e+00  2.03082381e+02]
 [-8.71873420e-02  9.96191933e-01  0.00000000e+00  9.67217825e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.72606649300002
Centerline is valid?  [True, True]
Translation: X:203.14, Y:0.95, Z:0.00
[[ 9.95893150e-01  9.05363636e-02  0.00000000e+00  2.03142435e+02]
 [-9.05363636e-02  9.95893150e-01  0.00000000e+00  9.53158379e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.78606649300002
Centerline is valid?  [True, True]
Translation: X:203.20, Y:0.95, Z:0.00
[[ 9.95979036e-01  8.95866024e-02  0.00000000e+00  2.03204677e+02]
 [-8.95866024e-02  9.95979036e-01  0.00000000e+00  9.46597805e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.846066493
Centerline is valid?  [True, True]
Translation: X:203.27, Y:0.93, Z:0.00
[[ 9.95991867e-01  8.94438450e-02  0.00000000e+00  2.03265181e+02]
 [-8.94438450e-02  9.95991867e-01  0.00000000e+00  9.27275724e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.906066493
Centerline is valid?  [True, True]
Translation: X:203.33, Y:0.91, Z:0.00
[[ 9.95961865e-01  8.97772998e-02  0.00000000e+00  2.03326045e+02]
 [-8.97772998e-02  9.95961865e-01  0.00000000e+00  9.06593283e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.966066493
Centerline is valid?  [True, True]
Translation: X:203.39, Y:0.89, Z:0.00
[[ 9.96672027e-01  8.15160748e-02  0.00000000e+00  2.03386343e+02]
 [-8.15160748e-02  9.96672027e-01  0.00000000e+00  8.94754024e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.026066493
Centerline is valid?  [True, True]
Translation: X:203.45, Y:0.87, Z:0.00
[[ 9.97591647e-01  6.93606937e-02  0.00000000e+00  2.03445716e+02]
 [-6.93606937e-02  9.97591647e-01  0.00000000e+00  8.72440814e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.086066493
Centerline is valid?  [True, True]
Translation: X:203.51, Y:0.86, Z:0.00
[[ 9.98252523e-01  5.90923042e-02  0.00000000e+00  2.03506373e+02]
 [-5.90923042e-02  9.98252523e-01  0.00000000e+00  8.60289583e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.146066493
Centerline is valid?  [True, True]
Translation: X:203.57, Y:0.85, Z:0.00
[[ 9.99034288e-01  4.39373539e-02  0.00000000e+00  2.03566731e+02]
 [-4.39373539e-02  9.99034288e-01  0.00000000e+00  8.46568830e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.206066493
Centerline is valid?  [True, True]
Translation: X:203.63, Y:0.84, Z:0.00
[[ 9.99393234e-01  3.48305067e-02  0.00000000e+00  2.03626764e+02]
 [-3.48305067e-02  9.99393234e-01  0.00000000e+00  8.35674154e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.266066493
Centerline is valid?  [True, True]
Translation: X:203.69, Y:0.84, Z:0.00
[[ 9.99508576e-01  3.13465606e-02  0.00000000e+00  2.03688820e+02]
 [-3.13465606e-02  9.99508576e-01  0.00000000e+00  8.35169074e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.326066493
Centerline is valid?  [True, True]
Translation: X:203.75, Y:0.84, Z:0.00
[[ 9.99540469e-01  3.03125567e-02  0.00000000e+00  2.03749278e+02]
 [-3.03125567e-02  9.99540469e-01  0.00000000e+00  8.36521117e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.38606649300002
Centerline is valid?  [True, True]
Translation: X:203.81, Y:0.84, Z:0.00
[[ 9.99340710e-01  3.63062698e-02  0.00000000e+00  2.03811785e+02]
 [-3.63062698e-02  9.99340710e-01  0.00000000e+00  8.44570629e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.44606649300002
Centerline is valid?  [True, True]
Translation: X:203.87, Y:0.85, Z:0.00
[[ 9.99248247e-01  3.87677768e-02  0.00000000e+00  2.03872220e+02]
 [-3.87677768e-02  9.99248247e-01  0.00000000e+00  8.50412718e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.50606649300002
Centerline is valid?  [True, True]
Translation: X:203.93, Y:0.86, Z:0.00
[[ 9.99022793e-01  4.41979604e-02  0.00000000e+00  2.03933783e+02]
 [-4.41979604e-02  9.99022793e-01  0.00000000e+00  8.56172090e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.566066493
Centerline is valid?  [True, True]
Translation: X:204.00, Y:0.87, Z:0.00
[[ 9.98884907e-01  4.72116843e-02  0.00000000e+00  2.03996126e+02]
 [-4.72116843e-02  9.98884907e-01  0.00000000e+00  8.69974046e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.626066493
Centerline is valid?  [True, True]
Translation: X:204.06, Y:0.87, Z:0.00
[[ 9.98872056e-01  4.74827839e-02  0.00000000e+00  2.04057865e+02]
 [-4.74827839e-02  9.98872056e-01  0.00000000e+00  8.71577737e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.686066493
Centerline is valid?  [True, True]
Translation: X:204.12, Y:0.87, Z:0.00
[[ 9.98902519e-01  4.68375646e-02  0.00000000e+00  2.04119832e+02]
 [-4.68375646e-02  9.98902519e-01  0.00000000e+00  8.73744892e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.746066493
Centerline is valid?  [True, True]
Translation: X:204.18, Y:0.88, Z:0.00
[[ 9.98954481e-01  4.57159259e-02  0.00000000e+00  2.04180512e+02]
 [-4.57159259e-02  9.98954481e-01  0.00000000e+00  8.79249800e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 202.806066493
Centerline is valid?  [True, True]
Translation: X:204.24, Y:0.88, Z:0.00
[[ 9.99233430e-01  3.91478392e-02  0.00000000e+00  2.04241214e+02]
 [-3.91478392e-02  9.99233430e-01  0.00000000e+00  8.79253228e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.866066493
Centerline is valid?  [True, True]
Translation: X:204.30, Y:0.88, Z:0.00
[[ 9.99352160e-01  3.59897140e-02  0.00000000e+00  2.04303492e+02]
 [-3.59897140e-02  9.99352160e-01  0.00000000e+00  8.81651780e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.926066493
Centerline is valid?  [True, True]
Translation: X:204.37, Y:0.89, Z:0.00
[[ 9.99248368e-01  3.87646720e-02  0.00000000e+00  2.04365665e+02]
 [-3.87646720e-02  9.99248368e-01  0.00000000e+00  8.85491239e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.986066493
Centerline is valid?  [True, True]
Translation: X:204.43, Y:0.89, Z:0.00
[[ 9.99047387e-01  4.36385024e-02  0.00000000e+00  2.04426137e+02]
 [-4.36385024e-02  9.99047387e-01  0.00000000e+00  8.90233561e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.046066493
Centerline is valid?  [True, True]
Translation: X:204.49, Y:0.89, Z:0.00
[[ 9.98924443e-01  4.63676268e-02  0.00000000e+00  2.04488496e+02]
 [-4.63676268e-02  9.98924443e-01  0.00000000e+00  8.93532354e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.10606649300001
Centerline is valid?  [True, True]
Translation: X:204.55, Y:0.89, Z:0.00
[[ 9.98839663e-01  4.81594044e-02  0.00000000e+00  2.04548226e+02]
 [-4.81594044e-02  9.98839663e-01  0.00000000e+00  8.93519307e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.16606649300002
Centerline is valid?  [True, True]
Translation: X:204.61, Y:0.90, Z:0.00
[[ 9.98667381e-01  5.16087463e-02  0.00000000e+00  2.04609610e+02]
 [-5.16087463e-02  9.98667381e-01  0.00000000e+00  8.95502616e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.22606649300002
Centerline is valid?  [True, True]
Translation: X:204.67, Y:0.89, Z:0.00
[[ 9.98476572e-01  5.51773121e-02  0.00000000e+00  2.04670332e+02]
 [-5.51773121e-02  9.98476572e-01  0.00000000e+00  8.93341784e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.28606649300002
Centerline is valid?  [True, True]
Translation: X:204.73, Y:0.89, Z:0.00
[[ 9.98233966e-01  5.94049572e-02  0.00000000e+00  2.04731506e+02]
 [-5.94049572e-02  9.98233966e-01  0.00000000e+00  8.89777786e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.346066493
Centerline is valid?  [True, True]
Translation: X:204.79, Y:0.89, Z:0.00
[[ 9.97670981e-01  6.82100695e-02  0.00000000e+00  2.04792462e+02]
 [-6.82100695e-02  9.97670981e-01  0.00000000e+00  8.89318437e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.406066493
Centerline is valid?  [True, True]
Translation: X:204.85, Y:0.88, Z:0.00
[[ 9.97441405e-01  7.14887594e-02  0.00000000e+00  2.04852573e+02]
 [-7.14887594e-02  9.97441405e-01  0.00000000e+00  8.79907684e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.466066493
Centerline is valid?  [True, True]
Translation: X:204.91, Y:0.87, Z:0.00
[[ 9.97567659e-01  6.97048429e-02  0.00000000e+00  2.04913103e+02]
 [-6.97048429e-02  9.97567659e-01  0.00000000e+00  8.74200461e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.526066493
Centerline is valid?  [True, True]
Translation: X:204.97, Y:0.87, Z:0.00
[[ 9.97944983e-01  6.40766011e-02  0.00000000e+00  2.04974137e+02]
 [-6.40766011e-02  9.97944983e-01  0.00000000e+00  8.66524100e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.586066493
Centerline is valid?  [True, True]
Translation: X:205.04, Y:0.85, Z:0.00
[[ 9.97960501e-01  6.38344607e-02  0.00000000e+00  2.05035672e+02]
 [-6.38344607e-02  9.97960501e-01  0.00000000e+00  8.54289562e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.646066493
Centerline is valid?  [True, True]
Translation: X:205.10, Y:0.85, Z:0.00
[[ 9.97725051e-01  6.74145646e-02  0.00000000e+00  2.05096530e+02]
 [-6.74145646e-02  9.97725051e-01  0.00000000e+00  8.49399832e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.706066493
Centerline is valid?  [True, True]
Translation: X:205.16, Y:0.84, Z:0.00
[[ 9.97110029e-01  7.59709829e-02  0.00000000e+00  2.05156772e+02]
 [-7.59709829e-02  9.97110029e-01  0.00000000e+00  8.37504429e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.766066493
Centerline is valid?  [True, True]
Translation: X:205.22, Y:0.82, Z:0.00
[[ 9.96605899e-01  8.23206029e-02  0.00000000e+00  2.05217067e+02]
 [-8.23206029e-02  9.96605899e-01  0.00000000e+00  8.23484957e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.826066493
Centerline is valid?  [True, True]
Translation: X:205.28, Y:0.81, Z:0.00
[[ 9.96663233e-01  8.16235225e-02  0.00000000e+00  2.05277706e+02]
 [-8.16235225e-02  9.96663233e-01  0.00000000e+00  8.11135138e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.88606649300002
Centerline is valid?  [True, True]
Translation: X:205.34, Y:0.79, Z:0.00
[[ 9.97204510e-01  7.47205787e-02  0.00000000e+00  2.05338230e+02]
 [-7.47205787e-02  9.97204510e-01  0.00000000e+00  7.91204404e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.94606649300002
Centerline is valid?  [True, True]
Translation: X:205.40, Y:0.78, Z:0.00
[[ 9.97917792e-01  6.44986807e-02  0.00000000e+00  2.05398582e+02]
 [-6.44986807e-02  9.97917792e-01  0.00000000e+00  7.79993228e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 204.00606649300002
Centerline is valid?  [True, True]
Translation: X:205.46, Y:0.76, Z:0.00
[[ 9.99002017e-01  4.46650804e-02  0.00000000e+00  2.05457807e+02]
 [-4.46650804e-02  9.99002017e-01  0.00000000e+00  7.63209289e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.066066493
Centerline is valid?  [True, True]
Translation: X:205.52, Y:0.75, Z:0.00
[[ 9.99587631e-01  2.87152771e-02  0.00000000e+00  2.05517776e+02]
 [-2.87152771e-02  9.99587631e-01  0.00000000e+00  7.48612649e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.126066493
Centerline is valid?  [True, True]
Translation: X:205.58, Y:0.75, Z:0.00
[[ 9.99852431e-01  1.71789758e-02  0.00000000e+00  2.05577828e+02]
 [-1.71789758e-02  9.99852431e-01  0.00000000e+00  7.48167105e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.186066493
Centerline is valid?  [True, True]
Translation: X:205.64, Y:0.75, Z:0.00
[[ 9.99888792e-01  1.49132279e-02  0.00000000e+00  2.05640885e+02]
 [-1.49132279e-02  9.99888792e-01  0.00000000e+00  7.50741035e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.246066493
Centerline is valid?  [True, True]
Translation: X:205.70, Y:0.76, Z:0.00
[[ 9.99924039e-01  1.23254342e-02  0.00000000e+00  2.05701888e+02]
 [-1.23254342e-02  9.99924039e-01  0.00000000e+00  7.61173423e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.306066493
Centerline is valid?  [True, True]
Translation: X:205.76, Y:0.77, Z:0.00
[[ 9.99865950e-01  1.63732305e-02  0.00000000e+00  2.05763582e+02]
 [-1.63732305e-02  9.99865950e-01  0.00000000e+00  7.74898282e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.366066493
Centerline is valid?  [True, True]
Translation: X:205.83, Y:0.79, Z:0.00
[[ 9.99676076e-01  2.54507947e-02  0.00000000e+00  2.05825181e+02]
 [-2.54507947e-02  9.99676076e-01  0.00000000e+00  7.93239079e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.426066493
Centerline is valid?  [True, True]
Translation: X:205.89, Y:0.80, Z:0.00
[[ 9.99389935e-01  3.49250272e-02  0.00000000e+00  2.05886430e+02]
 [-3.49250272e-02  9.99389935e-01  0.00000000e+00  8.04158138e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.486066493
Centerline is valid?  [True, True]
Translation: X:205.95, Y:0.82, Z:0.00
[[ 9.98344405e-01  5.75191182e-02  0.00000000e+00  2.05946648e+02]
 [-5.75191182e-02  9.98344405e-01  0.00000000e+00  8.16287658e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.546066493
Centerline is valid?  [True, True]
Translation: X:206.01, Y:0.83, Z:0.00
[[ 9.97018252e-01  7.71660841e-02  0.00000000e+00  2.06007528e+02]
 [-7.71660841e-02  9.97018252e-01  0.00000000e+00  8.28318570e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.60606649300001
Centerline is valid?  [True, True]
Translation: X:206.07, Y:0.83, Z:0.00
[[ 9.96709281e-01  8.10592888e-02  0.00000000e+00  2.06068638e+02]
 [-8.10592888e-02  9.96709281e-01  0.00000000e+00  8.33723399e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.66606649300002
Centerline is valid?  [True, True]
Translation: X:206.13, Y:0.83, Z:0.00
[[ 9.97483592e-01  7.08976973e-02  0.00000000e+00  2.06129292e+02]
 [-7.08976973e-02  9.97483592e-01  0.00000000e+00  8.29176115e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.72606649300002
Centerline is valid?  [True, True]
Translation: X:206.19, Y:0.83, Z:0.00
[[ 9.97818411e-01  6.60183274e-02  0.00000000e+00  2.06189861e+02]
 [-6.60183274e-02  9.97818411e-01  0.00000000e+00  8.27575451e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.78606649300002
Centerline is valid?  [True, True]
Translation: X:206.25, Y:0.82, Z:0.00
[[ 9.97923607e-01  6.44086486e-02  0.00000000e+00  2.06251732e+02]
 [-6.44086486e-02  9.97923607e-01  0.00000000e+00  8.21963573e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.846066493
Centerline is valid?  [True, True]
Translation: X:206.31, Y:0.82, Z:0.00
[[ 9.97590644e-01  6.93751169e-02  0.00000000e+00  2.06312710e+02]
 [-6.93751169e-02  9.97590644e-01  0.00000000e+00  8.18065851e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.906066493
Centerline is valid?  [True, True]
Translation: X:206.37, Y:0.81, Z:0.00
[[ 9.97272909e-01  7.38020633e-02  0.00000000e+00  2.06372542e+02]
 [-7.38020633e-02  9.97272909e-01  0.00000000e+00  8.06419970e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.966066493
Centerline is valid?  [True, True]
Translation: X:206.43, Y:0.80, Z:0.00
[[ 9.97218534e-01  7.45331810e-02  0.00000000e+00  2.06433967e+02]
 [-7.45331810e-02  9.97218534e-01  0.00000000e+00  8.03645525e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.026066493
Centerline is valid?  [True, True]
Translation: X:206.49, Y:0.79, Z:0.00
[[ 9.96935011e-01  7.82341640e-02  0.00000000e+00  2.06494261e+02]
 [-7.82341640e-02  9.96935011e-01  0.00000000e+00  7.91967112e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.086066493
Centerline is valid?  [True, True]
Translation: X:206.55, Y:0.78, Z:0.00
[[ 9.96808561e-01  7.98291445e-02  0.00000000e+00  2.06554692e+02]
 [-7.98291445e-02  9.96808561e-01  0.00000000e+00  7.75672240e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.146066493
Centerline is valid?  [True, True]
Translation: X:206.62, Y:0.76, Z:0.00
[[ 9.96667658e-01  8.15694756e-02  0.00000000e+00  2.06615288e+02]
 [-8.15694756e-02  9.96667658e-01  0.00000000e+00  7.64892006e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 205.206066493
Centerline is valid?  [True, True]
Translation: X:206.68, Y:0.75, Z:0.00
[[ 9.96151031e-01  8.76534306e-02  0.00000000e+00  2.06675124e+02]
 [-8.76534306e-02  9.96151031e-01  0.00000000e+00  7.50188259e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.266066493
Centerline is valid?  [True, True]
Translation: X:206.74, Y:0.74, Z:0.00
[[ 9.95856098e-01  9.09430179e-02  0.00000000e+00  2.06736430e+02]
 [-9.09430179e-02  9.95856098e-01  0.00000000e+00  7.37305451e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.326066493
Centerline is valid?  [True, True]
Translation: X:206.80, Y:0.72, Z:0.00
[[ 9.96051698e-01  8.87750777e-02  0.00000000e+00  2.06796421e+02]
 [-8.87750777e-02  9.96051698e-01  0.00000000e+00  7.21071296e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.38606649300002
Centerline is valid?  [True, True]
Translation: X:206.86, Y:0.71, Z:0.00
[[ 9.96329306e-01  8.56032381e-02  0.00000000e+00  2.06856859e+02]
 [-8.56032381e-02  9.96329306e-01  0.00000000e+00  7.09749727e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.44606649300002
Centerline is valid?  [True, True]
Translation: X:206.92, Y:0.70, Z:0.00
[[ 9.96169015e-01  8.74488029e-02  0.00000000e+00  2.06916904e+02]
 [-8.74488029e-02  9.96169015e-01  0.00000000e+00  6.97558070e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.50606649300002
Centerline is valid?  [True, True]
Translation: X:206.98, Y:0.68, Z:0.00
[[ 9.95596740e-01  9.37396949e-02  0.00000000e+00  2.06977071e+02]
 [-9.37396949e-02  9.95596740e-01  0.00000000e+00  6.77716886e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.566066493
Centerline is valid?  [True, True]
Translation: X:207.04, Y:0.66, Z:0.00
[[ 9.94864414e-01  1.01216592e-01  0.00000000e+00  2.07036745e+02]
 [-1.01216592e-01  9.94864414e-01  0.00000000e+00  6.61274441e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.626066493
Centerline is valid?  [True, True]
Translation: X:207.10, Y:0.65, Z:0.00
[[ 9.94700976e-01  1.02810347e-01  0.00000000e+00  2.07098581e+02]
 [-1.02810347e-01  9.94700976e-01  0.00000000e+00  6.49615800e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.686066493
Centerline is valid?  [True, True]
Translation: X:207.16, Y:0.63, Z:0.00
[[ 9.94577347e-01  1.03999522e-01  0.00000000e+00  2.07157424e+02]
 [-1.03999522e-01  9.94577347e-01  0.00000000e+00  6.31803526e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.746066493
Centerline is valid?  [True, True]
Translation: X:207.22, Y:0.61, Z:0.00
[[ 9.95270408e-01  9.71432696e-02  0.00000000e+00  2.07217210e+02]
 [-9.71432696e-02  9.95270408e-01  0.00000000e+00  6.13091963e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.806066493
Centerline is valid?  [True, True]
Translation: X:207.28, Y:0.60, Z:0.00
[[ 9.95519784e-01  9.45534749e-02  0.00000000e+00  2.07278692e+02]
 [-9.45534749e-02  9.95519784e-01  0.00000000e+00  6.02151085e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.866066493
Centerline is valid?  [True, True]
Translation: X:207.34, Y:0.59, Z:0.00
[[ 9.95821165e-01  9.13247340e-02  0.00000000e+00  2.07339158e+02]
 [-9.13247340e-02  9.95821165e-01  0.00000000e+00  5.85727625e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.926066493
Centerline is valid?  [True, True]
Translation: X:207.40, Y:0.58, Z:0.00
[[ 9.95629494e-01  9.33911662e-02  0.00000000e+00  2.07400212e+02]
 [-9.33911662e-02  9.95629494e-01  0.00000000e+00  5.78978717e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.986066493
Centerline is valid?  [True, True]
Translation: X:207.46, Y:0.57, Z:0.00
[[ 9.95271952e-01  9.71274465e-02  0.00000000e+00  2.07460436e+02]
 [-9.71274465e-02  9.95271952e-01  0.00000000e+00  5.69422351e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.046066493
Centerline is valid?  [True, True]
Translation: X:207.52, Y:0.56, Z:0.00
[[ 9.95084007e-01  9.90344364e-02  0.00000000e+00  2.07520939e+02]
 [-9.90344364e-02  9.95084007e-01  0.00000000e+00  5.55564428e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.10606649300001
Centerline is valid?  [True, True]
Translation: X:207.58, Y:0.55, Z:0.00
[[ 9.94837709e-01  1.01478728e-01  0.00000000e+00  2.07581399e+02]
 [-1.01478728e-01  9.94837709e-01  0.00000000e+00  5.46383801e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.16606649300002
Centerline is valid?  [True, True]
Translation: X:207.64, Y:0.54, Z:0.00
[[ 9.94715120e-01  1.02673410e-01  0.00000000e+00  2.07641957e+02]
 [-1.02673410e-01  9.94715120e-01  0.00000000e+00  5.41822360e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.22606649300002
Centerline is valid?  [True, True]
Translation: X:207.70, Y:0.53, Z:0.00
[[ 9.94681661e-01  1.02997052e-01  0.00000000e+00  2.07702962e+02]
 [-1.02997052e-01  9.94681661e-01  0.00000000e+00  5.27161850e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.28606649300002
Centerline is valid?  [True, True]
Translation: X:207.76, Y:0.52, Z:0.00
[[ 9.95042289e-01  9.94527193e-02  0.00000000e+00  2.07762278e+02]
 [-9.94527193e-02  9.95042289e-01  0.00000000e+00  5.24061755e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.346066493
Centerline is valid?  [True, True]
Translation: X:207.82, Y:0.51, Z:0.00
[[ 9.95407389e-01  9.57294613e-02  0.00000000e+00  2.07823085e+02]
 [-9.57294613e-02  9.95407389e-01  0.00000000e+00  5.14416843e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 206.406066493
Centerline is valid?  [True, True]
Translation: X:207.88, Y:0.51, Z:0.00
[[ 9.96192553e-01  8.71802577e-02  0.00000000e+00  2.07883543e+02]
 [-8.71802577e-02  9.96192553e-01  0.00000000e+00  5.07546369e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.466066493
Centerline is valid?  [True, True]
Translation: X:207.94, Y:0.50, Z:0.00
[[ 9.96608817e-01  8.22852672e-02  0.00000000e+00  2.07943690e+02]
 [-8.22852672e-02  9.96608817e-01  0.00000000e+00  5.03659218e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.526066493
Centerline is valid?  [True, True]
Translation: X:208.00, Y:0.50, Z:0.00
[[ 9.97282609e-01  7.36708721e-02  0.00000000e+00  2.08003508e+02]
 [-7.36708721e-02  9.97282609e-01  0.00000000e+00  5.02761311e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.586066493
Centerline is valid?  [True, True]
Translation: X:208.06, Y:0.50, Z:0.00
[[ 9.98171775e-01  6.04409464e-02  0.00000000e+00  2.08064517e+02]
 [-6.04409464e-02  9.98171775e-01  0.00000000e+00  5.01017938e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.646066493
Centerline is valid?  [True, True]
Translation: X:208.12, Y:0.50, Z:0.00
[[ 9.98822376e-01  4.85166172e-02  0.00000000e+00  2.08124390e+02]
 [-4.85166172e-02  9.98822376e-01  0.00000000e+00  4.99697438e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.706066493
Centerline is valid?  [True, True]
Translation: X:208.18, Y:0.50, Z:0.00
[[ 9.99035641e-01  4.39065907e-02  0.00000000e+00  2.08184260e+02]
 [-4.39065907e-02  9.99035641e-01  0.00000000e+00  5.01471229e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.766066493
Centerline is valid?  [True, True]
Translation: X:208.24, Y:0.51, Z:0.00
[[ 9.99365829e-01  3.56081344e-02  0.00000000e+00  2.08244903e+02]
 [-3.56081344e-02  9.99365829e-01  0.00000000e+00  5.07488490e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.826066493
Centerline is valid?  [True, True]
Translation: X:208.31, Y:0.52, Z:0.00
[[ 9.99646169e-01  2.65995566e-02  0.00000000e+00  2.08306694e+02]
 [-2.65995566e-02  9.99646169e-01  0.00000000e+00  5.15967580e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.88606649300002
Centerline is valid?  [True, True]
Translation: X:208.37, Y:0.52, Z:0.00
[[ 9.99672520e-01  2.55901092e-02  0.00000000e+00  2.08368461e+02]
 [-2.55901092e-02  9.99672520e-01  0.00000000e+00  5.18662916e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.94606649300002
Centerline is valid?  [True, True]
Translation: X:208.43, Y:0.54, Z:0.00
[[ 9.99599210e-01  2.83093535e-02  0.00000000e+00  2.08430721e+02]
 [-2.83093535e-02  9.99599210e-01  0.00000000e+00  5.38818832e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.00606649300002
Centerline is valid?  [True, True]
Translation: X:208.49, Y:0.55, Z:0.00
[[ 9.99402105e-01  3.45750228e-02  0.00000000e+00  2.08492947e+02]
 [-3.45750228e-02  9.99402105e-01  0.00000000e+00  5.49102915e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.066066493
Centerline is valid?  [True, True]
Translation: X:208.55, Y:0.57, Z:0.00
[[ 9.98647644e-01  5.19892654e-02  0.00000000e+00  2.08554111e+02]
 [-5.19892654e-02  9.98647644e-01  0.00000000e+00  5.70697619e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.126066493
Centerline is valid?  [True, True]
Translation: X:208.62, Y:0.59, Z:0.00
[[ 9.97766180e-01  6.68030743e-02  0.00000000e+00  2.08615163e+02]
 [-6.68030743e-02  9.97766180e-01  0.00000000e+00  5.93698444e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.186066493
Centerline is valid?  [True, True]
Translation: X:208.68, Y:0.60, Z:0.00
[[ 9.97287260e-01  7.36078831e-02  0.00000000e+00  2.08676130e+02]
 [-7.36078831e-02  9.97287260e-01  0.00000000e+00  6.01370324e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.246066493
Centerline is valid?  [True, True]
Translation: X:208.74, Y:0.61, Z:0.00
[[ 9.96669090e-01  8.15519734e-02  0.00000000e+00  2.08737242e+02]
 [-8.15519734e-02  9.96669090e-01  0.00000000e+00  6.09332885e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.306066493
Centerline is valid?  [True, True]
Translation: X:208.80, Y:0.61, Z:0.00
[[ 9.96619348e-01  8.21576254e-02  0.00000000e+00  2.08797955e+02]
 [-8.21576254e-02  9.96619348e-01  0.00000000e+00  6.12644794e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.366066493
Centerline is valid?  [True, True]
Translation: X:208.86, Y:0.61, Z:0.00
[[ 9.96639369e-01  8.19143954e-02  0.00000000e+00  2.08859055e+02]
 [-8.19143954e-02  9.96639369e-01  0.00000000e+00  6.11446885e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.426066493
Centerline is valid?  [True, True]
Translation: X:208.92, Y:0.61, Z:0.00
[[ 9.96654976e-01  8.17242811e-02  0.00000000e+00  2.08919675e+02]
 [-8.17242811e-02  9.96654976e-01  0.00000000e+00  6.05558059e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.486066493
Centerline is valid?  [True, True]
Translation: X:208.98, Y:0.60, Z:0.00
[[ 9.96348706e-01  8.53771451e-02  0.00000000e+00  2.08980671e+02]
 [-8.53771451e-02  9.96348706e-01  0.00000000e+00  6.00822194e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.546066493
Centerline is valid?  [True, True]
Translation: X:209.04, Y:0.59, Z:0.00
[[ 9.96009971e-01  8.92420131e-02  0.00000000e+00  2.09041157e+02]
 [-8.92420131e-02  9.96009971e-01  0.00000000e+00  5.93864330e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 207.60606649300001
Centerline is valid?  [True, True]
Translation: X:209.10, Y:0.59, Z:0.00
[[ 9.95773123e-01  9.18470862e-02  0.00000000e+00  2.09101909e+02]
 [-9.18470862e-02  9.95773123e-01  0.00000000e+00  5.86764576e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.66606649300002
Centerline is valid?  [True, True]
Translation: X:209.16, Y:0.57, Z:0.00
[[ 9.96261728e-01  8.63861634e-02  0.00000000e+00  2.09161763e+02]
 [-8.63861634e-02  9.96261728e-01  0.00000000e+00  5.74424151e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.72606649300002
Centerline is valid?  [True, True]
Translation: X:209.22, Y:0.56, Z:0.00
[[ 9.97427952e-01  7.16762142e-02  0.00000000e+00  2.09222391e+02]
 [-7.16762142e-02  9.97427952e-01  0.00000000e+00  5.61848706e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.78606649300002
Centerline is valid?  [True, True]
Translation: X:209.28, Y:0.55, Z:0.00
[[ 9.98212807e-01  5.97594491e-02  0.00000000e+00  2.09282821e+02]
 [-5.97594491e-02  9.98212807e-01  0.00000000e+00  5.53933534e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.846066493
Centerline is valid?  [True, True]
Translation: X:209.34, Y:0.55, Z:0.00
[[ 9.98784814e-01  4.92838260e-02  0.00000000e+00  2.09342268e+02]
 [-4.92838260e-02  9.98784814e-01  0.00000000e+00  5.48710131e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.906066493
Centerline is valid?  [True, True]
Translation: X:209.40, Y:0.54, Z:0.00
[[ 9.99204564e-01  3.98778064e-02  0.00000000e+00  2.09402512e+02]
 [-3.98778064e-02  9.99204564e-01  0.00000000e+00  5.43265468e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.966066493
Centerline is valid?  [True, True]
Translation: X:209.46, Y:0.54, Z:0.00
[[ 9.99273870e-01  3.81016125e-02  0.00000000e+00  2.09464703e+02]
 [-3.81016125e-02  9.99273870e-01  0.00000000e+00  5.44196644e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.026066493
Centerline is valid?  [True, True]
Translation: X:209.53, Y:0.55, Z:0.00
[[ 9.99324362e-01  3.67534909e-02  0.00000000e+00  2.09525842e+02]
 [-3.67534909e-02  9.99324362e-01  0.00000000e+00  5.45704856e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.086066493
Centerline is valid?  [True, True]
Translation: X:209.59, Y:0.55, Z:0.00
[[ 9.99284728e-01  3.78157747e-02  0.00000000e+00  2.09588208e+02]
 [-3.78157747e-02  9.99284728e-01  0.00000000e+00  5.50123174e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.146066493
Centerline is valid?  [True, True]
Translation: X:209.65, Y:0.56, Z:0.00
[[ 9.98961917e-01  4.55531400e-02  0.00000000e+00  2.09649451e+02]
 [-4.55531400e-02  9.98961917e-01  0.00000000e+00  5.57383925e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.206066493
Centerline is valid?  [True, True]
Translation: X:209.71, Y:0.57, Z:0.00
[[ 9.98523429e-01  5.43227539e-02  0.00000000e+00  2.09710158e+02]
 [-5.43227539e-02  9.98523429e-01  0.00000000e+00  5.65130033e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.266066493
Centerline is valid?  [True, True]
Translation: X:209.77, Y:0.58, Z:0.00
[[ 9.97621079e-01  6.89360740e-02  0.00000000e+00  2.09770679e+02]
 [-6.89360740e-02  9.97621079e-01  0.00000000e+00  5.75546926e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.326066493
Centerline is valid?  [True, True]
Translation: X:209.83, Y:0.58, Z:0.00
[[ 9.96656973e-01  8.16999323e-02  0.00000000e+00  2.09830060e+02]
 [-8.16999323e-02  9.96656973e-01  0.00000000e+00  5.79231069e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.38606649300002
Centerline is valid?  [True, True]
Translation: X:209.89, Y:0.58, Z:0.00
[[ 9.96159576e-01  8.75562586e-02  0.00000000e+00  2.09891256e+02]
 [-8.75562586e-02  9.96159576e-01  0.00000000e+00  5.81110307e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.44606649300002
Centerline is valid?  [True, True]
Translation: X:209.95, Y:0.59, Z:0.00
[[ 9.95669760e-01  9.29609042e-02  0.00000000e+00  2.09951388e+02]
 [-9.29609042e-02  9.95669760e-01  0.00000000e+00  5.85252652e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.50606649300002
Centerline is valid?  [True, True]
Translation: X:210.01, Y:0.58, Z:0.00
[[ 9.95477262e-01  9.50001107e-02  0.00000000e+00  2.10011237e+02]
 [-9.50001107e-02  9.95477262e-01  0.00000000e+00  5.83429622e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.566066493
Centerline is valid?  [True, True]
Translation: X:210.07, Y:0.58, Z:0.00
[[ 9.95408965e-01  9.57130744e-02  0.00000000e+00  2.10072419e+02]
 [-9.57130744e-02  9.95408965e-01  0.00000000e+00  5.78368399e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.626066493
Centerline is valid?  [True, True]
Translation: X:210.13, Y:0.57, Z:0.00
[[ 9.95408639e-01  9.57164619e-02  0.00000000e+00  2.10132770e+02]
 [-9.57164619e-02  9.95408639e-01  0.00000000e+00  5.73914070e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.686066493
Centerline is valid?  [True, True]
Translation: X:210.19, Y:0.57, Z:0.00
[[ 9.95381769e-01  9.59954929e-02  0.00000000e+00  2.10193803e+02]
 [-9.59954929e-02  9.95381769e-01  0.00000000e+00  5.66485772e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.746066493
Centerline is valid?  [True, True]
Translation: X:210.26, Y:0.56, Z:0.00
[[ 9.95492976e-01  9.48353032e-02  0.00000000e+00  2.10256137e+02]
 [-9.48353032e-02  9.95492976e-01  0.00000000e+00  5.62907813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 208.806066493
Centerline is valid?  [True, True]
Translation: X:210.32, Y:0.55, Z:0.00
[[ 9.96064287e-01  8.86337202e-02  0.00000000e+00  2.10315470e+02]
 [-8.86337202e-02  9.96064287e-01  0.00000000e+00  5.51418300e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.866066493
Centerline is valid?  [True, True]
Translation: X:210.38, Y:0.54, Z:0.00
[[ 9.96982837e-01  7.76223024e-02  0.00000000e+00  2.10375429e+02]
 [-7.76223024e-02  9.96982837e-01  0.00000000e+00  5.37569185e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.926066493
Centerline is valid?  [True, True]
Translation: X:210.43, Y:0.53, Z:0.00
[[ 9.97513695e-01  7.04728943e-02  0.00000000e+00  2.10434979e+02]
 [-7.04728943e-02  9.97513695e-01  0.00000000e+00  5.31204861e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.986066493
Centerline is valid?  [True, True]
Translation: X:210.50, Y:0.52, Z:0.00
[[ 9.97988610e-01  6.33934922e-02  0.00000000e+00  2.10495026e+02]
 [-6.33934922e-02  9.97988610e-01  0.00000000e+00  5.23063275e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.046066493
Centerline is valid?  [True, True]
Translation: X:210.56, Y:0.52, Z:0.00
[[ 9.98575219e-01  5.33622784e-02  0.00000000e+00  2.10555942e+02]
 [-5.33622784e-02  9.98575219e-01  0.00000000e+00  5.17815977e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.10606649300001
Centerline is valid?  [True, True]
Translation: X:210.62, Y:0.52, Z:0.00
[[ 9.98892738e-01  4.70457047e-02  0.00000000e+00  2.10618543e+02]
 [-4.70457047e-02  9.98892738e-01  0.00000000e+00  5.15469296e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.16606649300002
Centerline is valid?  [True, True]
Translation: X:210.68, Y:0.52, Z:0.00
[[ 9.98903638e-01  4.68136890e-02  0.00000000e+00  2.10679441e+02]
 [-4.68136890e-02  9.98903638e-01  0.00000000e+00  5.15808917e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.22606649300002
Centerline is valid?  [True, True]
Translation: X:210.74, Y:0.52, Z:0.00
[[ 9.98895956e-01  4.69773174e-02  0.00000000e+00  2.10741521e+02]
 [-4.69773174e-02  9.98895956e-01  0.00000000e+00  5.18728628e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.28606649300002
Centerline is valid?  [True, True]
Translation: X:210.80, Y:0.52, Z:0.00
[[ 9.98899328e-01  4.69055673e-02  0.00000000e+00  2.10803754e+02]
 [-4.69055673e-02  9.98899328e-01  0.00000000e+00  5.24183591e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.346066493
Centerline is valid?  [True, True]
Translation: X:210.87, Y:0.53, Z:0.00
[[ 9.98939847e-01  4.60345742e-02  0.00000000e+00  2.10866017e+02]
 [-4.60345742e-02  9.98939847e-01  0.00000000e+00  5.29072070e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.406066493
Centerline is valid?  [True, True]
Translation: X:210.93, Y:0.53, Z:0.00
[[ 9.98870965e-01  4.75057474e-02  0.00000000e+00  2.10927510e+02]
 [-4.75057474e-02  9.98870965e-01  0.00000000e+00  5.32658032e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.466066493
Centerline is valid?  [True, True]
Translation: X:210.99, Y:0.54, Z:0.00
[[ 9.98773853e-01  4.95054566e-02  0.00000000e+00  2.10989132e+02]
 [-4.95054566e-02  9.98773853e-01  0.00000000e+00  5.39727151e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.526066493
Centerline is valid?  [True, True]
Translation: X:211.05, Y:0.55, Z:0.00
[[ 9.98647562e-01  5.19908399e-02  0.00000000e+00  2.11050781e+02]
 [-5.19908399e-02  9.98647562e-01  0.00000000e+00  5.45978022e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.586066493
Centerline is valid?  [True, True]
Translation: X:211.11, Y:0.55, Z:0.00
[[ 9.98349753e-01  5.74262244e-02  0.00000000e+00  2.11112395e+02]
 [-5.74262244e-02  9.98349753e-01  0.00000000e+00  5.54367939e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.646066493
Centerline is valid?  [True, True]
Translation: X:211.17, Y:0.56, Z:0.00
[[ 9.98003588e-01  6.31572559e-02  0.00000000e+00  2.11172087e+02]
 [-6.31572559e-02  9.98003588e-01  0.00000000e+00  5.56898962e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.706066493
Centerline is valid?  [True, True]
Translation: X:211.23, Y:0.57, Z:0.00
[[ 9.97172118e-01  7.51516229e-02  0.00000000e+00  2.11232612e+02]
 [-7.51516229e-02  9.97172118e-01  0.00000000e+00  5.67099877e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.766066493
Centerline is valid?  [True, True]
Translation: X:211.29, Y:0.58, Z:0.00
[[ 9.96676459e-01  8.14618713e-02  0.00000000e+00  2.11292832e+02]
 [-8.14618713e-02  9.96676459e-01  0.00000000e+00  5.75898771e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.826066493
Centerline is valid?  [True, True]
Translation: X:211.35, Y:0.58, Z:0.00
[[ 9.96670050e-01  8.15402424e-02  0.00000000e+00  2.11353116e+02]
 [-8.15402424e-02  9.96670050e-01  0.00000000e+00  5.75390158e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.88606649300002
Centerline is valid?  [True, True]
Translation: X:211.42, Y:0.58, Z:0.00
[[ 9.96804951e-01  7.98742063e-02  0.00000000e+00  2.11415444e+02]
 [-7.98742063e-02  9.96804951e-01  0.00000000e+00  5.75202391e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.94606649300002
Centerline is valid?  [True, True]
Translation: X:211.48, Y:0.57, Z:0.00
[[ 9.96787733e-01  8.00887964e-02  0.00000000e+00  2.11477397e+02]
 [-8.00887964e-02  9.96787733e-01  0.00000000e+00  5.72613651e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 210.00606649300002
Centerline is valid?  [True, True]
Translation: X:211.54, Y:0.57, Z:0.00
[[ 9.96882199e-01  7.89042598e-02  0.00000000e+00  2.11539144e+02]
 [-7.89042598e-02  9.96882199e-01  0.00000000e+00  5.69083051e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.06606649300002
Centerline is valid?  [True, True]
Translation: X:211.60, Y:0.56, Z:0.00
[[ 9.96514470e-01  8.34200934e-02  0.00000000e+00  2.11598825e+02]
 [-8.34200934e-02  9.96514470e-01  0.00000000e+00  5.63279006e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.126066493
Centerline is valid?  [True, True]
Translation: X:211.66, Y:0.56, Z:0.00
[[ 9.95925432e-01  9.01805663e-02  0.00000000e+00  2.11659452e+02]
 [-9.01805663e-02  9.95925432e-01  0.00000000e+00  5.58692052e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.186066493
Centerline is valid?  [True, True]
Translation: X:211.72, Y:0.55, Z:0.00
[[ 9.95769597e-01  9.18853020e-02  0.00000000e+00  2.11720110e+02]
 [-9.18853020e-02  9.95769597e-01  0.00000000e+00  5.47851423e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.246066493
Centerline is valid?  [True, True]
Translation: X:211.78, Y:0.54, Z:0.00
[[ 9.95801465e-01  9.15392911e-02  0.00000000e+00  2.11781864e+02]
 [-9.15392911e-02  9.95801465e-01  0.00000000e+00  5.41170885e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.306066493
Centerline is valid?  [True, True]
Translation: X:211.84, Y:0.53, Z:0.00
[[ 9.96645362e-01  8.18414457e-02  0.00000000e+00  2.11842441e+02]
 [-8.18414457e-02  9.96645362e-01  0.00000000e+00  5.30992911e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.366066493
Centerline is valid?  [True, True]
Translation: X:211.90, Y:0.52, Z:0.00
[[ 9.97159761e-01  7.53154088e-02  0.00000000e+00  2.11902771e+02]
 [-7.53154088e-02  9.97159761e-01  0.00000000e+00  5.20148334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.426066493
Centerline is valid?  [True, True]
Translation: X:211.96, Y:0.51, Z:0.00
[[ 9.97418385e-01  7.18092342e-02  0.00000000e+00  2.11963422e+02]
 [-7.18092342e-02  9.97418385e-01  0.00000000e+00  5.11596141e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.486066493
Centerline is valid?  [True, True]
Translation: X:212.03, Y:0.51, Z:0.00
[[ 9.97283312e-01  7.36613616e-02  0.00000000e+00  2.12025141e+02]
 [-7.36613616e-02  9.97283312e-01  0.00000000e+00  5.07689507e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.546066493
Centerline is valid?  [True, True]
Translation: X:212.08, Y:0.50, Z:0.00
[[ 9.96632770e-01  8.19946417e-02  0.00000000e+00  2.12084403e+02]
 [-8.19946417e-02  9.96632770e-01  0.00000000e+00  5.03545609e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.60606649300001
Centerline is valid?  [True, True]
Translation: X:212.14, Y:0.50, Z:0.00
[[ 9.95914624e-01  9.02998386e-02  0.00000000e+00  2.12144761e+02]
 [-9.02998386e-02  9.95914624e-01  0.00000000e+00  5.02241319e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.66606649300002
Centerline is valid?  [True, True]
Translation: X:212.20, Y:0.49, Z:0.00
[[ 9.95836109e-01  9.11616414e-02  0.00000000e+00  2.12204069e+02]
 [-9.11616414e-02  9.95836109e-01  0.00000000e+00  4.94906813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.72606649300002
Centerline is valid?  [True, True]
Translation: X:212.27, Y:0.49, Z:0.00
[[ 9.95937577e-01  9.00463395e-02  0.00000000e+00  2.12266148e+02]
 [-9.00463395e-02  9.95937577e-01  0.00000000e+00  4.90174912e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.78606649300002
Centerline is valid?  [True, True]
Translation: X:212.33, Y:0.48, Z:0.00
[[ 9.96632018e-01  8.20037905e-02  0.00000000e+00  2.12326839e+02]
 [-8.20037905e-02  9.96632018e-01  0.00000000e+00  4.82060135e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.846066493
Centerline is valid?  [True, True]
Translation: X:212.39, Y:0.48, Z:0.00
[[ 9.97078318e-01  7.63860448e-02  0.00000000e+00  2.12386716e+02]
 [-7.63860448e-02  9.97078318e-01  0.00000000e+00  4.75020732e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.906066493
Centerline is valid?  [True, True]
Translation: X:212.45, Y:0.47, Z:0.00
[[ 9.97696629e-01  6.78338961e-02  0.00000000e+00  2.12446975e+02]
 [-6.78338961e-02  9.97696629e-01  0.00000000e+00  4.67658411e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.966066493
Centerline is valid?  [True, True]
Translation: X:212.51, Y:0.46, Z:0.00
[[ 9.98287194e-01  5.85036547e-02  0.00000000e+00  2.12507138e+02]
 [-5.85036547e-02  9.98287194e-01  0.00000000e+00  4.57247451e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.026066493
Centerline is valid?  [True, True]
Translation: X:212.57, Y:0.46, Z:0.00
[[ 9.98467895e-01  5.53341062e-02  0.00000000e+00  2.12568910e+02]
 [-5.53341062e-02  9.98467895e-01  0.00000000e+00  4.56762666e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.086066493
Centerline is valid?  [True, True]
Translation: X:212.63, Y:0.45, Z:0.00
[[ 9.98608611e-01  5.27336868e-02  0.00000000e+00  2.12631102e+02]
 [-5.27336868e-02  9.98608611e-01  0.00000000e+00  4.53659761e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.146066493
Centerline is valid?  [True, True]
Translation: X:212.69, Y:0.45, Z:0.00
[[ 9.98665185e-01  5.16512244e-02  0.00000000e+00  2.12691890e+02]
 [-5.16512244e-02  9.98665185e-01  0.00000000e+00  4.52770837e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 211.206066493
Centerline is valid?  [True, True]
Translation: X:212.75, Y:0.45, Z:0.00
[[ 9.98730543e-01  5.03716439e-02  0.00000000e+00  2.12753205e+02]
 [-5.03716439e-02  9.98730543e-01  0.00000000e+00  4.54023829e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.266066493
Centerline is valid?  [True, True]
Translation: X:212.81, Y:0.46, Z:0.00
[[ 9.99062073e-01  4.33009689e-02  0.00000000e+00  2.12813709e+02]
 [-4.33009689e-02  9.99062073e-01  0.00000000e+00  4.55511164e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.326066493
Centerline is valid?  [True, True]
Translation: X:212.88, Y:0.45, Z:0.00
[[ 9.99169581e-01  4.07449155e-02  0.00000000e+00  2.12875447e+02]
 [-4.07449155e-02  9.99169581e-01  0.00000000e+00  4.51688846e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.38606649300002
Centerline is valid?  [True, True]
Translation: X:212.94, Y:0.45, Z:0.00
[[ 9.99163775e-01  4.08870428e-02  0.00000000e+00  2.12937307e+02]
 [-4.08870428e-02  9.99163775e-01  0.00000000e+00  4.51656037e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.44606649300002
Centerline is valid?  [True, True]
Translation: X:213.00, Y:0.46, Z:0.00
[[ 9.99043250e-01  4.37331168e-02  0.00000000e+00  2.12997893e+02]
 [-4.37331168e-02  9.99043250e-01  0.00000000e+00  4.60817509e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.50606649300002
Centerline is valid?  [True, True]
Translation: X:213.06, Y:0.46, Z:0.00
[[ 9.98858200e-01  4.77733891e-02  0.00000000e+00  2.13059898e+02]
 [-4.77733891e-02  9.98858200e-01  0.00000000e+00  4.63346583e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.56606649300002
Centerline is valid?  [True, True]
Translation: X:213.12, Y:0.47, Z:0.00
[[ 9.98467369e-01  5.53435838e-02  0.00000000e+00  2.13122218e+02]
 [-5.53435838e-02  9.98467369e-01  0.00000000e+00  4.72426906e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.626066493
Centerline is valid?  [True, True]
Translation: X:213.18, Y:0.48, Z:0.00
[[ 9.98373458e-01  5.70126101e-02  0.00000000e+00  2.13183369e+02]
 [-5.70126101e-02  9.98373458e-01  0.00000000e+00  4.80167208e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.686066493
Centerline is valid?  [True, True]
Translation: X:213.24, Y:0.48, Z:0.00
[[ 9.98331456e-01  5.77434238e-02  0.00000000e+00  2.13244975e+02]
 [-5.77434238e-02  9.98331456e-01  0.00000000e+00  4.84693554e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.746066493
Centerline is valid?  [True, True]
Translation: X:213.31, Y:0.49, Z:0.00
[[ 9.98314344e-01  5.80385251e-02  0.00000000e+00  2.13307666e+02]
 [-5.80385251e-02  9.98314344e-01  0.00000000e+00  4.87502646e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.806066493
Centerline is valid?  [True, True]
Translation: X:213.37, Y:0.49, Z:0.00
[[ 9.97909125e-01  6.46326443e-02  0.00000000e+00  2.13367577e+02]
 [-6.46326443e-02  9.97909125e-01  0.00000000e+00  4.93948408e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.866066493
Centerline is valid?  [True, True]
Translation: X:213.43, Y:0.49, Z:0.00
[[ 9.97442887e-01  7.14680879e-02  0.00000000e+00  2.13427876e+02]
 [-7.14680879e-02  9.97442887e-01  0.00000000e+00  4.94756912e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.926066493
Centerline is valid?  [True, True]
Translation: X:213.49, Y:0.49, Z:0.00
[[ 9.97106577e-01  7.60162765e-02  0.00000000e+00  2.13487083e+02]
 [-7.60162765e-02  9.97106577e-01  0.00000000e+00  4.93749712e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.986066493
Centerline is valid?  [True, True]
Translation: X:213.55, Y:0.49, Z:0.00
[[ 9.97033993e-01  7.69624313e-02  0.00000000e+00  2.13546594e+02]
 [-7.69624313e-02  9.97033993e-01  0.00000000e+00  4.93867880e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.046066493
Centerline is valid?  [True, True]
Translation: X:213.61, Y:0.49, Z:0.00
[[ 9.97508682e-01  7.05438121e-02  0.00000000e+00  2.13606111e+02]
 [-7.05438121e-02  9.97508682e-01  0.00000000e+00  4.92250566e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.10606649300001
Centerline is valid?  [True, True]
Translation: X:213.67, Y:0.49, Z:0.00
[[ 9.98427492e-01  5.60583925e-02  0.00000000e+00  2.13666591e+02]
 [-5.60583925e-02  9.98427492e-01  0.00000000e+00  4.90061576e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.16606649300002
Centerline is valid?  [True, True]
Translation: X:213.73, Y:0.49, Z:0.00
[[ 9.98819096e-01  4.85840855e-02  0.00000000e+00  2.13728619e+02]
 [-4.85840855e-02  9.98819096e-01  0.00000000e+00  4.89150165e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.22606649300002
Centerline is valid?  [True, True]
Translation: X:213.79, Y:0.49, Z:0.00
[[ 9.99155341e-01  4.10926352e-02  0.00000000e+00  2.13789019e+02]
 [-4.10926352e-02  9.99155341e-01  0.00000000e+00  4.91799156e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.28606649300002
Centerline is valid?  [True, True]
Translation: X:213.85, Y:0.50, Z:0.00
[[ 9.99211285e-01  3.97090383e-02  0.00000000e+00  2.13850662e+02]
 [-3.97090383e-02  9.99211285e-01  0.00000000e+00  4.95542215e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.346066493
Centerline is valid?  [True, True]
Translation: X:213.91, Y:0.50, Z:0.00
[[ 9.99055031e-01  4.34631493e-02  0.00000000e+00  2.13912622e+02]
 [-4.34631493e-02  9.99055031e-01  0.00000000e+00  4.99196753e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 212.406066493
Centerline is valid?  [True, True]
Translation: X:213.97, Y:0.51, Z:0.00
[[ 9.98958435e-01  4.56294326e-02  0.00000000e+00  2.13972326e+02]
 [-4.56294326e-02  9.98958435e-01  0.00000000e+00  5.12099016e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.466066493
Centerline is valid?  [True, True]
Translation: X:214.03, Y:0.52, Z:0.00
[[ 9.98777289e-01  4.94360909e-02  0.00000000e+00  2.14034390e+02]
 [-4.94360909e-02  9.98777289e-01  0.00000000e+00  5.22599721e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.526066493
Centerline is valid?  [True, True]
Translation: X:214.10, Y:0.53, Z:0.00
[[ 9.98519917e-01  5.43872688e-02  0.00000000e+00  2.14097631e+02]
 [-5.43872688e-02  9.98519917e-01  0.00000000e+00  5.31353661e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.586066493
Centerline is valid?  [True, True]
Translation: X:214.16, Y:0.53, Z:0.00
[[ 9.98354228e-01  5.73483608e-02  0.00000000e+00  2.14157639e+02]
 [-5.73483608e-02  9.98354228e-01  0.00000000e+00  5.34153160e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.646066493
Centerline is valid?  [True, True]
Translation: X:214.22, Y:0.54, Z:0.00
[[ 9.97893727e-01  6.48699497e-02  0.00000000e+00  2.14218388e+02]
 [-6.48699497e-02  9.97893727e-01  0.00000000e+00  5.44944024e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.706066493
Centerline is valid?  [True, True]
Translation: X:214.28, Y:0.55, Z:0.00
[[ 9.97645743e-01  6.85782161e-02  0.00000000e+00  2.14279063e+02]
 [-6.85782161e-02  9.97645743e-01  0.00000000e+00  5.48619999e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.766066493
Centerline is valid?  [True, True]
Translation: X:214.34, Y:0.55, Z:0.00
[[ 9.97302991e-01  7.33944372e-02  0.00000000e+00  2.14340232e+02]
 [-7.33944372e-02  9.97302991e-01  0.00000000e+00  5.54952440e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.826066493
Centerline is valid?  [True, True]
Translation: X:214.40, Y:0.56, Z:0.00
[[ 9.96936004e-01  7.82215010e-02  0.00000000e+00  2.14401583e+02]
 [-7.82215010e-02  9.96936004e-01  0.00000000e+00  5.55265871e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.88606649300002
Centerline is valid?  [True, True]
Translation: X:214.46, Y:0.56, Z:0.00
[[ 9.96295694e-01  8.59935507e-02  0.00000000e+00  2.14461175e+02]
 [-8.59935507e-02  9.96295694e-01  0.00000000e+00  5.55706520e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.94606649300002
Centerline is valid?  [True, True]
Translation: X:214.52, Y:0.56, Z:0.00
[[ 9.95635830e-01  9.33235945e-02  0.00000000e+00  2.14521841e+02]
 [-9.33235945e-02  9.95635830e-01  0.00000000e+00  5.55638451e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.00606649300002
Centerline is valid?  [True, True]
Translation: X:214.58, Y:0.55, Z:0.00
[[ 9.95307235e-01  9.67652169e-02  0.00000000e+00  2.14581238e+02]
 [-9.67652169e-02  9.95307235e-01  0.00000000e+00  5.50777946e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.06606649300002
Centerline is valid?  [True, True]
Translation: X:214.64, Y:0.54, Z:0.00
[[ 9.95714914e-01  9.24760006e-02  0.00000000e+00  2.14642097e+02]
 [-9.24760006e-02  9.95714914e-01  0.00000000e+00  5.40438511e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.126066493
Centerline is valid?  [True, True]
Translation: X:214.70, Y:0.54, Z:0.00
[[ 9.97211408e-01  7.46284657e-02  0.00000000e+00  2.14701608e+02]
 [-7.46284657e-02  9.97211408e-01  0.00000000e+00  5.35106831e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.186066493
Centerline is valid?  [True, True]
Translation: X:214.76, Y:0.52, Z:0.00
[[ 9.97487506e-01  7.08426160e-02  0.00000000e+00  2.14761680e+02]
 [-7.08426160e-02  9.97487506e-01  0.00000000e+00  5.23873523e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.246066493
Centerline is valid?  [True, True]
Translation: X:214.82, Y:0.52, Z:0.00
[[ 9.97563600e-01  6.97629152e-02  0.00000000e+00  2.14822715e+02]
 [-6.97629152e-02  9.97563600e-01  0.00000000e+00  5.15294134e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.306066493
Centerline is valid?  [True, True]
Translation: X:214.88, Y:0.51, Z:0.00
[[ 9.97440071e-01  7.15073744e-02  0.00000000e+00  2.14883859e+02]
 [-7.15073744e-02  9.97440071e-01  0.00000000e+00  5.13064530e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.366066493
Centerline is valid?  [True, True]
Translation: X:214.94, Y:0.51, Z:0.00
[[ 9.97065067e-01  7.65588149e-02  0.00000000e+00  2.14943578e+02]
 [-7.65588149e-02  9.97065067e-01  0.00000000e+00  5.11672582e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.426066493
Centerline is valid?  [True, True]
Translation: X:215.00, Y:0.51, Z:0.00
[[ 9.96750624e-01  8.05493203e-02  0.00000000e+00  2.15003670e+02]
 [-8.05493203e-02  9.96750624e-01  0.00000000e+00  5.05634842e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.486066493
Centerline is valid?  [True, True]
Translation: X:215.06, Y:0.50, Z:0.00
[[ 9.96140665e-01  8.77711591e-02  0.00000000e+00  2.15064451e+02]
 [-8.77711591e-02  9.96140665e-01  0.00000000e+00  4.98173151e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.546066493
Centerline is valid?  [True, True]
Translation: X:215.12, Y:0.50, Z:0.00
[[ 9.95798705e-01  9.15693088e-02  0.00000000e+00  2.15124623e+02]
 [-9.15693088e-02  9.95798705e-01  0.00000000e+00  4.96452989e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 213.60606649300001
Centerline is valid?  [True, True]
Translation: X:215.18, Y:0.49, Z:0.00
[[ 9.95543281e-01  9.43057525e-02  0.00000000e+00  2.15184730e+02]
 [-9.43057525e-02  9.95543281e-01  0.00000000e+00  4.89266818e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.66606649300002
Centerline is valid?  [True, True]
Translation: X:215.24, Y:0.48, Z:0.00
[[ 9.95830323e-01  9.12248235e-02  0.00000000e+00  2.15244959e+02]
 [-9.12248235e-02  9.95830323e-01  0.00000000e+00  4.84091040e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.72606649300002
Centerline is valid?  [True, True]
Translation: X:215.30, Y:0.47, Z:0.00
[[ 9.96377467e-01  8.50408280e-02  0.00000000e+00  2.15304362e+02]
 [-8.50408280e-02  9.96377467e-01  0.00000000e+00  4.74609463e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.78606649300002
Centerline is valid?  [True, True]
Translation: X:215.36, Y:0.47, Z:0.00
[[ 9.96877110e-01  7.89685175e-02  0.00000000e+00  2.15363690e+02]
 [-7.89685175e-02  9.96877110e-01  0.00000000e+00  4.69687060e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.846066493
Centerline is valid?  [True, True]
Translation: X:215.42, Y:0.47, Z:0.00
[[ 9.97526887e-01  7.02859203e-02  0.00000000e+00  2.15423014e+02]
 [-7.02859203e-02  9.97526887e-01  0.00000000e+00  4.68671003e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.906066493
Centerline is valid?  [True, True]
Translation: X:215.48, Y:0.46, Z:0.00
[[ 9.97638007e-01  6.86906573e-02  0.00000000e+00  2.15484914e+02]
 [-6.86906573e-02  9.97638007e-01  0.00000000e+00  4.61577118e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.966066493
Centerline is valid?  [True, True]
Translation: X:215.54, Y:0.46, Z:0.00
[[ 9.97904461e-01  6.47046062e-02  0.00000000e+00  2.15544560e+02]
 [-6.47046062e-02  9.97904461e-01  0.00000000e+00  4.60220147e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.026066493
Centerline is valid?  [True, True]
Translation: X:215.60, Y:0.45, Z:0.00
[[ 9.97848606e-01  6.55603459e-02  0.00000000e+00  2.15604031e+02]
 [-6.55603459e-02  9.97848606e-01  0.00000000e+00  4.50092247e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.086066493
Centerline is valid?  [True, True]
Translation: X:215.67, Y:0.45, Z:0.00
[[ 9.98163776e-01  6.05728984e-02  0.00000000e+00  2.15665440e+02]
 [-6.05728984e-02  9.98163776e-01  0.00000000e+00  4.52232875e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.146066493
Centerline is valid?  [True, True]
Translation: X:215.73, Y:0.44, Z:0.00
[[ 9.97838405e-01  6.57154328e-02  0.00000000e+00  2.15726819e+02]
 [-6.57154328e-02  9.97838405e-01  0.00000000e+00  4.40151109e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.206066493
Centerline is valid?  [True, True]
Translation: X:215.79, Y:0.44, Z:0.00
[[ 9.98490144e-01  5.49311614e-02  0.00000000e+00  2.15786632e+02]
 [-5.49311614e-02  9.98490144e-01  0.00000000e+00  4.44676246e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.266066493
Centerline is valid?  [True, True]
Translation: X:215.85, Y:0.45, Z:0.00
[[ 9.99069006e-01  4.31407249e-02  0.00000000e+00  2.15847012e+02]
 [-4.31407249e-02  9.99069006e-01  0.00000000e+00  4.45737053e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.326066493
Centerline is valid?  [True, True]
Translation: X:215.91, Y:0.45, Z:0.00
[[ 9.99442121e-01  3.33983094e-02  0.00000000e+00  2.15908650e+02]
 [-3.33983094e-02  9.99442121e-01  0.00000000e+00  4.47227460e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.38606649300002
Centerline is valid?  [True, True]
Translation: X:215.97, Y:0.46, Z:0.00
[[ 9.99819821e-01  1.89822462e-02  0.00000000e+00  2.15970890e+02]
 [-1.89822462e-02  9.99819821e-01  0.00000000e+00  4.60464695e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.44606649300002
Centerline is valid?  [True, True]
Translation: X:216.03, Y:0.47, Z:0.00
[[ 9.99927257e-01  1.20615034e-02  0.00000000e+00  2.16032554e+02]
 [-1.20615034e-02  9.99927257e-01  0.00000000e+00  4.68822970e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.50606649300002
Centerline is valid?  [True, True]
Translation: X:216.09, Y:0.47, Z:0.00
[[ 9.99958754e-01  9.08242741e-03  0.00000000e+00  2.16093990e+02]
 [-9.08242741e-03  9.99958754e-01  0.00000000e+00  4.70709137e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.56606649300002
Centerline is valid?  [True, True]
Translation: X:216.16, Y:0.49, Z:0.00
[[ 9.99960020e-01  8.94200024e-03  0.00000000e+00  2.16155155e+02]
 [-8.94200024e-03  9.99960020e-01  0.00000000e+00  4.90713374e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.626066493
Centerline is valid?  [True, True]
Translation: X:216.22, Y:0.51, Z:0.00
[[ 9.99934363e-01  1.14573245e-02  0.00000000e+00  2.16216694e+02]
 [-1.14573245e-02  9.99934363e-01  0.00000000e+00  5.08058691e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.686066493
Centerline is valid?  [True, True]
Translation: X:216.28, Y:0.53, Z:0.00
[[ 9.99755433e-01  2.21150021e-02  0.00000000e+00  2.16278128e+02]
 [-2.21150021e-02  9.99755433e-01  0.00000000e+00  5.28122573e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.746066493
Centerline is valid?  [True, True]
Translation: X:216.34, Y:0.54, Z:0.00
[[ 9.99494622e-01  3.17883599e-02  0.00000000e+00  2.16339856e+02]
 [-3.17883599e-02  9.99494622e-01  0.00000000e+00  5.39865811e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 214.806066493
Centerline is valid?  [True, True]
Translation: X:216.40, Y:0.56, Z:0.00
[[ 9.98980720e-01  4.51389008e-02  0.00000000e+00  2.16400728e+02]
 [-4.51389008e-02  9.98980720e-01  0.00000000e+00  5.61321651e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.866066493
Centerline is valid?  [True, True]
Translation: X:216.46, Y:0.57, Z:0.00
[[ 9.99005670e-01  4.45833125e-02  0.00000000e+00  2.16461732e+02]
 [-4.45833125e-02  9.99005670e-01  0.00000000e+00  5.69454060e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.926066493
Centerline is valid?  [True, True]
Translation: X:216.52, Y:0.58, Z:0.00
[[ 9.99418489e-01  3.40981565e-02  0.00000000e+00  2.16522696e+02]
 [-3.40981565e-02  9.99418489e-01  0.00000000e+00  5.79128819e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.986066493
Centerline is valid?  [True, True]
Translation: X:216.58, Y:0.59, Z:0.00
[[ 9.99686022e-01  2.50571003e-02  0.00000000e+00  2.16583605e+02]
 [-2.50571003e-02  9.99686022e-01  0.00000000e+00  5.86691009e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.046066493
Centerline is valid?  [True, True]
Translation: X:216.64, Y:0.60, Z:0.00
[[ 9.99798270e-01  2.00852838e-02  0.00000000e+00  2.16644995e+02]
 [-2.00852838e-02  9.99798270e-01  0.00000000e+00  5.96347058e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.10606649300001
Centerline is valid?  [True, True]
Translation: X:216.71, Y:0.61, Z:0.00
[[ 9.99891898e-01  1.47034505e-02  0.00000000e+00  2.16705665e+02]
 [-1.47034505e-02  9.99891898e-01  0.00000000e+00  6.09855282e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.16606649300002
Centerline is valid?  [True, True]
Translation: X:216.77, Y:0.61, Z:0.00
[[ 9.99850161e-01  1.73105522e-02  0.00000000e+00  2.16766000e+02]
 [-1.73105522e-02  9.99850161e-01  0.00000000e+00  6.12897546e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.22606649300002
Centerline is valid?  [True, True]
Translation: X:216.83, Y:0.62, Z:0.00
[[ 9.99773275e-01  2.12931668e-02  0.00000000e+00  2.16827170e+02]
 [-2.12931668e-02  9.99773275e-01  0.00000000e+00  6.23481813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.28606649300002
Centerline is valid?  [True, True]
Translation: X:216.89, Y:0.63, Z:0.00
[[ 9.99537458e-01  3.04116897e-02  0.00000000e+00  2.16888340e+02]
 [-3.04116897e-02  9.99537458e-01  0.00000000e+00  6.32416908e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.346066493
Centerline is valid?  [True, True]
Translation: X:216.95, Y:0.65, Z:0.00
[[ 9.99074883e-01  4.30043889e-02  0.00000000e+00  2.16949668e+02]
 [-4.30043889e-02  9.99074883e-01  0.00000000e+00  6.53480006e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.406066493
Centerline is valid?  [True, True]
Translation: X:217.01, Y:0.66, Z:0.00
[[ 9.98465507e-01  5.53771819e-02  0.00000000e+00  2.17009712e+02]
 [-5.53771819e-02  9.98465507e-01  0.00000000e+00  6.59671644e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.466066493
Centerline is valid?  [True, True]
Translation: X:217.07, Y:0.67, Z:0.00
[[ 9.97481256e-01  7.09305528e-02  0.00000000e+00  2.17069321e+02]
 [-7.09305528e-02  9.97481256e-01  0.00000000e+00  6.65223626e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.526066493
Centerline is valid?  [True, True]
Translation: X:217.13, Y:0.66, Z:0.00
[[ 9.97066881e-01  7.65351851e-02  0.00000000e+00  2.17129125e+02]
 [-7.65351851e-02  9.97066881e-01  0.00000000e+00  6.64125071e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.586066493
Centerline is valid?  [True, True]
Translation: X:217.19, Y:0.66, Z:0.00
[[ 9.97103594e-01  7.60553935e-02  0.00000000e+00  2.17188430e+02]
 [-7.60553935e-02  9.97103594e-01  0.00000000e+00  6.56875959e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.646066493
Centerline is valid?  [True, True]
Translation: X:217.25, Y:0.65, Z:0.00
[[ 9.97344683e-01  7.28257092e-02  0.00000000e+00  2.17248192e+02]
 [-7.28257092e-02  9.97344683e-01  0.00000000e+00  6.51367135e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.706066493
Centerline is valid?  [True, True]
Translation: X:217.31, Y:0.65, Z:0.00
[[ 9.97484538e-01  7.08843814e-02  0.00000000e+00  2.17307254e+02]
 [-7.08843814e-02  9.97484538e-01  0.00000000e+00  6.46387450e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.766066493
Centerline is valid?  [True, True]
Translation: X:217.37, Y:0.64, Z:0.00
[[ 9.97201593e-01  7.47595039e-02  0.00000000e+00  2.17367014e+02]
 [-7.47595039e-02  9.97201593e-01  0.00000000e+00  6.40446575e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.826066493
Centerline is valid?  [True, True]
Translation: X:217.43, Y:0.63, Z:0.00
[[ 9.96955115e-01  7.79775480e-02  0.00000000e+00  2.17427374e+02]
 [-7.79775480e-02  9.96955115e-01  0.00000000e+00  6.32746818e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.88606649300002
Centerline is valid?  [True, True]
Translation: X:217.49, Y:0.62, Z:0.00
[[ 9.96582000e-01  8.26094230e-02  0.00000000e+00  2.17487563e+02]
 [-8.26094230e-02  9.96582000e-01  0.00000000e+00  6.17679137e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.94606649300002
Centerline is valid?  [True, True]
Translation: X:217.55, Y:0.60, Z:0.00
[[ 9.96667012e-01  8.15773699e-02  0.00000000e+00  2.17546862e+02]
 [-8.15773699e-02  9.96667012e-01  0.00000000e+00  6.04117309e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 216.00606649300002
Centerline is valid?  [True, True]
Translation: X:217.61, Y:0.59, Z:0.00
[[ 9.96761735e-01  8.04117193e-02  0.00000000e+00  2.17608766e+02]
 [-8.04117193e-02  9.96761735e-01  0.00000000e+00  5.89097081e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.06606649300002
Centerline is valid?  [True, True]
Translation: X:217.67, Y:0.57, Z:0.00
[[ 9.96784311e-01  8.01313745e-02  0.00000000e+00  2.17668389e+02]
 [-8.01313745e-02  9.96784311e-01  0.00000000e+00  5.67439696e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.126066493
Centerline is valid?  [True, True]
Translation: X:217.73, Y:0.55, Z:0.00
[[ 9.96445540e-01  8.42394526e-02  0.00000000e+00  2.17728328e+02]
 [-8.42394526e-02  9.96445540e-01  0.00000000e+00  5.46945974e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.186066493
Centerline is valid?  [True, True]
Translation: X:217.79, Y:0.53, Z:0.00
[[ 9.96081544e-01  8.84395659e-02  0.00000000e+00  2.17787535e+02]
 [-8.84395659e-02  9.96081544e-01  0.00000000e+00  5.29857587e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.246066493
Centerline is valid?  [True, True]
Translation: X:217.85, Y:0.52, Z:0.00
[[ 9.95856729e-01  9.09361016e-02  0.00000000e+00  2.17846270e+02]
 [-9.09361016e-02  9.95856729e-01  0.00000000e+00  5.16200517e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.306066493
Centerline is valid?  [True, True]
Translation: X:217.91, Y:0.50, Z:0.00
[[ 9.96220018e-01  8.68658483e-02  0.00000000e+00  2.17906736e+02]
 [-8.68658483e-02  9.96220018e-01  0.00000000e+00  4.99795792e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.366066493
Centerline is valid?  [True, True]
Translation: X:217.97, Y:0.49, Z:0.00
[[ 9.96335390e-01  8.55323990e-02  0.00000000e+00  2.17966912e+02]
 [-8.55323990e-02  9.96335390e-01  0.00000000e+00  4.85495391e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.426066493
Centerline is valid?  [True, True]
Translation: X:218.03, Y:0.47, Z:0.00
[[ 9.96252147e-01  8.64965836e-02  0.00000000e+00  2.18029056e+02]
 [-8.64965836e-02  9.96252147e-01  0.00000000e+00  4.73249167e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.486066493
Centerline is valid?  [True, True]
Translation: X:218.09, Y:0.46, Z:0.00
[[ 9.96127944e-01  8.79154049e-02  0.00000000e+00  2.18090925e+02]
 [-8.79154049e-02  9.96127944e-01  0.00000000e+00  4.60441576e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.546066493
Centerline is valid?  [True, True]
Translation: X:218.15, Y:0.45, Z:0.00
[[ 9.96282479e-01  8.61465164e-02  0.00000000e+00  2.18151634e+02]
 [-8.61465164e-02  9.96282479e-01  0.00000000e+00  4.46862853e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.60606649300001
Centerline is valid?  [True, True]
Translation: X:218.21, Y:0.43, Z:0.00
[[ 9.96873311e-01  7.90164640e-02  0.00000000e+00  2.18210731e+02]
 [-7.90164640e-02  9.96873311e-01  0.00000000e+00  4.26658734e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.66606649300002
Centerline is valid?  [True, True]
Translation: X:218.27, Y:0.41, Z:0.00
[[ 9.97137632e-01  7.56078207e-02  0.00000000e+00  2.18271103e+02]
 [-7.56078207e-02  9.97137632e-01  0.00000000e+00  4.13969031e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.72606649300002
Centerline is valid?  [True, True]
Translation: X:218.33, Y:0.40, Z:0.00
[[ 9.97184675e-01  7.49848295e-02  0.00000000e+00  2.18334129e+02]
 [-7.49848295e-02  9.97184675e-01  0.00000000e+00  3.97914846e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.78606649300002
Centerline is valid?  [True, True]
Translation: X:218.39, Y:0.39, Z:0.00
[[ 9.97396945e-01  7.21064115e-02  0.00000000e+00  2.18393908e+02]
 [-7.21064115e-02  9.97396945e-01  0.00000000e+00  3.85991676e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.846066493
Centerline is valid?  [True, True]
Translation: X:218.45, Y:0.37, Z:0.00
[[ 9.98036903e-01  6.26285945e-02  0.00000000e+00  2.18453720e+02]
 [-6.26285945e-02  9.98036903e-01  0.00000000e+00  3.72835301e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.906066493
Centerline is valid?  [True, True]
Translation: X:218.51, Y:0.37, Z:0.00
[[ 9.98255167e-01  5.90476186e-02  0.00000000e+00  2.18514825e+02]
 [-5.90476186e-02  9.98255167e-01  0.00000000e+00  3.69896497e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.966066493
Centerline is valid?  [True, True]
Translation: X:218.57, Y:0.36, Z:0.00
[[ 9.99003364e-01  4.46349389e-02  0.00000000e+00  2.18573745e+02]
 [-4.46349389e-02  9.99003364e-01  0.00000000e+00  3.60515922e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.026066493
Centerline is valid?  [True, True]
Translation: X:218.63, Y:0.36, Z:0.00
[[ 9.99531885e-01  3.05942922e-02  0.00000000e+00  2.18634472e+02]
 [-3.05942922e-02  9.99531885e-01  0.00000000e+00  3.62703190e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.086066493
Centerline is valid?  [True, True]
Translation: X:218.70, Y:0.37, Z:0.00
[[ 9.99829576e-01  1.84613079e-02  0.00000000e+00  2.18696382e+02]
 [-1.84613079e-02  9.99829576e-01  0.00000000e+00  3.66715743e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.146066493
Centerline is valid?  [True, True]
Translation: X:218.76, Y:0.37, Z:0.00
[[ 9.99975937e-01  6.93731005e-03  0.00000000e+00  2.18757207e+02]
 [-6.93731005e-03  9.99975937e-01  0.00000000e+00  3.71857037e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 217.206066493
Centerline is valid?  [True, True]
Translation: X:218.82, Y:0.39, Z:0.00
[[ 9.99999989e-01 -1.51553561e-04  0.00000000e+00  2.18819202e+02]
 [ 1.51553561e-04  9.99999989e-01  0.00000000e+00  3.90680180e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.266066493
Centerline is valid?  [True, True]
Translation: X:218.88, Y:0.41, Z:0.00
[[ 9.99987192e-01  5.06121022e-03  0.00000000e+00  2.18879378e+02]
 [-5.06121022e-03  9.99987192e-01  0.00000000e+00  4.07140645e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.326066493
Centerline is valid?  [True, True]
Translation: X:218.94, Y:0.43, Z:0.00
[[ 9.99931889e-01  1.16712562e-02  0.00000000e+00  2.18941154e+02]
 [-1.16712562e-02  9.99931889e-01  0.00000000e+00  4.30898823e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.38606649300002
Centerline is valid?  [True, True]
Translation: X:219.00, Y:0.45, Z:0.00
[[ 9.99876005e-01  1.57472088e-02  0.00000000e+00  2.19002084e+02]
 [-1.57472088e-02  9.99876005e-01  0.00000000e+00  4.47294402e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.44606649300002
Centerline is valid?  [True, True]
Translation: X:219.06, Y:0.47, Z:0.00
[[ 9.99762404e-01  2.17975855e-02  0.00000000e+00  2.19063565e+02]
 [-2.17975855e-02  9.99762404e-01  0.00000000e+00  4.72806975e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.50606649300002
Centerline is valid?  [True, True]
Translation: X:219.13, Y:0.49, Z:0.00
[[ 9.99693478e-01  2.47578397e-02  0.00000000e+00  2.19125333e+02]
 [-2.47578397e-02  9.99693478e-01  0.00000000e+00  4.94828468e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.56606649300002
Centerline is valid?  [True, True]
Translation: X:219.19, Y:0.51, Z:0.00
[[ 9.99618623e-01  2.76153634e-02  0.00000000e+00  2.19187444e+02]
 [-2.76153634e-02  9.99618623e-01  0.00000000e+00  5.08868373e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.626066493
Centerline is valid?  [True, True]
Translation: X:219.25, Y:0.52, Z:0.00
[[ 9.99580129e-01  2.89752717e-02  0.00000000e+00  2.19250314e+02]
 [-2.89752717e-02  9.99580129e-01  0.00000000e+00  5.23465929e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.686066493
Centerline is valid?  [True, True]
Translation: X:219.31, Y:0.54, Z:0.00
[[ 9.99699289e-01  2.45220611e-02  0.00000000e+00  2.19311972e+02]
 [-2.45220611e-02  9.99699289e-01  0.00000000e+00  5.39851473e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.746066493
Centerline is valid?  [True, True]
Translation: X:219.37, Y:0.55, Z:0.00
[[ 9.99728792e-01  2.32882684e-02  0.00000000e+00  2.19372551e+02]
 [-2.32882684e-02  9.99728792e-01  0.00000000e+00  5.53592198e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.806066493
Centerline is valid?  [True, True]
Translation: X:219.43, Y:0.57, Z:0.00
[[ 9.99696281e-01  2.46443781e-02  0.00000000e+00  2.19433602e+02]
 [-2.46443781e-02  9.99696281e-01  0.00000000e+00  5.69480235e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.866066493
Centerline is valid?  [True, True]
Translation: X:219.49, Y:0.58, Z:0.00
[[ 9.99631217e-01  2.71556529e-02  0.00000000e+00  2.19494461e+02]
 [-2.71556529e-02  9.99631217e-01  0.00000000e+00  5.79238158e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.926066493
Centerline is valid?  [True, True]
Translation: X:219.56, Y:0.59, Z:0.00
[[ 9.99603552e-01  2.81556038e-02  0.00000000e+00  2.19555461e+02]
 [-2.81556038e-02  9.99603552e-01  0.00000000e+00  5.91191063e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.986066493
Centerline is valid?  [True, True]
Translation: X:219.61, Y:0.60, Z:0.00
[[ 9.99615071e-01  2.77436434e-02  0.00000000e+00  2.19614079e+02]
 [-2.77436434e-02  9.99615071e-01  0.00000000e+00  5.97434373e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.046066493
Centerline is valid?  [True, True]
Translation: X:219.67, Y:0.60, Z:0.00
[[ 9.99746736e-01  2.25047334e-02  0.00000000e+00  2.19673399e+02]
 [-2.25047334e-02  9.99746736e-01  0.00000000e+00  6.04339993e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.10606649300001
Centerline is valid?  [True, True]
Translation: X:219.73, Y:0.61, Z:0.00
[[ 9.99846059e-01  1.75459106e-02  0.00000000e+00  2.19733540e+02]
 [-1.75459106e-02  9.99846059e-01  0.00000000e+00  6.09809494e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.16606649300002
Centerline is valid?  [True, True]
Translation: X:219.79, Y:0.62, Z:0.00
[[ 9.99974694e-01  7.11417521e-03  0.00000000e+00  2.19792994e+02]
 [-7.11417521e-03  9.99974694e-01  0.00000000e+00  6.19633132e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.22606649300002
Centerline is valid?  [True, True]
Translation: X:219.85, Y:0.63, Z:0.00
[[ 9.99997916e-01  2.04132710e-03  0.00000000e+00  2.19853046e+02]
 [-2.04132710e-03  9.99997916e-01  0.00000000e+00  6.27434178e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.28606649300002
Centerline is valid?  [True, True]
Translation: X:219.91, Y:0.64, Z:0.00
[[ 9.99998905e-01 -1.47955460e-03  0.00000000e+00  2.19913375e+02]
 [ 1.47955460e-03  9.99998905e-01  0.00000000e+00  6.44317466e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.346066493
Centerline is valid?  [True, True]
Translation: X:219.97, Y:0.65, Z:0.00
[[ 9.99998999e-01 -1.41516943e-03  0.00000000e+00  2.19974234e+02]
 [ 1.41516943e-03  9.99998999e-01  0.00000000e+00  6.46749535e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 218.406066493
Centerline is valid?  [True, True]
Translation: X:220.03, Y:0.67, Z:0.00
[[ 9.99999559e-01  9.39636269e-04  0.00000000e+00  2.20034449e+02]
 [-9.39636269e-04  9.99999559e-01  0.00000000e+00  6.65905906e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.466066493
Centerline is valid?  [True, True]
Translation: X:220.10, Y:0.69, Z:0.00
[[ 9.99942484e-01  1.07251746e-02  0.00000000e+00  2.20095149e+02]
 [-1.07251746e-02  9.99942484e-01  0.00000000e+00  6.85106081e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.526066493
Centerline is valid?  [True, True]
Translation: X:220.16, Y:0.70, Z:0.00
[[ 9.99806788e-01  1.96567101e-02  0.00000000e+00  2.20155759e+02]
 [-1.96567101e-02  9.99806788e-01  0.00000000e+00  6.98704398e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.586066493
Centerline is valid?  [True, True]
Translation: X:220.22, Y:0.72, Z:0.00
[[ 9.99477539e-01  3.23210404e-02  0.00000000e+00  2.20215680e+02]
 [-3.23210404e-02  9.99477539e-01  0.00000000e+00  7.16470223e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.646066493
Centerline is valid?  [True, True]
Translation: X:220.27, Y:0.72, Z:0.00
[[ 9.99257736e-01  3.85224350e-02  0.00000000e+00  2.20274616e+02]
 [-3.85224350e-02  9.99257736e-01  0.00000000e+00  7.22415701e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.706066493
Centerline is valid?  [True, True]
Translation: X:220.33, Y:0.73, Z:0.00
[[ 9.98818697e-01  4.85922880e-02  0.00000000e+00  2.20334820e+02]
 [-4.85922880e-02  9.98818697e-01  0.00000000e+00  7.26750795e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.766066493
Centerline is valid?  [True, True]
Translation: X:220.39, Y:0.73, Z:0.00
[[ 9.98512784e-01  5.45180716e-02  0.00000000e+00  2.20394000e+02]
 [-5.45180716e-02  9.98512784e-01  0.00000000e+00  7.29355581e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.826066493
Centerline is valid?  [True, True]
Translation: X:220.45, Y:0.73, Z:0.00
[[ 9.97924536e-01  6.43942520e-02  0.00000000e+00  2.20454540e+02]
 [-6.43942520e-02  9.97924536e-01  0.00000000e+00  7.26053031e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.88606649300002
Centerline is valid?  [True, True]
Translation: X:220.51, Y:0.72, Z:0.00
[[ 9.97560521e-01  6.98069206e-02  0.00000000e+00  2.20514721e+02]
 [-6.98069206e-02  9.97560521e-01  0.00000000e+00  7.22790280e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.94606649300002
Centerline is valid?  [True, True]
Translation: X:220.58, Y:0.71, Z:0.00
[[ 9.97310773e-01  7.32886180e-02  0.00000000e+00  2.20575086e+02]
 [-7.32886180e-02  9.97310773e-01  0.00000000e+00  7.14458033e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.00606649300002
Centerline is valid?  [True, True]
Translation: X:220.63, Y:0.71, Z:0.00
[[ 9.97209746e-01  7.46506659e-02  0.00000000e+00  2.20634079e+02]
 [-7.46506659e-02  9.97209746e-01  0.00000000e+00  7.06156026e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.06606649300002
Centerline is valid?  [True, True]
Translation: X:220.69, Y:0.70, Z:0.00
[[ 9.97087821e-01  7.62619050e-02  0.00000000e+00  2.20691618e+02]
 [-7.62619050e-02  9.97087821e-01  0.00000000e+00  6.95071166e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.126066493
Centerline is valid?  [True, True]
Translation: X:220.75, Y:0.68, Z:0.00
[[ 9.96983670e-01  7.76116092e-02  0.00000000e+00  2.20751907e+02]
 [-7.76116092e-02  9.96983670e-01  0.00000000e+00  6.78685393e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.186066493
Centerline is valid?  [True, True]
Translation: X:220.81, Y:0.67, Z:0.00
[[ 9.97318577e-01  7.31823478e-02  0.00000000e+00  2.20810393e+02]
 [-7.31823478e-02  9.97318577e-01  0.00000000e+00  6.65501094e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.246066493
Centerline is valid?  [True, True]
Translation: X:220.87, Y:0.64, Z:0.00
[[ 9.97974114e-01  6.36212794e-02  0.00000000e+00  2.20869987e+02]
 [-6.36212794e-02  9.97974114e-01  0.00000000e+00  6.44423705e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.306066493
Centerline is valid?  [True, True]
Translation: X:220.93, Y:0.63, Z:0.00
[[ 9.98377138e-01  5.69481431e-02  0.00000000e+00  2.20930397e+02]
 [-5.69481431e-02  9.98377138e-01  0.00000000e+00  6.30673272e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.366066493
Centerline is valid?  [True, True]
Translation: X:220.99, Y:0.62, Z:0.00
[[ 9.98725074e-01  5.04799538e-02  0.00000000e+00  2.20989023e+02]
 [-5.04799538e-02  9.98725074e-01  0.00000000e+00  6.17041343e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.426066493
Centerline is valid?  [True, True]
Translation: X:221.05, Y:0.61, Z:0.00
[[ 9.98923091e-01  4.63967538e-02  0.00000000e+00  2.21046451e+02]
 [-4.63967538e-02  9.98923091e-01  0.00000000e+00  6.07393097e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.486066493
Centerline is valid?  [True, True]
Translation: X:221.11, Y:0.60, Z:0.00
[[ 9.99225015e-01  3.93620204e-02  0.00000000e+00  2.21106113e+02]
 [-3.93620204e-02  9.99225015e-01  0.00000000e+00  5.96401869e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.546066493
Centerline is valid?  [True, True]
Translation: X:221.17, Y:0.59, Z:0.00
[[ 9.99571539e-01  2.92701037e-02  0.00000000e+00  2.21165932e+02]
 [-2.92701037e-02  9.99571539e-01  0.00000000e+00  5.92483272e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 219.60606649300001
Centerline is valid?  [True, True]
Translation: X:221.23, Y:0.60, Z:0.00
[[ 9.99847095e-01  1.74867310e-02  0.00000000e+00  2.21225135e+02]
 [-1.74867310e-02  9.99847095e-01  0.00000000e+00  5.95070448e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.66606649300002
Centerline is valid?  [True, True]
Translation: X:221.29, Y:0.60, Z:0.00
[[ 9.99935386e-01  1.13676229e-02  0.00000000e+00  2.21285036e+02]
 [-1.13676229e-02  9.99935386e-01  0.00000000e+00  5.98882152e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.72606649300002
Centerline is valid?  [True, True]
Translation: X:221.35, Y:0.61, Z:0.00
[[ 9.99920191e-01  1.26337272e-02  0.00000000e+00  2.21345051e+02]
 [-1.26337272e-02  9.99920191e-01  0.00000000e+00  6.10463001e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.78606649300002
Centerline is valid?  [True, True]
Translation: X:221.40, Y:0.62, Z:0.00
[[ 9.99883887e-01  1.52385085e-02  0.00000000e+00  2.21404956e+02]
 [-1.52385085e-02  9.99883887e-01  0.00000000e+00  6.21921099e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.846066493
Centerline is valid?  [True, True]
Translation: X:221.46, Y:0.64, Z:0.00
[[ 9.99834790e-01  1.81767335e-02  0.00000000e+00  2.21463918e+02]
 [-1.81767335e-02  9.99834790e-01  0.00000000e+00  6.38244125e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.906066493
Centerline is valid?  [True, True]
Translation: X:221.52, Y:0.65, Z:0.00
[[ 9.99856225e-01  1.69566696e-02  0.00000000e+00  2.21522681e+02]
 [-1.69566696e-02  9.99856225e-01  0.00000000e+00  6.47180695e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.966066493
Centerline is valid?  [True, True]
Translation: X:221.58, Y:0.67, Z:0.00
[[ 9.99962752e-01  8.63104487e-03  0.00000000e+00  2.21582706e+02]
 [-8.63104487e-03  9.99962752e-01  0.00000000e+00  6.65795600e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.026066493
Centerline is valid?  [True, True]
Translation: X:221.64, Y:0.68, Z:0.00
[[ 9.99984004e-01 -5.65611817e-03  0.00000000e+00  2.21642635e+02]
 [ 5.65611817e-03  9.99984004e-01  0.00000000e+00  6.82012700e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.086066493
Centerline is valid?  [True, True]
Translation: X:221.70, Y:0.69, Z:0.00
[[ 9.99924501e-01 -1.22878822e-02  0.00000000e+00  2.21703752e+02]
 [ 1.22878822e-02  9.99924501e-01  0.00000000e+00  6.94027677e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.146066493
Centerline is valid?  [True, True]
Translation: X:221.77, Y:0.72, Z:0.00
[[ 9.99907747e-01 -1.35830185e-02  0.00000000e+00  2.21765078e+02]
 [ 1.35830185e-02  9.99907747e-01  0.00000000e+00  7.19953326e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.206066493
Centerline is valid?  [True, True]
Translation: X:221.83, Y:0.73, Z:0.00
[[ 9.99923194e-01 -1.23937589e-02  0.00000000e+00  2.21826594e+02]
 [ 1.23937589e-02  9.99923194e-01  0.00000000e+00  7.27418117e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.266066493
Centerline is valid?  [True, True]
Translation: X:221.89, Y:0.74, Z:0.00
[[ 9.99950193e-01 -9.98056535e-03  0.00000000e+00  2.21887407e+02]
 [ 9.98056535e-03  9.99950193e-01  0.00000000e+00  7.43652253e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.326066493
Centerline is valid?  [True, True]
Translation: X:221.95, Y:0.77, Z:0.00
[[ 9.99999203e-01 -1.26255205e-03  0.00000000e+00  2.21947505e+02]
 [ 1.26255205e-03  9.99999203e-01  0.00000000e+00  7.71402667e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.38606649300002
Centerline is valid?  [True, True]
Translation: X:222.01, Y:0.79, Z:0.00
[[ 9.99966652e-01  8.16671154e-03  0.00000000e+00  2.22009205e+02]
 [-8.16671154e-03  9.99966652e-01  0.00000000e+00  7.88544099e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.44606649300002
Centerline is valid?  [True, True]
Translation: X:222.07, Y:0.81, Z:0.00
[[ 9.99684631e-01  2.51124981e-02  0.00000000e+00  2.22068446e+02]
 [-2.51124981e-02  9.99684631e-01  0.00000000e+00  8.10237181e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.50606649300002
Centerline is valid?  [True, True]
Translation: X:222.13, Y:0.82, Z:0.00
[[ 9.99428936e-01  3.37905665e-02  0.00000000e+00  2.22128144e+02]
 [-3.37905665e-02  9.99428936e-01  0.00000000e+00  8.20445293e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.56606649300002
Centerline is valid?  [True, True]
Translation: X:222.19, Y:0.83, Z:0.00
[[ 9.99049018e-01  4.36011384e-02  0.00000000e+00  2.22188819e+02]
 [-4.36011384e-02  9.99049018e-01  0.00000000e+00  8.31083484e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.626066493
Centerline is valid?  [True, True]
Translation: X:222.25, Y:0.83, Z:0.00
[[ 9.98767109e-01  4.96413325e-02  0.00000000e+00  2.22247510e+02]
 [-4.96413325e-02  9.98767109e-01  0.00000000e+00  8.33850123e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.686066493
Centerline is valid?  [True, True]
Translation: X:222.31, Y:0.83, Z:0.00
[[ 9.98647799e-01  5.19862818e-02  0.00000000e+00  2.22306474e+02]
 [-5.19862818e-02  9.98647799e-01  0.00000000e+00  8.31535678e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.746066493
Centerline is valid?  [True, True]
Translation: X:222.37, Y:0.83, Z:0.00
[[ 9.98704545e-01  5.08844966e-02  0.00000000e+00  2.22367010e+02]
 [-5.08844966e-02  9.98704545e-01  0.00000000e+00  8.27389748e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 220.806066493
Centerline is valid?  [True, True]
Translation: X:222.42, Y:0.82, Z:0.00
[[ 9.98841327e-01  4.81248726e-02  0.00000000e+00  2.22424336e+02]
 [-4.81248726e-02  9.98841327e-01  0.00000000e+00  8.21063285e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.866066493
Centerline is valid?  [True, True]
Translation: X:222.48, Y:0.81, Z:0.00
[[ 9.99156266e-01  4.10701308e-02  0.00000000e+00  2.22482500e+02]
 [-4.10701308e-02  9.99156266e-01  0.00000000e+00  8.12921263e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.926066493
Centerline is valid?  [True, True]
Translation: X:222.54, Y:0.81, Z:0.00
[[ 9.99321095e-01  3.68422126e-02  0.00000000e+00  2.22542366e+02]
 [-3.68422126e-02  9.99321095e-01  0.00000000e+00  8.08452381e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.986066493
Centerline is valid?  [True, True]
Translation: X:222.60, Y:0.80, Z:0.00
[[ 9.99380412e-01  3.51964658e-02  0.00000000e+00  2.22601352e+02]
 [-3.51964658e-02  9.99380412e-01  0.00000000e+00  8.03275701e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.046066493
Centerline is valid?  [True, True]
Translation: X:222.66, Y:0.80, Z:0.00
[[ 9.99406244e-01  3.44551798e-02  0.00000000e+00  2.22660185e+02]
 [-3.44551798e-02  9.99406244e-01  0.00000000e+00  7.95422781e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.10606649300001
Centerline is valid?  [True, True]
Translation: X:222.72, Y:0.79, Z:0.00
[[ 9.99514885e-01  3.11447243e-02  0.00000000e+00  2.22719139e+02]
 [-3.11447243e-02  9.99514885e-01  0.00000000e+00  7.92186470e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.16606649300002
Centerline is valid?  [True, True]
Translation: X:222.78, Y:0.79, Z:0.00
[[ 9.99678841e-01  2.53419561e-02  0.00000000e+00  2.22778065e+02]
 [-2.53419561e-02  9.99678841e-01  0.00000000e+00  7.86316143e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.22606649300002
Centerline is valid?  [True, True]
Translation: X:222.84, Y:0.78, Z:0.00
[[ 9.99751437e-01  2.22949508e-02  0.00000000e+00  2.22837265e+02]
 [-2.22949508e-02  9.99751437e-01  0.00000000e+00  7.82410427e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.28606649300002
Centerline is valid?  [True, True]
Translation: X:222.90, Y:0.78, Z:0.00
[[ 9.99689146e-01  2.49321154e-02  0.00000000e+00  2.22895785e+02]
 [-2.49321154e-02  9.99689146e-01  0.00000000e+00  7.78719665e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.346066493
Centerline is valid?  [True, True]
Translation: X:222.96, Y:0.78, Z:0.00
[[ 9.99336052e-01  3.64342702e-02  0.00000000e+00  2.22955571e+02]
 [-3.64342702e-02  9.99336052e-01  0.00000000e+00  7.79687980e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.406066493
Centerline is valid?  [True, True]
Translation: X:223.01, Y:0.78, Z:0.00
[[ 9.98964957e-01  4.54864204e-02  0.00000000e+00  2.23014270e+02]
 [-4.54864204e-02  9.98964957e-01  0.00000000e+00  7.79131819e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.466066493
Centerline is valid?  [True, True]
Translation: X:223.07, Y:0.78, Z:0.00
[[ 9.98475318e-01  5.51999948e-02  0.00000000e+00  2.23073098e+02]
 [-5.51999948e-02  9.98475318e-01  0.00000000e+00  7.75565851e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.526066493
Centerline is valid?  [True, True]
Translation: X:223.13, Y:0.77, Z:0.00
[[ 9.97480818e-01  7.09367148e-02  0.00000000e+00  2.23133022e+02]
 [-7.09367148e-02  9.97480818e-01  0.00000000e+00  7.73362626e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.586066493
Centerline is valid?  [True, True]
Translation: X:223.19, Y:0.77, Z:0.00
[[ 9.97185183e-01  7.49780682e-02  0.00000000e+00  2.23191955e+02]
 [-7.49780682e-02  9.97185183e-01  0.00000000e+00  7.69196128e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.646066493
Centerline is valid?  [True, True]
Translation: X:223.25, Y:0.75, Z:0.00
[[ 9.97638205e-01  6.86877928e-02  0.00000000e+00  2.23251901e+02]
 [-6.86877928e-02  9.97638205e-01  0.00000000e+00  7.52480649e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.706066493
Centerline is valid?  [True, True]
Translation: X:223.31, Y:0.74, Z:0.00
[[ 9.98300965e-01  5.82682077e-02  0.00000000e+00  2.23311143e+02]
 [-5.82682077e-02  9.98300965e-01  0.00000000e+00  7.39926930e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.766066493
Centerline is valid?  [True, True]
Translation: X:223.37, Y:0.72, Z:0.00
[[ 9.99145089e-01  4.13411519e-02  0.00000000e+00  2.23370834e+02]
 [-4.13411519e-02  9.99145089e-01  0.00000000e+00  7.24599894e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.826066493
Centerline is valid?  [True, True]
Translation: X:223.43, Y:0.71, Z:0.00
[[ 9.99420819e-01  3.40298008e-02  0.00000000e+00  2.23429563e+02]
 [-3.40298008e-02  9.99420819e-01  0.00000000e+00  7.11481924e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.88606649300002
Centerline is valid?  [True, True]
Translation: X:223.49, Y:0.70, Z:0.00
[[ 9.99595751e-01  2.84312274e-02  0.00000000e+00  2.23487551e+02]
 [-2.84312274e-02  9.99595751e-01  0.00000000e+00  6.99851152e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.94606649300002
Centerline is valid?  [True, True]
Translation: X:223.55, Y:0.70, Z:0.00
[[ 9.99689858e-01  2.49035759e-02  0.00000000e+00  2.23546214e+02]
 [-2.49035759e-02  9.99689858e-01  0.00000000e+00  6.95348392e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 222.00606649300002
Centerline is valid?  [True, True]
Translation: X:223.60, Y:0.69, Z:0.00
[[ 9.99860990e-01  1.66733283e-02  0.00000000e+00  2.23604264e+02]
 [-1.66733283e-02  9.99860990e-01  0.00000000e+00  6.88197841e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.06606649300002
Centerline is valid?  [True, True]
Translation: X:223.66, Y:0.69, Z:0.00
[[ 9.99955068e-01  9.47959192e-03  0.00000000e+00  2.23663335e+02]
 [-9.47959192e-03  9.99955068e-01  0.00000000e+00  6.86193729e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.126066493
Centerline is valid?  [True, True]
Translation: X:223.72, Y:0.68, Z:0.00
[[ 9.99973252e-01  7.31400492e-03  0.00000000e+00  2.23723434e+02]
 [-7.31400492e-03  9.99973252e-01  0.00000000e+00  6.84094650e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.186066493
Centerline is valid?  [True, True]
Translation: X:223.78, Y:0.69, Z:0.00
[[ 9.99999586e-01  9.10486531e-04  0.00000000e+00  2.23782919e+02]
 [-9.10486531e-04  9.99999586e-01  0.00000000e+00  6.90443153e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.246066493
Centerline is valid?  [True, True]
Translation: X:223.84, Y:0.69, Z:0.00
[[ 9.99996018e-01 -2.82197326e-03  0.00000000e+00  2.23843553e+02]
 [ 2.82197326e-03  9.99996018e-01  0.00000000e+00  6.93373589e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.306066493
Centerline is valid?  [True, True]
Translation: X:223.90, Y:0.70, Z:0.00
[[ 9.99978191e-01 -6.60436182e-03  0.00000000e+00  2.23904606e+02]
 [ 6.60436182e-03  9.99978191e-01  0.00000000e+00  6.96925924e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.366066493
Centerline is valid?  [True, True]
Translation: X:223.97, Y:0.71, Z:0.00
[[ 9.99962405e-01 -8.67119224e-03  0.00000000e+00  2.23965933e+02]
 [ 8.67119224e-03  9.99962405e-01  0.00000000e+00  7.08107453e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.426066493
Centerline is valid?  [True, True]
Translation: X:224.03, Y:0.72, Z:0.00
[[ 9.99967389e-01 -8.07594552e-03  0.00000000e+00  2.24026780e+02]
 [ 8.07594552e-03  9.99967389e-01  0.00000000e+00  7.16895326e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.486066493
Centerline is valid?  [True, True]
Translation: X:224.09, Y:0.73, Z:0.00
[[ 9.99993775e-01 -3.52855529e-03  0.00000000e+00  2.24087916e+02]
 [ 3.52855529e-03  9.99993775e-01  0.00000000e+00  7.29702054e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.546066493
Centerline is valid?  [True, True]
Translation: X:224.15, Y:0.74, Z:0.00
[[ 9.99999855e-01 -5.38615851e-04  0.00000000e+00  2.24149083e+02]
 [ 5.38615851e-04  9.99999855e-01  0.00000000e+00  7.39844995e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.60606649300001
Centerline is valid?  [True, True]
Translation: X:224.21, Y:0.75, Z:0.00
[[ 9.99997933e-01  2.03346646e-03  0.00000000e+00  2.24209576e+02]
 [-2.03346646e-03  9.99997933e-01  0.00000000e+00  7.47686778e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.66606649300002
Centerline is valid?  [True, True]
Translation: X:224.27, Y:0.76, Z:0.00
[[ 9.99999634e-01  8.55160880e-04  0.00000000e+00  2.24269036e+02]
 [-8.55160880e-04  9.99999634e-01  0.00000000e+00  7.58476387e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.72606649300002
Centerline is valid?  [True, True]
Translation: X:224.33, Y:0.77, Z:0.00
[[ 9.99999295e-01  1.18706456e-03  0.00000000e+00  2.24329420e+02]
 [-1.18706456e-03  9.99999295e-01  0.00000000e+00  7.66564749e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.78606649300002
Centerline is valid?  [True, True]
Translation: X:224.39, Y:0.77, Z:0.00
[[ 9.99997802e-01  2.09654390e-03  0.00000000e+00  2.24389687e+02]
 [-2.09654390e-03  9.99997802e-01  0.00000000e+00  7.73670978e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.846066493
Centerline is valid?  [True, True]
Translation: X:224.45, Y:0.78, Z:0.00
[[ 9.99996833e-01  2.51691485e-03  0.00000000e+00  2.24450029e+02]
 [-2.51691485e-03  9.99996833e-01  0.00000000e+00  7.84659883e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.906066493
Centerline is valid?  [True, True]
Translation: X:224.51, Y:0.79, Z:0.00
[[ 9.99992511e-01  3.87001967e-03  0.00000000e+00  2.24509372e+02]
 [-3.87001967e-03  9.99992511e-01  0.00000000e+00  7.92696417e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.966066493
Centerline is valid?  [True, True]
Translation: X:224.57, Y:0.80, Z:0.00
[[ 9.99954584e-01  9.53051314e-03  0.00000000e+00  2.24569400e+02]
 [-9.53051314e-03  9.99954584e-01  0.00000000e+00  8.03357194e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.026066493
Centerline is valid?  [True, True]
Translation: X:224.63, Y:0.81, Z:0.00
[[ 9.99831100e-01  1.83785370e-02  0.00000000e+00  2.24628834e+02]
 [-1.83785370e-02  9.99831100e-01  0.00000000e+00  8.13602917e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.086066493
Centerline is valid?  [True, True]
Translation: X:224.69, Y:0.82, Z:0.00
[[ 9.99719411e-01  2.36875513e-02  0.00000000e+00  2.24689444e+02]
 [-2.36875513e-02  9.99719411e-01  0.00000000e+00  8.20304974e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.146066493
Centerline is valid?  [True, True]
Translation: X:224.75, Y:0.82, Z:0.00
[[ 9.99593722e-01  2.85024842e-02  0.00000000e+00  2.24748329e+02]
 [-2.85024842e-02  9.99593722e-01  0.00000000e+00  8.24421508e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 223.206066493
Centerline is valid?  [True, True]
Translation: X:224.81, Y:0.83, Z:0.00
[[ 9.99552311e-01  2.99195062e-02  0.00000000e+00  2.24805228e+02]
 [-2.99195062e-02  9.99552311e-01  0.00000000e+00  8.25283984e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.266066493
Centerline is valid?  [True, True]
Translation: X:224.86, Y:0.83, Z:0.00
[[ 9.99547626e-01  3.00756439e-02  0.00000000e+00  2.24864208e+02]
 [-3.00756439e-02  9.99547626e-01  0.00000000e+00  8.26017443e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.326066493
Centerline is valid?  [True, True]
Translation: X:224.92, Y:0.83, Z:0.00
[[ 9.99510737e-01  3.12775596e-02  0.00000000e+00  2.24922565e+02]
 [-3.12775596e-02  9.99510737e-01  0.00000000e+00  8.25221568e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.38606649300002
Centerline is valid?  [True, True]
Translation: X:224.98, Y:0.82, Z:0.00
[[ 9.99487968e-01  3.19968952e-02  0.00000000e+00  2.24981555e+02]
 [-3.19968952e-02  9.99487968e-01  0.00000000e+00  8.22103666e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.44606649300002
Centerline is valid?  [True, True]
Translation: X:225.04, Y:0.82, Z:0.00
[[ 9.99246759e-01  3.88061091e-02  0.00000000e+00  2.25040527e+02]
 [-3.88061091e-02  9.99246759e-01  0.00000000e+00  8.17791814e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.50606649300002
Centerline is valid?  [True, True]
Translation: X:225.10, Y:0.81, Z:0.00
[[ 9.99101764e-01  4.23752983e-02  0.00000000e+00  2.25100222e+02]
 [-4.23752983e-02  9.99101764e-01  0.00000000e+00  8.13977734e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.56606649300002
Centerline is valid?  [True, True]
Translation: X:225.16, Y:0.80, Z:0.00
[[ 9.98944923e-01  4.59243019e-02  0.00000000e+00  2.25159285e+02]
 [-4.59243019e-02  9.98944923e-01  0.00000000e+00  8.04029153e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.626066493
Centerline is valid?  [True, True]
Translation: X:225.22, Y:0.80, Z:0.00
[[ 9.99150360e-01  4.12135553e-02  0.00000000e+00  2.25218445e+02]
 [-4.12135553e-02  9.99150360e-01  0.00000000e+00  7.95770736e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.686066493
Centerline is valid?  [True, True]
Translation: X:225.28, Y:0.79, Z:0.00
[[ 9.99575821e-01  2.91235087e-02  0.00000000e+00  2.25278597e+02]
 [-2.91235087e-02  9.99575821e-01  0.00000000e+00  7.86095277e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.746066493
Centerline is valid?  [True, True]
Translation: X:225.34, Y:0.78, Z:0.00
[[ 9.99706025e-01  2.42458936e-02  0.00000000e+00  2.25337754e+02]
 [-2.42458936e-02  9.99706025e-01  0.00000000e+00  7.77362117e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.806066493
Centerline is valid?  [True, True]
Translation: X:225.40, Y:0.77, Z:0.00
[[ 9.99745289e-01  2.25689521e-02  0.00000000e+00  2.25397539e+02]
 [-2.25689521e-02  9.99745289e-01  0.00000000e+00  7.70507461e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.866066493
Centerline is valid?  [True, True]
Translation: X:225.45, Y:0.76, Z:0.00
[[ 9.99749009e-01  2.24035520e-02  0.00000000e+00  2.25454889e+02]
 [-2.24035520e-02  9.99749009e-01  0.00000000e+00  7.63753725e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.926066493
Centerline is valid?  [True, True]
Translation: X:225.51, Y:0.76, Z:0.00
[[ 9.99763381e-01  2.17527444e-02  0.00000000e+00  2.25513595e+02]
 [-2.17527444e-02  9.99763381e-01  0.00000000e+00  7.60583245e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.986066493
Centerline is valid?  [True, True]
Translation: X:225.57, Y:0.76, Z:0.00
[[ 9.99803925e-01  1.98018076e-02  0.00000000e+00  2.25571433e+02]
 [-1.98018076e-02  9.99803925e-01  0.00000000e+00  7.56225495e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.046066493
Centerline is valid?  [True, True]
Translation: X:225.63, Y:0.75, Z:0.00
[[ 9.99850633e-01  1.72832586e-02  0.00000000e+00  2.25631192e+02]
 [-1.72832586e-02  9.99850633e-01  0.00000000e+00  7.52273728e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.10606649300001
Centerline is valid?  [True, True]
Translation: X:225.69, Y:0.75, Z:0.00
[[ 9.99860708e-01  1.66902658e-02  0.00000000e+00  2.25691399e+02]
 [-1.66902658e-02  9.99860708e-01  0.00000000e+00  7.48820164e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.16606649300002
Centerline is valid?  [True, True]
Translation: X:225.75, Y:0.75, Z:0.00
[[ 9.99929379e-01  1.18843275e-02  0.00000000e+00  2.25750774e+02]
 [-1.18843275e-02  9.99929379e-01  0.00000000e+00  7.45837123e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.22606649300002
Centerline is valid?  [True, True]
Translation: X:225.81, Y:0.74, Z:0.00
[[ 9.99985097e-01  5.45948823e-03  0.00000000e+00  2.25810232e+02]
 [-5.45948823e-03  9.99985097e-01  0.00000000e+00  7.42391108e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.28606649300002
Centerline is valid?  [True, True]
Translation: X:225.87, Y:0.74, Z:0.00
[[ 9.99958318e-01 -9.13027399e-03  0.00000000e+00  2.25869286e+02]
 [ 9.13027399e-03  9.99958318e-01  0.00000000e+00  7.42864174e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.34606649300002
Centerline is valid?  [True, True]
Translation: X:225.93, Y:0.74, Z:0.00
[[ 9.99803102e-01 -1.98433219e-02  0.00000000e+00  2.25929872e+02]
 [ 1.98433219e-02  9.99803102e-01  0.00000000e+00  7.42210653e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 224.406066493
Centerline is valid?  [True, True]
Translation: X:225.99, Y:0.74, Z:0.00
[[ 9.99612037e-01 -2.78527546e-02  0.00000000e+00  2.25989854e+02]
 [ 2.78527546e-02  9.99612037e-01  0.00000000e+00  7.40923752e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.466066493
Centerline is valid?  [True, True]
Translation: X:226.05, Y:0.75, Z:0.00
[[ 9.99523474e-01 -3.08678572e-02  0.00000000e+00  2.26050966e+02]
 [ 3.08678572e-02  9.99523474e-01  0.00000000e+00  7.50356356e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.526066493
Centerline is valid?  [True, True]
Translation: X:226.11, Y:0.76, Z:0.00
[[ 9.99699284e-01 -2.45222809e-02  0.00000000e+00  2.26112138e+02]
 [ 2.45222809e-02  9.99699284e-01  0.00000000e+00  7.62649091e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.586066493
Centerline is valid?  [True, True]
Translation: X:226.17, Y:0.78, Z:0.00
[[ 9.99965021e-01 -8.36399053e-03  0.00000000e+00  2.26171916e+02]
 [ 8.36399053e-03  9.99965021e-01  0.00000000e+00  7.79054306e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.646066493
Centerline is valid?  [True, True]
Translation: X:226.23, Y:0.79, Z:0.00
[[ 9.99995130e-01  3.12075273e-03  0.00000000e+00  2.26232369e+02]
 [-3.12075273e-03  9.99995130e-01  0.00000000e+00  7.87887568e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.706066493
Centerline is valid?  [True, True]
Translation: X:226.29, Y:0.80, Z:0.00
[[ 9.99899636e-01  1.41675268e-02  0.00000000e+00  2.26292780e+02]
 [-1.41675268e-02  9.99899636e-01  0.00000000e+00  8.01191597e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.766066493
Centerline is valid?  [True, True]
Translation: X:226.35, Y:0.81, Z:0.00
[[ 9.99919991e-01  1.26495346e-02  0.00000000e+00  2.26350893e+02]
 [-1.26495346e-02  9.99919991e-01  0.00000000e+00  8.07794294e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.826066493
Centerline is valid?  [True, True]
Translation: X:226.41, Y:0.81, Z:0.00
[[ 9.99962840e-01  8.62087575e-03  0.00000000e+00  2.26409928e+02]
 [-8.62087575e-03  9.99962840e-01  0.00000000e+00  8.08913205e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.88606649300002
Centerline is valid?  [True, True]
Translation: X:226.47, Y:0.81, Z:0.00
[[ 9.99983660e-01  5.71657682e-03  0.00000000e+00  2.26467490e+02]
 [-5.71657682e-03  9.99983660e-01  0.00000000e+00  8.11098370e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.94606649300002
Centerline is valid?  [True, True]
Translation: X:226.53, Y:0.81, Z:0.00
[[ 9.99999751e-01  7.05561236e-04  0.00000000e+00  2.26528434e+02]
 [-7.05561236e-04  9.99999751e-01  0.00000000e+00  8.13091282e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.00606649300002
Centerline is valid?  [True, True]
Translation: X:226.59, Y:0.82, Z:0.00
[[ 9.99996973e-01 -2.46038626e-03  0.00000000e+00  2.26588683e+02]
 [ 2.46038626e-03  9.99996973e-01  0.00000000e+00  8.15269932e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.06606649300002
Centerline is valid?  [True, True]
Translation: X:226.65, Y:0.82, Z:0.00
[[ 9.99999771e-01 -6.76278983e-04  0.00000000e+00  2.26649440e+02]
 [ 6.76278983e-04  9.99999771e-01  0.00000000e+00  8.21675340e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.126066493
Centerline is valid?  [True, True]
Translation: X:226.71, Y:0.82, Z:0.00
[[ 9.99984496e-01  5.56854111e-03  0.00000000e+00  2.26709875e+02]
 [-5.56854111e-03  9.99984496e-01  0.00000000e+00  8.24877725e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.186066493
Centerline is valid?  [True, True]
Translation: X:226.77, Y:0.83, Z:0.00
[[ 9.99836299e-01  1.80935359e-02  0.00000000e+00  2.26769723e+02]
 [-1.80935359e-02  9.99836299e-01  0.00000000e+00  8.31838641e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.246066493
Centerline is valid?  [True, True]
Translation: X:226.83, Y:0.83, Z:0.00
[[ 9.99701063e-01  2.44496356e-02  0.00000000e+00  2.26828663e+02]
 [-2.44496356e-02  9.99701063e-01  0.00000000e+00  8.30793859e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.306066493
Centerline is valid?  [True, True]
Translation: X:226.89, Y:0.83, Z:0.00
[[ 9.99613391e-01  2.78041276e-02  0.00000000e+00  2.26888073e+02]
 [-2.78041276e-02  9.99613391e-01  0.00000000e+00  8.27512556e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.366066493
Centerline is valid?  [True, True]
Translation: X:226.95, Y:0.83, Z:0.00
[[ 9.99409979e-01  3.43466721e-02  0.00000000e+00  2.26947011e+02]
 [-3.43466721e-02  9.99409979e-01  0.00000000e+00  8.25121754e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.426066493
Centerline is valid?  [True, True]
Translation: X:227.01, Y:0.82, Z:0.00
[[ 9.99117828e-01  4.19948392e-02  0.00000000e+00  2.27006381e+02]
 [-4.19948392e-02  9.99117828e-01  0.00000000e+00  8.21843707e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.486066493
Centerline is valid?  [True, True]
Translation: X:227.07, Y:0.81, Z:0.00
[[ 9.98303661e-01  5.82219955e-02  0.00000000e+00  2.27066750e+02]
 [-5.82219955e-02  9.98303661e-01  0.00000000e+00  8.14176718e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.546066493
Centerline is valid?  [True, True]
Translation: X:227.13, Y:0.81, Z:0.00
[[ 9.97696660e-01  6.78334257e-02  0.00000000e+00  2.27126685e+02]
 [-6.78334257e-02  9.97696660e-01  0.00000000e+00  8.06749817e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 225.60606649300001
Centerline is valid?  [True, True]
Translation: X:227.19, Y:0.79, Z:0.00
[[ 9.96780201e-01  8.01824819e-02  0.00000000e+00  2.27185154e+02]
 [-8.01824819e-02  9.96780201e-01  0.00000000e+00  7.89939556e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.66606649300002
Centerline is valid?  [True, True]
Translation: X:227.24, Y:0.78, Z:0.00
[[ 9.96710991e-01  8.10382700e-02  0.00000000e+00  2.27244004e+02]
 [-8.10382700e-02  9.96710991e-01  0.00000000e+00  7.76210682e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.72606649300002
Centerline is valid?  [True, True]
Translation: X:227.30, Y:0.75, Z:0.00
[[ 9.96882768e-01  7.88970664e-02  0.00000000e+00  2.27302096e+02]
 [-7.88970664e-02  9.96882768e-01  0.00000000e+00  7.48928242e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.78606649300002
Centerline is valid?  [True, True]
Translation: X:227.36, Y:0.73, Z:0.00
[[ 9.97276679e-01  7.37511015e-02  0.00000000e+00  2.27361879e+02]
 [-7.37511015e-02  9.97276679e-01  0.00000000e+00  7.31423411e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.84606649300002
Centerline is valid?  [True, True]
Translation: X:227.42, Y:0.70, Z:0.00
[[ 9.97542286e-01  7.00670279e-02  0.00000000e+00  2.27420379e+02]
 [-7.00670279e-02  9.97542286e-01  0.00000000e+00  7.03343182e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.906066493
Centerline is valid?  [True, True]
Translation: X:227.48, Y:0.69, Z:0.00
[[ 9.97600691e-01  6.92304915e-02  0.00000000e+00  2.27479730e+02]
 [-6.92304915e-02  9.97600691e-01  0.00000000e+00  6.92081788e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.966066493
Centerline is valid?  [True, True]
Translation: X:227.54, Y:0.66, Z:0.00
[[ 9.97678961e-01  6.80932548e-02  0.00000000e+00  2.27537165e+02]
 [-6.80932548e-02  9.97678961e-01  0.00000000e+00  6.64074007e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.026066493
Centerline is valid?  [True, True]
Translation: X:227.60, Y:0.65, Z:0.00
[[ 9.97822177e-01  6.59613790e-02  0.00000000e+00  2.27595486e+02]
 [-6.59613790e-02  9.97822177e-01  0.00000000e+00  6.48548174e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.086066493
Centerline is valid?  [True, True]
Translation: X:227.66, Y:0.63, Z:0.00
[[ 9.98146718e-01  6.08533403e-02  0.00000000e+00  2.27655593e+02]
 [-6.08533403e-02  9.98146718e-01  0.00000000e+00  6.31482469e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.146066493
Centerline is valid?  [True, True]
Translation: X:227.72, Y:0.61, Z:0.00
[[ 9.98711113e-01  5.07554173e-02  0.00000000e+00  2.27715083e+02]
 [-5.07554173e-02  9.98711113e-01  0.00000000e+00  6.09489886e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.206066493
Centerline is valid?  [True, True]
Translation: X:227.77, Y:0.60, Z:0.00
[[ 9.99028825e-01  4.40614063e-02  0.00000000e+00  2.27773354e+02]
 [-4.40614063e-02  9.99028825e-01  0.00000000e+00  5.95459341e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.266066493
Centerline is valid?  [True, True]
Translation: X:227.83, Y:0.59, Z:0.00
[[ 9.99246607e-01  3.88100402e-02  0.00000000e+00  2.27831691e+02]
 [-3.88100402e-02  9.99246607e-01  0.00000000e+00  5.86151463e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.326066493
Centerline is valid?  [True, True]
Translation: X:227.89, Y:0.57, Z:0.00
[[ 9.99382812e-01  3.51282601e-02  0.00000000e+00  2.27889742e+02]
 [-3.51282601e-02  9.99382812e-01  0.00000000e+00  5.74192688e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.38606649300002
Centerline is valid?  [True, True]
Translation: X:227.95, Y:0.57, Z:0.00
[[ 9.99379561e-01  3.52206227e-02  0.00000000e+00  2.27948291e+02]
 [-3.52206227e-02  9.99379561e-01  0.00000000e+00  5.65199236e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.44606649300002
Centerline is valid?  [True, True]
Translation: X:228.01, Y:0.56, Z:0.00
[[ 9.99552349e-01  2.99182345e-02  0.00000000e+00  2.28005901e+02]
 [-2.99182345e-02  9.99552349e-01  0.00000000e+00  5.61807626e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.50606649300002
Centerline is valid?  [True, True]
Translation: X:228.06, Y:0.56, Z:0.00
[[ 9.99714444e-01  2.38962558e-02  0.00000000e+00  2.28064360e+02]
 [-2.38962558e-02  9.99714444e-01  0.00000000e+00  5.61386950e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.56606649300002
Centerline is valid?  [True, True]
Translation: X:228.12, Y:0.56, Z:0.00
[[ 9.99917476e-01  1.28468131e-02  0.00000000e+00  2.28122582e+02]
 [-1.28468131e-02  9.99917476e-01  0.00000000e+00  5.61358220e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.626066493
Centerline is valid?  [True, True]
Translation: X:228.18, Y:0.57, Z:0.00
[[ 9.99976091e-01  6.91495121e-03  0.00000000e+00  2.28183196e+02]
 [-6.91495121e-03  9.99976091e-01  0.00000000e+00  5.67897659e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.686066493
Centerline is valid?  [True, True]
Translation: X:228.24, Y:0.57, Z:0.00
[[ 9.99977547e-01  6.70115919e-03  0.00000000e+00  2.28243457e+02]
 [-6.70115919e-03  9.99977547e-01  0.00000000e+00  5.73825824e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.746066493
Centerline is valid?  [True, True]
Translation: X:228.30, Y:0.58, Z:0.00
[[ 9.99920348e-01  1.26213075e-02  0.00000000e+00  2.28302172e+02]
 [-1.26213075e-02  9.99920348e-01  0.00000000e+00  5.81562677e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 226.806066493
Centerline is valid?  [True, True]
Translation: X:228.36, Y:0.59, Z:0.00
[[ 9.99862430e-01  1.65867710e-02  0.00000000e+00  2.28360693e+02]
 [-1.65867710e-02  9.99862430e-01  0.00000000e+00  5.86901772e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.866066493
Centerline is valid?  [True, True]
Translation: X:228.42, Y:0.59, Z:0.00
[[ 9.99841260e-01  1.78172729e-02  0.00000000e+00  2.28419330e+02]
 [-1.78172729e-02  9.99841260e-01  0.00000000e+00  5.92779065e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.926066493
Centerline is valid?  [True, True]
Translation: X:228.48, Y:0.60, Z:0.00
[[ 9.99834131e-01  1.82129257e-02  0.00000000e+00  2.28476888e+02]
 [-1.82129257e-02  9.99834131e-01  0.00000000e+00  5.97710966e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.986066493
Centerline is valid?  [True, True]
Translation: X:228.54, Y:0.60, Z:0.00
[[ 9.99821178e-01  1.89106225e-02  0.00000000e+00  2.28535416e+02]
 [-1.89106225e-02  9.99821178e-01  0.00000000e+00  6.01042197e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.046066493
Centerline is valid?  [True, True]
Translation: X:228.60, Y:0.61, Z:0.00
[[ 9.99775549e-01  2.11861119e-02  0.00000000e+00  2.28595914e+02]
 [-2.11861119e-02  9.99775549e-01  0.00000000e+00  6.08812768e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.10606649300001
Centerline is valid?  [True, True]
Translation: X:228.66, Y:0.61, Z:0.00
[[ 9.99724952e-01  2.34525005e-02  0.00000000e+00  2.28656261e+02]
 [-2.34525005e-02  9.99724952e-01  0.00000000e+00  6.10936942e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.16606649300002
Centerline is valid?  [True, True]
Translation: X:228.72, Y:0.61, Z:0.00
[[ 9.99634791e-01  2.70237762e-02  0.00000000e+00  2.28716429e+02]
 [-2.70237762e-02  9.99634791e-01  0.00000000e+00  6.14584505e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.22606649300002
Centerline is valid?  [True, True]
Translation: X:228.78, Y:0.61, Z:0.00
[[ 9.99488209e-01  3.19893688e-02  0.00000000e+00  2.28775381e+02]
 [-3.19893688e-02  9.99488209e-01  0.00000000e+00  6.13736569e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.28606649300002
Centerline is valid?  [True, True]
Translation: X:228.83, Y:0.61, Z:0.00
[[ 9.99156124e-01  4.10735805e-02  0.00000000e+00  2.28834103e+02]
 [-4.10735805e-02  9.99156124e-01  0.00000000e+00  6.13112168e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.34606649300002
Centerline is valid?  [True, True]
Translation: X:228.89, Y:0.61, Z:0.00
[[ 9.99073349e-01  4.30400133e-02  0.00000000e+00  2.28892090e+02]
 [-4.30400133e-02  9.99073349e-01  0.00000000e+00  6.08331616e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.406066493
Centerline is valid?  [True, True]
Translation: X:228.95, Y:0.61, Z:0.00
[[ 9.99093201e-01  4.25766942e-02  0.00000000e+00  2.28950792e+02]
 [-4.25766942e-02  9.99093201e-01  0.00000000e+00  6.05218080e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.466066493
Centerline is valid?  [True, True]
Translation: X:229.01, Y:0.60, Z:0.00
[[ 9.99322890e-01  3.67934902e-02  0.00000000e+00  2.29010217e+02]
 [-3.67934902e-02  9.99322890e-01  0.00000000e+00  5.98121277e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.526066493
Centerline is valid?  [True, True]
Translation: X:229.07, Y:0.59, Z:0.00
[[ 9.99551617e-01  2.99426974e-02  0.00000000e+00  2.29069974e+02]
 [-2.99426974e-02  9.99551617e-01  0.00000000e+00  5.92153628e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.586066493
Centerline is valid?  [True, True]
Translation: X:229.13, Y:0.59, Z:0.00
[[ 9.99778691e-01  2.10373163e-02  0.00000000e+00  2.29129544e+02]
 [-2.10373163e-02  9.99778691e-01  0.00000000e+00  5.88542959e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.646066493
Centerline is valid?  [True, True]
Translation: X:229.19, Y:0.59, Z:0.00
[[ 9.99858573e-01  1.68176821e-02  0.00000000e+00  2.29187618e+02]
 [-1.68176821e-02  9.99858573e-01  0.00000000e+00  5.86857816e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.706066493
Centerline is valid?  [True, True]
Translation: X:229.25, Y:0.59, Z:0.00
[[ 9.99867455e-01  1.62810590e-02  0.00000000e+00  2.29246866e+02]
 [-1.62810590e-02  9.99867455e-01  0.00000000e+00  5.87348123e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.766066493
Centerline is valid?  [True, True]
Translation: X:229.30, Y:0.59, Z:0.00
[[ 9.99884493e-01  1.51986855e-02  0.00000000e+00  2.29304780e+02]
 [-1.51986855e-02  9.99884493e-01  0.00000000e+00  5.88983605e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.826066493
Centerline is valid?  [True, True]
Translation: X:229.36, Y:0.59, Z:0.00
[[ 9.99874857e-01  1.58199349e-02  0.00000000e+00  2.29363553e+02]
 [-1.58199349e-02  9.99874857e-01  0.00000000e+00  5.87945460e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.88606649300002
Centerline is valid?  [True, True]
Translation: X:229.42, Y:0.59, Z:0.00
[[ 9.99868785e-01  1.61991875e-02  0.00000000e+00  2.29422702e+02]
 [-1.61991875e-02  9.99868785e-01  0.00000000e+00  5.92769430e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.94606649300002
Centerline is valid?  [True, True]
Translation: X:229.48, Y:0.60, Z:0.00
[[ 9.99872013e-01  1.59986836e-02  0.00000000e+00  2.29480139e+02]
 [-1.59986836e-02  9.99872013e-01  0.00000000e+00  5.96060883e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 228.00606649300002
Centerline is valid?  [True, True]
Translation: X:229.54, Y:0.60, Z:0.00
[[ 9.99893372e-01  1.46028949e-02  0.00000000e+00  2.29538667e+02]
 [-1.46028949e-02  9.99893372e-01  0.00000000e+00  6.00321338e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.06606649300002
Centerline is valid?  [True, True]
Translation: X:229.60, Y:0.60, Z:0.00
[[ 9.99924556e-01  1.22834213e-02  0.00000000e+00  2.29596898e+02]
 [-1.22834213e-02  9.99924556e-01  0.00000000e+00  6.03349118e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.126066493
Centerline is valid?  [True, True]
Translation: X:229.66, Y:0.61, Z:0.00
[[ 9.99940690e-01  1.08911162e-02  0.00000000e+00  2.29656404e+02]
 [-1.08911162e-02  9.99940690e-01  0.00000000e+00  6.12662594e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.186066493
Centerline is valid?  [True, True]
Translation: X:229.72, Y:0.62, Z:0.00
[[ 9.99824695e-01  1.87237393e-02  0.00000000e+00  2.29715647e+02]
 [-1.87237393e-02  9.99824695e-01  0.00000000e+00  6.17650620e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.246066493
Centerline is valid?  [True, True]
Translation: X:229.77, Y:0.62, Z:0.00
[[ 9.99706181e-01  2.42394663e-02  0.00000000e+00  2.29774074e+02]
 [-2.42394663e-02  9.99706181e-01  0.00000000e+00  6.23791239e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.306066493
Centerline is valid?  [True, True]
Translation: X:229.83, Y:0.63, Z:0.00
[[ 9.99470813e-01  3.25283493e-02  0.00000000e+00  2.29834685e+02]
 [-3.25283493e-02  9.99470813e-01  0.00000000e+00  6.29190126e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.366066493
Centerline is valid?  [True, True]
Translation: X:229.89, Y:0.63, Z:0.00
[[ 9.99403904e-01  3.45229843e-02  0.00000000e+00  2.29893227e+02]
 [-3.45229843e-02  9.99403904e-01  0.00000000e+00  6.29648443e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.426066493
Centerline is valid?  [True, True]
Translation: X:229.95, Y:0.63, Z:0.00
[[ 9.99346569e-01  3.61446408e-02  0.00000000e+00  2.29950695e+02]
 [-3.61446408e-02  9.99346569e-01  0.00000000e+00  6.31239841e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.486066493
Centerline is valid?  [True, True]
Translation: X:230.01, Y:0.63, Z:0.00
[[ 9.99389082e-01  3.49494216e-02  0.00000000e+00  2.30010264e+02]
 [-3.49494216e-02  9.99389082e-01  0.00000000e+00  6.31032921e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.546066493
Centerline is valid?  [True, True]
Translation: X:230.07, Y:0.63, Z:0.00
[[ 9.99535213e-01  3.04853850e-02  0.00000000e+00  2.30069701e+02]
 [-3.04853850e-02  9.99535213e-01  0.00000000e+00  6.28732406e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.60606649300001
Centerline is valid?  [True, True]
Translation: X:230.13, Y:0.63, Z:0.00
[[ 9.99615002e-01  2.77461211e-02  0.00000000e+00  2.30128577e+02]
 [-2.77461211e-02  9.99615002e-01  0.00000000e+00  6.27858640e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.66606649300002
Centerline is valid?  [True, True]
Translation: X:230.19, Y:0.63, Z:0.00
[[ 9.99663757e-01  2.59301449e-02  0.00000000e+00  2.30187368e+02]
 [-2.59301449e-02  9.99663757e-01  0.00000000e+00  6.25436953e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.72606649300002
Centerline is valid?  [True, True]
Translation: X:230.25, Y:0.62, Z:0.00
[[ 9.99790768e-01  2.04553309e-02  0.00000000e+00  2.30247130e+02]
 [-2.04553309e-02  9.99790768e-01  0.00000000e+00  6.22991681e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.78606649300002
Centerline is valid?  [True, True]
Translation: X:230.31, Y:0.62, Z:0.00
[[ 9.99897452e-01  1.43208355e-02  0.00000000e+00  2.30306085e+02]
 [-1.43208355e-02  9.99897452e-01  0.00000000e+00  6.21826347e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.84606649300002
Centerline is valid?  [True, True]
Translation: X:230.36, Y:0.62, Z:0.00
[[ 9.99950273e-01  9.97252851e-03  0.00000000e+00  2.30364887e+02]
 [-9.97252851e-03  9.99950273e-01  0.00000000e+00  6.18832749e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.906066493
Centerline is valid?  [True, True]
Translation: X:230.43, Y:0.62, Z:0.00
[[ 9.99958918e-01  9.06430370e-03  0.00000000e+00  2.30425692e+02]
 [-9.06430370e-03  9.99958918e-01  0.00000000e+00  6.21712716e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.966066493
Centerline is valid?  [True, True]
Translation: X:230.48, Y:0.63, Z:0.00
[[ 9.99877085e-01  1.56784930e-02  0.00000000e+00  2.30484245e+02]
 [-1.56784930e-02  9.99877085e-01  0.00000000e+00  6.27200525e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.026066493
Centerline is valid?  [True, True]
Translation: X:230.54, Y:0.63, Z:0.00
[[ 9.99758426e-01  2.19793133e-02  0.00000000e+00  2.30543941e+02]
 [-2.19793133e-02  9.99758426e-01  0.00000000e+00  6.32378820e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.086066493
Centerline is valid?  [True, True]
Translation: X:230.60, Y:0.64, Z:0.00
[[ 9.99692127e-01  2.48123168e-02  0.00000000e+00  2.30602565e+02]
 [-2.48123168e-02  9.99692127e-01  0.00000000e+00  6.35028972e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.146066493
Centerline is valid?  [True, True]
Translation: X:230.66, Y:0.64, Z:0.00
[[ 9.99727663e-01  2.33366841e-02  0.00000000e+00  2.30660460e+02]
 [-2.33366841e-02  9.99727663e-01  0.00000000e+00  6.40029701e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 229.206066493
Centerline is valid?  [True, True]
Translation: X:230.72, Y:0.64, Z:0.00
[[ 9.99686268e-01  2.50472554e-02  0.00000000e+00  2.30720020e+02]
 [-2.50472554e-02  9.99686268e-01  0.00000000e+00  6.41176377e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.266066493
Centerline is valid?  [True, True]
Translation: X:230.78, Y:0.64, Z:0.00
[[ 9.99548389e-01  3.00502573e-02  0.00000000e+00  2.30777503e+02]
 [-3.00502573e-02  9.99548389e-01  0.00000000e+00  6.42632950e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.326066493
Centerline is valid?  [True, True]
Translation: X:230.84, Y:0.64, Z:0.00
[[ 9.99521182e-01  3.09419991e-02  0.00000000e+00  2.30836379e+02]
 [-3.09419991e-02  9.99521182e-01  0.00000000e+00  6.43297981e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.38606649300002
Centerline is valid?  [True, True]
Translation: X:230.90, Y:0.64, Z:0.00
[[ 9.99569318e-01  2.93458380e-02  0.00000000e+00  2.30895169e+02]
 [-2.93458380e-02  9.99569318e-01  0.00000000e+00  6.43025950e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.44606649300002
Centerline is valid?  [True, True]
Translation: X:230.95, Y:0.64, Z:0.00
[[ 9.99546596e-01  3.01098231e-02  0.00000000e+00  2.30954267e+02]
 [-3.01098231e-02  9.99546596e-01  0.00000000e+00  6.41962543e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.50606649300002
Centerline is valid?  [True, True]
Translation: X:231.01, Y:0.64, Z:0.00
[[ 9.99346731e-01  3.61401656e-02  0.00000000e+00  2.31012957e+02]
 [-3.61401656e-02  9.99346731e-01  0.00000000e+00  6.44152225e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.56606649300002
Centerline is valid?  [True, True]
Translation: X:231.07, Y:0.64, Z:0.00
[[ 9.99029731e-01  4.40408463e-02  0.00000000e+00  2.31072935e+02]
 [-4.40408463e-02  9.99029731e-01  0.00000000e+00  6.43662417e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.626066493
Centerline is valid?  [True, True]
Translation: X:231.13, Y:0.64, Z:0.00
[[ 9.98876159e-01  4.73964021e-02  0.00000000e+00  2.31131675e+02]
 [-4.73964021e-02  9.98876159e-01  0.00000000e+00  6.42070988e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.686066493
Centerline is valid?  [True, True]
Translation: X:231.19, Y:0.64, Z:0.00
[[ 9.99016487e-01  4.43402639e-02  0.00000000e+00  2.31189073e+02]
 [-4.43402639e-02  9.99016487e-01  0.00000000e+00  6.38009619e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.746066493
Centerline is valid?  [True, True]
Translation: X:231.25, Y:0.63, Z:0.00
[[ 9.99309450e-01  3.71567501e-02  0.00000000e+00  2.31249218e+02]
 [-3.71567501e-02  9.99309450e-01  0.00000000e+00  6.29659209e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.806066493
Centerline is valid?  [True, True]
Translation: X:231.31, Y:0.62, Z:0.00
[[ 9.99639532e-01  2.68478141e-02  0.00000000e+00  2.31308337e+02]
 [-2.68478141e-02  9.99639532e-01  0.00000000e+00  6.21059533e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.866066493
Centerline is valid?  [True, True]
Translation: X:231.37, Y:0.61, Z:0.00
[[ 9.99870134e-01  1.61156832e-02  0.00000000e+00  2.31366726e+02]
 [-1.61156832e-02  9.99870134e-01  0.00000000e+00  6.13934845e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.926066493
Centerline is valid?  [True, True]
Translation: X:231.43, Y:0.61, Z:0.00
[[ 9.99983965e-01  5.66310046e-03  0.00000000e+00  2.31426255e+02]
 [-5.66310046e-03  9.99983965e-01  0.00000000e+00  6.10631427e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.986066493
Centerline is valid?  [True, True]
Translation: X:231.49, Y:0.61, Z:0.00
[[ 9.99998216e-01 -1.88911903e-03  0.00000000e+00  2.31486221e+02]
 [ 1.88911903e-03  9.99998216e-01  0.00000000e+00  6.07092545e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.046066493
Centerline is valid?  [True, True]
Translation: X:231.55, Y:0.61, Z:0.00
[[ 9.99960877e-01 -8.84556652e-03  0.00000000e+00  2.31545300e+02]
 [ 8.84556652e-03  9.99960877e-01  0.00000000e+00  6.09849803e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.10606649300001
Centerline is valid?  [True, True]
Translation: X:231.61, Y:0.62, Z:0.00
[[ 9.99955567e-01 -9.42679356e-03  0.00000000e+00  2.31606599e+02]
 [ 9.42679356e-03  9.99955567e-01  0.00000000e+00  6.17376031e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.16606649300002
Centerline is valid?  [True, True]
Translation: X:231.67, Y:0.63, Z:0.00
[[ 9.99994464e-01 -3.32739380e-03  0.00000000e+00  2.31667758e+02]
 [ 3.32739380e-03  9.99994464e-01  0.00000000e+00  6.26418557e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.22606649300002
Centerline is valid?  [True, True]
Translation: X:231.73, Y:0.64, Z:0.00
[[ 9.99986882e-01  5.12207433e-03  0.00000000e+00  2.31727204e+02]
 [-5.12207433e-03  9.99986882e-01  0.00000000e+00  6.37652514e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.28606649300002
Centerline is valid?  [True, True]
Translation: X:231.79, Y:0.65, Z:0.00
[[ 9.99951134e-01  9.88578098e-03  0.00000000e+00  2.31786255e+02]
 [-9.88578098e-03  9.99951134e-01  0.00000000e+00  6.45899653e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.34606649300002
Centerline is valid?  [True, True]
Translation: X:231.85, Y:0.65, Z:0.00
[[ 9.99947118e-01  1.02839888e-02  0.00000000e+00  2.31846338e+02]
 [-1.02839888e-02  9.99947118e-01  0.00000000e+00  6.54762961e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 230.406066493
Centerline is valid?  [True, True]
Translation: X:231.91, Y:0.66, Z:0.00
[[ 9.99987348e-01  5.03026984e-03  0.00000000e+00  2.31906082e+02]
 [-5.03026984e-03  9.99987348e-01  0.00000000e+00  6.58885650e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.466066493
Centerline is valid?  [True, True]
Translation: X:231.97, Y:0.67, Z:0.00
[[ 9.99972585e-01 -7.40470274e-03  0.00000000e+00  2.31967044e+02]
 [ 7.40470274e-03  9.99972585e-01  0.00000000e+00  6.65083689e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.526066493
Centerline is valid?  [True, True]
Translation: X:232.03, Y:0.67, Z:0.00
[[ 9.99874668e-01 -1.58318713e-02  0.00000000e+00  2.32028279e+02]
 [ 1.58318713e-02  9.99874668e-01  0.00000000e+00  6.69883884e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.586066493
Centerline is valid?  [True, True]
Translation: X:232.09, Y:0.68, Z:0.00
[[ 9.99698068e-01 -2.45718046e-02  0.00000000e+00  2.32089275e+02]
 [ 2.45718046e-02  9.99698068e-01  0.00000000e+00  6.78709645e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.646066493
Centerline is valid?  [True, True]
Translation: X:232.15, Y:0.69, Z:0.00
[[ 9.99707849e-01 -2.41705658e-02  0.00000000e+00  2.32149820e+02]
 [ 2.41705658e-02  9.99707849e-01  0.00000000e+00  6.94395387e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.706066493
Centerline is valid?  [True, True]
Translation: X:232.21, Y:0.71, Z:0.00
[[ 9.99773373e-01 -2.12885600e-02  0.00000000e+00  2.32211055e+02]
 [ 2.12885600e-02  9.99773373e-01  0.00000000e+00  7.07151749e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.766066493
Centerline is valid?  [True, True]
Translation: X:232.27, Y:0.72, Z:0.00
[[ 9.99854914e-01 -1.70338464e-02  0.00000000e+00  2.32272409e+02]
 [ 1.70338464e-02  9.99854914e-01  0.00000000e+00  7.24544991e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.826066493
Centerline is valid?  [True, True]
Translation: X:232.33, Y:0.73, Z:0.00
[[ 9.99873959e-01 -1.58766183e-02  0.00000000e+00  2.32334411e+02]
 [ 1.58766183e-02  9.99873959e-01  0.00000000e+00  7.32407040e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.88606649300002
Centerline is valid?  [True, True]
Translation: X:232.40, Y:0.75, Z:0.00
[[ 9.99754200e-01 -2.21706823e-02  0.00000000e+00  2.32395634e+02]
 [ 2.21706823e-02  9.99754200e-01  0.00000000e+00  7.47916171e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.94606649300002
Centerline is valid?  [True, True]
Translation: X:232.46, Y:0.76, Z:0.00
[[ 9.99447246e-01 -3.32445999e-02  0.00000000e+00  2.32456044e+02]
 [ 3.32445999e-02  9.99447246e-01  0.00000000e+00  7.58279047e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.00606649300002
Centerline is valid?  [True, True]
Translation: X:232.52, Y:0.76, Z:0.00
[[ 9.99191884e-01 -4.01942629e-02  0.00000000e+00  2.32517459e+02]
 [ 4.01942629e-02  9.99191884e-01  0.00000000e+00  7.63551776e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.06606649300002
Centerline is valid?  [True, True]
Translation: X:232.58, Y:0.78, Z:0.00
[[ 9.98968690e-01 -4.54043615e-02  0.00000000e+00  2.32577066e+02]
 [ 4.54043615e-02  9.98968690e-01  0.00000000e+00  7.78015769e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.126066493
Centerline is valid?  [True, True]
Translation: X:232.64, Y:0.79, Z:0.00
[[ 9.98992959e-01 -4.48672302e-02  0.00000000e+00  2.32639982e+02]
 [ 4.48672302e-02  9.98992959e-01  0.00000000e+00  7.91965296e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.186066493
Centerline is valid?  [True, True]
Translation: X:232.70, Y:0.80, Z:0.00
[[ 9.99084051e-01 -4.27908768e-02  0.00000000e+00  2.32699992e+02]
 [ 4.27908768e-02  9.99084051e-01  0.00000000e+00  8.03642515e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.246066493
Centerline is valid?  [True, True]
Translation: X:232.76, Y:0.82, Z:0.00
[[ 9.99359562e-01 -3.57835922e-02  0.00000000e+00  2.32760812e+02]
 [ 3.57835922e-02  9.99359562e-01  0.00000000e+00  8.23253021e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.306066493
Centerline is valid?  [True, True]
Translation: X:232.82, Y:0.83, Z:0.00
[[ 9.99490690e-01 -3.19117494e-02  0.00000000e+00  2.32821890e+02]
 [ 3.19117494e-02  9.99490690e-01  0.00000000e+00  8.31287494e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.366066493
Centerline is valid?  [True, True]
Translation: X:232.88, Y:0.85, Z:0.00
[[ 9.99570832e-01 -2.92942177e-02  0.00000000e+00  2.32883669e+02]
 [ 2.92942177e-02  9.99570832e-01  0.00000000e+00  8.46025923e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.426066493
Centerline is valid?  [True, True]
Translation: X:232.94, Y:0.86, Z:0.00
[[ 9.99649749e-01 -2.64646675e-02  0.00000000e+00  2.32944647e+02]
 [ 2.64646675e-02  9.99649749e-01  0.00000000e+00  8.60826420e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.486066493
Centerline is valid?  [True, True]
Translation: X:233.01, Y:0.87, Z:0.00
[[ 9.99632012e-01 -2.71263657e-02  0.00000000e+00  2.33006595e+02]
 [ 2.71263657e-02  9.99632012e-01  0.00000000e+00  8.66903140e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.546066493
Centerline is valid?  [True, True]
Translation: X:233.07, Y:0.88, Z:0.00
[[ 9.99538502e-01 -3.03773432e-02  0.00000000e+00  2.33067416e+02]
 [ 3.03773432e-02  9.99538502e-01  0.00000000e+00  8.76608252e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 231.60606649300001
Centerline is valid?  [True, True]
Translation: X:233.13, Y:0.89, Z:0.00
[[ 9.99363392e-01 -3.56764794e-02  0.00000000e+00  2.33127295e+02]
 [ 3.56764794e-02  9.99363392e-01  0.00000000e+00  8.85805692e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.66606649300002
Centerline is valid?  [True, True]
Translation: X:233.19, Y:0.89, Z:0.00
[[ 9.99358183e-01 -3.58220764e-02  0.00000000e+00  2.33188040e+02]
 [ 3.58220764e-02  9.99358183e-01  0.00000000e+00  8.88947954e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.72606649300002
Centerline is valid?  [True, True]
Translation: X:233.25, Y:0.89, Z:0.00
[[ 9.99488337e-01 -3.19853857e-02  0.00000000e+00  2.33247763e+02]
 [ 3.19853857e-02  9.99488337e-01  0.00000000e+00  8.93076072e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.78606649300002
Centerline is valid?  [True, True]
Translation: X:233.31, Y:0.90, Z:0.00
[[ 9.99653970e-01 -2.63047479e-02  0.00000000e+00  2.33307760e+02]
 [ 2.63047479e-02  9.99653970e-01  0.00000000e+00  9.01318355e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.84606649300002
Centerline is valid?  [True, True]
Translation: X:233.37, Y:0.91, Z:0.00
[[ 9.99934171e-01 -1.14740006e-02  0.00000000e+00  2.33368747e+02]
 [ 1.14740006e-02  9.99934171e-01  0.00000000e+00  9.11462472e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.906066493
Centerline is valid?  [True, True]
Translation: X:233.43, Y:0.92, Z:0.00
[[ 9.99999701e-01  7.72829557e-04  0.00000000e+00  2.33429156e+02]
 [-7.72829557e-04  9.99999701e-01  0.00000000e+00  9.16467462e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.966066493
Centerline is valid?  [True, True]
Translation: X:233.49, Y:0.93, Z:0.00
[[ 9.99755499e-01  2.21120289e-02  0.00000000e+00  2.33489717e+02]
 [-2.21120289e-02  9.99755499e-01  0.00000000e+00  9.26513081e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.026066493
Centerline is valid?  [True, True]
Translation: X:233.55, Y:0.93, Z:0.00
[[ 9.99113183e-01  4.21052043e-02  0.00000000e+00  2.33549332e+02]
 [-4.21052043e-02  9.99113183e-01  0.00000000e+00  9.28840004e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.086066493
Centerline is valid?  [True, True]
Translation: X:233.61, Y:0.92, Z:0.00
[[ 9.98442705e-01  5.57867828e-02  0.00000000e+00  2.33609437e+02]
 [-5.57867828e-02  9.98442705e-01  0.00000000e+00  9.22202147e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.146066493
Centerline is valid?  [True, True]
Translation: X:233.67, Y:0.91, Z:0.00
[[ 9.97970245e-01  6.36819393e-02  0.00000000e+00  2.33669954e+02]
 [-6.36819393e-02  9.97970245e-01  0.00000000e+00  9.13793687e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.206066493
Centerline is valid?  [True, True]
Translation: X:233.73, Y:0.90, Z:0.00
[[ 9.97390275e-01  7.21986129e-02  0.00000000e+00  2.33730324e+02]
 [-7.21986129e-02  9.97390275e-01  0.00000000e+00  8.99359521e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.266066493
Centerline is valid?  [True, True]
Translation: X:233.79, Y:0.88, Z:0.00
[[ 9.96992982e-01  7.74918923e-02  0.00000000e+00  2.33788795e+02]
 [-7.74918923e-02  9.96992982e-01  0.00000000e+00  8.79087583e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.326066493
Centerline is valid?  [True, True]
Translation: X:233.85, Y:0.86, Z:0.00
[[ 9.96733619e-01  8.07594701e-02  0.00000000e+00  2.33848885e+02]
 [-8.07594701e-02  9.96733619e-01  0.00000000e+00  8.60836466e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.38606649300002
Centerline is valid?  [True, True]
Translation: X:233.91, Y:0.84, Z:0.00
[[ 9.96871834e-01  7.90351018e-02  0.00000000e+00  2.33908196e+02]
 [-7.90351018e-02  9.96871834e-01  0.00000000e+00  8.42940503e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.44606649300002
Centerline is valid?  [True, True]
Translation: X:233.97, Y:0.82, Z:0.00
[[ 9.97572386e-01  6.96371576e-02  0.00000000e+00  2.33967779e+02]
 [-6.96371576e-02  9.97572386e-01  0.00000000e+00  8.18597831e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.50606649300002
Centerline is valid?  [True, True]
Translation: X:234.03, Y:0.80, Z:0.00
[[ 9.97979562e-01  6.35357679e-02  0.00000000e+00  2.34027755e+02]
 [-6.35357679e-02  9.97979562e-01  0.00000000e+00  8.02817762e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.56606649300002
Centerline is valid?  [True, True]
Translation: X:234.09, Y:0.78, Z:0.00
[[ 9.98470835e-01  5.52810166e-02  0.00000000e+00  2.34087929e+02]
 [-5.52810166e-02  9.98470835e-01  0.00000000e+00  7.77319159e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.626066493
Centerline is valid?  [True, True]
Translation: X:234.15, Y:0.75, Z:0.00
[[ 9.98374870e-01  5.69878815e-02  0.00000000e+00  2.34145904e+02]
 [-5.69878815e-02  9.98374870e-01  0.00000000e+00  7.54112620e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.686066493
Centerline is valid?  [True, True]
Translation: X:234.21, Y:0.74, Z:0.00
[[ 9.98077895e-01  6.19718895e-02  0.00000000e+00  2.34206309e+02]
 [-6.19718895e-02  9.98077895e-01  0.00000000e+00  7.40374208e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.746066493
Centerline is valid?  [True, True]
Translation: X:234.27, Y:0.72, Z:0.00
[[ 9.97503325e-01  7.06195262e-02  0.00000000e+00  2.34266702e+02]
 [-7.06195262e-02  9.97503325e-01  0.00000000e+00  7.18649344e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 232.806066493
Centerline is valid?  [True, True]
Translation: X:234.33, Y:0.69, Z:0.00
[[ 9.97171204e-01  7.51637501e-02  0.00000000e+00  2.34326343e+02]
 [-7.51637501e-02  9.97171204e-01  0.00000000e+00  6.93766722e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.866066493
Centerline is valid?  [True, True]
Translation: X:234.38, Y:0.67, Z:0.00
[[ 9.97284737e-01  7.36420654e-02  0.00000000e+00  2.34384303e+02]
 [-7.36420654e-02  9.97284737e-01  0.00000000e+00  6.68564513e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.926066493
Centerline is valid?  [True, True]
Translation: X:234.44, Y:0.64, Z:0.00
[[ 9.97298702e-01  7.34526965e-02  0.00000000e+00  2.34444427e+02]
 [-7.34526965e-02  9.97298702e-01  0.00000000e+00  6.43401373e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.986066493
Centerline is valid?  [True, True]
Translation: X:234.50, Y:0.62, Z:0.00
[[ 9.97266041e-01  7.38948131e-02  0.00000000e+00  2.34501837e+02]
 [-7.38948131e-02  9.97266041e-01  0.00000000e+00  6.23412323e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.046066493
Centerline is valid?  [True, True]
Translation: X:234.56, Y:0.60, Z:0.00
[[ 9.96972433e-01  7.77558182e-02  0.00000000e+00  2.34561225e+02]
 [-7.77558182e-02  9.96972433e-01  0.00000000e+00  5.97991279e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.10606649300001
Centerline is valid?  [True, True]
Translation: X:234.62, Y:0.57, Z:0.00
[[ 9.96621990e-01  8.21255646e-02  0.00000000e+00  2.34621313e+02]
 [-8.21255646e-02  9.96621990e-01  0.00000000e+00  5.71369468e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.16606649300002
Centerline is valid?  [True, True]
Translation: X:234.68, Y:0.54, Z:0.00
[[ 9.96685252e-01  8.13542178e-02  0.00000000e+00  2.34681445e+02]
 [-8.13542178e-02  9.96685252e-01  0.00000000e+00  5.42754267e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.22606649300002
Centerline is valid?  [True, True]
Translation: X:234.74, Y:0.51, Z:0.00
[[ 9.96893282e-01  7.87641093e-02  0.00000000e+00  2.34739934e+02]
 [-7.87641093e-02  9.96893282e-01  0.00000000e+00  5.12778174e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.28606649300002
Centerline is valid?  [True, True]
Translation: X:234.80, Y:0.49, Z:0.00
[[ 9.97157208e-01  7.53492090e-02  0.00000000e+00  2.34800230e+02]
 [-7.53492090e-02  9.97157208e-01  0.00000000e+00  4.94342977e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.34606649300002
Centerline is valid?  [True, True]
Translation: X:234.86, Y:0.47, Z:0.00
[[ 9.97109996e-01  7.59714091e-02  0.00000000e+00  2.34859815e+02]
 [-7.59714091e-02  9.97109996e-01  0.00000000e+00  4.68949342e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.406066493
Centerline is valid?  [True, True]
Translation: X:234.92, Y:0.44, Z:0.00
[[ 9.97065230e-01  7.65566983e-02  0.00000000e+00  2.34916843e+02]
 [-7.65566983e-02  9.97065230e-01  0.00000000e+00  4.42722558e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.466066493
Centerline is valid?  [True, True]
Translation: X:234.98, Y:0.43, Z:0.00
[[ 9.96947617e-01  7.80733554e-02  0.00000000e+00  2.34977110e+02]
 [-7.80733554e-02  9.96947617e-01  0.00000000e+00  4.25450929e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.526066493
Centerline is valid?  [True, True]
Translation: X:235.04, Y:0.41, Z:0.00
[[ 9.96850630e-01  7.93020915e-02  0.00000000e+00  2.35036645e+02]
 [-7.93020915e-02  9.96850630e-01  0.00000000e+00  4.11353175e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.586066493
Centerline is valid?  [True, True]
Translation: X:235.10, Y:0.39, Z:0.00
[[ 9.96635546e-01  8.19609012e-02  0.00000000e+00  2.35096224e+02]
 [-8.19609012e-02  9.96635546e-01  0.00000000e+00  3.92301861e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.646066493
Centerline is valid?  [True, True]
Translation: X:235.16, Y:0.37, Z:0.00
[[ 9.96380921e-01  8.50003538e-02  0.00000000e+00  2.35156338e+02]
 [-8.50003538e-02  9.96380921e-01  0.00000000e+00  3.74984125e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.706066493
Centerline is valid?  [True, True]
Translation: X:235.21, Y:0.35, Z:0.00
[[ 9.96001526e-01  8.93362239e-02  0.00000000e+00  2.35214783e+02]
 [-8.93362239e-02  9.96001526e-01  0.00000000e+00  3.51980636e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.766066493
Centerline is valid?  [True, True]
Translation: X:235.27, Y:0.33, Z:0.00
[[ 9.96169631e-01  8.74417881e-02  0.00000000e+00  2.35273797e+02]
 [-8.74417881e-02  9.96169631e-01  0.00000000e+00  3.28361671e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.826066493
Centerline is valid?  [True, True]
Translation: X:235.33, Y:0.30, Z:0.00
[[ 9.96869872e-01  7.90598390e-02  0.00000000e+00  2.35333762e+02]
 [-7.90598390e-02  9.96869872e-01  0.00000000e+00  3.02903180e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.88606649300002
Centerline is valid?  [True, True]
Translation: X:235.39, Y:0.28, Z:0.00
[[ 9.97265342e-01  7.39042427e-02  0.00000000e+00  2.35392521e+02]
 [-7.39042427e-02  9.97265342e-01  0.00000000e+00  2.79257363e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.94606649300002
Centerline is valid?  [True, True]
Translation: X:235.45, Y:0.26, Z:0.00
[[ 9.97751164e-01  6.70269679e-02  0.00000000e+00  2.35452953e+02]
 [-6.70269679e-02  9.97751164e-01  0.00000000e+00  2.58018438e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 234.00606649300002
Centerline is valid?  [True, True]
Translation: X:235.51, Y:0.25, Z:0.00
[[ 9.98169970e-01  6.04707383e-02  0.00000000e+00  2.35512719e+02]
 [-6.04707383e-02  9.98169970e-01  0.00000000e+00  2.46009724e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.06606649300002
Centerline is valid?  [True, True]
Translation: X:235.57, Y:0.23, Z:0.00
[[ 9.98990572e-01  4.49203474e-02  0.00000000e+00  2.35572445e+02]
 [-4.49203474e-02  9.98990572e-01  0.00000000e+00  2.26786188e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.126066493
Centerline is valid?  [True, True]
Translation: X:235.63, Y:0.22, Z:0.00
[[ 9.99642690e-01  2.67300066e-02  0.00000000e+00  2.35631430e+02]
 [-2.67300066e-02  9.99642690e-01  0.00000000e+00  2.15387925e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.186066493
Centerline is valid?  [True, True]
Translation: X:235.69, Y:0.21, Z:0.00
[[ 9.99867204e-01  1.62964468e-02  0.00000000e+00  2.35691347e+02]
 [-1.62964468e-02  9.99867204e-01  0.00000000e+00  2.11000793e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.246066493
Centerline is valid?  [True, True]
Translation: X:235.75, Y:0.22, Z:0.00
[[ 9.99946839e-01  1.03110790e-02  0.00000000e+00  2.35751422e+02]
 [-1.03110790e-02  9.99946839e-01  0.00000000e+00  2.15358025e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.306066493
Centerline is valid?  [True, True]
Translation: X:235.81, Y:0.22, Z:0.00
[[ 9.99995755e-01  2.91360237e-03  0.00000000e+00  2.35811371e+02]
 [-2.91360237e-03  9.99995755e-01  0.00000000e+00  2.22963277e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.366066493
Centerline is valid?  [True, True]
Translation: X:235.87, Y:0.23, Z:0.00
[[ 9.99999844e-01 -5.58492232e-04  0.00000000e+00  2.35871085e+02]
 [ 5.58492232e-04  9.99999844e-01  0.00000000e+00  2.31986478e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.426066493
Centerline is valid?  [True, True]
Translation: X:235.93, Y:0.25, Z:0.00
[[ 9.99983919e-01 -5.67111469e-03  0.00000000e+00  2.35932286e+02]
 [ 5.67111469e-03  9.99983919e-01  0.00000000e+00  2.47682459e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.486066493
Centerline is valid?  [True, True]
Translation: X:235.99, Y:0.26, Z:0.00
[[ 9.99952465e-01 -9.75030207e-03  0.00000000e+00  2.35993095e+02]
 [ 9.75030207e-03  9.99952465e-01  0.00000000e+00  2.64771642e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.546066493
Centerline is valid?  [True, True]
Translation: X:236.05, Y:0.29, Z:0.00
[[ 9.99929089e-01 -1.19087109e-02  0.00000000e+00  2.36054675e+02]
 [ 1.19087109e-02  9.99929089e-01  0.00000000e+00  2.86591405e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.60606649300001
Centerline is valid?  [True, True]
Translation: X:236.12, Y:0.30, Z:0.00
[[ 9.99920547e-01 -1.26055253e-02  0.00000000e+00  2.36116451e+02]
 [ 1.26055253e-02  9.99920547e-01  0.00000000e+00  3.01193783e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.66606649300002
Centerline is valid?  [True, True]
Translation: X:236.18, Y:0.32, Z:0.00
[[ 9.99906395e-01 -1.36821207e-02  0.00000000e+00  2.36178263e+02]
 [ 1.36821207e-02  9.99906395e-01  0.00000000e+00  3.22735998e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.72606649300002
Centerline is valid?  [True, True]
Translation: X:236.24, Y:0.35, Z:0.00
[[ 9.99903037e-01 -1.39254167e-02  0.00000000e+00  2.36241005e+02]
 [ 1.39254167e-02  9.99903037e-01  0.00000000e+00  3.47698455e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.78606649300002
Centerline is valid?  [True, True]
Translation: X:236.30, Y:0.36, Z:0.00
[[ 9.99903599e-01 -1.38849486e-02  0.00000000e+00  2.36303701e+02]
 [ 1.38849486e-02  9.99903599e-01  0.00000000e+00  3.62010829e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.84606649300002
Centerline is valid?  [True, True]
Translation: X:236.37, Y:0.39, Z:0.00
[[ 9.99893481e-01 -1.45954515e-02  0.00000000e+00  2.36365779e+02]
 [ 1.45954515e-02  9.99893481e-01  0.00000000e+00  3.85272177e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.906066493
Centerline is valid?  [True, True]
Translation: X:236.43, Y:0.41, Z:0.00
[[ 9.99945246e-01 -1.04644425e-02  0.00000000e+00  2.36427538e+02]
 [ 1.04644425e-02  9.99945246e-01  0.00000000e+00  4.07379551e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.966066493
Centerline is valid?  [True, True]
Translation: X:236.49, Y:0.42, Z:0.00
[[ 9.99977910e-01 -6.64675955e-03  0.00000000e+00  2.36487351e+02]
 [ 6.64675955e-03  9.99977910e-01  0.00000000e+00  4.21462800e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.026066493
Centerline is valid?  [True, True]
Translation: X:236.55, Y:0.44, Z:0.00
[[ 9.99981223e-01  6.12803800e-03  0.00000000e+00  2.36548157e+02]
 [-6.12803800e-03  9.99981223e-01  0.00000000e+00  4.41508143e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.086066493
Centerline is valid?  [True, True]
Translation: X:236.61, Y:0.46, Z:0.00
[[ 9.99818667e-01  1.90429502e-02  0.00000000e+00  2.36608368e+02]
 [-1.90429502e-02  9.99818667e-01  0.00000000e+00  4.57241018e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.146066493
Centerline is valid?  [True, True]
Translation: X:236.67, Y:0.47, Z:0.00
[[ 9.99812319e-01  1.93733655e-02  0.00000000e+00  2.36667314e+02]
 [-1.93733655e-02  9.99812319e-01  0.00000000e+00  4.67859971e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 235.206066493
Centerline is valid?  [True, True]
Translation: X:236.73, Y:0.47, Z:0.00
[[ 9.99923356e-01  1.23807431e-02  0.00000000e+00  2.36725708e+02]
 [-1.23807431e-02  9.99923356e-01  0.00000000e+00  4.71225403e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.266066493
Centerline is valid?  [True, True]
Translation: X:236.79, Y:0.48, Z:0.00
[[ 9.99996816e-01  2.52333489e-03  0.00000000e+00  2.36786386e+02]
 [-2.52333489e-03  9.99996816e-01  0.00000000e+00  4.79647461e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.326066493
Centerline is valid?  [True, True]
Translation: X:236.85, Y:0.48, Z:0.00
[[ 9.99997634e-01 -2.17542701e-03  0.00000000e+00  2.36845599e+02]
 [ 2.17542701e-03  9.99997634e-01  0.00000000e+00  4.84443890e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.38606649300002
Centerline is valid?  [True, True]
Translation: X:236.91, Y:0.49, Z:0.00
[[ 9.99930766e-01 -1.17670438e-02  0.00000000e+00  2.36906144e+02]
 [ 1.17670438e-02  9.99930766e-01  0.00000000e+00  4.92614069e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.44606649300002
Centerline is valid?  [True, True]
Translation: X:236.97, Y:0.50, Z:0.00
[[ 9.99896551e-01 -1.43835427e-02  0.00000000e+00  2.36967674e+02]
 [ 1.43835427e-02  9.99896551e-01  0.00000000e+00  4.95175165e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.50606649300002
Centerline is valid?  [True, True]
Translation: X:237.03, Y:0.51, Z:0.00
[[ 9.99704463e-01 -2.43102076e-02  0.00000000e+00  2.37028678e+02]
 [ 2.43102076e-02  9.99704463e-01  0.00000000e+00  5.06260450e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.56606649300002
Centerline is valid?  [True, True]
Translation: X:237.09, Y:0.52, Z:0.00
[[ 9.99574914e-01 -2.91545986e-02  0.00000000e+00  2.37088626e+02]
 [ 2.91545986e-02  9.99574914e-01  0.00000000e+00  5.18990855e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.626066493
Centerline is valid?  [True, True]
Translation: X:237.15, Y:0.53, Z:0.00
[[ 9.99620025e-01 -2.75645707e-02  0.00000000e+00  2.37150348e+02]
 [ 2.75645707e-02  9.99620025e-01  0.00000000e+00  5.28583669e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.686066493
Centerline is valid?  [True, True]
Translation: X:237.21, Y:0.55, Z:0.00
[[ 9.99913865e-01 -1.31248878e-02  0.00000000e+00  2.37211009e+02]
 [ 1.31248878e-02  9.99913865e-01  0.00000000e+00  5.52653453e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.746066493
Centerline is valid?  [True, True]
Translation: X:237.27, Y:0.56, Z:0.00
[[ 9.99973056e-01 -7.34077615e-03  0.00000000e+00  2.37271460e+02]
 [ 7.34077615e-03  9.99973056e-01  0.00000000e+00  5.63427373e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.806066493
Centerline is valid?  [True, True]
Translation: X:237.33, Y:0.58, Z:0.00
[[ 9.99994524e-01 -3.30932386e-03  0.00000000e+00  2.37333911e+02]
 [ 3.30932386e-03  9.99994524e-01  0.00000000e+00  5.78516868e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.866066493
Centerline is valid?  [True, True]
Translation: X:237.39, Y:0.59, Z:0.00
[[ 9.99991593e-01 -4.10057545e-03  0.00000000e+00  2.37394442e+02]
 [ 4.10057545e-03  9.99991593e-01  0.00000000e+00  5.88194238e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.926066493
Centerline is valid?  [True, True]
Translation: X:237.46, Y:0.60, Z:0.00
[[ 9.99999030e-01  1.39256702e-03  0.00000000e+00  2.37456216e+02]
 [-1.39256702e-03  9.99999030e-01  0.00000000e+00  5.98215496e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.986066493
Centerline is valid?  [True, True]
Translation: X:237.52, Y:0.61, Z:0.00
[[ 9.99975836e-01  6.95182056e-03  0.00000000e+00  2.37515815e+02]
 [-6.95182056e-03  9.99975836e-01  0.00000000e+00  6.07693799e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.046066493
Centerline is valid?  [True, True]
Translation: X:237.58, Y:0.61, Z:0.00
[[ 9.99931120e-01  1.17368811e-02  0.00000000e+00  2.37575095e+02]
 [-1.17368811e-02  9.99931120e-01  0.00000000e+00  6.13866211e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.10606649300001
Centerline is valid?  [True, True]
Translation: X:237.63, Y:0.62, Z:0.00
[[ 9.99578577e-01  2.90287630e-02  0.00000000e+00  2.37634883e+02]
 [-2.90287630e-02  9.99578577e-01  0.00000000e+00  6.16406931e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.16606649300002
Centerline is valid?  [True, True]
Translation: X:237.69, Y:0.62, Z:0.00
[[ 9.99360169e-01  3.57666546e-02  0.00000000e+00  2.37693321e+02]
 [-3.57666546e-02  9.99360169e-01  0.00000000e+00  6.20374030e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.22606649300002
Centerline is valid?  [True, True]
Translation: X:237.75, Y:0.62, Z:0.00
[[ 9.99025940e-01  4.41267739e-02  0.00000000e+00  2.37753495e+02]
 [-4.41267739e-02  9.99025940e-01  0.00000000e+00  6.15595659e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.28606649300002
Centerline is valid?  [True, True]
Translation: X:237.81, Y:0.61, Z:0.00
[[ 9.99152173e-01  4.11695934e-02  0.00000000e+00  2.37811558e+02]
 [-4.11695934e-02  9.99152173e-01  0.00000000e+00  6.08750053e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.34606649300002
Centerline is valid?  [True, True]
Translation: X:237.87, Y:0.60, Z:0.00
[[ 9.99039385e-01  4.38213186e-02  0.00000000e+00  2.37869940e+02]
 [-4.38213186e-02  9.99039385e-01  0.00000000e+00  5.98479876e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 236.406066493
Centerline is valid?  [True, True]
Translation: X:237.93, Y:0.59, Z:0.00
[[ 9.99009255e-01  4.45029012e-02  0.00000000e+00  2.37929239e+02]
 [-4.45029012e-02  9.99009255e-01  0.00000000e+00  5.91251268e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.466066493
Centerline is valid?  [True, True]
Translation: X:237.99, Y:0.57, Z:0.00
[[ 9.98849006e-01  4.79652228e-02  0.00000000e+00  2.37988604e+02]
 [-4.79652228e-02  9.98849006e-01  0.00000000e+00  5.71530210e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.526066493
Centerline is valid?  [True, True]
Translation: X:238.05, Y:0.56, Z:0.00
[[ 9.98641315e-01  5.21106862e-02  0.00000000e+00  2.38047822e+02]
 [-5.21106862e-02  9.98641315e-01  0.00000000e+00  5.59225434e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.586066493
Centerline is valid?  [True, True]
Translation: X:238.10, Y:0.55, Z:0.00
[[ 9.98522451e-01  5.43407288e-02  0.00000000e+00  2.38104615e+02]
 [-5.43407288e-02  9.98522451e-01  0.00000000e+00  5.47869856e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.646066493
Centerline is valid?  [True, True]
Translation: X:238.16, Y:0.53, Z:0.00
[[ 9.98580669e-01  5.32601885e-02  0.00000000e+00  2.38163283e+02]
 [-5.32601885e-02  9.98580669e-01  0.00000000e+00  5.26214720e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.706066493
Centerline is valid?  [True, True]
Translation: X:238.22, Y:0.51, Z:0.00
[[ 9.98637482e-01  5.21841013e-02  0.00000000e+00  2.38221435e+02]
 [-5.21841013e-02  9.98637482e-01  0.00000000e+00  5.12257919e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.766066493
Centerline is valid?  [True, True]
Translation: X:238.28, Y:0.49, Z:0.00
[[ 9.98854955e-01  4.78411737e-02  0.00000000e+00  2.38281090e+02]
 [-4.78411737e-02  9.98854955e-01  0.00000000e+00  4.93575968e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.826066493
Centerline is valid?  [True, True]
Translation: X:238.34, Y:0.47, Z:0.00
[[ 9.99175039e-01  4.06108587e-02  0.00000000e+00  2.38340477e+02]
 [-4.06108587e-02  9.99175039e-01  0.00000000e+00  4.68972625e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.88606649300002
Centerline is valid?  [True, True]
Translation: X:238.40, Y:0.45, Z:0.00
[[ 9.99303167e-01  3.73253218e-02  0.00000000e+00  2.38398788e+02]
 [-3.73253218e-02  9.99303167e-01  0.00000000e+00  4.53691287e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.94606649300002
Centerline is valid?  [True, True]
Translation: X:238.46, Y:0.44, Z:0.00
[[ 9.99311731e-01  3.70953450e-02  0.00000000e+00  2.38456153e+02]
 [-3.70953450e-02  9.99311731e-01  0.00000000e+00  4.35261492e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.00606649300002
Centerline is valid?  [True, True]
Translation: X:238.51, Y:0.42, Z:0.00
[[ 9.99389259e-01  3.49443636e-02  0.00000000e+00  2.38514328e+02]
 [-3.49443636e-02  9.99389259e-01  0.00000000e+00  4.22178268e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.06606649300002
Centerline is valid?  [True, True]
Translation: X:238.57, Y:0.41, Z:0.00
[[ 9.99563751e-01  2.95348654e-02  0.00000000e+00  2.38574500e+02]
 [-2.95348654e-02  9.99563751e-01  0.00000000e+00  4.09631208e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.126066493
Centerline is valid?  [True, True]
Translation: X:238.63, Y:0.40, Z:0.00
[[ 9.99715255e-01  2.38622922e-02  0.00000000e+00  2.38634857e+02]
 [-2.38622922e-02  9.99715255e-01  0.00000000e+00  4.00020104e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.186066493
Centerline is valid?  [True, True]
Translation: X:238.69, Y:0.40, Z:0.00
[[ 9.99807703e-01  1.96101102e-02  0.00000000e+00  2.38693786e+02]
 [-1.96101102e-02  9.99807703e-01  0.00000000e+00  3.95472096e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.246066493
Centerline is valid?  [True, True]
Translation: X:238.75, Y:0.39, Z:0.00
[[ 9.99933240e-01  1.15549173e-02  0.00000000e+00  2.38752286e+02]
 [-1.15549173e-02  9.99933240e-01  0.00000000e+00  3.90628608e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.306066493
Centerline is valid?  [True, True]
Translation: X:238.81, Y:0.39, Z:0.00
[[ 9.99977794e-01  6.66420577e-03  0.00000000e+00  2.38812250e+02]
 [-6.66420577e-03  9.99977794e-01  0.00000000e+00  3.86907573e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.366066493
Centerline is valid?  [True, True]
Translation: X:238.87, Y:0.39, Z:0.00
[[ 9.99998663e-01  1.63495784e-03  0.00000000e+00  2.38870912e+02]
 [-1.63495784e-03  9.99998663e-01  0.00000000e+00  3.85736341e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.426066493
Centerline is valid?  [True, True]
Translation: X:238.93, Y:0.39, Z:0.00
[[ 9.99977716e-01 -6.67593184e-03  0.00000000e+00  2.38931271e+02]
 [ 6.67593184e-03  9.99977716e-01  0.00000000e+00  3.86113606e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.486066493
Centerline is valid?  [True, True]
Translation: X:238.99, Y:0.39, Z:0.00
[[ 9.99957035e-01 -9.26979631e-03  0.00000000e+00  2.38991989e+02]
 [ 9.26979631e-03  9.99957035e-01  0.00000000e+00  3.85628159e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.546066493
Centerline is valid?  [True, True]
Translation: X:239.05, Y:0.39, Z:0.00
[[ 9.99919351e-01 -1.27000392e-02  0.00000000e+00  2.39054408e+02]
 [ 1.27000392e-02  9.99919351e-01  0.00000000e+00  3.91081752e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 237.60606649300001
Centerline is valid?  [True, True]
Translation: X:239.12, Y:0.39, Z:0.00
[[ 9.99948239e-01 -1.01744802e-02  0.00000000e+00  2.39115528e+02]
 [ 1.01744802e-02  9.99948239e-01  0.00000000e+00  3.94270481e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.66606649300002
Centerline is valid?  [True, True]
Translation: X:239.18, Y:0.41, Z:0.00
[[ 9.99993387e-01 -3.63680436e-03  0.00000000e+00  2.39176804e+02]
 [ 3.63680436e-03  9.99993387e-01  0.00000000e+00  4.05720329e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.72606649300002
Centerline is valid?  [True, True]
Translation: X:239.24, Y:0.42, Z:0.00
[[ 9.99999493e-01  1.00655567e-03  0.00000000e+00  2.39238444e+02]
 [-1.00655567e-03  9.99999493e-01  0.00000000e+00  4.17577694e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.78606649300002
Centerline is valid?  [True, True]
Translation: X:239.30, Y:0.43, Z:0.00
[[ 9.99997509e-01  2.23221161e-03  0.00000000e+00  2.39298735e+02]
 [-2.23221161e-03  9.99997509e-01  0.00000000e+00  4.25894326e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.84606649300002
Centerline is valid?  [True, True]
Translation: X:239.36, Y:0.43, Z:0.00
[[ 9.99997464e-01  2.25215352e-03  0.00000000e+00  2.39358651e+02]
 [-2.25215352e-03  9.99997464e-01  0.00000000e+00  4.32873871e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.906066493
Centerline is valid?  [True, True]
Translation: X:239.42, Y:0.44, Z:0.00
[[ 9.99985945e-01  5.30192383e-03  0.00000000e+00  2.39419642e+02]
 [-5.30192383e-03  9.99985945e-01  0.00000000e+00  4.37379481e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.966066493
Centerline is valid?  [True, True]
Translation: X:239.48, Y:0.45, Z:0.00
[[ 9.99936968e-01  1.12276295e-02  0.00000000e+00  2.39479206e+02]
 [-1.12276295e-02  9.99936968e-01  0.00000000e+00  4.48529063e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.026066493
Centerline is valid?  [True, True]
Translation: X:239.54, Y:0.46, Z:0.00
[[ 9.99743304e-01  2.26567139e-02  0.00000000e+00  2.39536682e+02]
 [-2.26567139e-02  9.99743304e-01  0.00000000e+00  4.55626970e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.086066493
Centerline is valid?  [True, True]
Translation: X:239.60, Y:0.46, Z:0.00
[[ 9.99569393e-01  2.93432828e-02  0.00000000e+00  2.39595446e+02]
 [-2.93432828e-02  9.99569393e-01  0.00000000e+00  4.57203415e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.146066493
Centerline is valid?  [True, True]
Translation: X:239.66, Y:0.46, Z:0.00
[[ 9.99422529e-01  3.39795268e-02  0.00000000e+00  2.39656197e+02]
 [-3.39795268e-02  9.99422529e-01  0.00000000e+00  4.57487247e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.206066493
Centerline is valid?  [True, True]
Translation: X:239.71, Y:0.46, Z:0.00
[[ 9.99399874e-01  3.46394436e-02  0.00000000e+00  2.39714893e+02]
 [-3.46394436e-02  9.99399874e-01  0.00000000e+00  4.57778821e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.266066493
Centerline is valid?  [True, True]
Translation: X:239.77, Y:0.45, Z:0.00
[[ 9.99519834e-01  3.09855021e-02  0.00000000e+00  2.39774176e+02]
 [-3.09855021e-02  9.99519834e-01  0.00000000e+00  4.51384288e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.326066493
Centerline is valid?  [True, True]
Translation: X:239.83, Y:0.44, Z:0.00
[[ 9.99613516e-01  2.77996247e-02  0.00000000e+00  2.39834096e+02]
 [-2.77996247e-02  9.99613516e-01  0.00000000e+00  4.44817444e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.38606649300002
Centerline is valid?  [True, True]
Translation: X:239.89, Y:0.44, Z:0.00
[[ 9.99638960e-01  2.68691130e-02  0.00000000e+00  2.39892333e+02]
 [-2.68691130e-02  9.99638960e-01  0.00000000e+00  4.39915755e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.44606649300002
Centerline is valid?  [True, True]
Translation: X:239.95, Y:0.43, Z:0.00
[[ 9.99698821e-01  2.45411364e-02  0.00000000e+00  2.39950806e+02]
 [-2.45411364e-02  9.99698821e-01  0.00000000e+00  4.30679545e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.50606649300002
Centerline is valid?  [True, True]
Translation: X:240.01, Y:0.43, Z:0.00
[[ 9.99743087e-01  2.26662807e-02  0.00000000e+00  2.40009667e+02]
 [-2.26662807e-02  9.99743087e-01  0.00000000e+00  4.27694006e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.56606649300002
Centerline is valid?  [True, True]
Translation: X:240.07, Y:0.42, Z:0.00
[[ 9.99882487e-01  1.53301023e-02  0.00000000e+00  2.40067551e+02]
 [-1.53301023e-02  9.99882487e-01  0.00000000e+00  4.19756998e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.62606649300002
Centerline is valid?  [True, True]
Translation: X:240.13, Y:0.42, Z:0.00
[[ 9.99984249e-01  5.61264812e-03  0.00000000e+00  2.40125928e+02]
 [-5.61264812e-03  9.99984249e-01  0.00000000e+00  4.15093358e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.686066493
Centerline is valid?  [True, True]
Translation: X:240.19, Y:0.42, Z:0.00
[[ 9.99997980e-01  2.00997590e-03  0.00000000e+00  2.40186565e+02]
 [-2.00997590e-03  9.99997980e-01  0.00000000e+00  4.17926470e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.746066493
Centerline is valid?  [True, True]
Translation: X:240.25, Y:0.42, Z:0.00
[[ 9.99986924e-01  5.11389147e-03  0.00000000e+00  2.40246387e+02]
 [-5.11389147e-03  9.99986924e-01  0.00000000e+00  4.22205539e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 238.806066493
Centerline is valid?  [True, True]
Translation: X:240.31, Y:0.43, Z:0.00
[[ 9.99905151e-01  1.37727430e-02  0.00000000e+00  2.40306046e+02]
 [-1.37727430e-02  9.99905151e-01  0.00000000e+00  4.25111368e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.866066493
Centerline is valid?  [True, True]
Translation: X:240.36, Y:0.43, Z:0.00
[[ 9.99686723e-01  2.50290897e-02  0.00000000e+00  2.40364000e+02]
 [-2.50290897e-02  9.99686723e-01  0.00000000e+00  4.33536743e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.926066493
Centerline is valid?  [True, True]
Translation: X:240.42, Y:0.44, Z:0.00
[[ 9.99616431e-01  2.76946181e-02  0.00000000e+00  2.40422455e+02]
 [-2.76946181e-02  9.99616431e-01  0.00000000e+00  4.35702083e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.986066493
Centerline is valid?  [True, True]
Translation: X:240.48, Y:0.43, Z:0.00
[[ 9.99748310e-01  2.24347174e-02  0.00000000e+00  2.40481933e+02]
 [-2.24347174e-02  9.99748310e-01  0.00000000e+00  4.34661872e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.046066493
Centerline is valid?  [True, True]
Translation: X:240.54, Y:0.44, Z:0.00
[[ 9.99906695e-01  1.36602274e-02  0.00000000e+00  2.40541104e+02]
 [-1.36602274e-02  9.99906695e-01  0.00000000e+00  4.36621873e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.10606649300001
Centerline is valid?  [True, True]
Translation: X:240.60, Y:0.44, Z:0.00
[[ 9.99988993e-01  4.69184644e-03  0.00000000e+00  2.40598700e+02]
 [-4.69184644e-03  9.99988993e-01  0.00000000e+00  4.35006125e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.16606649300002
Centerline is valid?  [True, True]
Translation: X:240.66, Y:0.44, Z:0.00
[[ 9.99962038e-01 -8.71337791e-03  0.00000000e+00  2.40658983e+02]
 [ 8.71337791e-03  9.99962038e-01  0.00000000e+00  4.36605034e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.22606649300002
Centerline is valid?  [True, True]
Translation: X:240.72, Y:0.44, Z:0.00
[[ 9.99885473e-01 -1.51340960e-02  0.00000000e+00  2.40720163e+02]
 [ 1.51340960e-02  9.99885473e-01  0.00000000e+00  4.37893105e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.28606649300002
Centerline is valid?  [True, True]
Translation: X:240.78, Y:0.44, Z:0.00
[[ 9.99845536e-01 -1.75756450e-02  0.00000000e+00  2.40781103e+02]
 [ 1.75756450e-02  9.99845536e-01  0.00000000e+00  4.39413630e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.34606649300002
Centerline is valid?  [True, True]
Translation: X:240.84, Y:0.45, Z:0.00
[[ 9.99869832e-01 -1.61344096e-02  0.00000000e+00  2.40843975e+02]
 [ 1.61344096e-02  9.99869832e-01  0.00000000e+00  4.49155880e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.406066493
Centerline is valid?  [True, True]
Translation: X:240.90, Y:0.46, Z:0.00
[[ 9.99930665e-01 -1.17755877e-02  0.00000000e+00  2.40903550e+02]
 [ 1.17755877e-02  9.99930665e-01  0.00000000e+00  4.56766520e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.466066493
Centerline is valid?  [True, True]
Translation: X:240.97, Y:0.46, Z:0.00
[[ 9.99994980e-01 -3.16864068e-03  0.00000000e+00  2.40965425e+02]
 [ 3.16864068e-03  9.99994980e-01  0.00000000e+00  4.64967853e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.526066493
Centerline is valid?  [True, True]
Translation: X:241.02, Y:0.47, Z:0.00
[[ 9.99998495e-01 -1.73472552e-03  0.00000000e+00  2.41024932e+02]
 [ 1.73472552e-03  9.99998495e-01  0.00000000e+00  4.71162935e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.586066493
Centerline is valid?  [True, True]
Translation: X:241.09, Y:0.48, Z:0.00
[[ 9.99982932e-01 -5.84256208e-03  0.00000000e+00  2.41085678e+02]
 [ 5.84256208e-03  9.99982932e-01  0.00000000e+00  4.84833258e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.646066493
Centerline is valid?  [True, True]
Translation: X:241.15, Y:0.49, Z:0.00
[[ 9.99924463e-01 -1.22910166e-02  0.00000000e+00  2.41147044e+02]
 [ 1.22910166e-02  9.99924463e-01  0.00000000e+00  4.90232351e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.706066493
Centerline is valid?  [True, True]
Translation: X:241.21, Y:0.50, Z:0.00
[[ 9.99844925e-01 -1.76104081e-02  0.00000000e+00  2.41208025e+02]
 [ 1.76104081e-02  9.99844925e-01  0.00000000e+00  5.00332533e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.766066493
Centerline is valid?  [True, True]
Translation: X:241.27, Y:0.51, Z:0.00
[[ 9.99796328e-01 -2.01817586e-02  0.00000000e+00  2.41267959e+02]
 [ 2.01817586e-02  9.99796328e-01  0.00000000e+00  5.11985149e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.826066493
Centerline is valid?  [True, True]
Translation: X:241.33, Y:0.52, Z:0.00
[[ 9.99768392e-01 -2.15212115e-02  0.00000000e+00  2.41330098e+02]
 [ 2.15212115e-02  9.99768392e-01  0.00000000e+00  5.20416285e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.88606649300002
Centerline is valid?  [True, True]
Translation: X:241.39, Y:0.53, Z:0.00
[[ 9.99684203e-01 -2.51295613e-02  0.00000000e+00  2.41390975e+02]
 [ 2.51295613e-02  9.99684203e-01  0.00000000e+00  5.29812602e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.94606649300002
Centerline is valid?  [True, True]
Translation: X:241.45, Y:0.54, Z:0.00
[[ 9.99613758e-01 -2.77909155e-02  0.00000000e+00  2.41451734e+02]
 [ 2.77909155e-02  9.99613758e-01  0.00000000e+00  5.38117055e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 240.00606649300002
Centerline is valid?  [True, True]
Translation: X:241.51, Y:0.55, Z:0.00
[[ 9.99536974e-01 -3.04275641e-02  0.00000000e+00  2.41513180e+02]
 [ 3.04275641e-02  9.99536974e-01  0.00000000e+00  5.50304480e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.06606649300002
Centerline is valid?  [True, True]
Translation: X:241.57, Y:0.56, Z:0.00
[[ 9.99667990e-01 -2.57664327e-02  0.00000000e+00  2.41574985e+02]
 [ 2.57664327e-02  9.99667990e-01  0.00000000e+00  5.61855189e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.12606649300002
Centerline is valid?  [True, True]
Translation: X:241.64, Y:0.57, Z:0.00
[[ 9.99742705e-01 -2.26831204e-02  0.00000000e+00  2.41635336e+02]
 [ 2.26831204e-02  9.99742705e-01  0.00000000e+00  5.68495605e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.186066493
Centerline is valid?  [True, True]
Translation: X:241.70, Y:0.58, Z:0.00
[[ 9.99736021e-01 -2.29758060e-02  0.00000000e+00  2.41697235e+02]
 [ 2.29758060e-02  9.99736021e-01  0.00000000e+00  5.82122095e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.246066493
Centerline is valid?  [True, True]
Translation: X:241.76, Y:0.59, Z:0.00
[[ 9.99626480e-01 -2.73294903e-02  0.00000000e+00  2.41757786e+02]
 [ 2.73294903e-02  9.99626480e-01  0.00000000e+00  5.87401064e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.306066493
Centerline is valid?  [True, True]
Translation: X:241.82, Y:0.59, Z:0.00
[[ 9.99360786e-01 -3.57494048e-02  0.00000000e+00  2.41818896e+02]
 [ 3.57494048e-02  9.99360786e-01  0.00000000e+00  5.93172127e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.366066493
Centerline is valid?  [True, True]
Translation: X:241.88, Y:0.60, Z:0.00
[[ 9.99122706e-01 -4.18786252e-02  0.00000000e+00  2.41879502e+02]
 [ 4.18786252e-02  9.99122706e-01  0.00000000e+00  6.00766831e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.426066493
Centerline is valid?  [True, True]
Translation: X:241.94, Y:0.61, Z:0.00
[[ 9.99048097e-01 -4.36222484e-02  0.00000000e+00  2.41940998e+02]
 [ 4.36222484e-02  9.99048097e-01  0.00000000e+00  6.14230144e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.486066493
Centerline is valid?  [True, True]
Translation: X:242.00, Y:0.63, Z:0.00
[[ 9.98987577e-01 -4.49869038e-02  0.00000000e+00  2.42001562e+02]
 [ 4.49869038e-02  9.98987577e-01  0.00000000e+00  6.26596356e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.546066493
Centerline is valid?  [True, True]
Translation: X:242.06, Y:0.63, Z:0.00
[[ 9.99098294e-01 -4.24570300e-02  0.00000000e+00  2.42062452e+02]
 [ 4.24570300e-02  9.99098294e-01  0.00000000e+00  6.34912298e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.60606649300001
Centerline is valid?  [True, True]
Translation: X:242.12, Y:0.65, Z:0.00
[[ 9.99239385e-01 -3.89955439e-02  0.00000000e+00  2.42123104e+02]
 [ 3.89955439e-02  9.99239385e-01  0.00000000e+00  6.49627676e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.66606649300002
Centerline is valid?  [True, True]
Translation: X:242.18, Y:0.66, Z:0.00
[[ 9.99319056e-01 -3.68974860e-02  0.00000000e+00  2.42183951e+02]
 [ 3.68974860e-02  9.99319056e-01  0.00000000e+00  6.57639459e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.72606649300002
Centerline is valid?  [True, True]
Translation: X:242.25, Y:0.66, Z:0.00
[[ 9.99366841e-01 -3.55797398e-02  0.00000000e+00  2.42245075e+02]
 [ 3.55797398e-02  9.99366841e-01  0.00000000e+00  6.64416871e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.78606649300002
Centerline is valid?  [True, True]
Translation: X:242.31, Y:0.68, Z:0.00
[[ 9.99363294e-01 -3.56792275e-02  0.00000000e+00  2.42307446e+02]
 [ 3.56792275e-02  9.99363294e-01  0.00000000e+00  6.78840325e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.84606649300002
Centerline is valid?  [True, True]
Translation: X:242.37, Y:0.68, Z:0.00
[[ 9.99320869e-01 -3.68483464e-02  0.00000000e+00  2.42369840e+02]
 [ 3.68483464e-02  9.99320869e-01  0.00000000e+00  6.84391799e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.906066493
Centerline is valid?  [True, True]
Translation: X:242.43, Y:0.69, Z:0.00
[[ 9.99227946e-01 -3.92875480e-02  0.00000000e+00  2.42429796e+02]
 [ 3.92875480e-02  9.99227946e-01  0.00000000e+00  6.94135148e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.966066493
Centerline is valid?  [True, True]
Translation: X:242.49, Y:0.70, Z:0.00
[[ 9.99469236e-01 -3.25767656e-02  0.00000000e+00  2.42490520e+02]
 [ 3.25767656e-02  9.99469236e-01  0.00000000e+00  7.02616065e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.026066493
Centerline is valid?  [True, True]
Translation: X:242.55, Y:0.71, Z:0.00
[[ 9.99650674e-01 -2.64297119e-02  0.00000000e+00  2.42550618e+02]
 [ 2.64297119e-02  9.99650674e-01  0.00000000e+00  7.11914376e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.086066493
Centerline is valid?  [True, True]
Translation: X:242.61, Y:0.72, Z:0.00
[[ 9.99773692e-01 -2.12735673e-02  0.00000000e+00  2.42611327e+02]
 [ 2.12735673e-02  9.99773692e-01  0.00000000e+00  7.18388172e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.146066493
Centerline is valid?  [True, True]
Translation: X:242.67, Y:0.73, Z:0.00
[[ 9.99917205e-01 -1.28678843e-02  0.00000000e+00  2.42670999e+02]
 [ 1.28678843e-02  9.99917205e-01  0.00000000e+00  7.28871388e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 241.206066493
Centerline is valid?  [True, True]
Translation: X:242.73, Y:0.73, Z:0.00
[[ 9.99957358e-01 -9.23483837e-03  0.00000000e+00  2.42731868e+02]
 [ 9.23483837e-03  9.99957358e-01  0.00000000e+00  7.31369960e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.266066493
Centerline is valid?  [True, True]
Translation: X:242.79, Y:0.74, Z:0.00
[[ 9.99999031e-01  1.39200560e-03  0.00000000e+00  2.42792634e+02]
 [-1.39200560e-03  9.99999031e-01  0.00000000e+00  7.37352248e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.326066493
Centerline is valid?  [True, True]
Translation: X:242.85, Y:0.74, Z:0.00
[[ 9.99948401e-01  1.01585267e-02  0.00000000e+00  2.42852871e+02]
 [-1.01585267e-02  9.99948401e-01  0.00000000e+00  7.39332069e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.38606649300002
Centerline is valid?  [True, True]
Translation: X:242.91, Y:0.74, Z:0.00
[[ 9.99779937e-01  2.09780445e-02  0.00000000e+00  2.42912811e+02]
 [-2.09780445e-02  9.99779937e-01  0.00000000e+00  7.41640255e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.44606649300002
Centerline is valid?  [True, True]
Translation: X:242.97, Y:0.74, Z:0.00
[[ 9.99604145e-01  2.81345545e-02  0.00000000e+00  2.42971076e+02]
 [-2.81345545e-02  9.99604145e-01  0.00000000e+00  7.35765819e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.50606649300002
Centerline is valid?  [True, True]
Translation: X:243.03, Y:0.73, Z:0.00
[[ 9.99467136e-01  3.26411266e-02  0.00000000e+00  2.43030564e+02]
 [-3.26411266e-02  9.99467136e-01  0.00000000e+00  7.29993255e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.56606649300002
Centerline is valid?  [True, True]
Translation: X:243.09, Y:0.72, Z:0.00
[[ 9.99654779e-01  2.62739847e-02  0.00000000e+00  2.43089949e+02]
 [-2.62739847e-02  9.99654779e-01  0.00000000e+00  7.24194354e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.62606649300002
Centerline is valid?  [True, True]
Translation: X:243.15, Y:0.72, Z:0.00
[[ 9.99781974e-01  2.08807369e-02  0.00000000e+00  2.43147358e+02]
 [-2.08807369e-02  9.99781974e-01  0.00000000e+00  7.18309334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.686066493
Centerline is valid?  [True, True]
Translation: X:243.21, Y:0.71, Z:0.00
[[ 9.99963944e-01  8.49183894e-03  0.00000000e+00  2.43206765e+02]
 [-8.49183894e-03  9.99963944e-01  0.00000000e+00  7.10449810e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.746066493
Centerline is valid?  [True, True]
Translation: X:243.27, Y:0.70, Z:0.00
[[ 9.99998032e-01 -1.98398175e-03  0.00000000e+00  2.43267122e+02]
 [ 1.98398175e-03  9.99998032e-01  0.00000000e+00  7.03411041e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.806066493
Centerline is valid?  [True, True]
Translation: X:243.33, Y:0.70, Z:0.00
[[ 9.99848016e-01 -1.74340062e-02  0.00000000e+00  2.43327474e+02]
 [ 1.74340062e-02  9.99848016e-01  0.00000000e+00  6.96408549e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.866066493
Centerline is valid?  [True, True]
Translation: X:243.39, Y:0.69, Z:0.00
[[ 9.99669681e-01 -2.57007463e-02  0.00000000e+00  2.43386632e+02]
 [ 2.57007463e-02  9.99669681e-01  0.00000000e+00  6.92328322e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.926066493
Centerline is valid?  [True, True]
Translation: X:243.45, Y:0.69, Z:0.00
[[ 9.99442310e-01 -3.33926370e-02  0.00000000e+00  2.43446876e+02]
 [ 3.33926370e-02  9.99442310e-01  0.00000000e+00  6.85136977e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.986066493
Centerline is valid?  [True, True]
Translation: X:243.51, Y:0.68, Z:0.00
[[ 9.99418017e-01 -3.41119866e-02  0.00000000e+00  2.43507263e+02]
 [ 3.41119866e-02  9.99418017e-01  0.00000000e+00  6.84232813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.046066493
Centerline is valid?  [True, True]
Translation: X:243.57, Y:0.69, Z:0.00
[[ 9.99589598e-01 -2.86467233e-02  0.00000000e+00  2.43568240e+02]
 [ 2.86467233e-02  9.99589598e-01  0.00000000e+00  6.87544019e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.10606649300001
Centerline is valid?  [True, True]
Translation: X:243.63, Y:0.69, Z:0.00
[[ 9.99698103e-01 -2.45703774e-02  0.00000000e+00  2.43628274e+02]
 [ 2.45703774e-02  9.99698103e-01  0.00000000e+00  6.86310017e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.16606649300002
Centerline is valid?  [True, True]
Translation: X:243.69, Y:0.69, Z:0.00
[[ 9.99731154e-01 -2.31866401e-02  0.00000000e+00  2.43690371e+02]
 [ 2.31866401e-02  9.99731154e-01  0.00000000e+00  6.87122838e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.22606649300002
Centerline is valid?  [True, True]
Translation: X:243.75, Y:0.69, Z:0.00
[[ 9.99722249e-01 -2.35674332e-02  0.00000000e+00  2.43752669e+02]
 [ 2.35674332e-02  9.99722249e-01  0.00000000e+00  6.88788349e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.28606649300002
Centerline is valid?  [True, True]
Translation: X:243.81, Y:0.69, Z:0.00
[[ 9.99627865e-01 -2.72787769e-02  0.00000000e+00  2.43811897e+02]
 [ 2.72787769e-02  9.99627865e-01  0.00000000e+00  6.92355932e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.34606649300002
Centerline is valid?  [True, True]
Translation: X:243.87, Y:0.70, Z:0.00
[[ 9.99429155e-01 -3.37840730e-02  0.00000000e+00  2.43873012e+02]
 [ 3.37840730e-02  9.99429155e-01  0.00000000e+00  6.95918505e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 242.406066493
Centerline is valid?  [True, True]
Translation: X:243.93, Y:0.70, Z:0.00
[[ 9.99303042e-01 -3.73286742e-02  0.00000000e+00  2.43934116e+02]
 [ 3.73286742e-02  9.99303042e-01  0.00000000e+00  6.97821696e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.466066493
Centerline is valid?  [True, True]
Translation: X:244.00, Y:0.70, Z:0.00
[[ 9.99072668e-01 -4.30558333e-02  0.00000000e+00  2.43995459e+02]
 [ 4.30558333e-02  9.99072668e-01  0.00000000e+00  7.03400538e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.526066493
Centerline is valid?  [True, True]
Translation: X:244.06, Y:0.71, Z:0.00
[[ 9.98815738e-01 -4.86530664e-02  0.00000000e+00  2.44056467e+02]
 [ 4.86530664e-02  9.98815738e-01  0.00000000e+00  7.09526090e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.586066493
Centerline is valid?  [True, True]
Translation: X:244.12, Y:0.71, Z:0.00
[[ 9.98739431e-01 -5.01951005e-02  0.00000000e+00  2.44116922e+02]
 [ 5.01951005e-02  9.98739431e-01  0.00000000e+00  7.12266120e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.646066493
Centerline is valid?  [True, True]
Translation: X:244.18, Y:0.72, Z:0.00
[[ 9.98791605e-01 -4.91460057e-02  0.00000000e+00  2.44177179e+02]
 [ 4.91460057e-02  9.98791605e-01  0.00000000e+00  7.24517095e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.706066493
Centerline is valid?  [True, True]
Translation: X:244.24, Y:0.73, Z:0.00
[[ 9.98868140e-01 -4.75651108e-02  0.00000000e+00  2.44238564e+02]
 [ 4.75651108e-02  9.98868140e-01  0.00000000e+00  7.29903079e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.766066493
Centerline is valid?  [True, True]
Translation: X:244.30, Y:0.74, Z:0.00
[[ 9.99252904e-01 -3.86475533e-02  0.00000000e+00  2.44298504e+02]
 [ 3.86475533e-02  9.99252904e-01  0.00000000e+00  7.38454096e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.826066493
Centerline is valid?  [True, True]
Translation: X:244.36, Y:0.75, Z:0.00
[[ 9.99389228e-01 -3.49452440e-02  0.00000000e+00  2.44359923e+02]
 [ 3.49452440e-02  9.99389228e-01  0.00000000e+00  7.45681272e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.88606649300002
Centerline is valid?  [True, True]
Translation: X:244.42, Y:0.75, Z:0.00
[[ 9.99620127e-01 -2.75608853e-02  0.00000000e+00  2.44420659e+02]
 [ 2.75608853e-02  9.99620127e-01  0.00000000e+00  7.53776714e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.94606649300002
Centerline is valid?  [True, True]
Translation: X:244.48, Y:0.76, Z:0.00
[[ 9.99684579e-01 -2.51146021e-02  0.00000000e+00  2.44480373e+02]
 [ 2.51146021e-02  9.99684579e-01  0.00000000e+00  7.59055422e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.00606649300002
Centerline is valid?  [True, True]
Translation: X:244.54, Y:0.77, Z:0.00
[[ 9.99801246e-01 -1.99366198e-02  0.00000000e+00  2.44540130e+02]
 [ 1.99366198e-02  9.99801246e-01  0.00000000e+00  7.69089277e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.06606649300002
Centerline is valid?  [True, True]
Translation: X:244.60, Y:0.77, Z:0.00
[[ 9.99835668e-01 -1.81283378e-02  0.00000000e+00  2.44601258e+02]
 [ 1.81283378e-02  9.99835668e-01  0.00000000e+00  7.70516978e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.12606649300002
Centerline is valid?  [True, True]
Translation: X:244.66, Y:0.77, Z:0.00
[[ 9.99843614e-01 -1.76846544e-02  0.00000000e+00  2.44662616e+02]
 [ 1.76846544e-02  9.99843614e-01  0.00000000e+00  7.74293126e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.186066493
Centerline is valid?  [True, True]
Translation: X:244.72, Y:0.78, Z:0.00
[[ 9.99780467e-01 -2.09527542e-02  0.00000000e+00  2.44723301e+02]
 [ 2.09527542e-02  9.99780467e-01  0.00000000e+00  7.77696443e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.246066493
Centerline is valid?  [True, True]
Translation: X:244.78, Y:0.78, Z:0.00
[[ 9.99733711e-01 -2.30760990e-02  0.00000000e+00  2.44784763e+02]
 [ 2.30760990e-02  9.99733711e-01  0.00000000e+00  7.82628059e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.306066493
Centerline is valid?  [True, True]
Translation: X:244.85, Y:0.78, Z:0.00
[[ 9.99659104e-01 -2.61089308e-02  0.00000000e+00  2.44845080e+02]
 [ 2.61089308e-02  9.99659104e-01  0.00000000e+00  7.84779614e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.366066493
Centerline is valid?  [True, True]
Translation: X:244.91, Y:0.78, Z:0.00
[[ 9.99651178e-01 -2.64106329e-02  0.00000000e+00  2.44905815e+02]
 [ 2.64106329e-02  9.99651178e-01  0.00000000e+00  7.83076387e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.426066493
Centerline is valid?  [True, True]
Translation: X:244.97, Y:0.79, Z:0.00
[[ 9.99618632e-01 -2.76150384e-02  0.00000000e+00  2.44967527e+02]
 [ 2.76150384e-02  9.99618632e-01  0.00000000e+00  7.86557454e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.486066493
Centerline is valid?  [True, True]
Translation: X:245.03, Y:0.79, Z:0.00
[[ 9.99609265e-01 -2.79520545e-02  0.00000000e+00  2.45029598e+02]
 [ 2.79520545e-02  9.99609265e-01  0.00000000e+00  7.89541997e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.546066493
Centerline is valid?  [True, True]
Translation: X:245.09, Y:0.80, Z:0.00
[[ 9.99568650e-01 -2.93685955e-02  0.00000000e+00  2.45090357e+02]
 [ 2.93685955e-02  9.99568650e-01  0.00000000e+00  7.95384201e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 243.60606649300001
Centerline is valid?  [True, True]
Translation: X:245.15, Y:0.80, Z:0.00
[[ 9.99632815e-01 -2.70967608e-02  0.00000000e+00  2.45150853e+02]
 [ 2.70967608e-02  9.99632815e-01  0.00000000e+00  7.98411158e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.66606649300002
Centerline is valid?  [True, True]
Translation: X:245.21, Y:0.80, Z:0.00
[[ 9.99705973e-01 -2.42480447e-02  0.00000000e+00  2.45211876e+02]
 [ 2.42480447e-02  9.99705973e-01  0.00000000e+00  8.03319663e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.72606649300002
Centerline is valid?  [True, True]
Translation: X:245.27, Y:0.81, Z:0.00
[[ 9.99726843e-01 -2.33717576e-02  0.00000000e+00  2.45273636e+02]
 [ 2.33717576e-02  9.99726843e-01  0.00000000e+00  8.06135355e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.78606649300002
Centerline is valid?  [True, True]
Translation: X:245.33, Y:0.81, Z:0.00
[[ 9.99798562e-01 -2.00707581e-02  0.00000000e+00  2.45334034e+02]
 [ 2.00707581e-02  9.99798562e-01  0.00000000e+00  8.10123835e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.84606649300002
Centerline is valid?  [True, True]
Translation: X:245.40, Y:0.82, Z:0.00
[[ 9.99810275e-01 -1.94785286e-02  0.00000000e+00  2.45395370e+02]
 [ 1.94785286e-02  9.99810275e-01  0.00000000e+00  8.15412604e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.906066493
Centerline is valid?  [True, True]
Translation: X:245.46, Y:0.82, Z:0.00
[[ 9.99907309e-01 -1.36151902e-02  0.00000000e+00  2.45456490e+02]
 [ 1.36151902e-02  9.99907309e-01  0.00000000e+00  8.17389319e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.966066493
Centerline is valid?  [True, True]
Translation: X:245.52, Y:0.82, Z:0.00
[[ 9.99954614e-01 -9.52729512e-03  0.00000000e+00  2.45517645e+02]
 [ 9.52729512e-03  9.99954614e-01  0.00000000e+00  8.17852336e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.026066493
Centerline is valid?  [True, True]
Translation: X:245.58, Y:0.82, Z:0.00
[[ 9.99999742e-01 -7.18422789e-04  0.00000000e+00  2.45576986e+02]
 [ 7.18422789e-04  9.99999742e-01  0.00000000e+00  8.21273517e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.086066493
Centerline is valid?  [True, True]
Translation: X:245.64, Y:0.82, Z:0.00
[[ 9.99976646e-01  6.83429914e-03  0.00000000e+00  2.45637599e+02]
 [-6.83429914e-03  9.99976646e-01  0.00000000e+00  8.19287490e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.146066493
Centerline is valid?  [True, True]
Translation: X:245.70, Y:0.82, Z:0.00
[[ 9.99910938e-01  1.33460237e-02  0.00000000e+00  2.45698052e+02]
 [-1.33460237e-02  9.99910938e-01  0.00000000e+00  8.20728789e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.206066493
Centerline is valid?  [True, True]
Translation: X:245.76, Y:0.82, Z:0.00
[[ 9.99910128e-01  1.34065492e-02  0.00000000e+00  2.45758231e+02]
 [-1.34065492e-02  9.99910128e-01  0.00000000e+00  8.17404707e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.266066493
Centerline is valid?  [True, True]
Translation: X:245.82, Y:0.82, Z:0.00
[[ 9.99932766e-01  1.15958397e-02  0.00000000e+00  2.45816127e+02]
 [-1.15958397e-02  9.99932766e-01  0.00000000e+00  8.16857419e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.326066493
Centerline is valid?  [True, True]
Translation: X:245.88, Y:0.81, Z:0.00
[[ 9.99941886e-01  1.07807712e-02  0.00000000e+00  2.45875028e+02]
 [-1.07807712e-02  9.99941886e-01  0.00000000e+00  8.13238825e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.38606649300002
Centerline is valid?  [True, True]
Translation: X:245.93, Y:0.81, Z:0.00
[[ 9.99956902e-01  9.28409994e-03  0.00000000e+00  2.45934126e+02]
 [-9.28409994e-03  9.99956902e-01  0.00000000e+00  8.10702507e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.44606649300002
Centerline is valid?  [True, True]
Translation: X:245.99, Y:0.81, Z:0.00
[[ 9.99934346e-01  1.14587525e-02  0.00000000e+00  2.45994245e+02]
 [-1.14587525e-02  9.99934346e-01  0.00000000e+00  8.07444520e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.50606649300002
Centerline is valid?  [True, True]
Translation: X:246.05, Y:0.80, Z:0.00
[[ 9.99872544e-01  1.59654674e-02  0.00000000e+00  2.46052067e+02]
 [-1.59654674e-02  9.99872544e-01  0.00000000e+00  8.01748561e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.56606649300002
Centerline is valid?  [True, True]
Translation: X:246.11, Y:0.80, Z:0.00
[[ 9.99769398e-01  2.14744168e-02  0.00000000e+00  2.46111072e+02]
 [-2.14744168e-02  9.99769398e-01  0.00000000e+00  8.00047408e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.62606649300002
Centerline is valid?  [True, True]
Translation: X:246.17, Y:0.80, Z:0.00
[[ 9.99727918e-01  2.33257315e-02  0.00000000e+00  2.46170628e+02]
 [-2.33257315e-02  9.99727918e-01  0.00000000e+00  7.97080926e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.686066493
Centerline is valid?  [True, True]
Translation: X:246.23, Y:0.79, Z:0.00
[[ 9.99762261e-01  2.18041569e-02  0.00000000e+00  2.46228449e+02]
 [-2.18041569e-02  9.99762261e-01  0.00000000e+00  7.85725303e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.746066493
Centerline is valid?  [True, True]
Translation: X:246.29, Y:0.78, Z:0.00
[[ 9.99801025e-01  1.99476794e-02  0.00000000e+00  2.46287565e+02]
 [-1.99476794e-02  9.99801025e-01  0.00000000e+00  7.78397559e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 244.806066493
Centerline is valid?  [True, True]
Translation: X:246.35, Y:0.77, Z:0.00
[[ 9.99805381e-01  1.97281691e-02  0.00000000e+00  2.46345985e+02]
 [-1.97281691e-02  9.99805381e-01  0.00000000e+00  7.71593369e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.866066493
Centerline is valid?  [True, True]
Translation: X:246.40, Y:0.76, Z:0.00
[[ 9.99719205e-01  2.36962160e-02  0.00000000e+00  2.46404062e+02]
 [-2.36962160e-02  9.99719205e-01  0.00000000e+00  7.64770223e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.926066493
Centerline is valid?  [True, True]
Translation: X:246.46, Y:0.76, Z:0.00
[[ 9.99624414e-01  2.74049320e-02  0.00000000e+00  2.46464253e+02]
 [-2.74049320e-02  9.99624414e-01  0.00000000e+00  7.61611128e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.986066493
Centerline is valid?  [True, True]
Translation: X:246.52, Y:0.75, Z:0.00
[[ 9.99494193e-01  3.18018441e-02  0.00000000e+00  2.46523126e+02]
 [-3.18018441e-02  9.99494193e-01  0.00000000e+00  7.54507842e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.046066493
Centerline is valid?  [True, True]
Translation: X:246.58, Y:0.74, Z:0.00
[[ 9.99250884e-01  3.86997467e-02  0.00000000e+00  2.46581749e+02]
 [-3.86997467e-02  9.99250884e-01  0.00000000e+00  7.41019246e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.10606649300001
Centerline is valid?  [True, True]
Translation: X:246.64, Y:0.73, Z:0.00
[[ 9.99202711e-01  3.99242141e-02  0.00000000e+00  2.46640011e+02]
 [-3.99242141e-02  9.99202711e-01  0.00000000e+00  7.32692461e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.16606649300002
Centerline is valid?  [True, True]
Translation: X:246.70, Y:0.72, Z:0.00
[[ 9.99279033e-01  3.79659500e-02  0.00000000e+00  2.46697560e+02]
 [-3.79659500e-02  9.99279033e-01  0.00000000e+00  7.20414426e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.22606649300002
Centerline is valid?  [True, True]
Translation: X:246.76, Y:0.71, Z:0.00
[[ 9.99357342e-01  3.58455572e-02  0.00000000e+00  2.46755517e+02]
 [-3.58455572e-02  9.99357342e-01  0.00000000e+00  7.10970708e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.28606649300002
Centerline is valid?  [True, True]
Translation: X:246.81, Y:0.70, Z:0.00
[[ 9.99403304e-01  3.45403634e-02  0.00000000e+00  2.46814827e+02]
 [-3.45403634e-02  9.99403304e-01  0.00000000e+00  6.96892006e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.34606649300002
Centerline is valid?  [True, True]
Translation: X:246.87, Y:0.69, Z:0.00
[[ 9.99469040e-01  3.25827767e-02  0.00000000e+00  2.46872978e+02]
 [-3.25827767e-02  9.99469040e-01  0.00000000e+00  6.87378215e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.406066493
Centerline is valid?  [True, True]
Translation: X:246.93, Y:0.68, Z:0.00
[[ 9.99330698e-01  3.65808203e-02  0.00000000e+00  2.46933000e+02]
 [-3.65808203e-02  9.99330698e-01  0.00000000e+00  6.78499591e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.466066493
Centerline is valid?  [True, True]
Translation: X:246.99, Y:0.67, Z:0.00
[[ 9.99141273e-01  4.14332837e-02  0.00000000e+00  2.46991552e+02]
 [-4.14332837e-02  9.99141273e-01  0.00000000e+00  6.65458523e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.526066493
Centerline is valid?  [True, True]
Translation: X:247.05, Y:0.65, Z:0.00
[[ 9.98345505e-01  5.75000231e-02  0.00000000e+00  2.47051594e+02]
 [-5.75000231e-02  9.98345505e-01  0.00000000e+00  6.52922673e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.586066493
Centerline is valid?  [True, True]
Translation: X:247.11, Y:0.64, Z:0.00
[[ 9.97840714e-01  6.56803555e-02  0.00000000e+00  2.47112011e+02]
 [-6.56803555e-02  9.97840714e-01  0.00000000e+00  6.41208541e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.646066493
Centerline is valid?  [True, True]
Translation: X:247.17, Y:0.62, Z:0.00
[[ 9.97428543e-01  7.16679933e-02  0.00000000e+00  2.47172010e+02]
 [-7.16679933e-02  9.97428543e-01  0.00000000e+00  6.20180482e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.706066493
Centerline is valid?  [True, True]
Translation: X:247.23, Y:0.60, Z:0.00
[[ 9.97703007e-01  6.77400233e-02  0.00000000e+00  2.47232100e+02]
 [-6.77400233e-02  9.97703007e-01  0.00000000e+00  5.97312709e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.766066493
Centerline is valid?  [True, True]
Translation: X:247.29, Y:0.58, Z:0.00
[[ 9.98164591e-01  6.05594695e-02  0.00000000e+00  2.47291450e+02]
 [-6.05594695e-02  9.98164591e-01  0.00000000e+00  5.79958700e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.826066493
Centerline is valid?  [True, True]
Translation: X:247.35, Y:0.55, Z:0.00
[[ 9.99068673e-01  4.31484274e-02  0.00000000e+00  2.47351248e+02]
 [-4.31484274e-02  9.99068673e-01  0.00000000e+00  5.53016180e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.88606649300002
Centerline is valid?  [True, True]
Translation: X:247.41, Y:0.54, Z:0.00
[[ 9.99513074e-01  3.12028147e-02  0.00000000e+00  2.47411615e+02]
 [-3.12028147e-02  9.99513074e-01  0.00000000e+00  5.39865982e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.94606649300002
Centerline is valid?  [True, True]
Translation: X:247.47, Y:0.53, Z:0.00
[[ 9.99778888e-01  2.10279525e-02  0.00000000e+00  2.47470289e+02]
 [-2.10279525e-02  9.99778888e-01  0.00000000e+00  5.25786741e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 246.00606649300002
Centerline is valid?  [True, True]
Translation: X:247.53, Y:0.51, Z:0.00
[[ 9.99912134e-01  1.32561387e-02  0.00000000e+00  2.47529609e+02]
 [-1.32561387e-02  9.99912134e-01  0.00000000e+00  5.09569870e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.06606649300002
Centerline is valid?  [True, True]
Translation: X:247.59, Y:0.50, Z:0.00
[[ 9.99954740e-01  9.51409637e-03  0.00000000e+00  2.47589487e+02]
 [-9.51409637e-03  9.99954740e-01  0.00000000e+00  5.03150791e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.12606649300002
Centerline is valid?  [True, True]
Translation: X:247.65, Y:0.50, Z:0.00
[[ 9.99998480e-01  1.74376978e-03  0.00000000e+00  2.47646892e+02]
 [-1.74376978e-03  9.99998480e-01  0.00000000e+00  4.96516306e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.186066493
Centerline is valid?  [True, True]
Translation: X:247.71, Y:0.49, Z:0.00
[[ 9.99999178e-01 -1.28211315e-03  0.00000000e+00  2.47706802e+02]
 [ 1.28211315e-03  9.99999178e-01  0.00000000e+00  4.94405387e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.246066493
Centerline is valid?  [True, True]
Translation: X:247.77, Y:0.49, Z:0.00
[[ 9.99969041e-01 -7.86878647e-03  0.00000000e+00  2.47767169e+02]
 [ 7.86878647e-03  9.99969041e-01  0.00000000e+00  4.93166751e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.306066493
Centerline is valid?  [True, True]
Translation: X:247.83, Y:0.50, Z:0.00
[[ 9.99927532e-01 -1.20386993e-02  0.00000000e+00  2.47827956e+02]
 [ 1.20386993e-02  9.99927532e-01  0.00000000e+00  4.96361941e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.366066493
Centerline is valid?  [True, True]
Translation: X:247.89, Y:0.50, Z:0.00
[[ 9.99872699e-01 -1.59557391e-02  0.00000000e+00  2.47888963e+02]
 [ 1.59557391e-02  9.99872699e-01  0.00000000e+00  5.00384108e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.426066493
Centerline is valid?  [True, True]
Translation: X:247.95, Y:0.50, Z:0.00
[[ 9.99698523e-01 -2.45532507e-02  0.00000000e+00  2.47949375e+02]
 [ 2.45532507e-02  9.99698523e-01  0.00000000e+00  5.02858784e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.486066493
Centerline is valid?  [True, True]
Translation: X:248.01, Y:0.51, Z:0.00
[[ 9.99588869e-01 -2.86721719e-02  0.00000000e+00  2.48009989e+02]
 [ 2.86721719e-02  9.99588869e-01  0.00000000e+00  5.07088283e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.546066493
Centerline is valid?  [True, True]
Translation: X:248.07, Y:0.52, Z:0.00
[[ 9.99475652e-01 -3.23793285e-02  0.00000000e+00  2.48070427e+02]
 [ 3.23793285e-02  9.99475652e-01  0.00000000e+00  5.19525948e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.60606649300001
Centerline is valid?  [True, True]
Translation: X:248.13, Y:0.53, Z:0.00
[[ 9.99459972e-01 -3.28597552e-02  0.00000000e+00  2.48132556e+02]
 [ 3.28597552e-02  9.99459972e-01  0.00000000e+00  5.25351138e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.66606649300002
Centerline is valid?  [True, True]
Translation: X:248.19, Y:0.54, Z:0.00
[[ 9.99446918e-01 -3.32544305e-02  0.00000000e+00  2.48194199e+02]
 [ 3.32544305e-02  9.99446918e-01  0.00000000e+00  5.39254872e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.72606649300002
Centerline is valid?  [True, True]
Translation: X:248.26, Y:0.55, Z:0.00
[[ 9.99564926e-01 -2.94950727e-02  0.00000000e+00  2.48255111e+02]
 [ 2.94950727e-02  9.99564926e-01  0.00000000e+00  5.49510714e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.78606649300002
Centerline is valid?  [True, True]
Translation: X:248.32, Y:0.56, Z:0.00
[[ 9.99658577e-01 -2.61290860e-02  0.00000000e+00  2.48316310e+02]
 [ 2.61290860e-02  9.99658577e-01  0.00000000e+00  5.63810750e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.84606649300002
Centerline is valid?  [True, True]
Translation: X:248.38, Y:0.57, Z:0.00
[[ 9.99772172e-01 -2.13448925e-02  0.00000000e+00  2.48377688e+02]
 [ 2.13448925e-02  9.99772172e-01  0.00000000e+00  5.74371396e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.906066493
Centerline is valid?  [True, True]
Translation: X:248.44, Y:0.58, Z:0.00
[[ 9.99780156e-01 -2.09675815e-02  0.00000000e+00  2.48438698e+02]
 [ 2.09675815e-02  9.99780156e-01  0.00000000e+00  5.77894967e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.966066493
Centerline is valid?  [True, True]
Translation: X:248.50, Y:0.59, Z:0.00
[[ 9.99899903e-01 -1.41486374e-02  0.00000000e+00  2.48498661e+02]
 [ 1.41486374e-02  9.99899903e-01  0.00000000e+00  5.87196039e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.026066493
Centerline is valid?  [True, True]
Translation: X:248.56, Y:0.60, Z:0.00
[[ 9.99984024e-01 -5.65265429e-03  0.00000000e+00  2.48559961e+02]
 [ 5.65265429e-03  9.99984024e-01  0.00000000e+00  5.98806224e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.086066493
Centerline is valid?  [True, True]
Translation: X:248.62, Y:0.60, Z:0.00
[[ 9.99998722e-01  1.59898810e-03  0.00000000e+00  2.48621531e+02]
 [-1.59898810e-03  9.99998722e-01  0.00000000e+00  6.02319891e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.146066493
Centerline is valid?  [True, True]
Translation: X:248.68, Y:0.61, Z:0.00
[[ 9.99955841e-01  9.39768194e-03  0.00000000e+00  2.48682530e+02]
 [-9.39768194e-03  9.99955841e-01  0.00000000e+00  6.10254595e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 247.206066493
Centerline is valid?  [True, True]
Translation: X:248.74, Y:0.61, Z:0.00
[[ 9.99954739e-01  9.51416929e-03  0.00000000e+00  2.48741656e+02]
 [-9.51416929e-03  9.99954739e-01  0.00000000e+00  6.14735253e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.266066493
Centerline is valid?  [True, True]
Translation: X:248.80, Y:0.61, Z:0.00
[[ 9.99976947e-01  6.79009248e-03  0.00000000e+00  2.48800730e+02]
 [-6.79009248e-03  9.99976947e-01  0.00000000e+00  6.14131879e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.326066493
Centerline is valid?  [True, True]
Translation: X:248.86, Y:0.62, Z:0.00
[[ 9.99999978e-01  2.09688280e-04  0.00000000e+00  2.48859640e+02]
 [-2.09688280e-04  9.99999978e-01  0.00000000e+00  6.18886686e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.38606649300002
Centerline is valid?  [True, True]
Translation: X:248.92, Y:0.62, Z:0.00
[[ 9.99974729e-01 -7.10919705e-03  0.00000000e+00  2.48920060e+02]
 [ 7.10919705e-03  9.99974729e-01  0.00000000e+00  6.22945653e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.44606649300002
Centerline is valid?  [True, True]
Translation: X:248.98, Y:0.62, Z:0.00
[[ 9.99930608e-01 -1.17804617e-02  0.00000000e+00  2.48980236e+02]
 [ 1.17804617e-02  9.99930608e-01  0.00000000e+00  6.23757189e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.50606649300002
Centerline is valid?  [True, True]
Translation: X:249.04, Y:0.63, Z:0.00
[[ 9.99913315e-01 -1.31667407e-02  0.00000000e+00  2.49042896e+02]
 [ 1.31667407e-02  9.99913315e-01  0.00000000e+00  6.25996566e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.56606649300002
Centerline is valid?  [True, True]
Translation: X:249.11, Y:0.63, Z:0.00
[[ 9.99930741e-01 -1.17691319e-02  0.00000000e+00  2.49105649e+02]
 [ 1.17691319e-02  9.99930741e-01  0.00000000e+00  6.32673887e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.62606649300002
Centerline is valid?  [True, True]
Translation: X:249.17, Y:0.64, Z:0.00
[[ 9.99941822e-01 -1.07866916e-02  0.00000000e+00  2.49166001e+02]
 [ 1.07866916e-02  9.99941822e-01  0.00000000e+00  6.35900630e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.686066493
Centerline is valid?  [True, True]
Translation: X:249.23, Y:0.64, Z:0.00
[[ 9.99945199e-01 -1.04689925e-02  0.00000000e+00  2.49227091e+02]
 [ 1.04689925e-02  9.99945199e-01  0.00000000e+00  6.42505356e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.746066493
Centerline is valid?  [True, True]
Translation: X:249.29, Y:0.65, Z:0.00
[[ 9.99916638e-01 -1.29119207e-02  0.00000000e+00  2.49289109e+02]
 [ 1.29119207e-02  9.99916638e-01  0.00000000e+00  6.48649379e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.806066493
Centerline is valid?  [True, True]
Translation: X:249.35, Y:0.66, Z:0.00
[[ 9.99844825e-01 -1.76160969e-02  0.00000000e+00  2.49350373e+02]
 [ 1.76160969e-02  9.99844825e-01  0.00000000e+00  6.56320419e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.866066493
Centerline is valid?  [True, True]
Translation: X:249.41, Y:0.66, Z:0.00
[[ 9.99748492e-01 -2.24265900e-02  0.00000000e+00  2.49410999e+02]
 [ 2.24265900e-02  9.99748492e-01  0.00000000e+00  6.64429901e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.926066493
Centerline is valid?  [True, True]
Translation: X:249.47, Y:0.67, Z:0.00
[[ 9.99707249e-01 -2.41953937e-02  0.00000000e+00  2.49470878e+02]
 [ 2.41953937e-02  9.99707249e-01  0.00000000e+00  6.70500264e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.986066493
Centerline is valid?  [True, True]
Translation: X:249.53, Y:0.68, Z:0.00
[[ 9.99718884e-01 -2.37097463e-02  0.00000000e+00  2.49531720e+02]
 [ 2.37097463e-02  9.99718884e-01  0.00000000e+00  6.77951392e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.046066493
Centerline is valid?  [True, True]
Translation: X:249.59, Y:0.68, Z:0.00
[[ 9.99787949e-01 -2.05926545e-02  0.00000000e+00  2.49593473e+02]
 [ 2.05926545e-02  9.99787949e-01  0.00000000e+00  6.83675535e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.10606649300001
Centerline is valid?  [True, True]
Translation: X:249.65, Y:0.69, Z:0.00
[[ 9.99898655e-01 -1.42365855e-02  0.00000000e+00  2.49653928e+02]
 [ 1.42365855e-02  9.99898655e-01  0.00000000e+00  6.90098537e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.16606649300002
Centerline is valid?  [True, True]
Translation: X:249.71, Y:0.70, Z:0.00
[[ 9.99993358e-01 -3.64464948e-03  0.00000000e+00  2.49714052e+02]
 [ 3.64464948e-03  9.99993358e-01  0.00000000e+00  6.98948569e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.22606649300002
Centerline is valid?  [True, True]
Translation: X:249.77, Y:0.70, Z:0.00
[[ 9.99997666e-01  2.16069470e-03  0.00000000e+00  2.49774627e+02]
 [-2.16069470e-03  9.99997666e-01  0.00000000e+00  7.02900289e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.28606649300002
Centerline is valid?  [True, True]
Translation: X:249.84, Y:0.71, Z:0.00
[[ 9.99969350e-01  7.82936449e-03  0.00000000e+00  2.49835248e+02]
 [-7.82936449e-03  9.99969350e-01  0.00000000e+00  7.06356748e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.34606649300002
Centerline is valid?  [True, True]
Translation: X:249.89, Y:0.71, Z:0.00
[[ 9.99876231e-01  1.57328262e-02  0.00000000e+00  2.49893118e+02]
 [-1.57328262e-02  9.99876231e-01  0.00000000e+00  7.07949409e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 248.406066493
Centerline is valid?  [True, True]
Translation: X:249.95, Y:0.71, Z:0.00
[[ 9.99763656e-01  2.17400840e-02  0.00000000e+00  2.49953153e+02]
 [-2.17400840e-02  9.99763656e-01  0.00000000e+00  7.08417368e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.466066493
Centerline is valid?  [True, True]
Translation: X:250.01, Y:0.71, Z:0.00
[[ 9.99391785e-01  3.48720631e-02  0.00000000e+00  2.50013131e+02]
 [-3.48720631e-02  9.99391785e-01  0.00000000e+00  7.10100998e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.526066493
Centerline is valid?  [True, True]
Translation: X:250.07, Y:0.71, Z:0.00
[[ 9.98949211e-01  4.58309209e-02  0.00000000e+00  2.50073026e+02]
 [-4.58309209e-02  9.98949211e-01  0.00000000e+00  7.08153297e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.586066493
Centerline is valid?  [True, True]
Translation: X:250.13, Y:0.70, Z:0.00
[[ 9.98266454e-01  5.88564940e-02  0.00000000e+00  2.50132755e+02]
 [-5.88564940e-02  9.98266454e-01  0.00000000e+00  6.97940598e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.646066493
Centerline is valid?  [True, True]
Translation: X:250.19, Y:0.69, Z:0.00
[[ 9.98036983e-01  6.26273115e-02  0.00000000e+00  2.50193069e+02]
 [-6.26273115e-02  9.98036983e-01  0.00000000e+00  6.87678099e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.706066493
Centerline is valid?  [True, True]
Translation: X:250.25, Y:0.67, Z:0.00
[[ 9.98017267e-01  6.29407179e-02  0.00000000e+00  2.50250089e+02]
 [-6.29407179e-02  9.98017267e-01  0.00000000e+00  6.73624473e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.766066493
Centerline is valid?  [True, True]
Translation: X:250.31, Y:0.66, Z:0.00
[[ 9.98072582e-01  6.20574093e-02  0.00000000e+00  2.50309862e+02]
 [-6.20574093e-02  9.98072582e-01  0.00000000e+00  6.60447877e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.826066493
Centerline is valid?  [True, True]
Translation: X:250.37, Y:0.65, Z:0.00
[[ 9.98146228e-01  6.08613752e-02  0.00000000e+00  2.50368240e+02]
 [-6.08613752e-02  9.98146228e-01  0.00000000e+00  6.52921152e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.88606649300002
Centerline is valid?  [True, True]
Translation: X:250.43, Y:0.63, Z:0.00
[[ 9.98462738e-01  5.54270752e-02  0.00000000e+00  2.50428211e+02]
 [-5.54270752e-02  9.98462738e-01  0.00000000e+00  6.31824563e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.94606649300002
Centerline is valid?  [True, True]
Translation: X:250.49, Y:0.62, Z:0.00
[[ 9.98578123e-01  5.33078934e-02  0.00000000e+00  2.50486618e+02]
 [-5.33078934e-02  9.98578123e-01  0.00000000e+00  6.17538039e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.00606649300002
Centerline is valid?  [True, True]
Translation: X:250.55, Y:0.60, Z:0.00
[[ 9.99073386e-01  4.30391700e-02  0.00000000e+00  2.50545340e+02]
 [-4.30391700e-02  9.99073386e-01  0.00000000e+00  5.96618143e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.06606649300002
Centerline is valid?  [True, True]
Translation: X:250.61, Y:0.58, Z:0.00
[[ 9.99338691e-01  3.63618034e-02  0.00000000e+00  2.50605907e+02]
 [-3.63618034e-02  9.99338691e-01  0.00000000e+00  5.84058042e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.12606649300002
Centerline is valid?  [True, True]
Translation: X:250.66, Y:0.57, Z:0.00
[[ 9.99812564e-01  1.93606957e-02  0.00000000e+00  2.50664060e+02]
 [-1.93606957e-02  9.99812564e-01  0.00000000e+00  5.72496663e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.186066493
Centerline is valid?  [True, True]
Translation: X:250.72, Y:0.55, Z:0.00
[[ 9.99925697e-01  1.21901762e-02  0.00000000e+00  2.50723072e+02]
 [-1.21901762e-02  9.99925697e-01  0.00000000e+00  5.52915992e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.246066493
Centerline is valid?  [True, True]
Translation: X:250.78, Y:0.54, Z:0.00
[[ 9.99964900e-01  8.37846295e-03  0.00000000e+00  2.50780528e+02]
 [-8.37846295e-03  9.99964900e-01  0.00000000e+00  5.40691386e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.306066493
Centerline is valid?  [True, True]
Translation: X:250.84, Y:0.53, Z:0.00
[[ 9.99994440e-01 -3.33456635e-03  0.00000000e+00  2.50841032e+02]
 [ 3.33456635e-03  9.99994440e-01  0.00000000e+00  5.28376302e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.366066493
Centerline is valid?  [True, True]
Translation: X:250.90, Y:0.52, Z:0.00
[[ 9.99951205e-01 -9.87863941e-03  0.00000000e+00  2.50900235e+02]
 [ 9.87863941e-03  9.99951205e-01  0.00000000e+00  5.24379118e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.426066493
Centerline is valid?  [True, True]
Translation: X:250.96, Y:0.52, Z:0.00
[[ 9.99868970e-01 -1.61877103e-02  0.00000000e+00  2.50961036e+02]
 [ 1.61877103e-02  9.99868970e-01  0.00000000e+00  5.19946021e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.486066493
Centerline is valid?  [True, True]
Translation: X:251.02, Y:0.52, Z:0.00
[[ 9.99894685e-01 -1.45127299e-02  0.00000000e+00  2.51021837e+02]
 [ 1.45127299e-02  9.99894685e-01  0.00000000e+00  5.21944210e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.546066493
Centerline is valid?  [True, True]
Translation: X:251.08, Y:0.52, Z:0.00
[[ 9.99948914e-01 -1.01079291e-02  0.00000000e+00  2.51081366e+02]
 [ 1.01079291e-02  9.99948914e-01  0.00000000e+00  5.20686068e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 249.60606649300001
Centerline is valid?  [True, True]
Translation: X:251.14, Y:0.52, Z:0.00
[[ 9.99941074e-01 -1.08558283e-02  0.00000000e+00  2.51142312e+02]
 [ 1.08558283e-02  9.99941074e-01  0.00000000e+00  5.24824130e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.66606649300002
Centerline is valid?  [True, True]
Translation: X:251.20, Y:0.52, Z:0.00
[[ 9.99957410e-01 -9.22920342e-03  0.00000000e+00  2.51203102e+02]
 [ 9.22920342e-03  9.99957410e-01  0.00000000e+00  5.24223437e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.72606649300002
Centerline is valid?  [True, True]
Translation: X:251.26, Y:0.53, Z:0.00
[[ 9.99939947e-01 -1.09591225e-02  0.00000000e+00  2.51264183e+02]
 [ 1.09591225e-02  9.99939947e-01  0.00000000e+00  5.29405613e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.78606649300002
Centerline is valid?  [True, True]
Translation: X:251.33, Y:0.53, Z:0.00
[[ 9.99909859e-01 -1.34265779e-02  0.00000000e+00  2.51325333e+02]
 [ 1.34265779e-02  9.99909859e-01  0.00000000e+00  5.32531685e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.84606649300002
Centerline is valid?  [True, True]
Translation: X:251.39, Y:0.54, Z:0.00
[[ 9.99889521e-01 -1.48642389e-02  0.00000000e+00  2.51385821e+02]
 [ 1.48642389e-02  9.99889521e-01  0.00000000e+00  5.37484778e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.906066493
Centerline is valid?  [True, True]
Translation: X:251.45, Y:0.54, Z:0.00
[[ 9.99853248e-01 -1.71313267e-02  0.00000000e+00  2.51447598e+02]
 [ 1.71313267e-02  9.99853248e-01  0.00000000e+00  5.42239303e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.966066493
Centerline is valid?  [True, True]
Translation: X:251.51, Y:0.55, Z:0.00
[[ 9.99793046e-01 -2.03436962e-02  0.00000000e+00  2.51508163e+02]
 [ 2.03436962e-02  9.99793046e-01  0.00000000e+00  5.49124117e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.026066493
Centerline is valid?  [True, True]
Translation: X:251.57, Y:0.55, Z:0.00
[[ 9.99813259e-01 -1.93247990e-02  0.00000000e+00  2.51570075e+02]
 [ 1.93247990e-02  9.99813259e-01  0.00000000e+00  5.51884392e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.086066493
Centerline is valid?  [True, True]
Translation: X:251.63, Y:0.55, Z:0.00
[[ 9.99905777e-01 -1.37272675e-02  0.00000000e+00  2.51630188e+02]
 [ 1.37272675e-02  9.99905777e-01  0.00000000e+00  5.53231069e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.146066493
Centerline is valid?  [True, True]
Translation: X:251.69, Y:0.56, Z:0.00
[[ 9.99917528e-01 -1.28427651e-02  0.00000000e+00  2.51691283e+02]
 [ 1.28427651e-02  9.99917528e-01  0.00000000e+00  5.60545415e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.206066493
Centerline is valid?  [True, True]
Translation: X:251.75, Y:0.56, Z:0.00
[[ 9.99988507e-01  4.79427908e-03  0.00000000e+00  2.51751813e+02]
 [-4.79427908e-03  9.99988507e-01  0.00000000e+00  5.64179023e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.266066493
Centerline is valid?  [True, True]
Translation: X:251.81, Y:0.58, Z:0.00
[[ 9.99758509e-01  2.19755241e-02  0.00000000e+00  2.51812217e+02]
 [-2.19755241e-02  9.99758509e-01  0.00000000e+00  5.75041032e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.326066493
Centerline is valid?  [True, True]
Translation: X:251.87, Y:0.58, Z:0.00
[[ 9.99471632e-01  3.25031694e-02  0.00000000e+00  2.51872717e+02]
 [-3.25031694e-02  9.99471632e-01  0.00000000e+00  5.77374996e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.38606649300002
Centerline is valid?  [True, True]
Translation: X:251.93, Y:0.58, Z:0.00
[[ 9.99011677e-01  4.44484988e-02  0.00000000e+00  2.51932300e+02]
 [-4.44484988e-02  9.99011677e-01  0.00000000e+00  5.78850774e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.44606649300002
Centerline is valid?  [True, True]
Translation: X:251.99, Y:0.58, Z:0.00
[[ 9.98813038e-01  4.87084608e-02  0.00000000e+00  2.51991767e+02]
 [-4.87084608e-02  9.98813038e-01  0.00000000e+00  5.75493114e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.50606649300002
Centerline is valid?  [True, True]
Translation: X:252.05, Y:0.57, Z:0.00
[[ 9.99083485e-01  4.28040783e-02  0.00000000e+00  2.52051672e+02]
 [-4.28040783e-02  9.99083485e-01  0.00000000e+00  5.66859910e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.56606649300002
Centerline is valid?  [True, True]
Translation: X:252.11, Y:0.56, Z:0.00
[[ 9.99396857e-01  3.47263949e-02  0.00000000e+00  2.52110591e+02]
 [-3.47263949e-02  9.99396857e-01  0.00000000e+00  5.60403622e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.62606649300002
Centerline is valid?  [True, True]
Translation: X:252.17, Y:0.55, Z:0.00
[[ 9.99655473e-01  2.62475873e-02  0.00000000e+00  2.52169316e+02]
 [-2.62475873e-02  9.99655473e-01  0.00000000e+00  5.54136137e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.686066493
Centerline is valid?  [True, True]
Translation: X:252.23, Y:0.55, Z:0.00
[[ 9.99810649e-01  1.94593598e-02  0.00000000e+00  2.52227531e+02]
 [-1.94593598e-02  9.99810649e-01  0.00000000e+00  5.46824481e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.746066493
Centerline is valid?  [True, True]
Translation: X:252.29, Y:0.54, Z:0.00
[[ 9.99878700e-01  1.55751716e-02  0.00000000e+00  2.52286462e+02]
 [-1.55751716e-02  9.99878700e-01  0.00000000e+00  5.39874049e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 250.806066493
Centerline is valid?  [True, True]
Translation: X:252.35, Y:0.53, Z:0.00
[[ 9.99876791e-01  1.56972205e-02  0.00000000e+00  2.52345612e+02]
 [-1.56972205e-02  9.99876791e-01  0.00000000e+00  5.31454703e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.866066493
Centerline is valid?  [True, True]
Translation: X:252.41, Y:0.53, Z:0.00
[[ 9.99855209e-01  1.70165028e-02  0.00000000e+00  2.52405102e+02]
 [-1.70165028e-02  9.99855209e-01  0.00000000e+00  5.26509810e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.926066493
Centerline is valid?  [True, True]
Translation: X:252.46, Y:0.52, Z:0.00
[[ 9.99785131e-01  2.07289882e-02  0.00000000e+00  2.52464060e+02]
 [-2.07289882e-02  9.99785131e-01  0.00000000e+00  5.18835046e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.986066493
Centerline is valid?  [True, True]
Translation: X:252.52, Y:0.51, Z:0.00
[[ 9.99773057e-01  2.13033874e-02  0.00000000e+00  2.52521745e+02]
 [-2.13033874e-02  9.99773057e-01  0.00000000e+00  5.12101501e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.046066493
Centerline is valid?  [True, True]
Translation: X:252.58, Y:0.51, Z:0.00
[[ 9.99751162e-01  2.23072805e-02  0.00000000e+00  2.52580283e+02]
 [-2.23072805e-02  9.99751162e-01  0.00000000e+00  5.06279807e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.10606649300001
Centerline is valid?  [True, True]
Translation: X:252.64, Y:0.50, Z:0.00
[[ 9.99794102e-01  2.02917251e-02  0.00000000e+00  2.52638948e+02]
 [-2.02917251e-02  9.99794102e-01  0.00000000e+00  4.97515860e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.16606649300002
Centerline is valid?  [True, True]
Translation: X:252.70, Y:0.49, Z:0.00
[[ 9.99907806e-01  1.35786321e-02  0.00000000e+00  2.52697494e+02]
 [-1.35786321e-02  9.99907806e-01  0.00000000e+00  4.90137738e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.22606649300002
Centerline is valid?  [True, True]
Translation: X:252.76, Y:0.48, Z:0.00
[[ 9.99985477e-01  5.38935688e-03  0.00000000e+00  2.52756525e+02]
 [-5.38935688e-03  9.99985477e-01  0.00000000e+00  4.84212110e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.28606649300002
Centerline is valid?  [True, True]
Translation: X:252.82, Y:0.47, Z:0.00
[[ 9.99968113e-01 -7.98584047e-03  0.00000000e+00  2.52816675e+02]
 [ 7.98584047e-03  9.99968113e-01  0.00000000e+00  4.74673701e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.34606649300002
Centerline is valid?  [True, True]
Translation: X:252.88, Y:0.47, Z:0.00
[[ 9.99879130e-01 -1.55474940e-02  0.00000000e+00  2.52877302e+02]
 [ 1.55474940e-02  9.99879130e-01  0.00000000e+00  4.69134077e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.406066493
Centerline is valid?  [True, True]
Translation: X:252.94, Y:0.46, Z:0.00
[[ 9.99735153e-01 -2.30135554e-02  0.00000000e+00  2.52936812e+02]
 [ 2.30135554e-02  9.99735153e-01  0.00000000e+00  4.64109789e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.466066493
Centerline is valid?  [True, True]
Translation: X:253.00, Y:0.47, Z:0.00
[[ 9.99720269e-01 -2.36513118e-02  0.00000000e+00  2.52998444e+02]
 [ 2.36513118e-02  9.99720269e-01  0.00000000e+00  4.65493586e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.526066493
Centerline is valid?  [True, True]
Translation: X:253.06, Y:0.47, Z:0.00
[[ 9.99899402e-01 -1.41840271e-02  0.00000000e+00  2.53058806e+02]
 [ 1.41840271e-02  9.99899402e-01  0.00000000e+00  4.68542141e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.586066493
Centerline is valid?  [True, True]
Translation: X:253.12, Y:0.47, Z:0.00
[[ 9.99998142e-01 -1.92783450e-03  0.00000000e+00  2.53119371e+02]
 [ 1.92783450e-03  9.99998142e-01  0.00000000e+00  4.71043678e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.646066493
Centerline is valid?  [True, True]
Translation: X:253.18, Y:0.47, Z:0.00
[[ 9.99994526e-01  3.30873871e-03  0.00000000e+00  2.53180415e+02]
 [-3.30873871e-03  9.99994526e-01  0.00000000e+00  4.72043948e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.706066493
Centerline is valid?  [True, True]
Translation: X:253.24, Y:0.47, Z:0.00
[[ 9.99991145e-01 -4.20826121e-03  0.00000000e+00  2.53239977e+02]
 [ 4.20826121e-03  9.99991145e-01  0.00000000e+00  4.69152862e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.766066493
Centerline is valid?  [True, True]
Translation: X:253.30, Y:0.47, Z:0.00
[[ 9.99956206e-01 -9.35877975e-03  0.00000000e+00  2.53300015e+02]
 [ 9.35877975e-03  9.99956206e-01  0.00000000e+00  4.66018503e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.826066493
Centerline is valid?  [True, True]
Translation: X:253.36, Y:0.47, Z:0.00
[[ 9.99863025e-01 -1.65508472e-02  0.00000000e+00  2.53360755e+02]
 [ 1.65508472e-02  9.99863025e-01  0.00000000e+00  4.67635986e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.88606649300002
Centerline is valid?  [True, True]
Translation: X:253.42, Y:0.46, Z:0.00
[[ 9.99721069e-01 -2.36174689e-02  0.00000000e+00  2.53420596e+02]
 [ 2.36174689e-02  9.99721069e-01  0.00000000e+00  4.60550610e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.94606649300002
Centerline is valid?  [True, True]
Translation: X:253.48, Y:0.46, Z:0.00
[[ 9.99570995e-01 -2.92886636e-02  0.00000000e+00  2.53479987e+02]
 [ 2.92886636e-02  9.99570995e-01  0.00000000e+00  4.60468913e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 252.00606649300002
Centerline is valid?  [True, True]
Translation: X:253.54, Y:0.46, Z:0.00
[[ 9.99443213e-01 -3.33656142e-02  0.00000000e+00  2.53540873e+02]
 [ 3.33656142e-02  9.99443213e-01  0.00000000e+00  4.61163860e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.06606649300002
Centerline is valid?  [True, True]
Translation: X:253.60, Y:0.46, Z:0.00
[[ 9.99301597e-01 -3.73673365e-02  0.00000000e+00  2.53601227e+02]
 [ 3.73673365e-02  9.99301597e-01  0.00000000e+00  4.64288461e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.12606649300002
Centerline is valid?  [True, True]
Translation: X:253.66, Y:0.47, Z:0.00
[[ 9.99330633e-01 -3.65825892e-02  0.00000000e+00  2.53664006e+02]
 [ 3.65825892e-02  9.99330633e-01  0.00000000e+00  4.68000118e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.186066493
Centerline is valid?  [True, True]
Translation: X:253.72, Y:0.48, Z:0.00
[[ 9.99479679e-01 -3.22547908e-02  0.00000000e+00  2.53724353e+02]
 [ 3.22547908e-02  9.99479679e-01  0.00000000e+00  4.76175775e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.246066493
Centerline is valid?  [True, True]
Translation: X:253.79, Y:0.48, Z:0.00
[[ 9.99531802e-01 -3.05970110e-02  0.00000000e+00  2.53786999e+02]
 [ 3.05970110e-02  9.99531802e-01  0.00000000e+00  4.82579487e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.306066493
Centerline is valid?  [True, True]
Translation: X:253.85, Y:0.49, Z:0.00
[[ 9.99603192e-01 -2.81683911e-02  0.00000000e+00  2.53847098e+02]
 [ 2.81683911e-02  9.99603192e-01  0.00000000e+00  4.88284331e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.366066493
Centerline is valid?  [True, True]
Translation: X:253.91, Y:0.49, Z:0.00
[[ 9.99642409e-01 -2.67405118e-02  0.00000000e+00  2.53908295e+02]
 [ 2.67405118e-02  9.99642409e-01  0.00000000e+00  4.91349477e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.426066493
Centerline is valid?  [True, True]
Translation: X:253.97, Y:0.50, Z:0.00
[[ 9.99645639e-01 -2.66194750e-02  0.00000000e+00  2.53970421e+02]
 [ 2.66194750e-02  9.99645639e-01  0.00000000e+00  5.00188647e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.486066493
Centerline is valid?  [True, True]
Translation: X:254.03, Y:0.50, Z:0.00
[[ 9.99582089e-01 -2.89075823e-02  0.00000000e+00  2.54031002e+02]
 [ 2.89075823e-02  9.99582089e-01  0.00000000e+00  5.03873524e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.546066493
Centerline is valid?  [True, True]
Translation: X:254.09, Y:0.51, Z:0.00
[[ 9.99557977e-01 -2.97296142e-02  0.00000000e+00  2.54093263e+02]
 [ 2.97296142e-02  9.99557977e-01  0.00000000e+00  5.06163870e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.60606649300001
Centerline is valid?  [True, True]
Translation: X:254.16, Y:0.51, Z:0.00
[[ 9.99588768e-01 -2.86756745e-02  0.00000000e+00  2.54155202e+02]
 [ 2.86756745e-02  9.99588768e-01  0.00000000e+00  5.09343478e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.66606649300002
Centerline is valid?  [True, True]
Translation: X:254.22, Y:0.52, Z:0.00
[[ 9.99596854e-01 -2.83924184e-02  0.00000000e+00  2.54216594e+02]
 [ 2.83924184e-02  9.99596854e-01  0.00000000e+00  5.15096600e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.72606649300002
Centerline is valid?  [True, True]
Translation: X:254.28, Y:0.52, Z:0.00
[[ 9.99532788e-01 -3.05647676e-02  0.00000000e+00  2.54276606e+02]
 [ 3.05647676e-02  9.99532788e-01  0.00000000e+00  5.20062791e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.78606649300002
Centerline is valid?  [True, True]
Translation: X:254.34, Y:0.52, Z:0.00
[[ 9.99610960e-01 -2.78913586e-02  0.00000000e+00  2.54337764e+02]
 [ 2.78913586e-02  9.99610960e-01  0.00000000e+00  5.23949329e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.84606649300002
Centerline is valid?  [True, True]
Translation: X:254.40, Y:0.53, Z:0.00
[[ 9.99795542e-01 -2.02206345e-02  0.00000000e+00  2.54398595e+02]
 [ 2.02206345e-02  9.99795542e-01  0.00000000e+00  5.33006251e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.906066493
Centerline is valid?  [True, True]
Translation: X:254.46, Y:0.54, Z:0.00
[[ 9.99873949e-01 -1.58772242e-02  0.00000000e+00  2.54458047e+02]
 [ 1.58772242e-02  9.99873949e-01  0.00000000e+00  5.37391049e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.966066493
Centerline is valid?  [True, True]
Translation: X:254.52, Y:0.54, Z:0.00
[[ 9.99953290e-01 -9.66529831e-03  0.00000000e+00  2.54518312e+02]
 [ 9.66529831e-03  9.99953290e-01  0.00000000e+00  5.44370395e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.026066493
Centerline is valid?  [True, True]
Translation: X:254.58, Y:0.55, Z:0.00
[[ 9.99985790e-01 -5.33101987e-03  0.00000000e+00  2.54578861e+02]
 [ 5.33101987e-03  9.99985790e-01  0.00000000e+00  5.48809488e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.086066493
Centerline is valid?  [True, True]
Translation: X:254.64, Y:0.55, Z:0.00
[[ 9.99995736e-01 -2.92037645e-03  0.00000000e+00  2.54640998e+02]
 [ 2.92037645e-03  9.99995736e-01  0.00000000e+00  5.52609979e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.146066493
Centerline is valid?  [True, True]
Translation: X:254.70, Y:0.55, Z:0.00
[[ 9.99995856e-01 -2.87871251e-03  0.00000000e+00  2.54700586e+02]
 [ 2.87871251e-03  9.99995856e-01  0.00000000e+00  5.54121910e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 253.206066493
Centerline is valid?  [True, True]
Translation: X:254.76, Y:0.56, Z:0.00
[[ 9.99967292e-01 -8.08793674e-03  0.00000000e+00  2.54760852e+02]
 [ 8.08793674e-03  9.99967292e-01  0.00000000e+00  5.55025287e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.266066493
Centerline is valid?  [True, True]
Translation: X:254.82, Y:0.55, Z:0.00
[[ 9.99913729e-01 -1.31352449e-02  0.00000000e+00  2.54821283e+02]
 [ 1.31352449e-02  9.99913729e-01  0.00000000e+00  5.54896533e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.326066493
Centerline is valid?  [True, True]
Translation: X:254.88, Y:0.56, Z:0.00
[[ 9.99817292e-01 -1.91149719e-02  0.00000000e+00  2.54881645e+02]
 [ 1.91149719e-02  9.99817292e-01  0.00000000e+00  5.56458491e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.38606649300002
Centerline is valid?  [True, True]
Translation: X:254.94, Y:0.56, Z:0.00
[[ 9.99743000e-01 -2.26700913e-02  0.00000000e+00  2.54943918e+02]
 [ 2.26700913e-02  9.99743000e-01  0.00000000e+00  5.57087155e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.44606649300002
Centerline is valid?  [True, True]
Translation: X:255.01, Y:0.56, Z:0.00
[[ 9.99808145e-01 -1.95875651e-02  0.00000000e+00  2.55005356e+02]
 [ 1.95875651e-02  9.99808145e-01  0.00000000e+00  5.58965488e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.50606649300002
Centerline is valid?  [True, True]
Translation: X:255.07, Y:0.57, Z:0.00
[[ 9.99959276e-01 -9.02477356e-03  0.00000000e+00  2.55066210e+02]
 [ 9.02477356e-03  9.99959276e-01  0.00000000e+00  5.65260122e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.56606649300002
Centerline is valid?  [True, True]
Translation: X:255.13, Y:0.57, Z:0.00
[[ 9.99999095e-01  1.34550693e-03  0.00000000e+00  2.55125483e+02]
 [-1.34550693e-03  9.99999095e-01  0.00000000e+00  5.69335834e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.62606649300002
Centerline is valid?  [True, True]
Translation: X:255.19, Y:0.57, Z:0.00
[[ 9.99901677e-01  1.40227003e-02  0.00000000e+00  2.55185303e+02]
 [-1.40227003e-02  9.99901677e-01  0.00000000e+00  5.70773745e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.686066493
Centerline is valid?  [True, True]
Translation: X:255.24, Y:0.57, Z:0.00
[[ 9.99839041e-01  1.79413527e-02  0.00000000e+00  2.55244532e+02]
 [-1.79413527e-02  9.99839041e-01  0.00000000e+00  5.70498584e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.746066493
Centerline is valid?  [True, True]
Translation: X:255.31, Y:0.57, Z:0.00
[[ 9.99826702e-01  1.86162888e-02  0.00000000e+00  2.55305285e+02]
 [-1.86162888e-02  9.99826702e-01  0.00000000e+00  5.68864774e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.806066493
Centerline is valid?  [True, True]
Translation: X:255.36, Y:0.57, Z:0.00
[[ 9.99862127e-01  1.66050256e-02  0.00000000e+00  2.55364931e+02]
 [-1.66050256e-02  9.99862127e-01  0.00000000e+00  5.66167197e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.866066493
Centerline is valid?  [True, True]
Translation: X:255.42, Y:0.56, Z:0.00
[[ 9.99916366e-01  1.29329332e-02  0.00000000e+00  2.55422762e+02]
 [-1.29329332e-02  9.99916366e-01  0.00000000e+00  5.63228536e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.926066493
Centerline is valid?  [True, True]
Translation: X:255.48, Y:0.56, Z:0.00
[[ 9.99962003e-01  8.71731488e-03  0.00000000e+00  2.55482679e+02]
 [-8.71731488e-03  9.99962003e-01  0.00000000e+00  5.61001666e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.986066493
Centerline is valid?  [True, True]
Translation: X:255.54, Y:0.56, Z:0.00
[[ 9.99980531e-01  6.23996306e-03  0.00000000e+00  2.55541423e+02]
 [-6.23996306e-03  9.99980531e-01  0.00000000e+00  5.57196391e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.046066493
Centerline is valid?  [True, True]
Translation: X:255.60, Y:0.55, Z:0.00
[[ 9.99994211e-01  3.40275198e-03  0.00000000e+00  2.55598791e+02]
 [-3.40275198e-03  9.99994211e-01  0.00000000e+00  5.52321986e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.10606649300001
Centerline is valid?  [True, True]
Translation: X:255.66, Y:0.55, Z:0.00
[[ 9.99999144e-01  1.30875639e-03  0.00000000e+00  2.55657719e+02]
 [-1.30875639e-03  9.99999144e-01  0.00000000e+00  5.51580044e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.16606649300002
Centerline is valid?  [True, True]
Translation: X:255.72, Y:0.55, Z:0.00
[[ 9.99998536e-01  1.71103444e-03  0.00000000e+00  2.55716754e+02]
 [-1.71103444e-03  9.99998536e-01  0.00000000e+00  5.48611495e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.22606649300002
Centerline is valid?  [True, True]
Translation: X:255.78, Y:0.55, Z:0.00
[[ 9.99996568e-01  2.61994794e-03  0.00000000e+00  2.55775860e+02]
 [-2.61994794e-03  9.99996568e-01  0.00000000e+00  5.46458054e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.28606649300002
Centerline is valid?  [True, True]
Translation: X:255.84, Y:0.54, Z:0.00
[[ 9.99984024e-01  5.65256670e-03  0.00000000e+00  2.55835937e+02]
 [-5.65256670e-03  9.99984024e-01  0.00000000e+00  5.42758473e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.34606649300002
Centerline is valid?  [True, True]
Translation: X:255.89, Y:0.54, Z:0.00
[[ 9.99968246e-01  7.96908371e-03  0.00000000e+00  2.55893935e+02]
 [-7.96908371e-03  9.99968246e-01  0.00000000e+00  5.40062251e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 254.40606649300003
Centerline is valid?  [True, True]
Translation: X:255.95, Y:0.54, Z:0.00
[[ 9.99962685e-01  8.63881026e-03  0.00000000e+00  2.55952340e+02]
 [-8.63881026e-03  9.99962685e-01  0.00000000e+00  5.36655646e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.466066493
Centerline is valid?  [True, True]
Translation: X:256.01, Y:0.54, Z:0.00
[[ 9.99963970e-01  8.48874491e-03  0.00000000e+00  2.56012088e+02]
 [-8.48874491e-03  9.99963970e-01  0.00000000e+00  5.35270551e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.526066493
Centerline is valid?  [True, True]
Translation: X:256.07, Y:0.53, Z:0.00
[[ 9.99967088e-01  8.11314855e-03  0.00000000e+00  2.56072381e+02]
 [-8.11314855e-03  9.99967088e-01  0.00000000e+00  5.31867327e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.586066493
Centerline is valid?  [True, True]
Translation: X:256.13, Y:0.53, Z:0.00
[[ 9.99973006e-01  7.34756330e-03  0.00000000e+00  2.56132054e+02]
 [-7.34756330e-03  9.99973006e-01  0.00000000e+00  5.27319900e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.646066493
Centerline is valid?  [True, True]
Translation: X:256.19, Y:0.52, Z:0.00
[[ 9.99976334e-01  6.87983921e-03  0.00000000e+00  2.56190159e+02]
 [-6.87983921e-03  9.99976334e-01  0.00000000e+00  5.23406110e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.706066493
Centerline is valid?  [True, True]
Translation: X:256.25, Y:0.52, Z:0.00
[[ 9.99992170e-01  3.95729844e-03  0.00000000e+00  2.56249377e+02]
 [-3.95729844e-03  9.99992170e-01  0.00000000e+00  5.20391565e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.766066493
Centerline is valid?  [True, True]
Translation: X:256.31, Y:0.52, Z:0.00
[[ 9.99999957e-01  2.91734222e-04  0.00000000e+00  2.56309130e+02]
 [-2.91734222e-04  9.99999957e-01  0.00000000e+00  5.15847638e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.826066493
Centerline is valid?  [True, True]
Translation: X:256.37, Y:0.51, Z:0.00
[[ 9.99989944e-01 -4.48467148e-03  0.00000000e+00  2.56369642e+02]
 [ 4.48467148e-03  9.99989944e-01  0.00000000e+00  5.09412497e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.88606649300002
Centerline is valid?  [True, True]
Translation: X:256.43, Y:0.50, Z:0.00
[[ 9.99984614e-01 -5.54727500e-03  0.00000000e+00  2.56431586e+02]
 [ 5.54727500e-03  9.99984614e-01  0.00000000e+00  5.04280247e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.94606649300002
Centerline is valid?  [True, True]
Translation: X:256.49, Y:0.50, Z:0.00
[[ 9.99995534e-01 -2.98851036e-03  0.00000000e+00  2.56492816e+02]
 [ 2.98851036e-03  9.99995534e-01  0.00000000e+00  4.98933139e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.00606649300002
Centerline is valid?  [True, True]
Translation: X:256.55, Y:0.50, Z:0.00
[[ 9.99999878e-01  4.93282278e-04  0.00000000e+00  2.56553225e+02]
 [-4.93282278e-04  9.99999878e-01  0.00000000e+00  4.96489590e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.06606649300002
Centerline is valid?  [True, True]
Translation: X:256.61, Y:0.49, Z:0.00
[[ 9.99957360e-01  9.23466576e-03  0.00000000e+00  2.56614041e+02]
 [-9.23466576e-03  9.99957360e-01  0.00000000e+00  4.92772788e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.12606649300002
Centerline is valid?  [True, True]
Translation: X:256.67, Y:0.49, Z:0.00
[[ 9.99921364e-01  1.25405585e-02  0.00000000e+00  2.56673769e+02]
 [-1.25405585e-02  9.99921364e-01  0.00000000e+00  4.90701975e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.186066493
Centerline is valid?  [True, True]
Translation: X:256.73, Y:0.49, Z:0.00
[[ 9.99869517e-01  1.61539053e-02  0.00000000e+00  2.56732679e+02]
 [-1.61539053e-02  9.99869517e-01  0.00000000e+00  4.87042519e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.246066493
Centerline is valid?  [True, True]
Translation: X:256.79, Y:0.48, Z:0.00
[[ 9.99806900e-01  1.96510055e-02  0.00000000e+00  2.56791541e+02]
 [-1.96510055e-02  9.99806900e-01  0.00000000e+00  4.84727627e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.306066493
Centerline is valid?  [True, True]
Translation: X:256.85, Y:0.48, Z:0.00
[[ 9.99625127e-01  2.73789254e-02  0.00000000e+00  2.56850170e+02]
 [-2.73789254e-02  9.99625127e-01  0.00000000e+00  4.79144165e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.366066493
Centerline is valid?  [True, True]
Translation: X:256.91, Y:0.47, Z:0.00
[[ 9.99492784e-01  3.18461071e-02  0.00000000e+00  2.56909308e+02]
 [-3.18461071e-02  9.99492784e-01  0.00000000e+00  4.74530023e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.426066493
Centerline is valid?  [True, True]
Translation: X:256.97, Y:0.47, Z:0.00
[[ 9.99399079e-01  3.46623766e-02  0.00000000e+00  2.56967597e+02]
 [-3.46623766e-02  9.99399079e-01  0.00000000e+00  4.70963200e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.486066493
Centerline is valid?  [True, True]
Translation: X:257.03, Y:0.46, Z:0.00
[[ 9.99069750e-01  4.31234808e-02  0.00000000e+00  2.57027746e+02]
 [-4.31234808e-02  9.99069750e-01  0.00000000e+00  4.61406178e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.546066493
Centerline is valid?  [True, True]
Translation: X:257.09, Y:0.45, Z:0.00
[[ 9.99019568e-01  4.42707992e-02  0.00000000e+00  2.57085290e+02]
 [-4.42707992e-02  9.99019568e-01  0.00000000e+00  4.45955648e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 255.60606649300001
Centerline is valid?  [True, True]
Translation: X:257.14, Y:0.44, Z:0.00
[[ 9.99254092e-01  3.86168342e-02  0.00000000e+00  2.57142982e+02]
 [-3.86168342e-02  9.99254092e-01  0.00000000e+00  4.36126640e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.66606649300002
Centerline is valid?  [True, True]
Translation: X:257.20, Y:0.42, Z:0.00
[[ 9.99658484e-01  2.61326556e-02  0.00000000e+00  2.57202341e+02]
 [-2.61326556e-02  9.99658484e-01  0.00000000e+00  4.19653216e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.72606649300002
Centerline is valid?  [True, True]
Translation: X:257.26, Y:0.41, Z:0.00
[[ 9.99807439e-01  1.96235907e-02  0.00000000e+00  2.57260718e+02]
 [-1.96235907e-02  9.99807439e-01  0.00000000e+00  4.08143333e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.78606649300002
Centerline is valid?  [True, True]
Translation: X:257.32, Y:0.40, Z:0.00
[[ 9.99922142e-01  1.24783623e-02  0.00000000e+00  2.57320524e+02]
 [-1.24783623e-02  9.99922142e-01  0.00000000e+00  3.98982395e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.84606649300002
Centerline is valid?  [True, True]
Translation: X:257.38, Y:0.39, Z:0.00
[[ 9.99975886e-01  6.94464905e-03  0.00000000e+00  2.57379156e+02]
 [-6.94464905e-03  9.99975886e-01  0.00000000e+00  3.90401852e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.90606649300003
Centerline is valid?  [True, True]
Translation: X:257.44, Y:0.38, Z:0.00
[[ 9.99976613e-01  6.83912507e-03  0.00000000e+00  2.57438041e+02]
 [-6.83912507e-03  9.99976613e-01  0.00000000e+00  3.83942225e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.966066493
Centerline is valid?  [True, True]
Translation: X:257.50, Y:0.38, Z:0.00
[[ 9.99985438e-01  5.39665465e-03  0.00000000e+00  2.57496581e+02]
 [-5.39665465e-03  9.99985438e-01  0.00000000e+00  3.79980700e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.02606649300003
Centerline is valid?  [True, True]
Translation: X:257.56, Y:0.37, Z:0.00
[[ 9.99992476e-01  3.87915292e-03  0.00000000e+00  2.57555074e+02]
 [-3.87915292e-03  9.99992476e-01  0.00000000e+00  3.72641958e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.08606649300003
Centerline is valid?  [True, True]
Translation: X:257.61, Y:0.37, Z:0.00
[[ 9.99997906e-01  2.04625967e-03  0.00000000e+00  2.57613819e+02]
 [-2.04625967e-03  9.99997906e-01  0.00000000e+00  3.69118970e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.14606649300003
Centerline is valid?  [True, True]
Translation: X:257.67, Y:0.37, Z:0.00
[[ 9.99998014e-01  1.99288012e-03  0.00000000e+00  2.57672193e+02]
 [-1.99288012e-03  9.99998014e-01  0.00000000e+00  3.66909333e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.20606649300004
Centerline is valid?  [True, True]
Translation: X:257.73, Y:0.36, Z:0.00
[[ 9.99984468e-01  5.57346374e-03  0.00000000e+00  2.57731996e+02]
 [-5.57346374e-03  9.99984468e-01  0.00000000e+00  3.62999005e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.26606649300004
Centerline is valid?  [True, True]
Translation: X:257.79, Y:0.36, Z:0.00
[[ 9.99947057e-01  1.02899770e-02  0.00000000e+00  2.57792355e+02]
 [-1.02899770e-02  9.99947057e-01  0.00000000e+00  3.61512462e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.326066493
Centerline is valid?  [True, True]
Translation: X:257.85, Y:0.36, Z:0.00
[[ 9.99821630e-01  1.88867006e-02  0.00000000e+00  2.57850637e+02]
 [-1.88867006e-02  9.99821630e-01  0.00000000e+00  3.61073534e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.386066493
Centerline is valid?  [True, True]
Translation: X:257.91, Y:0.36, Z:0.00
[[ 9.99750680e-01  2.23288642e-02  0.00000000e+00  2.57909191e+02]
 [-2.23288642e-02  9.99750680e-01  0.00000000e+00  3.59431865e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.446066493
Centerline is valid?  [True, True]
Translation: X:257.97, Y:0.36, Z:0.00
[[ 9.99612145e-01  2.78488861e-02  0.00000000e+00  2.57967900e+02]
 [-2.78488861e-02  9.99612145e-01  0.00000000e+00  3.56198282e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.506066493
Centerline is valid?  [True, True]
Translation: X:258.03, Y:0.35, Z:0.00
[[ 9.99587892e-01  2.87062068e-02  0.00000000e+00  2.58025705e+02]
 [-2.87062068e-02  9.99587892e-01  0.00000000e+00  3.50497621e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.566066493
Centerline is valid?  [True, True]
Translation: X:258.08, Y:0.35, Z:0.00
[[ 9.99707597e-01  2.41809943e-02  0.00000000e+00  2.58084217e+02]
 [-2.41809943e-02  9.99707597e-01  0.00000000e+00  3.47250094e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.626066493
Centerline is valid?  [True, True]
Translation: X:258.14, Y:0.34, Z:0.00
[[ 9.99937842e-01  1.11495445e-02  0.00000000e+00  2.58143452e+02]
 [-1.11495445e-02  9.99937842e-01  0.00000000e+00  3.38782413e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.686066493
Centerline is valid?  [True, True]
Translation: X:258.20, Y:0.33, Z:0.00
[[ 9.99998861e-01  1.50949245e-03  0.00000000e+00  2.58204269e+02]
 [-1.50949245e-03  9.99998861e-01  0.00000000e+00  3.34778257e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.746066493
Centerline is valid?  [True, True]
Translation: X:258.26, Y:0.33, Z:0.00
[[ 9.99927135e-01 -1.20716579e-02  0.00000000e+00  2.58264458e+02]
 [ 1.20716579e-02  9.99927135e-01  0.00000000e+00  3.30983593e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 256.806066493
Centerline is valid?  [True, True]
Translation: X:258.32, Y:0.33, Z:0.00
[[ 9.99761216e-01 -2.18520285e-02  0.00000000e+00  2.58324711e+02]
 [ 2.18520285e-02  9.99761216e-01  0.00000000e+00  3.29841447e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.866066493
Centerline is valid?  [True, True]
Translation: X:258.38, Y:0.33, Z:0.00
[[ 9.99663823e-01 -2.59276200e-02  0.00000000e+00  2.58384671e+02]
 [ 2.59276200e-02  9.99663823e-01  0.00000000e+00  3.28770800e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.926066493
Centerline is valid?  [True, True]
Translation: X:258.45, Y:0.33, Z:0.00
[[ 9.99620119e-01 -2.75611714e-02  0.00000000e+00  2.58447267e+02]
 [ 2.75611714e-02  9.99620119e-01  0.00000000e+00  3.33605601e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.986066493
Centerline is valid?  [True, True]
Translation: X:258.51, Y:0.34, Z:0.00
[[ 9.99786636e-01 -2.06562988e-02  0.00000000e+00  2.58508287e+02]
 [ 2.06562988e-02  9.99786636e-01  0.00000000e+00  3.39008085e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.046066493
Centerline is valid?  [True, True]
Translation: X:258.57, Y:0.34, Z:0.00
[[ 9.99912535e-01 -1.32258517e-02  0.00000000e+00  2.58569046e+02]
 [ 1.32258517e-02  9.99912535e-01  0.00000000e+00  3.43910723e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.106066493
Centerline is valid?  [True, True]
Translation: X:258.63, Y:0.35, Z:0.00
[[ 9.99975066e-01 -7.06171012e-03  0.00000000e+00  2.58629831e+02]
 [ 7.06171012e-03  9.99975066e-01  0.00000000e+00  3.48161416e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.166066493
Centerline is valid?  [True, True]
Translation: X:258.69, Y:0.35, Z:0.00
[[ 9.99999534e-01 -9.65543552e-04  0.00000000e+00  2.58690569e+02]
 [ 9.65543552e-04  9.99999534e-01  0.00000000e+00  3.51771385e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.226066493
Centerline is valid?  [True, True]
Translation: X:258.75, Y:0.36, Z:0.00
[[ 9.99989537e-01  4.57442208e-03  0.00000000e+00  2.58751721e+02]
 [-4.57442208e-03  9.99989537e-01  0.00000000e+00  3.58053115e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.286066493
Centerline is valid?  [True, True]
Translation: X:258.81, Y:0.36, Z:0.00
[[ 9.99954601e-01  9.52873512e-03  0.00000000e+00  2.58811617e+02]
 [-9.52873512e-03  9.99954601e-01  0.00000000e+00  3.60599271e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.346066493
Centerline is valid?  [True, True]
Translation: X:258.87, Y:0.36, Z:0.00
[[ 9.99820642e-01  1.89389417e-02  0.00000000e+00  2.58870215e+02]
 [-1.89389417e-02  9.99820642e-01  0.00000000e+00  3.64289662e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.406066493
Centerline is valid?  [True, True]
Translation: X:258.93, Y:0.37, Z:0.00
[[ 9.99679489e-01  2.53163840e-02  0.00000000e+00  2.58929593e+02]
 [-2.53163840e-02  9.99679489e-01  0.00000000e+00  3.65074692e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.466066493
Centerline is valid?  [True, True]
Translation: X:258.99, Y:0.36, Z:0.00
[[ 9.99233868e-01  3.91366570e-02  0.00000000e+00  2.58987890e+02]
 [-3.91366570e-02  9.99233868e-01  0.00000000e+00  3.58427164e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.52606649300003
Centerline is valid?  [True, True]
Translation: X:259.05, Y:0.36, Z:0.00
[[ 9.99034354e-01  4.39358616e-02  0.00000000e+00  2.59048498e+02]
 [-4.39358616e-02  9.99034354e-01  0.00000000e+00  3.60181578e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.58606649300003
Centerline is valid?  [True, True]
Translation: X:259.11, Y:0.35, Z:0.00
[[ 9.98837448e-01  4.82053121e-02  0.00000000e+00  2.59107797e+02]
 [-4.82053121e-02  9.98837448e-01  0.00000000e+00  3.53217179e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.64606649300003
Centerline is valid?  [True, True]
Translation: X:259.17, Y:0.34, Z:0.00
[[ 9.98910001e-01  4.66777334e-02  0.00000000e+00  2.59166865e+02]
 [-4.66777334e-02  9.98910001e-01  0.00000000e+00  3.38728704e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.70606649300004
Centerline is valid?  [True, True]
Translation: X:259.23, Y:0.33, Z:0.00
[[ 9.99229908e-01  3.92376179e-02  0.00000000e+00  2.59226687e+02]
 [-3.92376179e-02  9.99229908e-01  0.00000000e+00  3.30315761e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.76606649300004
Centerline is valid?  [True, True]
Translation: X:259.29, Y:0.31, Z:0.00
[[ 9.99644559e-01  2.66600086e-02  0.00000000e+00  2.59286050e+02]
 [-2.66600086e-02  9.99644559e-01  0.00000000e+00  3.12695036e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.826066493
Centerline is valid?  [True, True]
Translation: X:259.34, Y:0.30, Z:0.00
[[ 9.99884425e-01  1.52031822e-02  0.00000000e+00  2.59343179e+02]
 [-1.52031822e-02  9.99884425e-01  0.00000000e+00  2.97345272e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.886066493
Centerline is valid?  [True, True]
Translation: X:259.40, Y:0.29, Z:0.00
[[ 9.99924175e-01  1.23144052e-02  0.00000000e+00  2.59402624e+02]
 [-1.23144052e-02  9.99924175e-01  0.00000000e+00  2.89886511e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.946066493
Centerline is valid?  [True, True]
Translation: X:259.46, Y:0.28, Z:0.00
[[ 9.99898961e-01  1.42150537e-02  0.00000000e+00  2.59460530e+02]
 [-1.42150537e-02  9.99898961e-01  0.00000000e+00  2.77965547e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 258.006066493
Centerline is valid?  [True, True]
Translation: X:259.52, Y:0.26, Z:0.00
[[ 9.99794910e-01  2.02518683e-02  0.00000000e+00  2.59518391e+02]
 [-2.02518683e-02  9.99794910e-01  0.00000000e+00  2.64272536e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.066066493
Centerline is valid?  [True, True]
Translation: X:259.58, Y:0.26, Z:0.00
[[ 9.99641958e-01  2.67573532e-02  0.00000000e+00  2.59577370e+02]
 [-2.67573532e-02  9.99641958e-01  0.00000000e+00  2.57536621e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.126066493
Centerline is valid?  [True, True]
Translation: X:259.64, Y:0.25, Z:0.00
[[ 9.99462351e-01  3.27873246e-02  0.00000000e+00  2.59635095e+02]
 [-3.27873246e-02  9.99462351e-01  0.00000000e+00  2.49678534e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.186066493
Centerline is valid?  [True, True]
Translation: X:259.69, Y:0.24, Z:0.00
[[ 9.99373320e-01  3.53972735e-02  0.00000000e+00  2.59694882e+02]
 [-3.53972735e-02  9.99373320e-01  0.00000000e+00  2.38053452e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.246066493
Centerline is valid?  [True, True]
Translation: X:259.75, Y:0.22, Z:0.00
[[ 9.99340051e-01  3.63244024e-02  0.00000000e+00  2.59753667e+02]
 [-3.63244024e-02  9.99340051e-01  0.00000000e+00  2.24326049e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.306066493
Centerline is valid?  [True, True]
Translation: X:259.81, Y:0.22, Z:0.00
[[ 9.99465207e-01  3.27001402e-02  0.00000000e+00  2.59813494e+02]
 [-3.27001402e-02  9.99465207e-01  0.00000000e+00  2.23361324e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.366066493
Centerline is valid?  [True, True]
Translation: X:259.87, Y:0.21, Z:0.00
[[ 9.99605653e-01  2.80809354e-02  0.00000000e+00  2.59871909e+02]
 [-2.80809354e-02  9.99605653e-01  0.00000000e+00  2.08920334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.426066493
Centerline is valid?  [True, True]
Translation: X:259.93, Y:0.20, Z:0.00
[[ 9.99805172e-01  1.97387677e-02  0.00000000e+00  2.59929553e+02]
 [-1.97387677e-02  9.99805172e-01  0.00000000e+00  1.97184538e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.486066493
Centerline is valid?  [True, True]
Translation: X:259.99, Y:0.19, Z:0.00
[[ 9.99895210e-01  1.44764655e-02  0.00000000e+00  2.59989064e+02]
 [-1.44764655e-02  9.99895210e-01  0.00000000e+00  1.88047688e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.546066493
Centerline is valid?  [True, True]
Translation: X:260.05, Y:0.18, Z:0.00
[[ 9.99962110e-01  8.70504320e-03  0.00000000e+00  2.60048408e+02]
 [-8.70504320e-03  9.99962110e-01  0.00000000e+00  1.79214075e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.606066493
Centerline is valid?  [True, True]
Translation: X:260.11, Y:0.17, Z:0.00
[[ 9.99984729e-01  5.52639615e-03  0.00000000e+00  2.60107943e+02]
 [-5.52639615e-03  9.99984729e-01  0.00000000e+00  1.69241617e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.666066493
Centerline is valid?  [True, True]
Translation: X:260.17, Y:0.16, Z:0.00
[[ 9.99974708e-01  7.11216716e-03  0.00000000e+00  2.60166297e+02]
 [-7.11216716e-03  9.99974708e-01  0.00000000e+00  1.61454471e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.726066493
Centerline is valid?  [True, True]
Translation: X:260.23, Y:0.16, Z:0.00
[[ 9.99972718e-01  7.38666449e-03  0.00000000e+00  2.60225120e+02]
 [-7.38666449e-03  9.99972718e-01  0.00000000e+00  1.58171320e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.786066493
Centerline is valid?  [True, True]
Translation: X:260.28, Y:0.16, Z:0.00
[[ 9.99987238e-01  5.05210281e-03  0.00000000e+00  2.60282931e+02]
 [-5.05210281e-03  9.99987238e-01  0.00000000e+00  1.55934905e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.846066493
Centerline is valid?  [True, True]
Translation: X:260.34, Y:0.15, Z:0.00
[[ 9.99994467e-01  3.32664782e-03  0.00000000e+00  2.60341396e+02]
 [-3.32664782e-03  9.99994467e-01  0.00000000e+00  1.53009244e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.906066493
Centerline is valid?  [True, True]
Translation: X:260.40, Y:0.15, Z:0.00
[[ 9.99995445e-01  3.01835926e-03  0.00000000e+00  2.60400797e+02]
 [-3.01835926e-03  9.99995445e-01  0.00000000e+00  1.49219241e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.966066493
Centerline is valid?  [True, True]
Translation: X:260.46, Y:0.15, Z:0.00
[[ 9.99999595e-01  8.99570713e-04  0.00000000e+00  2.60459792e+02]
 [-8.99570713e-04  9.99999595e-01  0.00000000e+00  1.54928681e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.02606649300003
Centerline is valid?  [True, True]
Translation: X:260.52, Y:0.15, Z:0.00
[[ 9.99994464e-01  3.32746717e-03  0.00000000e+00  2.60519556e+02]
 [-3.32746717e-03  9.99994464e-01  0.00000000e+00  1.54869956e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.08606649300003
Centerline is valid?  [True, True]
Translation: X:260.58, Y:0.16, Z:0.00
[[ 9.99984602e-01  5.54933183e-03  0.00000000e+00  2.60579006e+02]
 [-5.54933183e-03  9.99984602e-01  0.00000000e+00  1.55976160e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.14606649300003
Centerline is valid?  [True, True]
Translation: X:260.64, Y:0.16, Z:0.00
[[ 9.99994302e-01  3.37588871e-03  0.00000000e+00  2.60639270e+02]
 [-3.37588871e-03  9.99994302e-01  0.00000000e+00  1.60011888e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 259.20606649300004
Centerline is valid?  [True, True]
Translation: X:260.70, Y:0.16, Z:0.00
[[ 9.99999465e-01 -1.03424207e-03  0.00000000e+00  2.60697545e+02]
 [ 1.03424207e-03  9.99999465e-01  0.00000000e+00  1.61280342e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.26606649300004
Centerline is valid?  [True, True]
Translation: X:260.76, Y:0.16, Z:0.00
[[ 9.99993464e-01 -3.61538494e-03  0.00000000e+00  2.60758916e+02]
 [ 3.61538494e-03  9.99993464e-01  0.00000000e+00  1.61107923e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.326066493
Centerline is valid?  [True, True]
Translation: X:260.82, Y:0.17, Z:0.00
[[ 9.99989313e-01 -4.62316018e-03  0.00000000e+00  2.60820993e+02]
 [ 4.62316018e-03  9.99989313e-01  0.00000000e+00  1.65547350e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.386066493
Centerline is valid?  [True, True]
Translation: X:260.88, Y:0.17, Z:0.00
[[ 9.99994244e-01 -3.39300122e-03  0.00000000e+00  2.60883246e+02]
 [ 3.39300122e-03  9.99994244e-01  0.00000000e+00  1.71474859e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.446066493
Centerline is valid?  [True, True]
Translation: X:260.94, Y:0.18, Z:0.00
[[ 9.99999857e-01  5.35336972e-04  0.00000000e+00  2.60944977e+02]
 [-5.35336972e-04  9.99999857e-01  0.00000000e+00  1.75564711e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.506066493
Centerline is valid?  [True, True]
Translation: X:261.00, Y:0.18, Z:0.00
[[ 9.99906804e-01  1.36522550e-02  0.00000000e+00  2.61004506e+02]
 [-1.36522550e-02  9.99906804e-01  0.00000000e+00  1.83446944e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.566066493
Centerline is valid?  [True, True]
Translation: X:261.06, Y:0.19, Z:0.00
[[ 9.99698025e-01  2.45735495e-02  0.00000000e+00  2.61062908e+02]
 [-2.45735495e-02  9.99698025e-01  0.00000000e+00  1.87027917e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.626066493
Centerline is valid?  [True, True]
Translation: X:261.12, Y:0.19, Z:0.00
[[ 9.99463988e-01  3.27373892e-02  0.00000000e+00  2.61120902e+02]
 [-3.27373892e-02  9.99463988e-01  0.00000000e+00  1.86968904e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.686066493
Centerline is valid?  [True, True]
Translation: X:261.18, Y:0.19, Z:0.00
[[ 9.99122793e-01  4.18765494e-02  0.00000000e+00  2.61180903e+02]
 [-4.18765494e-02  9.99122793e-01  0.00000000e+00  1.86004787e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.746066493
Centerline is valid?  [True, True]
Translation: X:261.24, Y:0.18, Z:0.00
[[ 9.98877158e-01  4.73753370e-02  0.00000000e+00  2.61239587e+02]
 [-4.73753370e-02  9.98877158e-01  0.00000000e+00  1.81554078e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.806066493
Centerline is valid?  [True, True]
Translation: X:261.30, Y:0.17, Z:0.00
[[ 9.98787012e-01  4.92392514e-02  0.00000000e+00  2.61299404e+02]
 [-4.92392514e-02  9.98787012e-01  0.00000000e+00  1.74789302e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.866066493
Centerline is valid?  [True, True]
Translation: X:261.36, Y:0.16, Z:0.00
[[ 9.98826184e-01  4.84381573e-02  0.00000000e+00  2.61357301e+02]
 [-4.84381573e-02  9.98826184e-01  0.00000000e+00  1.61456959e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.926066493
Centerline is valid?  [True, True]
Translation: X:261.42, Y:0.15, Z:0.00
[[ 9.99002008e-01  4.46652991e-02  0.00000000e+00  2.61416655e+02]
 [-4.46652991e-02  9.99002008e-01  0.00000000e+00  1.52559297e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.986066493
Centerline is valid?  [True, True]
Translation: X:261.48, Y:0.14, Z:0.00
[[ 9.99154296e-01  4.11180389e-02  0.00000000e+00  2.61475303e+02]
 [-4.11180389e-02  9.99154296e-01  0.00000000e+00  1.43279863e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.046066493
Centerline is valid?  [True, True]
Translation: X:261.53, Y:0.13, Z:0.00
[[ 9.99424535e-01  3.39204882e-02  0.00000000e+00  2.61534668e+02]
 [-3.39204882e-02  9.99424535e-01  0.00000000e+00  1.28098746e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.106066493
Centerline is valid?  [True, True]
Translation: X:261.59, Y:0.12, Z:0.00
[[ 9.99515760e-01  3.11166506e-02  0.00000000e+00  2.61593283e+02]
 [-3.11166506e-02  9.99515760e-01  0.00000000e+00  1.18105868e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.166066493
Centerline is valid?  [True, True]
Translation: X:261.65, Y:0.10, Z:0.00
[[ 9.99728534e-01  2.32993388e-02  0.00000000e+00  2.61651249e+02]
 [-2.32993388e-02  9.99728534e-01  0.00000000e+00  1.01826380e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.226066493
Centerline is valid?  [True, True]
Translation: X:261.71, Y:0.10, Z:0.00
[[ 9.99783495e-01  2.08077498e-02  0.00000000e+00  2.61710097e+02]
 [-2.08077498e-02  9.99783495e-01  0.00000000e+00  9.58002132e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.286066493
Centerline is valid?  [True, True]
Translation: X:261.77, Y:0.09, Z:0.00
[[ 9.99904688e-01  1.38063342e-02  0.00000000e+00  2.61768483e+02]
 [-1.38063342e-02  9.99904688e-01  0.00000000e+00  8.66506032e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.346066493
Centerline is valid?  [True, True]
Translation: X:261.83, Y:0.08, Z:0.00
[[ 9.99977777e-01  6.66667503e-03  0.00000000e+00  2.61826370e+02]
 [-6.66667503e-03  9.99977777e-01  0.00000000e+00  8.09414513e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 260.406066493
Centerline is valid?  [True, True]
Translation: X:261.89, Y:0.07, Z:0.00
[[ 9.99993049e-01 -3.72865507e-03  0.00000000e+00  2.61886711e+02]
 [ 3.72865507e-03  9.99993049e-01  0.00000000e+00  7.22638209e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.466066493
Centerline is valid?  [True, True]
Translation: X:261.95, Y:0.07, Z:0.00
[[ 9.99948272e-01 -1.01711758e-02  0.00000000e+00  2.61947879e+02]
 [ 1.01711758e-02  9.99948272e-01  0.00000000e+00  7.23353044e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.52606649300003
Centerline is valid?  [True, True]
Translation: X:262.01, Y:0.07, Z:0.00
[[ 9.99879181e-01 -1.55442103e-02  0.00000000e+00  2.62009110e+02]
 [ 1.55442103e-02  9.99879181e-01  0.00000000e+00  7.10713664e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.58606649300003
Centerline is valid?  [True, True]
Translation: X:262.07, Y:0.07, Z:0.00
[[ 9.99852264e-01 -1.71886628e-02  0.00000000e+00  2.62071005e+02]
 [ 1.71886628e-02  9.99852264e-01  0.00000000e+00  7.42414077e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.64606649300003
Centerline is valid?  [True, True]
Translation: X:262.13, Y:0.08, Z:0.00
[[ 9.99920906e-01 -1.25770276e-02  0.00000000e+00  2.62132613e+02]
 [ 1.25770276e-02  9.99920906e-01  0.00000000e+00  7.86405474e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.70606649300004
Centerline is valid?  [True, True]
Translation: X:262.19, Y:0.08, Z:0.00
[[ 9.99999611e-01  8.81813923e-04  0.00000000e+00  2.62192387e+02]
 [-8.81813923e-04  9.99999611e-01  0.00000000e+00  8.43822999e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.76606649300004
Centerline is valid?  [True, True]
Translation: X:262.25, Y:0.09, Z:0.00
[[ 9.99975259e-01  7.03430406e-03  0.00000000e+00  2.62252588e+02]
 [-7.03430406e-03  9.99975259e-01  0.00000000e+00  8.95146064e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.826066493
Centerline is valid?  [True, True]
Translation: X:262.31, Y:0.09, Z:0.00
[[ 9.99893468e-01  1.45963548e-02  0.00000000e+00  2.62311736e+02]
 [-1.45963548e-02  9.99893468e-01  0.00000000e+00  9.32316327e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.886066493
Centerline is valid?  [True, True]
Translation: X:262.37, Y:0.10, Z:0.00
[[ 9.99871972e-01  1.60012479e-02  0.00000000e+00  2.62372186e+02]
 [-1.60012479e-02  9.99871972e-01  0.00000000e+00  9.51858992e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.946066493
Centerline is valid?  [True, True]
Translation: X:262.43, Y:0.09, Z:0.00
[[ 9.99812497e-01  1.93641605e-02  0.00000000e+00  2.62432569e+02]
 [-1.93641605e-02  9.99812497e-01  0.00000000e+00  9.36015663e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.006066493
Centerline is valid?  [True, True]
Translation: X:262.49, Y:0.10, Z:0.00
[[ 9.99865744e-01  1.63857938e-02  0.00000000e+00  2.62492342e+02]
 [-1.63857938e-02  9.99865744e-01  0.00000000e+00  9.67977617e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.066066493
Centerline is valid?  [True, True]
Translation: X:262.55, Y:0.09, Z:0.00
[[ 9.99926325e-01  1.21385853e-02  0.00000000e+00  2.62551684e+02]
 [-1.21385853e-02  9.99926325e-01  0.00000000e+00  9.48135630e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.126066493
Centerline is valid?  [True, True]
Translation: X:262.61, Y:0.09, Z:0.00
[[ 9.99969534e-01  7.80586835e-03  0.00000000e+00  2.62610438e+02]
 [-7.80586835e-03  9.99969534e-01  0.00000000e+00  9.38325935e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.186066493
Centerline is valid?  [True, True]
Translation: X:262.67, Y:0.09, Z:0.00
[[ 9.99996791e-01  2.53345449e-03  0.00000000e+00  2.62669711e+02]
 [-2.53345449e-03  9.99996791e-01  0.00000000e+00  9.17329244e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.246066493
Centerline is valid?  [True, True]
Translation: X:262.73, Y:0.09, Z:0.00
[[ 9.99974594e-01 -7.12821412e-03  0.00000000e+00  2.62729554e+02]
 [ 7.12821412e-03  9.99974594e-01  0.00000000e+00  9.07563217e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.306066493
Centerline is valid?  [True, True]
Translation: X:262.79, Y:0.09, Z:0.00
[[ 9.99923654e-01 -1.23566486e-02  0.00000000e+00  2.62791670e+02]
 [ 1.23566486e-02  9.99923654e-01  0.00000000e+00  8.95950940e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.366066493
Centerline is valid?  [True, True]
Translation: X:262.85, Y:0.09, Z:0.00
[[ 9.99819437e-01 -1.90024414e-02  0.00000000e+00  2.62852534e+02]
 [ 1.90024414e-02  9.99819437e-01  0.00000000e+00  9.35884654e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.426066493
Centerline is valid?  [True, True]
Translation: X:262.91, Y:0.10, Z:0.00
[[ 9.99794010e-01 -2.02962481e-02  0.00000000e+00  2.62913130e+02]
 [ 2.02962481e-02  9.99794010e-01  0.00000000e+00  9.55143528e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.486066493
Centerline is valid?  [True, True]
Translation: X:262.97, Y:0.10, Z:0.00
[[ 9.99682746e-01 -2.51874359e-02  0.00000000e+00  2.62973848e+02]
 [ 2.51874359e-02  9.99682746e-01  0.00000000e+00  1.03789811e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.546066493
Centerline is valid?  [True, True]
Translation: X:263.03, Y:0.11, Z:0.00
[[ 9.99626870e-01 -2.73152202e-02  0.00000000e+00  2.63034582e+02]
 [ 2.73152202e-02  9.99626870e-01  0.00000000e+00  1.10326797e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 261.606066493
Centerline is valid?  [True, True]
Translation: X:263.09, Y:0.13, Z:0.00
[[ 9.99566378e-01 -2.94458050e-02  0.00000000e+00  2.63094527e+02]
 [ 2.94458050e-02  9.99566378e-01  0.00000000e+00  1.25485757e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.666066493
Centerline is valid?  [True, True]
Translation: X:263.16, Y:0.14, Z:0.00
[[ 9.99583394e-01 -2.88623974e-02  0.00000000e+00  2.63158193e+02]
 [ 2.88623974e-02  9.99583394e-01  0.00000000e+00  1.35525492e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.726066493
Centerline is valid?  [True, True]
Translation: X:263.22, Y:0.15, Z:0.00
[[ 9.99653600e-01 -2.63188085e-02  0.00000000e+00  2.63219196e+02]
 [ 2.63188085e-02  9.99653600e-01  0.00000000e+00  1.50909161e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.786066493
Centerline is valid?  [True, True]
Translation: X:263.28, Y:0.16, Z:0.00
[[ 9.99705739e-01 -2.42576988e-02  0.00000000e+00  2.63281763e+02]
 [ 2.42576988e-02  9.99705739e-01  0.00000000e+00  1.60834964e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.846066493
Centerline is valid?  [True, True]
Translation: X:263.34, Y:0.18, Z:0.00
[[ 9.99823651e-01 -1.87794415e-02  0.00000000e+00  2.63342945e+02]
 [ 1.87794415e-02  9.99823651e-01  0.00000000e+00  1.77625602e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.906066493
Centerline is valid?  [True, True]
Translation: X:263.41, Y:0.19, Z:0.00
[[ 9.99843807e-01 -1.76737626e-02  0.00000000e+00  2.63405356e+02]
 [ 1.76737626e-02  9.99843807e-01  0.00000000e+00  1.89029597e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.966066493
Centerline is valid?  [True, True]
Translation: X:263.47, Y:0.20, Z:0.00
[[ 9.99843984e-01 -1.76637180e-02  0.00000000e+00  2.63467346e+02]
 [ 1.76637180e-02  9.99843984e-01  0.00000000e+00  1.96402253e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.02606649300003
Centerline is valid?  [True, True]
Translation: X:263.53, Y:0.21, Z:0.00
[[ 9.99668417e-01 -2.57498781e-02  0.00000000e+00  2.63528711e+02]
 [ 2.57498781e-02  9.99668417e-01  0.00000000e+00  2.10973086e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.08606649300003
Centerline is valid?  [True, True]
Translation: X:263.59, Y:0.22, Z:0.00
[[ 9.99445794e-01 -3.32882175e-02  0.00000000e+00  2.63588816e+02]
 [ 3.32882175e-02  9.99445794e-01  0.00000000e+00  2.20863645e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.14606649300003
Centerline is valid?  [True, True]
Translation: X:263.65, Y:0.23, Z:0.00
[[ 9.99489908e-01 -3.19362388e-02  0.00000000e+00  2.63650255e+02]
 [ 3.19362388e-02  9.99489908e-01  0.00000000e+00  2.27250720e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.20606649300004
Centerline is valid?  [True, True]
Translation: X:263.71, Y:0.24, Z:0.00
[[ 9.99520516e-01 -3.09635019e-02  0.00000000e+00  2.63712478e+02]
 [ 3.09635019e-02  9.99520516e-01  0.00000000e+00  2.39309467e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.26606649300004
Centerline is valid?  [True, True]
Translation: X:263.77, Y:0.25, Z:0.00
[[ 9.99855235e-01 -1.70149648e-02  0.00000000e+00  2.63772339e+02]
 [ 1.70149648e-02  9.99855235e-01  0.00000000e+00  2.54624516e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.326066493
Centerline is valid?  [True, True]
Translation: X:263.83, Y:0.26, Z:0.00
[[ 9.99986713e-01 -5.15492813e-03  0.00000000e+00  2.63833382e+02]
 [ 5.15492813e-03  9.99986713e-01  0.00000000e+00  2.60882677e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.386066493
Centerline is valid?  [True, True]
Translation: X:263.89, Y:0.27, Z:0.00
[[ 9.99995562e-01  2.97924755e-03  0.00000000e+00  2.63894029e+02]
 [-2.97924755e-03  9.99995562e-01  0.00000000e+00  2.67504881e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.446066493
Centerline is valid?  [True, True]
Translation: X:263.95, Y:0.28, Z:0.00
[[ 9.99927222e-01  1.20644513e-02  0.00000000e+00  2.63952456e+02]
 [-1.20644513e-02  9.99927222e-01  0.00000000e+00  2.75506083e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.506066493
Centerline is valid?  [True, True]
Translation: X:264.01, Y:0.28, Z:0.00
[[ 9.99875292e-01  1.57924016e-02  0.00000000e+00  2.64011436e+02]
 [-1.57924016e-02  9.99875292e-01  0.00000000e+00  2.80107430e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.566066493
Centerline is valid?  [True, True]
Translation: X:264.07, Y:0.28, Z:0.00
[[ 9.99777671e-01  2.10857627e-02  0.00000000e+00  2.64070112e+02]
 [-2.10857627e-02  9.99777671e-01  0.00000000e+00  2.82045635e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.626066493
Centerline is valid?  [True, True]
Translation: X:264.13, Y:0.28, Z:0.00
[[ 9.99694947e-01  2.46984274e-02  0.00000000e+00  2.64129261e+02]
 [-2.46984274e-02  9.99694947e-01  0.00000000e+00  2.83419269e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.686066493
Centerline is valid?  [True, True]
Translation: X:264.19, Y:0.28, Z:0.00
[[ 9.99718602e-01  2.37216324e-02  0.00000000e+00  2.64188157e+02]
 [-2.37216324e-02  9.99718602e-01  0.00000000e+00  2.81438749e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.746066493
Centerline is valid?  [True, True]
Translation: X:264.25, Y:0.28, Z:0.00
[[ 9.99619088e-01  2.75985134e-02  0.00000000e+00  2.64248247e+02]
 [-2.75985134e-02  9.99619088e-01  0.00000000e+00  2.81142172e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 262.806066493
Centerline is valid?  [True, True]
Translation: X:264.31, Y:0.28, Z:0.00
[[ 9.99615530e-01  2.77270929e-02  0.00000000e+00  2.64306682e+02]
 [-2.77270929e-02  9.99615530e-01  0.00000000e+00  2.76981521e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.866066493
Centerline is valid?  [True, True]
Translation: X:264.37, Y:0.27, Z:0.00
[[ 9.99712267e-01  2.39871574e-02  0.00000000e+00  2.64365904e+02]
 [-2.39871574e-02  9.99712267e-01  0.00000000e+00  2.71134641e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.926066493
Centerline is valid?  [True, True]
Translation: X:264.43, Y:0.26, Z:0.00
[[ 9.99813149e-01  1.93304640e-02  0.00000000e+00  2.64425532e+02]
 [-1.93304640e-02  9.99813149e-01  0.00000000e+00  2.61224670e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.986066493
Centerline is valid?  [True, True]
Translation: X:264.48, Y:0.25, Z:0.00
[[ 9.99912448e-01  1.32323916e-02  0.00000000e+00  2.64484540e+02]
 [-1.32323916e-02  9.99912448e-01  0.00000000e+00  2.52613340e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.046066493
Centerline is valid?  [True, True]
Translation: X:264.54, Y:0.25, Z:0.00
[[ 9.99987128e-01  5.07390937e-03  0.00000000e+00  2.64543421e+02]
 [-5.07390937e-03  9.99987128e-01  0.00000000e+00  2.45591900e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.106066493
Centerline is valid?  [True, True]
Translation: X:264.60, Y:0.24, Z:0.00
[[ 9.99978360e-01 -6.57868810e-03  0.00000000e+00  2.64603715e+02]
 [ 6.57868810e-03  9.99978360e-01  0.00000000e+00  2.35683073e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.166066493
Centerline is valid?  [True, True]
Translation: X:264.66, Y:0.23, Z:0.00
[[ 9.99896925e-01 -1.43575617e-02  0.00000000e+00  2.64664161e+02]
 [ 1.43575617e-02  9.99896925e-01  0.00000000e+00  2.29787310e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.226066493
Centerline is valid?  [True, True]
Translation: X:264.72, Y:0.23, Z:0.00
[[ 9.99680855e-01 -2.52623748e-02  0.00000000e+00  2.64723176e+02]
 [ 2.52623748e-02  9.99680855e-01  0.00000000e+00  2.25727873e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.286066493
Centerline is valid?  [True, True]
Translation: X:264.78, Y:0.22, Z:0.00
[[ 9.99558978e-01 -2.96959640e-02  0.00000000e+00  2.64784747e+02]
 [ 2.96959640e-02  9.99558978e-01  0.00000000e+00  2.24198973e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.346066493
Centerline is valid?  [True, True]
Translation: X:264.84, Y:0.23, Z:0.00
[[ 9.99510348e-01 -3.12899953e-02  0.00000000e+00  2.64844958e+02]
 [ 3.12899953e-02  9.99510348e-01  0.00000000e+00  2.28268855e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.406066493
Centerline is valid?  [True, True]
Translation: X:264.91, Y:0.24, Z:0.00
[[ 9.99624362e-01 -2.74068223e-02  0.00000000e+00  2.64905835e+02]
 [ 2.74068223e-02  9.99624362e-01  0.00000000e+00  2.35557019e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.466066493
Centerline is valid?  [True, True]
Translation: X:264.97, Y:0.24, Z:0.00
[[ 9.99865255e-01 -1.64156158e-02  0.00000000e+00  2.64966562e+02]
 [ 1.64156158e-02  9.99865255e-01  0.00000000e+00  2.44555323e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.52606649300003
Centerline is valid?  [True, True]
Translation: X:265.03, Y:0.26, Z:0.00
[[ 9.99990934e-01 -4.25819477e-03  0.00000000e+00  2.65026575e+02]
 [ 4.25819477e-03  9.99990934e-01  0.00000000e+00  2.56692129e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.58606649300003
Centerline is valid?  [True, True]
Translation: X:265.09, Y:0.26, Z:0.00
[[ 9.99964180e-01  8.46397858e-03  0.00000000e+00  2.65086805e+02]
 [-8.46397858e-03  9.99964180e-01  0.00000000e+00  2.62824997e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.64606649300003
Centerline is valid?  [True, True]
Translation: X:265.15, Y:0.26, Z:0.00
[[ 9.99974722e-01  7.11025961e-03  0.00000000e+00  2.65146075e+02]
 [-7.11025961e-03  9.99974722e-01  0.00000000e+00  2.59648972e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.70606649300004
Centerline is valid?  [True, True]
Translation: X:265.20, Y:0.26, Z:0.00
[[ 9.99935537e-01  1.13543452e-02  0.00000000e+00  2.65204526e+02]
 [-1.13543452e-02  9.99935537e-01  0.00000000e+00  2.59769405e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.76606649300004
Centerline is valid?  [True, True]
Translation: X:265.26, Y:0.27, Z:0.00
[[ 9.99924486e-01  1.22891347e-02  0.00000000e+00  2.65264127e+02]
 [-1.22891347e-02  9.99924486e-01  0.00000000e+00  2.66888634e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.826066493
Centerline is valid?  [True, True]
Translation: X:265.32, Y:0.26, Z:0.00
[[ 9.99910019e-01  1.34146766e-02  0.00000000e+00  2.65321812e+02]
 [-1.34146766e-02  9.99910019e-01  0.00000000e+00  2.61524160e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.886066493
Centerline is valid?  [True, True]
Translation: X:265.38, Y:0.26, Z:0.00
[[ 9.99964867e-01  8.38244211e-03  0.00000000e+00  2.65381086e+02]
 [-8.38244211e-03  9.99964867e-01  0.00000000e+00  2.61794347e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.946066493
Centerline is valid?  [True, True]
Translation: X:265.44, Y:0.26, Z:0.00
[[ 9.99999987e-01  1.60024727e-04  0.00000000e+00  2.65440142e+02]
 [-1.60024727e-04  9.99999987e-01  0.00000000e+00  2.60915568e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 264.006066493
Centerline is valid?  [True, True]
Translation: X:265.50, Y:0.26, Z:0.00
[[ 9.99999959e-01 -2.87570589e-04  0.00000000e+00  2.65499966e+02]
 [ 2.87570589e-04  9.99999959e-01  0.00000000e+00  2.61130156e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.066066493
Centerline is valid?  [True, True]
Translation: X:265.56, Y:0.26, Z:0.00
[[ 9.99968167e-01 -7.97897570e-03  0.00000000e+00  2.65560642e+02]
 [ 7.97897570e-03  9.99968167e-01  0.00000000e+00  2.57166143e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.126066493
Centerline is valid?  [True, True]
Translation: X:265.62, Y:0.26, Z:0.00
[[ 9.99986620e-01 -5.17294058e-03  0.00000000e+00  2.65621137e+02]
 [ 5.17294058e-03  9.99986620e-01  0.00000000e+00  2.58468392e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.186066493
Centerline is valid?  [True, True]
Translation: X:265.68, Y:0.26, Z:0.00
[[ 9.99994919e-01 -3.18784735e-03  0.00000000e+00  2.65681969e+02]
 [ 3.18784735e-03  9.99994919e-01  0.00000000e+00  2.55930946e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.246066493
Centerline is valid?  [True, True]
Translation: X:265.74, Y:0.25, Z:0.00
[[ 9.99985454e-01  5.39375934e-03  0.00000000e+00  2.65742463e+02]
 [-5.39375934e-03  9.99985454e-01  0.00000000e+00  2.53606300e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.306066493
Centerline is valid?  [True, True]
Translation: X:265.80, Y:0.25, Z:0.00
[[ 9.99989388e-01  4.60694409e-03  0.00000000e+00  2.65800966e+02]
 [-4.60694409e-03  9.99989388e-01  0.00000000e+00  2.50255568e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.366066493
Centerline is valid?  [True, True]
Translation: X:265.86, Y:0.25, Z:0.00
[[ 9.99989022e-01  4.68581015e-03  0.00000000e+00  2.65859910e+02]
 [-4.68581015e-03  9.99989022e-01  0.00000000e+00  2.46817177e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.426066493
Centerline is valid?  [True, True]
Translation: X:265.92, Y:0.25, Z:0.00
[[ 9.99998042e-01  1.97880232e-03  0.00000000e+00  2.65918621e+02]
 [-1.97880232e-03  9.99998042e-01  0.00000000e+00  2.46526668e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.486066493
Centerline is valid?  [True, True]
Translation: X:265.98, Y:0.24, Z:0.00
[[ 9.99993795e-01  3.52289915e-03  0.00000000e+00  2.65978582e+02]
 [-3.52289915e-03  9.99993795e-01  0.00000000e+00  2.42412410e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.546066493
Centerline is valid?  [True, True]
Translation: X:266.04, Y:0.24, Z:0.00
[[ 9.99992304e-01  3.92330683e-03  0.00000000e+00  2.66037433e+02]
 [-3.92330683e-03  9.99992304e-01  0.00000000e+00  2.39719080e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.606066493
Centerline is valid?  [True, True]
Translation: X:266.10, Y:0.25, Z:0.00
[[ 9.99968186e-01  7.97670232e-03  0.00000000e+00  2.66097218e+02]
 [-7.97670232e-03  9.99968186e-01  0.00000000e+00  2.45167538e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.666066493
Centerline is valid?  [True, True]
Translation: X:266.16, Y:0.24, Z:0.00
[[ 9.99856147e-01  1.69612920e-02  0.00000000e+00  2.66155105e+02]
 [-1.69612920e-02  9.99856147e-01  0.00000000e+00  2.39891556e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.726066493
Centerline is valid?  [True, True]
Translation: X:266.22, Y:0.23, Z:0.00
[[ 9.99593427e-01  2.85128088e-02  0.00000000e+00  2.66215751e+02]
 [-2.85128088e-02  9.99593427e-01  0.00000000e+00  2.34943334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.786066493
Centerline is valid?  [True, True]
Translation: X:266.28, Y:0.23, Z:0.00
[[ 9.99414509e-01  3.42146074e-02  0.00000000e+00  2.66275823e+02]
 [-3.42146074e-02  9.99414509e-01  0.00000000e+00  2.33168710e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.846066493
Centerline is valid?  [True, True]
Translation: X:266.33, Y:0.22, Z:0.00
[[ 9.99212825e-01  3.96702665e-02  0.00000000e+00  2.66333807e+02]
 [-3.96702665e-02  9.99212825e-01  0.00000000e+00  2.19700662e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.906066493
Centerline is valid?  [True, True]
Translation: X:266.39, Y:0.21, Z:0.00
[[ 9.98967952e-01  4.54205967e-02  0.00000000e+00  2.66392757e+02]
 [-4.54205967e-02  9.98967952e-01  0.00000000e+00  2.08926967e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.966066493
Centerline is valid?  [True, True]
Translation: X:266.45, Y:0.20, Z:0.00
[[ 9.99075711e-01  4.29851677e-02  0.00000000e+00  2.66451130e+02]
 [-4.29851677e-02  9.99075711e-01  0.00000000e+00  2.03541960e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.02606649300003
Centerline is valid?  [True, True]
Translation: X:266.51, Y:0.18, Z:0.00
[[ 9.98789240e-01  4.91940473e-02  0.00000000e+00  2.66510625e+02]
 [-4.91940473e-02  9.98789240e-01  0.00000000e+00  1.80131627e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.08606649300003
Centerline is valid?  [True, True]
Translation: X:266.57, Y:0.17, Z:0.00
[[ 9.98922837e-01  4.64022105e-02  0.00000000e+00  2.66568000e+02]
 [-4.64022105e-02  9.98922837e-01  0.00000000e+00  1.66786729e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.14606649300003
Centerline is valid?  [True, True]
Translation: X:266.63, Y:0.15, Z:0.00
[[ 9.99305940e-01  3.72510246e-02  0.00000000e+00  2.66628176e+02]
 [-3.72510246e-02  9.99305940e-01  0.00000000e+00  1.51286064e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 265.20606649300004
Centerline is valid?  [True, True]
Translation: X:266.69, Y:0.14, Z:0.00
[[ 9.99585935e-01  2.87742702e-02  0.00000000e+00  2.66687677e+02]
 [-2.87742702e-02  9.99585935e-01  0.00000000e+00  1.41828705e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.26606649300004
Centerline is valid?  [True, True]
Translation: X:266.75, Y:0.13, Z:0.00
[[ 9.99917992e-01  1.28066158e-02  0.00000000e+00  2.66745371e+02]
 [-1.28066158e-02  9.99917992e-01  0.00000000e+00  1.26721334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.326066493
Centerline is valid?  [True, True]
Translation: X:266.80, Y:0.12, Z:0.00
[[ 9.99998416e-01  1.77972488e-03  0.00000000e+00  2.66804791e+02]
 [-1.77972488e-03  9.99998416e-01  0.00000000e+00  1.19082661e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.386066493
Centerline is valid?  [True, True]
Translation: X:266.86, Y:0.11, Z:0.00
[[ 9.99912394e-01 -1.32365027e-02  0.00000000e+00  2.66864272e+02]
 [ 1.32365027e-02  9.99912394e-01  0.00000000e+00  1.09607667e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.446066493
Centerline is valid?  [True, True]
Translation: X:266.92, Y:0.11, Z:0.00
[[ 9.99779481e-01 -2.09997704e-02  0.00000000e+00  2.66924783e+02]
 [ 2.09997704e-02  9.99779481e-01  0.00000000e+00  1.07122127e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.506066493
Centerline is valid?  [True, True]
Translation: X:266.99, Y:0.11, Z:0.00
[[ 9.99627205e-01 -2.73029348e-02  0.00000000e+00  2.66985520e+02]
 [ 2.73029348e-02  9.99627205e-01  0.00000000e+00  1.07344579e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.566066493
Centerline is valid?  [True, True]
Translation: X:267.05, Y:0.11, Z:0.00
[[ 9.99544725e-01 -3.01718832e-02  0.00000000e+00  2.67046395e+02]
 [ 3.01718832e-02  9.99544725e-01  0.00000000e+00  1.10671115e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.626066493
Centerline is valid?  [True, True]
Translation: X:267.11, Y:0.12, Z:0.00
[[ 9.99413146e-01 -3.42544063e-02  0.00000000e+00  2.67106495e+02]
 [ 3.42544063e-02  9.99413146e-01  0.00000000e+00  1.17683362e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.686066493
Centerline is valid?  [True, True]
Translation: X:267.17, Y:0.13, Z:0.00
[[ 9.99487329e-01 -3.20168723e-02  0.00000000e+00  2.67166608e+02]
 [ 3.20168723e-02  9.99487329e-01  0.00000000e+00  1.27531644e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.746066493
Centerline is valid?  [True, True]
Translation: X:267.23, Y:0.14, Z:0.00
[[ 9.99493948e-01 -3.18095678e-02  0.00000000e+00  2.67228003e+02]
 [ 3.18095678e-02  9.99493948e-01  0.00000000e+00  1.41258461e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.806066493
Centerline is valid?  [True, True]
Translation: X:267.29, Y:0.15, Z:0.00
[[ 9.99442677e-01 -3.33816481e-02  0.00000000e+00  2.67289230e+02]
 [ 3.33816481e-02  9.99442677e-01  0.00000000e+00  1.52678503e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.866066493
Centerline is valid?  [True, True]
Translation: X:267.35, Y:0.17, Z:0.00
[[ 9.99374142e-01 -3.53740578e-02  0.00000000e+00  2.67350596e+02]
 [ 3.53740578e-02  9.99374142e-01  0.00000000e+00  1.66446449e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.926066493
Centerline is valid?  [True, True]
Translation: X:267.41, Y:0.17, Z:0.00
[[ 9.99386673e-01 -3.50182557e-02  0.00000000e+00  2.67412607e+02]
 [ 3.50182557e-02  9.99386673e-01  0.00000000e+00  1.70342557e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.986066493
Centerline is valid?  [True, True]
Translation: X:267.47, Y:0.19, Z:0.00
[[ 9.99318736e-01 -3.69061420e-02  0.00000000e+00  2.67472945e+02]
 [ 3.69061420e-02  9.99318736e-01  0.00000000e+00  1.88097972e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.046066493
Centerline is valid?  [True, True]
Translation: X:267.53, Y:0.21, Z:0.00
[[ 9.99374452e-01 -3.53652894e-02  0.00000000e+00  2.67533544e+02]
 [ 3.53652894e-02  9.99374452e-01  0.00000000e+00  2.09356362e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.106066493
Centerline is valid?  [True, True]
Translation: X:267.59, Y:0.22, Z:0.00
[[ 9.99373216e-01 -3.54002266e-02  0.00000000e+00  2.67593489e+02]
 [ 3.54002266e-02  9.99373216e-01  0.00000000e+00  2.20633813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.166066493
Centerline is valid?  [True, True]
Translation: X:267.66, Y:0.23, Z:0.00
[[ 9.99463713e-01 -3.27457947e-02  0.00000000e+00  2.67655000e+02]
 [ 3.27457947e-02  9.99463713e-01  0.00000000e+00  2.31598229e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.226066493
Centerline is valid?  [True, True]
Translation: X:267.71, Y:0.25, Z:0.00
[[ 9.99651416e-01 -2.64016221e-02  0.00000000e+00  2.67714561e+02]
 [ 2.64016221e-02  9.99651416e-01  0.00000000e+00  2.46859274e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.286066493
Centerline is valid?  [True, True]
Translation: X:267.78, Y:0.26, Z:0.00
[[ 9.99777181e-01 -2.11089658e-02  0.00000000e+00  2.67775148e+02]
 [ 2.11089658e-02  9.99777181e-01  0.00000000e+00  2.58947422e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.346066493
Centerline is valid?  [True, True]
Translation: X:267.84, Y:0.27, Z:0.00
[[ 9.99869243e-01 -1.61708774e-02  0.00000000e+00  2.67835748e+02]
 [ 1.61708774e-02  9.99869243e-01  0.00000000e+00  2.70608863e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 266.406066493
Centerline is valid?  [True, True]
Translation: X:267.90, Y:0.28, Z:0.00
[[ 9.99837292e-01 -1.80385673e-02  0.00000000e+00  2.67899139e+02]
 [ 1.80385673e-02  9.99837292e-01  0.00000000e+00  2.80035520e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.466066493
Centerline is valid?  [True, True]
Translation: X:267.96, Y:0.28, Z:0.00
[[ 9.99830027e-01 -1.84368434e-02  0.00000000e+00  2.67961240e+02]
 [ 1.84368434e-02  9.99830027e-01  0.00000000e+00  2.84702499e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.52606649300003
Centerline is valid?  [True, True]
Translation: X:268.02, Y:0.30, Z:0.00
[[ 9.99881682e-01 -1.53824967e-02  0.00000000e+00  2.68022799e+02]
 [ 1.53824967e-02  9.99881682e-01  0.00000000e+00  2.96067614e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.58606649300003
Centerline is valid?  [True, True]
Translation: X:268.08, Y:0.30, Z:0.00
[[ 9.99837169e-01 -1.80453482e-02  0.00000000e+00  2.68083624e+02]
 [ 1.80453482e-02  9.99837169e-01  0.00000000e+00  2.99223883e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.64606649300003
Centerline is valid?  [True, True]
Translation: X:268.14, Y:0.31, Z:0.00
[[ 9.99857849e-01 -1.68606625e-02  0.00000000e+00  2.68144851e+02]
 [ 1.68606625e-02  9.99857849e-01  0.00000000e+00  3.08029907e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.70606649300004
Centerline is valid?  [True, True]
Translation: X:268.21, Y:0.31, Z:0.00
[[ 9.99722272e-01 -2.35664983e-02  0.00000000e+00  2.68205233e+02]
 [ 2.35664983e-02  9.99722272e-01  0.00000000e+00  3.08547653e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.76606649300004
Centerline is valid?  [True, True]
Translation: X:268.27, Y:0.31, Z:0.00
[[ 9.99410978e-01 -3.43175833e-02  0.00000000e+00  2.68265885e+02]
 [ 3.43175833e-02  9.99410978e-01  0.00000000e+00  3.10465312e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.826066493
Centerline is valid?  [True, True]
Translation: X:268.33, Y:0.32, Z:0.00
[[ 9.99017724e-01 -4.43123914e-02  0.00000000e+00  2.68326827e+02]
 [ 4.43123914e-02  9.99017724e-01  0.00000000e+00  3.17066173e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.886066493
Centerline is valid?  [True, True]
Translation: X:268.39, Y:0.33, Z:0.00
[[ 9.99113182e-01 -4.21052109e-02  0.00000000e+00  2.68388465e+02]
 [ 4.21052109e-02  9.99113182e-01  0.00000000e+00  3.26546732e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.946066493
Centerline is valid?  [True, True]
Translation: X:268.45, Y:0.33, Z:0.00
[[ 9.99204387e-01 -3.98822344e-02  0.00000000e+00  2.68449084e+02]
 [ 3.98822344e-02  9.99204387e-01  0.00000000e+00  3.33582785e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.006066493
Centerline is valid?  [True, True]
Translation: X:268.51, Y:0.35, Z:0.00
[[ 9.99416497e-01 -3.41564718e-02  0.00000000e+00  2.68508791e+02]
 [ 3.41564718e-02  9.99416497e-01  0.00000000e+00  3.46341352e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.066066493
Centerline is valid?  [True, True]
Translation: X:268.57, Y:0.35, Z:0.00
[[ 9.99509207e-01 -3.13264427e-02  0.00000000e+00  2.68570028e+02]
 [ 3.13264427e-02  9.99509207e-01  0.00000000e+00  3.52143066e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.126066493
Centerline is valid?  [True, True]
Translation: X:268.63, Y:0.36, Z:0.00
[[ 9.99569208e-01 -2.93495986e-02  0.00000000e+00  2.68630247e+02]
 [ 2.93495986e-02  9.99569208e-01  0.00000000e+00  3.63133844e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.186066493
Centerline is valid?  [True, True]
Translation: X:268.69, Y:0.37, Z:0.00
[[ 9.99597862e-01 -2.83569066e-02  0.00000000e+00  2.68692676e+02]
 [ 2.83569066e-02  9.99597862e-01  0.00000000e+00  3.68424970e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.246066493
Centerline is valid?  [True, True]
Translation: X:268.75, Y:0.38, Z:0.00
[[ 9.99628584e-01 -2.72524001e-02  0.00000000e+00  2.68754652e+02]
 [ 2.72524001e-02  9.99628584e-01  0.00000000e+00  3.78688672e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.306066493
Centerline is valid?  [True, True]
Translation: X:268.81, Y:0.38, Z:0.00
[[ 9.99671568e-01 -2.56272678e-02  0.00000000e+00  2.68814998e+02]
 [ 2.56272678e-02  9.99671568e-01  0.00000000e+00  3.81936059e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.366066493
Centerline is valid?  [True, True]
Translation: X:268.87, Y:0.39, Z:0.00
[[ 9.99857052e-01 -1.69078813e-02  0.00000000e+00  2.68874217e+02]
 [ 1.69078813e-02  9.99857052e-01  0.00000000e+00  3.90752989e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.426066493
Centerline is valid?  [True, True]
Translation: X:268.94, Y:0.40, Z:0.00
[[ 9.99976497e-01 -6.85604294e-03  0.00000000e+00  2.68935106e+02]
 [ 6.85604294e-03  9.99976497e-01  0.00000000e+00  3.97328498e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.486066493
Centerline is valid?  [True, True]
Translation: X:269.00, Y:0.40, Z:0.00
[[ 9.99931047e-01  1.17431626e-02  0.00000000e+00  2.68996340e+02]
 [-1.17431626e-02  9.99931047e-01  0.00000000e+00  4.03536718e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.546066493
Centerline is valid?  [True, True]
Translation: X:269.05, Y:0.40, Z:0.00
[[ 9.99771243e-01  2.13883329e-02  0.00000000e+00  2.69054807e+02]
 [-2.13883329e-02  9.99771243e-01  0.00000000e+00  4.04078068e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 267.606066493
Centerline is valid?  [True, True]
Translation: X:269.11, Y:0.40, Z:0.00
[[ 9.99589481e-01  2.86508352e-02  0.00000000e+00  2.69114923e+02]
 [-2.86508352e-02  9.99589481e-01  0.00000000e+00  4.04263374e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.666066493
Centerline is valid?  [True, True]
Translation: X:269.17, Y:0.40, Z:0.00
[[ 9.99456628e-01  3.29613287e-02  0.00000000e+00  2.69173133e+02]
 [-3.29613287e-02  9.99456628e-01  0.00000000e+00  4.01764405e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.726066493
Centerline is valid?  [True, True]
Translation: X:269.23, Y:0.39, Z:0.00
[[ 9.99414066e-01  3.42275484e-02  0.00000000e+00  2.69231780e+02]
 [-3.42275484e-02  9.99414066e-01  0.00000000e+00  3.94178717e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.786066493
Centerline is valid?  [True, True]
Translation: X:269.29, Y:0.38, Z:0.00
[[ 9.99396310e-01  3.47421284e-02  0.00000000e+00  2.69289948e+02]
 [-3.47421284e-02  9.99396310e-01  0.00000000e+00  3.83543311e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.846066493
Centerline is valid?  [True, True]
Translation: X:269.35, Y:0.38, Z:0.00
[[ 9.99437262e-01  3.35434059e-02  0.00000000e+00  2.69347296e+02]
 [-3.35434059e-02  9.99437262e-01  0.00000000e+00  3.81028264e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.906066493
Centerline is valid?  [True, True]
Translation: X:269.41, Y:0.37, Z:0.00
[[ 9.99498488e-01  3.16665948e-02  0.00000000e+00  2.69406726e+02]
 [-3.16665948e-02  9.99498488e-01  0.00000000e+00  3.73660812e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.966066493
Centerline is valid?  [True, True]
Translation: X:269.47, Y:0.36, Z:0.00
[[ 9.99618885e-01  2.76058796e-02  0.00000000e+00  2.69465225e+02]
 [-2.76058796e-02  9.99618885e-01  0.00000000e+00  3.61453915e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.02606649300003
Centerline is valid?  [True, True]
Translation: X:269.52, Y:0.35, Z:0.00
[[ 9.99743009e-01  2.26697246e-02  0.00000000e+00  2.69524399e+02]
 [-2.26697246e-02  9.99743009e-01  0.00000000e+00  3.49567617e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.08606649300003
Centerline is valid?  [True, True]
Translation: X:269.58, Y:0.34, Z:0.00
[[ 9.99830060e-01  1.84350632e-02  0.00000000e+00  2.69583331e+02]
 [-1.84350632e-02  9.99830060e-01  0.00000000e+00  3.40784743e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.14606649300003
Centerline is valid?  [True, True]
Translation: X:269.64, Y:0.33, Z:0.00
[[ 9.99994560e-01  3.29840716e-03  0.00000000e+00  2.69641304e+02]
 [-3.29840716e-03  9.99994560e-01  0.00000000e+00  3.28207383e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.20606649300004
Centerline is valid?  [True, True]
Translation: X:269.70, Y:0.32, Z:0.00
[[ 9.99980826e-01 -6.19256932e-03  0.00000000e+00  2.69701214e+02]
 [ 6.19256932e-03  9.99980826e-01  0.00000000e+00  3.20034939e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.26606649300004
Centerline is valid?  [True, True]
Translation: X:269.76, Y:0.31, Z:0.00
[[ 9.99893055e-01 -1.46245798e-02  0.00000000e+00  2.69761705e+02]
 [ 1.46245798e-02  9.99893055e-01  0.00000000e+00  3.14258751e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.326066493
Centerline is valid?  [True, True]
Translation: X:269.82, Y:0.31, Z:0.00
[[ 9.99854806e-01 -1.70401639e-02  0.00000000e+00  2.69822534e+02]
 [ 1.70401639e-02  9.99854806e-01  0.00000000e+00  3.07411800e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.386066493
Centerline is valid?  [True, True]
Translation: X:269.88, Y:0.30, Z:0.00
[[ 9.99887916e-01 -1.49718381e-02  0.00000000e+00  2.69883929e+02]
 [ 1.49718381e-02  9.99887916e-01  0.00000000e+00  3.04292297e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.446066493
Centerline is valid?  [True, True]
Translation: X:269.94, Y:0.30, Z:0.00
[[ 9.99975412e-01 -7.01254549e-03  0.00000000e+00  2.69944388e+02]
 [ 7.01254549e-03  9.99975412e-01  0.00000000e+00  3.02968848e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.506066493
Centerline is valid?  [True, True]
Translation: X:270.00, Y:0.30, Z:0.00
[[ 9.99996574e-01  2.61753692e-03  0.00000000e+00  2.70004469e+02]
 [-2.61753692e-03  9.99996574e-01  0.00000000e+00  3.01086413e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.566066493
Centerline is valid?  [True, True]
Translation: X:270.06, Y:0.30, Z:0.00
[[ 9.99859997e-01  1.67327895e-02  0.00000000e+00  2.70064246e+02]
 [-1.67327895e-02  9.99859997e-01  0.00000000e+00  2.99053809e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.626066493
Centerline is valid?  [True, True]
Translation: X:270.12, Y:0.30, Z:0.00
[[ 9.99717556e-01  2.37656820e-02  0.00000000e+00  2.70122824e+02]
 [-2.37656820e-02  9.99717556e-01  0.00000000e+00  2.96461733e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.686066493
Centerline is valid?  [True, True]
Translation: X:270.18, Y:0.29, Z:0.00
[[ 9.99586226e-01  2.87641487e-02  0.00000000e+00  2.70181805e+02]
 [-2.87641487e-02  9.99586226e-01  0.00000000e+00  2.93254109e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.746066493
Centerline is valid?  [True, True]
Translation: X:270.24, Y:0.28, Z:0.00
[[ 9.99789156e-01  2.05339484e-02  0.00000000e+00  2.70240524e+02]
 [-2.05339484e-02  9.99789156e-01  0.00000000e+00  2.84625481e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 268.806066493
Centerline is valid?  [True, True]
Translation: X:270.30, Y:0.28, Z:0.00
[[ 9.99918896e-01  1.27358605e-02  0.00000000e+00  2.70299590e+02]
 [-1.27358605e-02  9.99918896e-01  0.00000000e+00  2.79538570e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.866066493
Centerline is valid?  [True, True]
Translation: X:270.36, Y:0.27, Z:0.00
[[ 9.99999858e-01  5.32953662e-04  0.00000000e+00  2.70359057e+02]
 [-5.32953662e-04  9.99999858e-01  0.00000000e+00  2.67545134e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.926066493
Centerline is valid?  [True, True]
Translation: X:270.42, Y:0.26, Z:0.00
[[ 9.99974965e-01 -7.07598235e-03  0.00000000e+00  2.70418598e+02]
 [ 7.07598235e-03  9.99974965e-01  0.00000000e+00  2.62046643e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.986066493
Centerline is valid?  [True, True]
Translation: X:270.48, Y:0.26, Z:0.00
[[ 9.99955683e-01 -9.41441329e-03  0.00000000e+00  2.70480643e+02]
 [ 9.41441329e-03  9.99955683e-01  0.00000000e+00  2.56518550e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.046066493
Centerline is valid?  [True, True]
Translation: X:270.54, Y:0.25, Z:0.00
[[ 9.99948810e-01 -1.01182090e-02  0.00000000e+00  2.70542002e+02]
 [ 1.01182090e-02  9.99948810e-01  0.00000000e+00  2.53185111e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.106066493
Centerline is valid?  [True, True]
Translation: X:270.60, Y:0.25, Z:0.00
[[ 9.99982237e-01 -5.96029049e-03  0.00000000e+00  2.70602393e+02]
 [ 5.96029049e-03  9.99982237e-01  0.00000000e+00  2.49931839e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.166066493
Centerline is valid?  [True, True]
Translation: X:270.66, Y:0.25, Z:0.00
[[ 9.99983195e-01 -5.79735496e-03  0.00000000e+00  2.70664079e+02]
 [ 5.79735496e-03  9.99983195e-01  0.00000000e+00  2.51100981e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.226066493
Centerline is valid?  [True, True]
Translation: X:270.73, Y:0.25, Z:0.00
[[ 9.99984032e-01 -5.65109290e-03  0.00000000e+00  2.70726449e+02]
 [ 5.65109290e-03  9.99984032e-01  0.00000000e+00  2.50482688e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.286066493
Centerline is valid?  [True, True]
Translation: X:270.79, Y:0.25, Z:0.00
[[ 9.99937100e-01 -1.12158507e-02  0.00000000e+00  2.70786015e+02]
 [ 1.12158507e-02  9.99937100e-01  0.00000000e+00  2.50085930e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.346066493
Centerline is valid?  [True, True]
Translation: X:270.85, Y:0.25, Z:0.00
[[ 9.99895640e-01 -1.44467661e-02  0.00000000e+00  2.70848132e+02]
 [ 1.44467661e-02  9.99895640e-01  0.00000000e+00  2.50498476e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.406066493
Centerline is valid?  [True, True]
Translation: X:270.91, Y:0.25, Z:0.00
[[ 9.99857330e-01 -1.68913891e-02  0.00000000e+00  2.70908759e+02]
 [ 1.68913891e-02  9.99857330e-01  0.00000000e+00  2.52607332e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.466066493
Centerline is valid?  [True, True]
Translation: X:270.97, Y:0.25, Z:0.00
[[ 9.99896301e-01 -1.44009328e-02  0.00000000e+00  2.70971529e+02]
 [ 1.44009328e-02  9.99896301e-01  0.00000000e+00  2.54006890e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.52606649300003
Centerline is valid?  [True, True]
Translation: X:271.03, Y:0.26, Z:0.00
[[ 9.99985624e-01 -5.36213868e-03  0.00000000e+00  2.71031931e+02]
 [ 5.36213868e-03  9.99985624e-01  0.00000000e+00  2.60519677e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.58606649300003
Centerline is valid?  [True, True]
Translation: X:271.09, Y:0.26, Z:0.00
[[ 9.99999677e-01 -8.04212764e-04  0.00000000e+00  2.71093448e+02]
 [ 8.04212764e-04  9.99999677e-01  0.00000000e+00  2.63521200e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.64606649300003
Centerline is valid?  [True, True]
Translation: X:271.15, Y:0.27, Z:0.00
[[ 9.99949868e-01  1.00130890e-02  0.00000000e+00  2.71153787e+02]
 [-1.00130890e-02  9.99949868e-01  0.00000000e+00  2.65960973e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.70606649300004
Centerline is valid?  [True, True]
Translation: X:271.21, Y:0.27, Z:0.00
[[ 9.99863150e-01  1.65433173e-02  0.00000000e+00  2.71212458e+02]
 [-1.65433173e-02  9.99863150e-01  0.00000000e+00  2.68009023e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.76606649300004
Centerline is valid?  [True, True]
Translation: X:271.27, Y:0.27, Z:0.00
[[ 9.99813478e-01  1.93134364e-02  0.00000000e+00  2.71272015e+02]
 [-1.93134364e-02  9.99813478e-01  0.00000000e+00  2.66727005e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.826066493
Centerline is valid?  [True, True]
Translation: X:271.33, Y:0.26, Z:0.00
[[ 9.99701062e-01  2.44496734e-02  0.00000000e+00  2.71332093e+02]
 [-2.44496734e-02  9.99701062e-01  0.00000000e+00  2.63269938e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.886066493
Centerline is valid?  [True, True]
Translation: X:271.39, Y:0.26, Z:0.00
[[ 9.99706911e-01  2.42093475e-02  0.00000000e+00  2.71391008e+02]
 [-2.42093475e-02  9.99706911e-01  0.00000000e+00  2.59626090e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.946066493
Centerline is valid?  [True, True]
Translation: X:271.45, Y:0.26, Z:0.00
[[ 9.99875152e-01  1.58012525e-02  0.00000000e+00  2.71450856e+02]
 [-1.58012525e-02  9.99875152e-01  0.00000000e+00  2.55743924e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 270.006066493
Centerline is valid?  [True, True]
Translation: X:271.51, Y:0.25, Z:0.00
[[ 9.99986839e-01  5.13051000e-03  0.00000000e+00  2.71510954e+02]
 [-5.13051000e-03  9.99986839e-01  0.00000000e+00  2.45030135e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.066066493
Centerline is valid?  [True, True]
Translation: X:271.57, Y:0.24, Z:0.00
[[ 9.99996321e-01 -2.71272808e-03  0.00000000e+00  2.71570733e+02]
 [ 2.71272808e-03  9.99996321e-01  0.00000000e+00  2.39308661e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.126066493
Centerline is valid?  [True, True]
Translation: X:271.63, Y:0.24, Z:0.00
[[ 9.99933612e-01 -1.15226520e-02  0.00000000e+00  2.71630711e+02]
 [ 1.15226520e-02  9.99933612e-01  0.00000000e+00  2.35873874e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.186066493
Centerline is valid?  [True, True]
Translation: X:271.69, Y:0.23, Z:0.00
[[ 9.99853043e-01 -1.71433057e-02  0.00000000e+00  2.71691388e+02]
 [ 1.71433057e-02  9.99853043e-01  0.00000000e+00  2.32541668e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.246066493
Centerline is valid?  [True, True]
Translation: X:271.75, Y:0.23, Z:0.00
[[ 9.99703557e-01 -2.43474462e-02  0.00000000e+00  2.71750964e+02]
 [ 2.43474462e-02  9.99703557e-01  0.00000000e+00  2.30004131e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.306066493
Centerline is valid?  [True, True]
Translation: X:271.81, Y:0.23, Z:0.00
[[ 9.99623867e-01 -2.74248802e-02  0.00000000e+00  2.71812374e+02]
 [ 2.74248802e-02  9.99623867e-01  0.00000000e+00  2.31343610e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.366066493
Centerline is valid?  [True, True]
Translation: X:271.87, Y:0.23, Z:0.00
[[ 9.99613806e-01 -2.77891901e-02  0.00000000e+00  2.71873530e+02]
 [ 2.77891901e-02  9.99613806e-01  0.00000000e+00  2.33410446e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.426066493
Centerline is valid?  [True, True]
Translation: X:271.93, Y:0.24, Z:0.00
[[ 9.99740268e-01 -2.27902742e-02  0.00000000e+00  2.71934158e+02]
 [ 2.27902742e-02  9.99740268e-01  0.00000000e+00  2.37955775e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.486066493
Centerline is valid?  [True, True]
Translation: X:271.99, Y:0.24, Z:0.00
[[ 9.99852552e-01 -1.71719272e-02  0.00000000e+00  2.71994873e+02]
 [ 1.71719272e-02  9.99852552e-01  0.00000000e+00  2.44426942e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.546066493
Centerline is valid?  [True, True]
Translation: X:272.06, Y:0.25, Z:0.00
[[ 9.99978479e-01 -6.56056468e-03  0.00000000e+00  2.72055314e+02]
 [ 6.56056468e-03  9.99978479e-01  0.00000000e+00  2.51099973e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.606066493
Centerline is valid?  [True, True]
Translation: X:272.12, Y:0.25, Z:0.00
[[ 9.99998763e-01  1.57272102e-03  0.00000000e+00  2.72116087e+02]
 [-1.57272102e-03  9.99998763e-01  0.00000000e+00  2.54057787e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.666066493
Centerline is valid?  [True, True]
Translation: X:272.17, Y:0.26, Z:0.00
[[ 9.99934585e-01  1.14379021e-02  0.00000000e+00  2.72174976e+02]
 [-1.14379021e-02  9.99934585e-01  0.00000000e+00  2.59373111e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.726066493
Centerline is valid?  [True, True]
Translation: X:272.23, Y:0.26, Z:0.00
[[ 9.99788248e-01  2.05781465e-02  0.00000000e+00  2.72233526e+02]
 [-2.05781465e-02  9.99788248e-01  0.00000000e+00  2.60733156e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.786066493
Centerline is valid?  [True, True]
Translation: X:272.29, Y:0.26, Z:0.00
[[ 9.99502610e-01  3.15362196e-02  0.00000000e+00  2.72292559e+02]
 [-3.15362196e-02  9.99502610e-01  0.00000000e+00  2.62213380e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.846066493
Centerline is valid?  [True, True]
Translation: X:272.35, Y:0.26, Z:0.00
[[ 9.99198545e-01  4.00283407e-02  0.00000000e+00  2.72353077e+02]
 [-4.00283407e-02  9.99198545e-01  0.00000000e+00  2.58531165e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.906066493
Centerline is valid?  [True, True]
Translation: X:272.41, Y:0.25, Z:0.00
[[ 9.98840909e-01  4.81335577e-02  0.00000000e+00  2.72412870e+02]
 [-4.81335577e-02  9.98840909e-01  0.00000000e+00  2.51097716e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.966066493
Centerline is valid?  [True, True]
Translation: X:272.47, Y:0.24, Z:0.00
[[ 9.98769604e-01  4.95911005e-02  0.00000000e+00  2.72471192e+02]
 [-4.95911005e-02  9.98769604e-01  0.00000000e+00  2.36587415e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.02606649300003
Centerline is valid?  [True, True]
Translation: X:272.53, Y:0.22, Z:0.00
[[ 9.98834736e-01  4.82614829e-02  0.00000000e+00  2.72530268e+02]
 [-4.82614829e-02  9.98834736e-01  0.00000000e+00  2.24590569e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.08606649300003
Centerline is valid?  [True, True]
Translation: X:272.59, Y:0.21, Z:0.00
[[ 9.99049601e-01  4.35877848e-02  0.00000000e+00  2.72589694e+02]
 [-4.35877848e-02  9.99049601e-01  0.00000000e+00  2.05651925e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.14606649300003
Centerline is valid?  [True, True]
Translation: X:272.65, Y:0.19, Z:0.00
[[ 9.99178194e-01  4.05331566e-02  0.00000000e+00  2.72650071e+02]
 [-4.05331566e-02  9.99178194e-01  0.00000000e+00  1.93638559e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 271.20606649300004
Centerline is valid?  [True, True]
Translation: X:272.71, Y:0.17, Z:0.00
[[ 9.99290555e-01  3.76614647e-02  0.00000000e+00  2.72708894e+02]
 [-3.76614647e-02  9.99290555e-01  0.00000000e+00  1.72157726e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.26606649300004
Centerline is valid?  [True, True]
Translation: X:272.77, Y:0.16, Z:0.00
[[ 9.99473086e-01  3.24584493e-02  0.00000000e+00  2.72768817e+02]
 [-3.24584493e-02  9.99473086e-01  0.00000000e+00  1.59281824e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.326066493
Centerline is valid?  [True, True]
Translation: X:272.83, Y:0.14, Z:0.00
[[ 9.99763532e-01  2.17458139e-02  0.00000000e+00  2.72827473e+02]
 [-2.17458139e-02  9.99763532e-01  0.00000000e+00  1.42286998e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.386066493
Centerline is valid?  [True, True]
Translation: X:272.89, Y:0.13, Z:0.00
[[ 9.99902772e-01  1.39444178e-02  0.00000000e+00  2.72885743e+02]
 [-1.39444178e-02  9.99902772e-01  0.00000000e+00  1.31869425e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.446066493
Centerline is valid?  [True, True]
Translation: X:272.94, Y:0.11, Z:0.00
[[ 9.99998421e-01  1.77723821e-03  0.00000000e+00  2.72944663e+02]
 [-1.77723821e-03  9.99998421e-01  0.00000000e+00  1.12446848e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.506066493
Centerline is valid?  [True, True]
Translation: X:273.00, Y:0.10, Z:0.00
[[ 9.99969706e-01 -7.78373165e-03  0.00000000e+00  2.73004437e+02]
 [ 7.78373165e-03  9.99969706e-01  0.00000000e+00  1.02763345e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.566066493
Centerline is valid?  [True, True]
Translation: X:273.06, Y:0.10, Z:0.00
[[ 9.99914974e-01 -1.30401519e-02  0.00000000e+00  2.73064511e+02]
 [ 1.30401519e-02  9.99914974e-01  0.00000000e+00  9.56683250e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.626066493
Centerline is valid?  [True, True]
Translation: X:273.13, Y:0.09, Z:0.00
[[ 9.99891246e-01 -1.47477569e-02  0.00000000e+00  2.73126057e+02]
 [ 1.47477569e-02  9.99891246e-01  0.00000000e+00  9.18255585e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.686066493
Centerline is valid?  [True, True]
Translation: X:273.19, Y:0.09, Z:0.00
[[ 9.99837870e-01 -1.80065117e-02  0.00000000e+00  2.73188072e+02]
 [ 1.80065117e-02  9.99837870e-01  0.00000000e+00  8.72404124e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.746066493
Centerline is valid?  [True, True]
Translation: X:273.25, Y:0.09, Z:0.00
[[ 9.99886346e-01 -1.50763076e-02  0.00000000e+00  2.73249991e+02]
 [ 1.50763076e-02  9.99886346e-01  0.00000000e+00  8.61542073e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.806066493
Centerline is valid?  [True, True]
Translation: X:273.31, Y:0.09, Z:0.00
[[ 9.99949076e-01 -1.00918443e-02  0.00000000e+00  2.73312032e+02]
 [ 1.00918443e-02  9.99949076e-01  0.00000000e+00  8.56109185e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.866066493
Centerline is valid?  [True, True]
Translation: X:273.37, Y:0.09, Z:0.00
[[ 9.99999980e-01  2.00838801e-04  0.00000000e+00  2.73373101e+02]
 [-2.00838801e-04  9.99999980e-01  0.00000000e+00  8.82856721e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.926066493
Centerline is valid?  [True, True]
Translation: X:273.43, Y:0.09, Z:0.00
[[ 9.99987291e-01  5.04167054e-03  0.00000000e+00  2.73433025e+02]
 [-5.04167054e-03  9.99987291e-01  0.00000000e+00  8.70941349e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.986066493
Centerline is valid?  [True, True]
Translation: X:273.49, Y:0.10, Z:0.00
[[ 9.99929023e-01  1.19141965e-02  0.00000000e+00  2.73492621e+02]
 [-1.19141965e-02  9.99929023e-01  0.00000000e+00  9.71940209e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.046066493
Centerline is valid?  [True, True]
Translation: X:273.55, Y:0.10, Z:0.00
[[ 9.99878913e-01  1.55614608e-02  0.00000000e+00  2.73552761e+02]
 [-1.55614608e-02  9.99878913e-01  0.00000000e+00  9.70720015e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.106066493
Centerline is valid?  [True, True]
Translation: X:273.61, Y:0.10, Z:0.00
[[ 9.99851552e-01  1.72300592e-02  0.00000000e+00  2.73610953e+02]
 [-1.72300592e-02  9.99851552e-01  0.00000000e+00  9.79224822e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.166066493
Centerline is valid?  [True, True]
Translation: X:273.67, Y:0.10, Z:0.00
[[ 9.99843737e-01  1.76776920e-02  0.00000000e+00  2.73669331e+02]
 [-1.76776920e-02  9.99843737e-01  0.00000000e+00  9.66914740e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.226066493
Centerline is valid?  [True, True]
Translation: X:273.73, Y:0.09, Z:0.00
[[ 9.99890349e-01  1.48084321e-02  0.00000000e+00  2.73727947e+02]
 [-1.48084321e-02  9.99890349e-01  0.00000000e+00  9.11949513e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.286066493
Centerline is valid?  [True, True]
Translation: X:273.79, Y:0.09, Z:0.00
[[ 9.99942056e-01  1.07650130e-02  0.00000000e+00  2.73785803e+02]
 [-1.07650130e-02  9.99942056e-01  0.00000000e+00  8.86275236e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.346066493
Centerline is valid?  [True, True]
Translation: X:273.85, Y:0.07, Z:0.00
[[ 9.99980063e-01  6.31458458e-03  0.00000000e+00  2.73845529e+02]
 [-6.31458458e-03  9.99980063e-01  0.00000000e+00  7.44268118e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 272.406066493
Centerline is valid?  [True, True]
Translation: X:273.90, Y:0.07, Z:0.00
[[ 9.99959865e-01  8.95931620e-03  0.00000000e+00  2.73903504e+02]
 [-8.95931620e-03  9.99959865e-01  0.00000000e+00  7.49999921e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.466066493
Centerline is valid?  [True, True]
Translation: X:273.96, Y:0.07, Z:0.00
[[ 9.99966426e-01  8.19436891e-03  0.00000000e+00  2.73962448e+02]
 [-8.19436891e-03  9.99966426e-01  0.00000000e+00  7.15127389e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.52606649300003
Centerline is valid?  [True, True]
Translation: X:274.02, Y:0.06, Z:0.00
[[ 9.99966945e-01  8.13070560e-03  0.00000000e+00  2.74020905e+02]
 [-8.13070560e-03  9.99966945e-01  0.00000000e+00  6.37234203e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.58606649300003
Centerline is valid?  [True, True]
Translation: X:274.08, Y:0.06, Z:0.00
[[ 9.99980244e-01  6.28581295e-03  0.00000000e+00  2.74080108e+02]
 [-6.28581295e-03  9.99980244e-01  0.00000000e+00  6.19580551e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.64606649300003
Centerline is valid?  [True, True]
Translation: X:274.14, Y:0.06, Z:0.00
[[ 9.99999999e-01 -5.16541022e-05  0.00000000e+00  2.74138917e+02]
 [ 5.16541022e-05  9.99999999e-01  0.00000000e+00  5.78908023e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.70606649300004
Centerline is valid?  [True, True]
Translation: X:274.20, Y:0.06, Z:0.00
[[ 9.99974930e-01 -7.08087570e-03  0.00000000e+00  2.74199758e+02]
 [ 7.08087570e-03  9.99974930e-01  0.00000000e+00  5.62600961e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.76606649300004
Centerline is valid?  [True, True]
Translation: X:274.26, Y:0.05, Z:0.00
[[ 9.99860292e-01 -1.67151728e-02  0.00000000e+00  2.74260413e+02]
 [ 1.67151728e-02  9.99860292e-01  0.00000000e+00  5.32158497e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.826066493
Centerline is valid?  [True, True]
Translation: X:274.32, Y:0.05, Z:0.00
[[ 9.99675228e-01 -2.54840982e-02  0.00000000e+00  2.74319775e+02]
 [ 2.54840982e-02  9.99675228e-01  0.00000000e+00  5.39329419e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.886066493
Centerline is valid?  [True, True]
Translation: X:274.38, Y:0.06, Z:0.00
[[ 9.99624343e-01 -2.74075445e-02  0.00000000e+00  2.74382368e+02]
 [ 2.74075445e-02  9.99624343e-01  0.00000000e+00  5.89025090e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.946066493
Centerline is valid?  [True, True]
Translation: X:274.45, Y:0.06, Z:0.00
[[ 9.99670624e-01 -2.56640669e-02  0.00000000e+00  2.74445244e+02]
 [ 2.56640669e-02  9.99670624e-01  0.00000000e+00  6.38152963e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.006066493
Centerline is valid?  [True, True]
Translation: X:274.51, Y:0.07, Z:0.00
[[ 9.99752143e-01 -2.22632667e-02  0.00000000e+00  2.74505214e+02]
 [ 2.22632667e-02  9.99752143e-01  0.00000000e+00  6.72726905e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.066066493
Centerline is valid?  [True, True]
Translation: X:274.57, Y:0.07, Z:0.00
[[ 9.99686200e-01 -2.50499846e-02  0.00000000e+00  2.74567844e+02]
 [ 2.50499846e-02  9.99686200e-01  0.00000000e+00  7.47710197e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.126066493
Centerline is valid?  [True, True]
Translation: X:274.63, Y:0.08, Z:0.00
[[ 9.99543861e-01 -3.02004792e-02  0.00000000e+00  2.74628242e+02]
 [ 3.02004792e-02  9.99543861e-01  0.00000000e+00  8.01622289e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.186066493
Centerline is valid?  [True, True]
Translation: X:274.69, Y:0.09, Z:0.00
[[ 9.99250200e-01 -3.87174154e-02  0.00000000e+00  2.74688412e+02]
 [ 3.87174154e-02  9.99250200e-01  0.00000000e+00  8.62071755e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.246066493
Centerline is valid?  [True, True]
Translation: X:274.75, Y:0.09, Z:0.00
[[ 9.99021517e-01 -4.42267967e-02  0.00000000e+00  2.74748934e+02]
 [ 4.42267967e-02  9.99021517e-01  0.00000000e+00  9.17759833e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.306066493
Centerline is valid?  [True, True]
Translation: X:274.81, Y:0.11, Z:0.00
[[ 9.98774966e-01 -4.94829957e-02  0.00000000e+00  2.74809997e+02]
 [ 4.94829957e-02  9.98774966e-01  0.00000000e+00  1.08364781e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.366066493
Centerline is valid?  [True, True]
Translation: X:274.87, Y:0.13, Z:0.00
[[ 9.98645829e-01 -5.20241078e-02  0.00000000e+00  2.74870099e+02]
 [ 5.20241078e-02  9.98645829e-01  0.00000000e+00  1.26925851e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.426066493
Centerline is valid?  [True, True]
Translation: X:274.93, Y:0.14, Z:0.00
[[ 9.98716940e-01 -5.06406246e-02  0.00000000e+00  2.74931039e+02]
 [ 5.06406246e-02  9.98716940e-01  0.00000000e+00  1.36349687e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.486066493
Centerline is valid?  [True, True]
Translation: X:274.99, Y:0.15, Z:0.00
[[ 9.98874940e-01 -4.74220858e-02  0.00000000e+00  2.74992161e+02]
 [ 4.74220858e-02  9.98874940e-01  0.00000000e+00  1.52486647e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.546066493
Centerline is valid?  [True, True]
Translation: X:275.05, Y:0.17, Z:0.00
[[ 9.99005642e-01 -4.45839431e-02  0.00000000e+00  2.75053428e+02]
 [ 4.45839431e-02  9.99005642e-01  0.00000000e+00  1.65256020e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 273.606066493
Centerline is valid?  [True, True]
Translation: X:275.11, Y:0.18, Z:0.00
[[ 9.99072265e-01 -4.30651725e-02  0.00000000e+00  2.75113008e+02]
 [ 4.30651725e-02  9.99072265e-01  0.00000000e+00  1.77938151e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.666066493
Centerline is valid?  [True, True]
Translation: X:275.18, Y:0.19, Z:0.00
[[ 9.99196730e-01 -4.00736164e-02  0.00000000e+00  2.75175492e+02]
 [ 4.00736164e-02  9.99196730e-01  0.00000000e+00  1.88927249e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.726066493
Centerline is valid?  [True, True]
Translation: X:275.24, Y:0.19, Z:0.00
[[ 9.99249059e-01 -3.87468409e-02  0.00000000e+00  2.75236859e+02]
 [ 3.87468409e-02  9.99249059e-01  0.00000000e+00  1.94393322e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.786066493
Centerline is valid?  [True, True]
Translation: X:275.30, Y:0.21, Z:0.00
[[ 9.99202274e-01 -3.99351364e-02  0.00000000e+00  2.75299374e+02]
 [ 3.99351364e-02  9.99202274e-01  0.00000000e+00  2.06992832e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.846066493
Centerline is valid?  [True, True]
Translation: X:275.36, Y:0.21, Z:0.00
[[ 9.99375183e-01 -3.53446340e-02  0.00000000e+00  2.75359609e+02]
 [ 3.53446340e-02  9.99375183e-01  0.00000000e+00  2.13849784e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.906066493
Centerline is valid?  [True, True]
Translation: X:275.42, Y:0.22, Z:0.00
[[ 9.99536480e-01 -3.04437874e-02  0.00000000e+00  2.75420696e+02]
 [ 3.04437874e-02  9.99536480e-01  0.00000000e+00  2.24807716e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.966066493
Centerline is valid?  [True, True]
Translation: X:275.48, Y:0.23, Z:0.00
[[ 9.99689957e-01 -2.48995957e-02  0.00000000e+00  2.75481566e+02]
 [ 2.48995957e-02  9.99689957e-01  0.00000000e+00  2.33439438e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.02606649300003
Centerline is valid?  [True, True]
Translation: X:275.54, Y:0.23, Z:0.00
[[ 9.99772256e-01 -2.13409609e-02  0.00000000e+00  2.75541867e+02]
 [ 2.13409609e-02  9.99772256e-01  0.00000000e+00  2.34910006e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.08606649300003
Centerline is valid?  [True, True]
Translation: X:275.60, Y:0.24, Z:0.00
[[ 9.99783371e-01 -2.08137429e-02  0.00000000e+00  2.75604142e+02]
 [ 2.08137429e-02  9.99783371e-01  0.00000000e+00  2.43113140e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.14606649300003
Centerline is valid?  [True, True]
Translation: X:275.67, Y:0.25, Z:0.00
[[ 9.99719713e-01 -2.36748010e-02  0.00000000e+00  2.75665640e+02]
 [ 2.36748010e-02  9.99719713e-01  0.00000000e+00  2.46953747e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.20606649300004
Centerline is valid?  [True, True]
Translation: X:275.73, Y:0.25, Z:0.00
[[ 9.99691887e-01 -2.48219922e-02  0.00000000e+00  2.75726445e+02]
 [ 2.48219922e-02  9.99691887e-01  0.00000000e+00  2.48681492e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.26606649300004
Centerline is valid?  [True, True]
Translation: X:275.79, Y:0.25, Z:0.00
[[ 9.99766355e-01 -2.16156452e-02  0.00000000e+00  2.75786700e+02]
 [ 2.16156452e-02  9.99766355e-01  0.00000000e+00  2.53015600e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.326066493
Centerline is valid?  [True, True]
Translation: X:275.85, Y:0.25, Z:0.00
[[ 9.99863739e-01 -1.65076973e-02  0.00000000e+00  2.75847041e+02]
 [ 1.65076973e-02  9.99863739e-01  0.00000000e+00  2.53494917e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.386066493
Centerline is valid?  [True, True]
Translation: X:275.91, Y:0.25, Z:0.00
[[ 9.99986458e-01 -5.20411818e-03  0.00000000e+00  2.75907950e+02]
 [ 5.20411818e-03  9.99986458e-01  0.00000000e+00  2.54856329e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.446066493
Centerline is valid?  [True, True]
Translation: X:275.97, Y:0.26, Z:0.00
[[ 9.99940358e-01  1.09215276e-02  0.00000000e+00  2.75969206e+02]
 [-1.09215276e-02  9.99940358e-01  0.00000000e+00  2.57522056e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.506066493
Centerline is valid?  [True, True]
Translation: X:276.03, Y:0.26, Z:0.00
[[ 9.99785877e-01  2.06930094e-02  0.00000000e+00  2.76028277e+02]
 [-2.06930094e-02  9.99785877e-01  0.00000000e+00  2.58345746e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.566066493
Centerline is valid?  [True, True]
Translation: X:276.09, Y:0.26, Z:0.00
[[ 9.99525850e-01  3.07908278e-02  0.00000000e+00  2.76087795e+02]
 [-3.07908278e-02  9.99525850e-01  0.00000000e+00  2.56286138e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.626066493
Centerline is valid?  [True, True]
Translation: X:276.15, Y:0.25, Z:0.00
[[ 9.99457309e-01  3.29406773e-02  0.00000000e+00  2.76146345e+02]
 [-3.29406773e-02  9.99457309e-01  0.00000000e+00  2.51852807e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.686066493
Centerline is valid?  [True, True]
Translation: X:276.21, Y:0.25, Z:0.00
[[ 9.99481697e-01  3.21921917e-02  0.00000000e+00  2.76205164e+02]
 [-3.21921917e-02  9.99481697e-01  0.00000000e+00  2.45355741e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.746066493
Centerline is valid?  [True, True]
Translation: X:276.26, Y:0.24, Z:0.00
[[ 9.99639537e-01  2.68476429e-02  0.00000000e+00  2.76263025e+02]
 [-2.68476429e-02  9.99639537e-01  0.00000000e+00  2.36542086e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 274.806066493
Centerline is valid?  [True, True]
Translation: X:276.32, Y:0.23, Z:0.00
[[ 9.99736179e-01  2.29689295e-02  0.00000000e+00  2.76323101e+02]
 [-2.29689295e-02  9.99736179e-01  0.00000000e+00  2.28578704e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.866066493
Centerline is valid?  [True, True]
Translation: X:276.38, Y:0.22, Z:0.00
[[ 9.99908167e-01  1.35520250e-02  0.00000000e+00  2.76381536e+02]
 [-1.35520250e-02  9.99908167e-01  0.00000000e+00  2.17168997e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.926066493
Centerline is valid?  [True, True]
Translation: X:276.44, Y:0.21, Z:0.00
[[ 9.99984385e-01  5.58842932e-03  0.00000000e+00  2.76441139e+02]
 [-5.58842932e-03  9.99984385e-01  0.00000000e+00  2.06922407e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.986066493
Centerline is valid?  [True, True]
Translation: X:276.50, Y:0.20, Z:0.00
[[ 9.99994616e-01  3.28158118e-03  0.00000000e+00  2.76498947e+02]
 [-3.28158118e-03  9.99994616e-01  0.00000000e+00  1.99044804e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.046066493
Centerline is valid?  [True, True]
Translation: X:276.56, Y:0.19, Z:0.00
[[ 9.99999819e-01 -6.01551269e-04  0.00000000e+00  2.76556638e+02]
 [ 6.01551269e-04  9.99999819e-01  0.00000000e+00  1.89259331e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.106066493
Centerline is valid?  [True, True]
Translation: X:276.62, Y:0.18, Z:0.00
[[ 9.99999941e-01 -3.42683223e-04  0.00000000e+00  2.76617284e+02]
 [ 3.42683223e-04  9.99999941e-01  0.00000000e+00  1.82750206e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.166066493
Centerline is valid?  [True, True]
Translation: X:276.68, Y:0.18, Z:0.00
[[ 9.99999944e-01 -3.33424484e-04  0.00000000e+00  2.76677899e+02]
 [ 3.33424484e-04  9.99999944e-01  0.00000000e+00  1.76115766e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.226066493
Centerline is valid?  [True, True]
Translation: X:276.74, Y:0.17, Z:0.00
[[ 9.99999764e-01 -6.86643894e-04  0.00000000e+00  2.76737571e+02]
 [ 6.86643894e-04  9.99999764e-01  0.00000000e+00  1.74773548e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.286066493
Centerline is valid?  [True, True]
Translation: X:276.80, Y:0.17, Z:0.00
[[ 9.99994530e-01 -3.30750150e-03  0.00000000e+00  2.76798764e+02]
 [ 3.30750150e-03  9.99994530e-01  0.00000000e+00  1.73580560e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.346066493
Centerline is valid?  [True, True]
Translation: X:276.86, Y:0.17, Z:0.00
[[ 9.99985617e-01 -5.36329073e-03  0.00000000e+00  2.76858851e+02]
 [ 5.36329073e-03  9.99985617e-01  0.00000000e+00  1.71279515e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.406066493
Centerline is valid?  [True, True]
Translation: X:276.92, Y:0.17, Z:0.00
[[ 9.99955743e-01 -9.40811211e-03  0.00000000e+00  2.76919504e+02]
 [ 9.40811211e-03  9.99955743e-01  0.00000000e+00  1.69707250e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.466066493
Centerline is valid?  [True, True]
Translation: X:276.98, Y:0.17, Z:0.00
[[ 9.99904850e-01 -1.37946032e-02  0.00000000e+00  2.76979158e+02]
 [ 1.37946032e-02  9.99904850e-01  0.00000000e+00  1.65281081e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.52606649300003
Centerline is valid?  [True, True]
Translation: X:277.04, Y:0.17, Z:0.00
[[ 9.99821741e-01 -1.88808633e-02  0.00000000e+00  2.77040597e+02]
 [ 1.88808633e-02  9.99821741e-01  0.00000000e+00  1.66612786e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.58606649300003
Centerline is valid?  [True, True]
Translation: X:277.10, Y:0.17, Z:0.00
[[ 9.99801249e-01 -1.99364491e-02  0.00000000e+00  2.77101670e+02]
 [ 1.99364491e-02  9.99801249e-01  0.00000000e+00  1.67211966e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.64606649300003
Centerline is valid?  [True, True]
Translation: X:277.16, Y:0.17, Z:0.00
[[ 9.99933050e-01 -1.15713505e-02  0.00000000e+00  2.77161213e+02]
 [ 1.15713505e-02  9.99933050e-01  0.00000000e+00  1.67274481e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.70606649300004
Centerline is valid?  [True, True]
Translation: X:277.22, Y:0.17, Z:0.00
[[ 9.99988321e-01 -4.83300179e-03  0.00000000e+00  2.77222085e+02]
 [ 4.83300179e-03  9.99988321e-01  0.00000000e+00  1.69708685e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.76606649300004
Centerline is valid?  [True, True]
Translation: X:277.28, Y:0.17, Z:0.00
[[ 9.99992433e-01  3.89036027e-03  0.00000000e+00  2.77283101e+02]
 [-3.89036027e-03  9.99992433e-01  0.00000000e+00  1.72054360e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.82606649300004
Centerline is valid?  [True, True]
Translation: X:277.34, Y:0.17, Z:0.00
[[ 9.99947224e-01  1.02736960e-02  0.00000000e+00  2.77342730e+02]
 [-1.02736960e-02  9.99947224e-01  0.00000000e+00  1.72480856e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.886066493
Centerline is valid?  [True, True]
Translation: X:277.40, Y:0.17, Z:0.00
[[ 9.99882989e-01  1.52973499e-02  0.00000000e+00  2.77400962e+02]
 [-1.52973499e-02  9.99882989e-01  0.00000000e+00  1.71887575e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.946066493
Centerline is valid?  [True, True]
Translation: X:277.46, Y:0.17, Z:0.00
[[ 9.99710253e-01  2.40709583e-02  0.00000000e+00  2.77458200e+02]
 [-2.40709583e-02  9.99710253e-01  0.00000000e+00  1.71329148e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 276.006066493
Centerline is valid?  [True, True]
Translation: X:277.52, Y:0.16, Z:0.00
[[ 9.99523721e-01  3.08598621e-02  0.00000000e+00  2.77516580e+02]
 [-3.08598621e-02  9.99523721e-01  0.00000000e+00  1.64237501e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.066066493
Centerline is valid?  [True, True]
Translation: X:277.58, Y:0.16, Z:0.00
[[ 9.99315981e-01  3.69806602e-02  0.00000000e+00  2.77575805e+02]
 [-3.69806602e-02  9.99315981e-01  0.00000000e+00  1.59574098e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.126066493
Centerline is valid?  [True, True]
Translation: X:277.63, Y:0.15, Z:0.00
[[ 9.99226387e-01  3.93271777e-02  0.00000000e+00  2.77634597e+02]
 [-3.93271777e-02  9.99226387e-01  0.00000000e+00  1.48737486e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.186066493
Centerline is valid?  [True, True]
Translation: X:277.69, Y:0.13, Z:0.00
[[ 9.99511687e-01  3.12471855e-02  0.00000000e+00  2.77694078e+02]
 [-3.12471855e-02  9.99511687e-01  0.00000000e+00  1.34564678e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.246066493
Centerline is valid?  [True, True]
Translation: X:277.75, Y:0.12, Z:0.00
[[ 9.99846576e-01  1.75163860e-02  0.00000000e+00  2.77753938e+02]
 [-1.75163860e-02  9.99846576e-01  0.00000000e+00  1.17719607e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.306066493
Centerline is valid?  [True, True]
Translation: X:277.81, Y:0.11, Z:0.00
[[ 9.99985103e-01  5.45840534e-03  0.00000000e+00  2.77812925e+02]
 [-5.45840534e-03  9.99985103e-01  0.00000000e+00  1.06777116e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.366066493
Centerline is valid?  [True, True]
Translation: X:277.87, Y:0.09, Z:0.00
[[ 9.99952799e-01 -9.71590330e-03  0.00000000e+00  2.77872100e+02]
 [ 9.71590330e-03  9.99952799e-01  0.00000000e+00  8.55025323e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.426066493
Centerline is valid?  [True, True]
Translation: X:277.93, Y:0.08, Z:0.00
[[ 9.99815064e-01 -1.92311731e-02  0.00000000e+00  2.77932670e+02]
 [ 1.92311731e-02  9.99815064e-01  0.00000000e+00  8.25269774e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.486066493
Centerline is valid?  [True, True]
Translation: X:277.99, Y:0.08, Z:0.00
[[ 9.99646276e-01 -2.65955592e-02  0.00000000e+00  2.77993076e+02]
 [ 2.65955592e-02  9.99646276e-01  0.00000000e+00  7.75894058e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.546066493
Centerline is valid?  [True, True]
Translation: X:278.05, Y:0.07, Z:0.00
[[ 9.99294756e-01 -3.75498433e-02  0.00000000e+00  2.78053518e+02]
 [ 3.75498433e-02  9.99294756e-01  0.00000000e+00  7.46975552e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.606066493
Centerline is valid?  [True, True]
Translation: X:278.11, Y:0.08, Z:0.00
[[ 9.99135010e-01 -4.15840254e-02  0.00000000e+00  2.78113806e+02]
 [ 4.15840254e-02  9.99135010e-01  0.00000000e+00  7.61613655e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.666066493
Centerline is valid?  [True, True]
Translation: X:278.17, Y:0.08, Z:0.00
[[ 9.99304596e-01 -3.72870463e-02  0.00000000e+00  2.78174735e+02]
 [ 3.72870463e-02  9.99304596e-01  0.00000000e+00  8.25180117e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.726066493
Centerline is valid?  [True, True]
Translation: X:278.23, Y:0.09, Z:0.00
[[ 9.99654109e-01 -2.62994665e-02  0.00000000e+00  2.78234627e+02]
 [ 2.62994665e-02  9.99654109e-01  0.00000000e+00  8.50960867e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.786066493
Centerline is valid?  [True, True]
Translation: X:278.30, Y:0.09, Z:0.00
[[ 9.99847233e-01 -1.74788617e-02  0.00000000e+00  2.78295134e+02]
 [ 1.74788617e-02  9.99847233e-01  0.00000000e+00  9.16122277e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.846066493
Centerline is valid?  [True, True]
Translation: X:278.36, Y:0.10, Z:0.00
[[ 9.99983549e-01 -5.73601344e-03  0.00000000e+00  2.78355702e+02]
 [ 5.73601344e-03  9.99983549e-01  0.00000000e+00  9.71505733e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.906066493
Centerline is valid?  [True, True]
Translation: X:278.42, Y:0.11, Z:0.00
[[ 9.99983994e-01  5.65796365e-03  0.00000000e+00  2.78416118e+02]
 [-5.65796365e-03  9.99983994e-01  0.00000000e+00  1.06451485e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.966066493
Centerline is valid?  [True, True]
Translation: X:278.47, Y:0.11, Z:0.00
[[ 9.99863750e-01  1.65069832e-02  0.00000000e+00  2.78474157e+02]
 [-1.65069832e-02  9.99863750e-01  0.00000000e+00  1.08913689e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.02606649300003
Centerline is valid?  [True, True]
Translation: X:278.53, Y:0.11, Z:0.00
[[ 9.99715881e-01  2.38360476e-02  0.00000000e+00  2.78532322e+02]
 [-2.38360476e-02  9.99715881e-01  0.00000000e+00  1.08196040e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.08606649300003
Centerline is valid?  [True, True]
Translation: X:278.59, Y:0.11, Z:0.00
[[ 9.99424759e-01  3.39138656e-02  0.00000000e+00  2.78591741e+02]
 [-3.39138656e-02  9.99424759e-01  0.00000000e+00  1.09555196e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.14606649300003
Centerline is valid?  [True, True]
Translation: X:278.65, Y:0.11, Z:0.00
[[ 9.99223950e-01  3.93890565e-02  0.00000000e+00  2.78649485e+02]
 [-3.93890565e-02  9.99223950e-01  0.00000000e+00  1.09566292e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 277.20606649300004
Centerline is valid?  [True, True]
Translation: X:278.71, Y:0.10, Z:0.00
[[ 9.98885708e-01  4.71947359e-02  0.00000000e+00  2.78709530e+02]
 [-4.71947359e-02  9.98885708e-01  0.00000000e+00  9.56361806e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.26606649300004
Centerline is valid?  [True, True]
Translation: X:278.77, Y:0.09, Z:0.00
[[ 9.98735806e-01  5.02671913e-02  0.00000000e+00  2.78768171e+02]
 [-5.02671913e-02  9.98735806e-01  0.00000000e+00  8.63024544e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.32606649300004
Centerline is valid?  [True, True]
Translation: X:278.83, Y:0.07, Z:0.00
[[ 9.98498089e-01  5.47865587e-02  0.00000000e+00  2.78826656e+02]
 [-5.47865587e-02  9.98498089e-01  0.00000000e+00  7.03463182e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.386066493
Centerline is valid?  [True, True]
Translation: X:278.89, Y:0.06, Z:0.00
[[ 9.98382283e-01  5.68578581e-02  0.00000000e+00  2.78887241e+02]
 [-5.68578581e-02  9.98382283e-01  0.00000000e+00  5.79363671e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.446066493
Centerline is valid?  [True, True]
Translation: X:278.95, Y:0.04, Z:0.00
[[ 9.98503154e-01  5.46941711e-02  0.00000000e+00  2.78947042e+02]
 [-5.46941711e-02  9.98503154e-01  0.00000000e+00  4.34449952e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.506066493
Centerline is valid?  [True, True]
Translation: X:279.00, Y:0.02, Z:0.00
[[ 9.98634118e-01  5.22484371e-02  0.00000000e+00  2.79004765e+02]
 [-5.22484371e-02  9.98634118e-01  0.00000000e+00  2.47727856e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.566066493
Centerline is valid?  [True, True]
Translation: X:279.06, Y:-0.00, Z:0.00
[[ 9.98935464e-01  4.61295849e-02  0.00000000e+00  2.79063008e+02]
 [-4.61295849e-02  9.98935464e-01  0.00000000e+00 -2.06501064e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.626066493
Centerline is valid?  [True, True]
Translation: X:279.12, Y:-0.04, Z:0.00
[[ 9.99359830e-01  3.57761028e-02  0.00000000e+00  2.79122373e+02]
 [-3.57761028e-02  9.99359830e-01  0.00000000e+00 -3.79525472e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.686066493
Centerline is valid?  [True, True]
Translation: X:279.18, Y:-0.04, Z:0.00
[[ 9.99159307e-01  4.09960906e-02  0.00000000e+00  2.79181628e+02]
 [-4.09960906e-02  9.99159307e-01  0.00000000e+00 -3.51932009e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.746066493
Centerline is valid?  [True, True]
Translation: X:279.24, Y:-0.05, Z:0.00
[[ 9.99176368e-01  4.05781407e-02  0.00000000e+00  2.79240350e+02]
 [-4.05781407e-02  9.99176368e-01  0.00000000e+00 -5.44652155e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.806066493
Centerline is valid?  [True, True]
Translation: X:279.30, Y:-0.07, Z:0.00
[[ 9.99426970e-01  3.38486559e-02  0.00000000e+00  2.79299198e+02]
 [-3.38486559e-02  9.99426970e-01  0.00000000e+00 -6.80283543e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.866066493
Centerline is valid?  [True, True]
Translation: X:279.36, Y:-0.08, Z:0.00
[[ 9.99664449e-01  2.59034658e-02  0.00000000e+00  2.79358817e+02]
 [-2.59034658e-02  9.99664449e-01  0.00000000e+00 -7.74492902e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.926066493
Centerline is valid?  [True, True]
Translation: X:279.42, Y:-0.11, Z:0.00
[[ 9.99986816e-01  5.13498310e-03  0.00000000e+00  2.79416785e+02]
 [-5.13498310e-03  9.99986816e-01  0.00000000e+00 -1.13383787e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.986066493
Centerline is valid?  [True, True]
Translation: X:279.48, Y:-0.10, Z:0.00
[[ 9.99978198e-01  6.60336259e-03  0.00000000e+00  2.79475094e+02]
 [-6.60336259e-03  9.99978198e-01  0.00000000e+00 -1.00864336e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.046066493
Centerline is valid?  [True, True]
Translation: X:279.53, Y:-0.12, Z:0.00
[[ 9.99999300e-01 -1.18311319e-03  0.00000000e+00  2.79533604e+02]
 [ 1.18311319e-03  9.99999300e-01  0.00000000e+00 -1.18820986e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.106066493
Centerline is valid?  [True, True]
Translation: X:279.59, Y:-0.12, Z:0.00
[[ 9.99905474e-01 -1.37492718e-02  0.00000000e+00  2.79594527e+02]
 [ 1.37492718e-02  9.99905474e-01  0.00000000e+00 -1.23878614e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.166066493
Centerline is valid?  [True, True]
Translation: X:279.65, Y:-0.12, Z:0.00
[[ 9.99787583e-01 -2.06103893e-02  0.00000000e+00  2.79654601e+02]
 [ 2.06103893e-02  9.99787583e-01  0.00000000e+00 -1.20313658e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.226066493
Centerline is valid?  [True, True]
Translation: X:279.72, Y:-0.12, Z:0.00
[[ 9.99649874e-01 -2.64599771e-02  0.00000000e+00  2.79715856e+02]
 [ 2.64599771e-02  9.99649874e-01  0.00000000e+00 -1.20625112e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.286066493
Centerline is valid?  [True, True]
Translation: X:279.78, Y:-0.12, Z:0.00
[[ 9.99689940e-01 -2.49002844e-02  0.00000000e+00  2.79777981e+02]
 [ 2.49002844e-02  9.99689940e-01  0.00000000e+00 -1.16988185e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.346066493
Centerline is valid?  [True, True]
Translation: X:279.84, Y:-0.11, Z:0.00
[[ 9.99787867e-01 -2.05966050e-02  0.00000000e+00  2.79838933e+02]
 [ 2.05966050e-02  9.99787867e-01  0.00000000e+00 -1.10419853e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 278.406066493
Centerline is valid?  [True, True]
Translation: X:279.90, Y:-0.10, Z:0.00
[[ 9.99960081e-01 -8.93510129e-03  0.00000000e+00  2.79898351e+02]
 [ 8.93510129e-03  9.99960081e-01  0.00000000e+00 -9.81725859e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.466066493
Centerline is valid?  [True, True]
Translation: X:279.96, Y:-0.09, Z:0.00
[[ 9.99999783e-01 -6.58969860e-04  0.00000000e+00  2.79959085e+02]
 [ 6.58969860e-04  9.99999783e-01  0.00000000e+00 -8.87119253e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.52606649300003
Centerline is valid?  [True, True]
Translation: X:280.02, Y:-0.08, Z:0.00
[[ 9.99987073e-01  5.08462298e-03  0.00000000e+00  2.80019431e+02]
 [-5.08462298e-03  9.99987073e-01  0.00000000e+00 -8.49772626e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.58606649300003
Centerline is valid?  [True, True]
Translation: X:280.08, Y:-0.09, Z:0.00
[[ 9.99997030e-01 -2.43738842e-03  0.00000000e+00  2.80079687e+02]
 [ 2.43738842e-03  9.99997030e-01  0.00000000e+00 -8.87641204e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.64606649300003
Centerline is valid?  [True, True]
Translation: X:280.14, Y:-0.07, Z:0.00
[[ 9.99988025e-01  4.89395384e-03  0.00000000e+00  2.80139867e+02]
 [-4.89395384e-03  9.99988025e-01  0.00000000e+00 -7.04642151e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.70606649300004
Centerline is valid?  [True, True]
Translation: X:280.20, Y:-0.07, Z:0.00
[[ 9.99998712e-01  1.60468818e-03  0.00000000e+00  2.80199636e+02]
 [-1.60468818e-03  9.99998712e-01  0.00000000e+00 -6.83166922e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.76606649300004
Centerline is valid?  [True, True]
Translation: X:280.26, Y:-0.08, Z:0.00
[[ 9.99999996e-01 -8.75697507e-05  0.00000000e+00  2.80259667e+02]
 [ 8.75697507e-05  9.99999996e-01  0.00000000e+00 -7.53601836e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.82606649300004
Centerline is valid?  [True, True]
Translation: X:280.32, Y:-0.08, Z:0.00
[[ 9.99999576e-01  9.21274510e-04  0.00000000e+00  2.80320268e+02]
 [-9.21274510e-04  9.99999576e-01  0.00000000e+00 -7.51764121e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.886066493
Centerline is valid?  [True, True]
Translation: X:280.38, Y:-0.06, Z:0.00
[[ 9.99994752e-01  3.23966908e-03  0.00000000e+00  2.80379915e+02]
 [-3.23966908e-03  9.99994752e-01  0.00000000e+00 -6.35095914e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.946066493
Centerline is valid?  [True, True]
Translation: X:280.44, Y:-0.06, Z:0.00
[[ 9.99961385e-01 -8.78799339e-03  0.00000000e+00  2.80438903e+02]
 [ 8.78799339e-03  9.99961385e-01  0.00000000e+00 -6.30211499e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.006066493
Centerline is valid?  [True, True]
Translation: X:280.50, Y:-0.06, Z:0.00
[[ 9.99769794e-01 -2.14559696e-02  0.00000000e+00  2.80499491e+02]
 [ 2.14559696e-02  9.99769794e-01  0.00000000e+00 -5.98561747e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.066066493
Centerline is valid?  [True, True]
Translation: X:280.56, Y:-0.06, Z:0.00
[[ 9.99454609e-01 -3.30224750e-02  0.00000000e+00  2.80559674e+02]
 [ 3.30224750e-02  9.99454609e-01  0.00000000e+00 -5.54770076e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.126066493
Centerline is valid?  [True, True]
Translation: X:280.62, Y:-0.05, Z:0.00
[[ 9.99328828e-01 -3.66318686e-02  0.00000000e+00  2.80620739e+02]
 [ 3.66318686e-02  9.99328828e-01  0.00000000e+00 -4.99356612e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.186066493
Centerline is valid?  [True, True]
Translation: X:280.68, Y:-0.04, Z:0.00
[[ 9.99385573e-01 -3.50496170e-02  0.00000000e+00  2.80681450e+02]
 [ 3.50496170e-02  9.99385573e-01  0.00000000e+00 -3.92570809e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.246066493
Centerline is valid?  [True, True]
Translation: X:280.74, Y:-0.04, Z:0.00
[[ 9.99558854e-01 -2.97001317e-02  0.00000000e+00  2.80742287e+02]
 [ 2.97001317e-02  9.99558854e-01  0.00000000e+00 -3.74737043e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.306066493
Centerline is valid?  [True, True]
Translation: X:280.80, Y:-0.03, Z:0.00
[[ 9.99885141e-01 -1.51560101e-02  0.00000000e+00  2.80802969e+02]
 [ 1.51560101e-02  9.99885141e-01  0.00000000e+00 -2.60485924e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.366066493
Centerline is valid?  [True, True]
Translation: X:280.86, Y:-0.02, Z:0.00
[[ 9.99999762e-01 -6.89637718e-04  0.00000000e+00  2.80864141e+02]
 [ 6.89637718e-04  9.99999762e-01  0.00000000e+00 -1.55405471e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.426066493
Centerline is valid?  [True, True]
Translation: X:280.93, Y:-0.01, Z:0.00
[[ 9.99969619e-01  7.79493495e-03  0.00000000e+00  2.80925056e+02]
 [-7.79493495e-03  9.99969619e-01  0.00000000e+00 -8.28031736e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.486066493
Centerline is valid?  [True, True]
Translation: X:280.98, Y:-0.00, Z:0.00
[[ 9.99982587e-01  5.90132906e-03  0.00000000e+00  2.80984205e+02]
 [-5.90132906e-03  9.99982587e-01  0.00000000e+00 -2.48591867e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.546066493
Centerline is valid?  [True, True]
Translation: X:281.04, Y:-0.00, Z:0.00
[[ 9.99993679e-01  3.55568236e-03  0.00000000e+00  2.81043423e+02]
 [-3.55568236e-03  9.99993679e-01  0.00000000e+00 -4.04802307e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 279.606066493
Centerline is valid?  [True, True]
Translation: X:281.10, Y:-0.00, Z:0.00
[[ 9.99998883e-01 -1.49434675e-03  0.00000000e+00  2.81102756e+02]
 [ 1.49434675e-03  9.99998883e-01  0.00000000e+00 -3.28019982e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.666066493
Centerline is valid?  [True, True]
Translation: X:281.16, Y:-0.00, Z:0.00
[[ 9.99971296e-01 -7.57669579e-03  0.00000000e+00  2.81162467e+02]
 [ 7.57669579e-03  9.99971296e-01  0.00000000e+00 -4.31176482e-04]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.726066493
Centerline is valid?  [True, True]
Translation: X:281.22, Y:0.00, Z:0.00
[[ 9.99800518e-01 -1.99730673e-02  0.00000000e+00  2.81223471e+02]
 [ 1.99730673e-02  9.99800518e-01  0.00000000e+00  2.31600526e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.786066493
Centerline is valid?  [True, True]
Translation: X:281.28, Y:0.01, Z:0.00
[[ 9.99600482e-01 -2.82643943e-02  0.00000000e+00  2.81283536e+02]
 [ 2.82643943e-02  9.99600482e-01  0.00000000e+00  8.00255950e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.846066493
Centerline is valid?  [True, True]
Translation: X:281.34, Y:0.01, Z:0.00
[[ 9.99531468e-01 -3.06079214e-02  0.00000000e+00  2.81344116e+02]
 [ 3.06079214e-02  9.99531468e-01  0.00000000e+00  9.58210922e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.906066493
Centerline is valid?  [True, True]
Translation: X:281.41, Y:0.02, Z:0.00
[[ 9.99507488e-01 -3.13812129e-02  0.00000000e+00  2.81406388e+02]
 [ 3.13812129e-02  9.99507488e-01  0.00000000e+00  1.72744272e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.966066493
Centerline is valid?  [True, True]
Translation: X:281.47, Y:0.03, Z:0.00
[[ 9.99660155e-01 -2.60686413e-02  0.00000000e+00  2.81466713e+02]
 [ 2.60686413e-02  9.99660155e-01  0.00000000e+00  2.85587963e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.02606649300003
Centerline is valid?  [True, True]
Translation: X:281.53, Y:0.03, Z:0.00
[[ 9.99820686e-01 -1.89366268e-02  0.00000000e+00  2.81527983e+02]
 [ 1.89366268e-02  9.99820686e-01  0.00000000e+00  3.16461367e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.08606649300003
Centerline is valid?  [True, True]
Translation: X:281.59, Y:0.04, Z:0.00
[[ 9.99930875e-01 -1.17577520e-02  0.00000000e+00  2.81587609e+02]
 [ 1.17577520e-02  9.99930875e-01  0.00000000e+00  4.16643754e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.14606649300003
Centerline is valid?  [True, True]
Translation: X:281.65, Y:0.04, Z:0.00
[[ 9.99946964e-01 -1.02989749e-02  0.00000000e+00  2.81649665e+02]
 [ 1.02989749e-02  9.99946964e-01  0.00000000e+00  4.47774625e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.20606649300004
Centerline is valid?  [True, True]
Translation: X:281.71, Y:0.05, Z:0.00
[[ 9.99947437e-01 -1.02529671e-02  0.00000000e+00  2.81710371e+02]
 [ 1.02529671e-02  9.99947437e-01  0.00000000e+00  4.96555441e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.26606649300004
Centerline is valid?  [True, True]
Translation: X:281.77, Y:0.06, Z:0.00
[[ 9.99902976e-01 -1.39297394e-02  0.00000000e+00  2.81772252e+02]
 [ 1.39297394e-02  9.99902976e-01  0.00000000e+00  5.80654471e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.32606649300004
Centerline is valid?  [True, True]
Translation: X:281.83, Y:0.06, Z:0.00
[[ 9.99895226e-01 -1.44754100e-02  0.00000000e+00  2.81834130e+02]
 [ 1.44754100e-02  9.99895226e-01  0.00000000e+00  6.25861689e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.386066493
Centerline is valid?  [True, True]
Translation: X:281.90, Y:0.07, Z:0.00
[[ 9.99935971e-01 -1.13160812e-02  0.00000000e+00  2.81895056e+02]
 [ 1.13160812e-02  9.99935971e-01  0.00000000e+00  6.96367323e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.446066493
Centerline is valid?  [True, True]
Translation: X:281.96, Y:0.08, Z:0.00
[[ 9.99987866e-01 -4.92631742e-03  0.00000000e+00  2.81955031e+02]
 [ 4.92631742e-03  9.99987866e-01  0.00000000e+00  7.92990347e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.506066493
Centerline is valid?  [True, True]
Translation: X:282.02, Y:0.08, Z:0.00
[[ 9.99993834e-01  3.51173073e-03  0.00000000e+00  2.82015961e+02]
 [-3.51173073e-03  9.99993834e-01  0.00000000e+00  8.07787411e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.566066493
Centerline is valid?  [True, True]
Translation: X:282.07, Y:0.09, Z:0.00
[[ 9.99888993e-01  1.48997502e-02  0.00000000e+00  2.82074642e+02]
 [-1.48997502e-02  9.99888993e-01  0.00000000e+00  8.89881241e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.626066493
Centerline is valid?  [True, True]
Translation: X:282.13, Y:0.09, Z:0.00
[[ 9.99714828e-01  2.38801647e-02  0.00000000e+00  2.82133084e+02]
 [-2.38801647e-02  9.99714828e-01  0.00000000e+00  8.98055298e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.686066493
Centerline is valid?  [True, True]
Translation: X:282.19, Y:0.09, Z:0.00
[[ 9.99333661e-01  3.64997689e-02  0.00000000e+00  2.82192796e+02]
 [-3.64997689e-02  9.99333661e-01  0.00000000e+00  8.80659447e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.746066493
Centerline is valid?  [True, True]
Translation: X:282.25, Y:0.09, Z:0.00
[[ 9.99106466e-01  4.22642890e-02  0.00000000e+00  2.82251711e+02]
 [-4.22642890e-02  9.99106466e-01  0.00000000e+00  8.52748429e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 280.806066493
Centerline is valid?  [True, True]
Translation: X:282.31, Y:0.07, Z:0.00
[[ 9.99198826e-01  4.00213308e-02  0.00000000e+00  2.82311599e+02]
 [-4.00213308e-02  9.99198826e-01  0.00000000e+00  7.43673513e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.866066493
Centerline is valid?  [True, True]
Translation: X:282.37, Y:0.07, Z:0.00
[[ 9.99378844e-01  3.52409808e-02  0.00000000e+00  2.82369990e+02]
 [-3.52409808e-02  9.99378844e-01  0.00000000e+00  6.80183624e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.926066493
Centerline is valid?  [True, True]
Translation: X:282.43, Y:0.06, Z:0.00
[[ 9.99650705e-01  2.64285314e-02  0.00000000e+00  2.82428697e+02]
 [-2.64285314e-02  9.99650705e-01  0.00000000e+00  5.66581696e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.986066493
Centerline is valid?  [True, True]
Translation: X:282.49, Y:0.05, Z:0.00
[[ 9.99640404e-01  2.68153423e-02  0.00000000e+00  2.82488141e+02]
 [-2.68153423e-02  9.99640404e-01  0.00000000e+00  5.04799873e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.046066493
Centerline is valid?  [True, True]
Translation: X:282.55, Y:0.04, Z:0.00
[[ 9.99378903e-01  3.52392891e-02  0.00000000e+00  2.82547917e+02]
 [-3.52392891e-02  9.99378903e-01  0.00000000e+00  3.73426948e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.106066493
Centerline is valid?  [True, True]
Translation: X:282.61, Y:0.03, Z:0.00
[[ 9.99204805e-01  3.98717575e-02  0.00000000e+00  2.82606219e+02]
 [-3.98717575e-02  9.99204805e-01  0.00000000e+00  2.69641926e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.166066493
Centerline is valid?  [True, True]
Translation: X:282.67, Y:0.02, Z:0.00
[[ 9.99161782e-01  4.09357200e-02  0.00000000e+00  2.82665082e+02]
 [-4.09357200e-02  9.99161782e-01  0.00000000e+00  2.02687133e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.226066493
Centerline is valid?  [True, True]
Translation: X:282.72, Y:0.01, Z:0.00
[[ 9.99149986e-01  4.12226371e-02  0.00000000e+00  2.82724433e+02]
 [-4.12226371e-02  9.99149986e-01  0.00000000e+00  5.64766622e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.286066493
Centerline is valid?  [True, True]
Translation: X:282.78, Y:-0.01, Z:0.00
[[ 9.99270351e-01  3.81937996e-02  0.00000000e+00  2.82783950e+02]
 [-3.81937996e-02  9.99270351e-01  0.00000000e+00 -5.18099669e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.346066493
Centerline is valid?  [True, True]
Translation: X:282.84, Y:-0.02, Z:0.00
[[ 9.99429829e-01  3.37641226e-02  0.00000000e+00  2.82842245e+02]
 [-3.37641226e-02  9.99429829e-01  0.00000000e+00 -2.04608703e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.406066493
Centerline is valid?  [True, True]
Translation: X:282.90, Y:-0.03, Z:0.00
[[ 9.99522961e-01  3.08844827e-02  0.00000000e+00  2.82902430e+02]
 [-3.08844827e-02  9.99522961e-01  0.00000000e+00 -3.04456021e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.466066493
Centerline is valid?  [True, True]
Translation: X:282.96, Y:-0.04, Z:0.00
[[ 9.99482125e-01  3.21789037e-02  0.00000000e+00  2.82960412e+02]
 [-3.21789037e-02  9.99482125e-01  0.00000000e+00 -4.46183847e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.52606649300003
Centerline is valid?  [True, True]
Translation: X:283.02, Y:-0.05, Z:0.00
[[ 9.99696568e-01  2.46327210e-02  0.00000000e+00  2.83019682e+02]
 [-2.46327210e-02  9.99696568e-01  0.00000000e+00 -5.47088726e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.58606649300003
Centerline is valid?  [True, True]
Translation: X:283.08, Y:-0.06, Z:0.00
[[ 9.99743947e-01  2.26283150e-02  0.00000000e+00  2.83077722e+02]
 [-2.26283150e-02  9.99743947e-01  0.00000000e+00 -6.24010738e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.64606649300003
Centerline is valid?  [True, True]
Translation: X:283.14, Y:-0.07, Z:0.00
[[ 9.99736469e-01  2.29563006e-02  0.00000000e+00  2.83138182e+02]
 [-2.29563006e-02  9.99736469e-01  0.00000000e+00 -7.02943814e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.70606649300004
Centerline is valid?  [True, True]
Translation: X:283.20, Y:-0.08, Z:0.00
[[ 9.99560106e-01  2.96579550e-02  0.00000000e+00  2.83196290e+02]
 [-2.96579550e-02  9.99560106e-01  0.00000000e+00 -8.04918208e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.76606649300004
Centerline is valid?  [True, True]
Translation: X:283.26, Y:-0.09, Z:0.00
[[ 9.99181405e-01  4.04539208e-02  0.00000000e+00  2.83256156e+02]
 [-4.04539208e-02  9.99181405e-01  0.00000000e+00 -8.67916942e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.82606649300004
Centerline is valid?  [True, True]
Translation: X:283.32, Y:-0.10, Z:0.00
[[ 9.98440819e-01  5.58205333e-02  0.00000000e+00  2.83316031e+02]
 [-5.58205333e-02  9.98440819e-01  0.00000000e+00 -9.74500950e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.886066493
Centerline is valid?  [True, True]
Translation: X:283.38, Y:-0.11, Z:0.00
[[ 9.97673292e-01  6.81762618e-02  0.00000000e+00  2.83376600e+02]
 [-6.81762618e-02  9.97673292e-01  0.00000000e+00 -1.09463527e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.946066493
Centerline is valid?  [True, True]
Translation: X:283.44, Y:-0.13, Z:0.00
[[ 9.96556341e-01  8.29183921e-02  0.00000000e+00  2.83435965e+02]
 [-8.29183921e-02  9.96556341e-01  0.00000000e+00 -1.33645892e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 282.006066493
Centerline is valid?  [True, True]
Translation: X:283.49, Y:-0.15, Z:0.00
[[ 9.96557468e-01  8.29048440e-02  0.00000000e+00  2.83494176e+02]
 [-8.29048440e-02  9.96557468e-01  0.00000000e+00 -1.50457492e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.066066493
Centerline is valid?  [True, True]
Translation: X:283.55, Y:-0.18, Z:0.00
[[ 9.97065028e-01  7.65593266e-02  0.00000000e+00  2.83554408e+02]
 [-7.65593266e-02  9.97065028e-01  0.00000000e+00 -1.79688032e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.126066493
Centerline is valid?  [True, True]
Translation: X:283.61, Y:-0.21, Z:0.00
[[ 9.97945777e-01  6.40642344e-02  0.00000000e+00  2.83614533e+02]
 [-6.40642344e-02  9.97945777e-01  0.00000000e+00 -2.09899625e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.186066493
Centerline is valid?  [True, True]
Translation: X:283.67, Y:-0.23, Z:0.00
[[ 9.98368482e-01  5.70996888e-02  0.00000000e+00  2.83673923e+02]
 [-5.70996888e-02  9.98368482e-01  0.00000000e+00 -2.31447544e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.246066493
Centerline is valid?  [True, True]
Translation: X:283.73, Y:-0.25, Z:0.00
[[ 9.98819546e-01  4.85748400e-02  0.00000000e+00  2.83733195e+02]
 [-4.85748400e-02  9.98819546e-01  0.00000000e+00 -2.53096270e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.306066493
Centerline is valid?  [True, True]
Translation: X:283.79, Y:-0.27, Z:0.00
[[ 9.98899030e-01  4.69119238e-02  0.00000000e+00  2.83792135e+02]
 [-4.69119238e-02  9.98899030e-01  0.00000000e+00 -2.68212112e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.366066493
Centerline is valid?  [True, True]
Translation: X:283.85, Y:-0.29, Z:0.00
[[ 9.99263299e-01  3.83778524e-02  0.00000000e+00  2.83852707e+02]
 [-3.83778524e-02  9.99263299e-01  0.00000000e+00 -2.88429155e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.426066493
Centerline is valid?  [True, True]
Translation: X:283.91, Y:-0.30, Z:0.00
[[ 9.99468749e-01  3.25917149e-02  0.00000000e+00  2.83913219e+02]
 [-3.25917149e-02  9.99468749e-01  0.00000000e+00 -3.00968956e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.486066493
Centerline is valid?  [True, True]
Translation: X:283.97, Y:-0.32, Z:0.00
[[ 9.99789136e-01  2.05349519e-02  0.00000000e+00  2.83972257e+02]
 [-2.05349519e-02  9.99789136e-01  0.00000000e+00 -3.15910869e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.546066493
Centerline is valid?  [True, True]
Translation: X:284.03, Y:-0.32, Z:0.00
[[ 9.99902846e-01  1.39391353e-02  0.00000000e+00  2.84030484e+02]
 [-1.39391353e-02  9.99902846e-01  0.00000000e+00 -3.24164052e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.606066493
Centerline is valid?  [True, True]
Translation: X:284.09, Y:-0.33, Z:0.00
[[ 9.99988350e-01  4.82703334e-03  0.00000000e+00  2.84087997e+02]
 [-4.82703334e-03  9.99988350e-01  0.00000000e+00 -3.33475334e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.666066493
Centerline is valid?  [True, True]
Translation: X:284.15, Y:-0.34, Z:0.00
[[ 9.99999958e-01 -2.90238822e-04  0.00000000e+00  2.84148028e+02]
 [ 2.90238822e-04  9.99999958e-01  0.00000000e+00 -3.36403690e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.726066493
Centerline is valid?  [True, True]
Translation: X:284.21, Y:-0.34, Z:0.00
[[ 9.99981393e-01 -6.10024007e-03  0.00000000e+00  2.84208437e+02]
 [ 6.10024007e-03  9.99981393e-01  0.00000000e+00 -3.38677944e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.786066493
Centerline is valid?  [True, True]
Translation: X:284.27, Y:-0.33, Z:0.00
[[ 9.99960347e-01 -8.90529545e-03  0.00000000e+00  2.84269275e+02]
 [ 8.90529545e-03  9.99960347e-01  0.00000000e+00 -3.28855997e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.846066493
Centerline is valid?  [True, True]
Translation: X:284.33, Y:-0.32, Z:0.00
[[ 9.99993933e-01  3.48345485e-03  0.00000000e+00  2.84330370e+02]
 [-3.48345485e-03  9.99993933e-01  0.00000000e+00 -3.22493962e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.906066493
Centerline is valid?  [True, True]
Translation: X:284.39, Y:-0.32, Z:0.00
[[ 9.99898429e-01  1.42524443e-02  0.00000000e+00  2.84390618e+02]
 [-1.42524443e-02  9.99898429e-01  0.00000000e+00 -3.16503107e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.966066493
Centerline is valid?  [True, True]
Translation: X:284.45, Y:-0.31, Z:0.00
[[ 9.99740904e-01  2.27623759e-02  0.00000000e+00  2.84450063e+02]
 [-2.27623759e-02  9.99740904e-01  0.00000000e+00 -3.10205146e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.02606649300003
Centerline is valid?  [True, True]
Translation: X:284.51, Y:-0.30, Z:0.00
[[ 9.99726750e-01  2.33757269e-02  0.00000000e+00  2.84509157e+02]
 [-2.33757269e-02  9.99726750e-01  0.00000000e+00 -3.04896001e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.08606649300003
Centerline is valid?  [True, True]
Translation: X:284.57, Y:-0.30, Z:0.00
[[ 9.99837856e-01  1.80072578e-02  0.00000000e+00  2.84568344e+02]
 [-1.80072578e-02  9.99837856e-01  0.00000000e+00 -3.02715295e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.14606649300003
Centerline is valid?  [True, True]
Translation: X:284.63, Y:-0.30, Z:0.00
[[ 9.99997626e-01 -2.17921304e-03  0.00000000e+00  2.84627502e+02]
 [ 2.17921304e-03  9.99997626e-01  0.00000000e+00 -3.01026011e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 283.20606649300004
Centerline is valid?  [True, True]
Translation: X:284.69, Y:-0.30, Z:0.00
[[ 9.99864237e-01 -1.64774824e-02  0.00000000e+00  2.84687414e+02]
 [ 1.64774824e-02  9.99864237e-01  0.00000000e+00 -2.99418788e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.26606649300004
Centerline is valid?  [True, True]
Translation: X:284.75, Y:-0.29, Z:0.00
[[ 9.99544311e-01 -3.01855901e-02  0.00000000e+00  2.84748430e+02]
 [ 3.01855901e-02  9.99544311e-01  0.00000000e+00 -2.90592646e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.32606649300004
Centerline is valid?  [True, True]
Translation: X:284.81, Y:-0.28, Z:0.00
[[ 9.99445669e-01 -3.32919701e-02  0.00000000e+00  2.84809206e+02]
 [ 3.32919701e-02  9.99445669e-01  0.00000000e+00 -2.82337885e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.386066493
Centerline is valid?  [True, True]
Translation: X:284.87, Y:-0.26, Z:0.00
[[ 9.99545507e-01 -3.01459721e-02  0.00000000e+00  2.84870749e+02]
 [ 3.01459721e-02  9.99545507e-01  0.00000000e+00 -2.64135322e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.446066493
Centerline is valid?  [True, True]
Translation: X:284.93, Y:-0.24, Z:0.00
[[ 9.99794681e-01 -2.02631830e-02  0.00000000e+00  2.84930850e+02]
 [ 2.02631830e-02  9.99794681e-01  0.00000000e+00 -2.41475261e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.506066493
Centerline is valid?  [True, True]
Translation: X:284.99, Y:-0.23, Z:0.00
[[ 9.99904387e-01 -1.38281122e-02  0.00000000e+00  2.84990869e+02]
 [ 1.38281122e-02  9.99904387e-01  0.00000000e+00 -2.27800649e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.566066493
Centerline is valid?  [True, True]
Translation: X:285.05, Y:-0.21, Z:0.00
[[ 9.99981020e-01 -6.16114091e-03  0.00000000e+00  2.85051641e+02]
 [ 6.16114091e-03  9.99981020e-01  0.00000000e+00 -2.06851258e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.626066493
Centerline is valid?  [True, True]
Translation: X:285.11, Y:-0.20, Z:0.00
[[ 9.99999399e-01  1.09620389e-03  0.00000000e+00  2.85112826e+02]
 [-1.09620389e-03  9.99999399e-01  0.00000000e+00 -1.97196781e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.686066493
Centerline is valid?  [True, True]
Translation: X:285.17, Y:-0.18, Z:0.00
[[ 9.99964417e-01  8.43595849e-03  0.00000000e+00  2.85172515e+02]
 [-8.43595849e-03  9.99964417e-01  0.00000000e+00 -1.82695720e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.746066493
Centerline is valid?  [True, True]
Translation: X:285.23, Y:-0.18, Z:0.00
[[ 9.99945126e-01  1.04759438e-02  0.00000000e+00  2.85230932e+02]
 [-1.04759438e-02  9.99945126e-01  0.00000000e+00 -1.76373838e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.806066493
Centerline is valid?  [True, True]
Translation: X:285.29, Y:-0.17, Z:0.00
[[ 9.99936395e-01  1.12785230e-02  0.00000000e+00  2.85289772e+02]
 [-1.12785230e-02  9.99936395e-01  0.00000000e+00 -1.65966080e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.866066493
Centerline is valid?  [True, True]
Translation: X:285.35, Y:-0.16, Z:0.00
[[ 9.99932247e-01  1.16404999e-02  0.00000000e+00  2.85349888e+02]
 [-1.16404999e-02  9.99932247e-01  0.00000000e+00 -1.61935564e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.926066493
Centerline is valid?  [True, True]
Translation: X:285.41, Y:-0.15, Z:0.00
[[ 9.99967165e-01  8.10363237e-03  0.00000000e+00  2.85408401e+02]
 [-8.10363237e-03  9.99967165e-01  0.00000000e+00 -1.53716617e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.986066493
Centerline is valid?  [True, True]
Translation: X:285.47, Y:-0.15, Z:0.00
[[ 9.99990791e-01  4.29156013e-03  0.00000000e+00  2.85468689e+02]
 [-4.29156013e-03  9.99990791e-01  0.00000000e+00 -1.52024595e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.046066493
Centerline is valid?  [True, True]
Translation: X:285.53, Y:-0.15, Z:0.00
[[ 9.99983463e-01 -5.75103976e-03  0.00000000e+00  2.85527871e+02]
 [ 5.75103976e-03  9.99983463e-01  0.00000000e+00 -1.46461154e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.106066493
Centerline is valid?  [True, True]
Translation: X:285.59, Y:-0.15, Z:0.00
[[ 9.99884366e-01 -1.52070643e-02  0.00000000e+00  2.85588917e+02]
 [ 1.52070643e-02  9.99884366e-01  0.00000000e+00 -1.45713239e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.166066493
Centerline is valid?  [True, True]
Translation: X:285.65, Y:-0.14, Z:0.00
[[ 9.99481319e-01 -3.22039168e-02  0.00000000e+00  2.85649281e+02]
 [ 3.22039168e-02  9.99481319e-01  0.00000000e+00 -1.41577995e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.226066493
Centerline is valid?  [True, True]
Translation: X:285.71, Y:-0.14, Z:0.00
[[ 9.99362053e-01 -3.57139515e-02  0.00000000e+00  2.85710716e+02]
 [ 3.57139515e-02  9.99362053e-01  0.00000000e+00 -1.36993880e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.286066493
Centerline is valid?  [True, True]
Translation: X:285.77, Y:-0.12, Z:0.00
[[ 9.99443337e-01 -3.33618828e-02  0.00000000e+00  2.85771887e+02]
 [ 3.33618828e-02  9.99443337e-01  0.00000000e+00 -1.24907207e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.346066493
Centerline is valid?  [True, True]
Translation: X:285.83, Y:-0.12, Z:0.00
[[ 9.99618871e-01 -2.76063802e-02  0.00000000e+00  2.85833376e+02]
 [ 2.76063802e-02  9.99618871e-01  0.00000000e+00 -1.15438196e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 284.406066493
Centerline is valid?  [True, True]
Translation: X:285.89, Y:-0.10, Z:0.00
[[ 9.99712444e-01 -2.39797544e-02  0.00000000e+00  2.85894191e+02]
 [ 2.39797544e-02  9.99712444e-01  0.00000000e+00 -1.02023526e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.466066493
Centerline is valid?  [True, True]
Translation: X:285.95, Y:-0.09, Z:0.00
[[ 9.99673722e-01 -2.55430860e-02  0.00000000e+00  2.85954962e+02]
 [ 2.55430860e-02  9.99673722e-01  0.00000000e+00 -9.39137585e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.52606649300003
Centerline is valid?  [True, True]
Translation: X:286.02, Y:-0.08, Z:0.00
[[ 9.99429074e-01 -3.37864840e-02  0.00000000e+00  2.86015033e+02]
 [ 3.37864840e-02  9.99429074e-01  0.00000000e+00 -7.99399719e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.58606649300003
Centerline is valid?  [True, True]
Translation: X:286.08, Y:-0.07, Z:0.00
[[ 9.99207928e-01 -3.97934240e-02  0.00000000e+00  2.86075357e+02]
 [ 3.97934240e-02  9.99207928e-01  0.00000000e+00 -7.08805492e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.64606649300003
Centerline is valid?  [True, True]
Translation: X:286.14, Y:-0.05, Z:0.00
[[ 9.99214577e-01 -3.96261063e-02  0.00000000e+00  2.86137990e+02]
 [ 3.96261063e-02  9.99214577e-01  0.00000000e+00 -5.45555675e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.70606649300004
Centerline is valid?  [True, True]
Translation: X:286.20, Y:-0.04, Z:0.00
[[ 9.99358589e-01 -3.58107590e-02  0.00000000e+00  2.86199155e+02]
 [ 3.58107590e-02  9.99358589e-01  0.00000000e+00 -4.31983660e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.76606649300004
Centerline is valid?  [True, True]
Translation: X:286.26, Y:-0.03, Z:0.00
[[ 9.99576689e-01 -2.90936961e-02  0.00000000e+00  2.86260228e+02]
 [ 2.90936961e-02  9.99576689e-01  0.00000000e+00 -2.57573045e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.82606649300004
Centerline is valid?  [True, True]
Translation: X:286.32, Y:-0.01, Z:0.00
[[ 9.99688932e-01 -2.49407052e-02  0.00000000e+00  2.86319871e+02]
 [ 2.49407052e-02  9.99688932e-01  0.00000000e+00 -1.19911005e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.886066493
Centerline is valid?  [True, True]
Translation: X:286.38, Y:-0.00, Z:0.00
[[ 9.99727855e-01 -2.33284225e-02  0.00000000e+00  2.86382358e+02]
 [ 2.33284225e-02  9.99727855e-01  0.00000000e+00 -4.63072454e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.946066493
Centerline is valid?  [True, True]
Translation: X:286.44, Y:-0.00, Z:0.00
[[ 9.99724404e-01 -2.34758475e-02  0.00000000e+00  2.86444412e+02]
 [ 2.34758475e-02  9.99724404e-01  0.00000000e+00 -2.12493343e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.006066493
Centerline is valid?  [True, True]
Translation: X:286.51, Y:0.01, Z:0.00
[[ 9.99645842e-01 -2.66118508e-02  0.00000000e+00  2.86505659e+02]
 [ 2.66118508e-02  9.99645842e-01  0.00000000e+00  7.06631955e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.066066493
Centerline is valid?  [True, True]
Translation: X:286.57, Y:0.01, Z:0.00
[[ 9.99615170e-01 -2.77400870e-02  0.00000000e+00  2.86567510e+02]
 [ 2.77400870e-02  9.99615170e-01  0.00000000e+00  1.07937345e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.126066493
Centerline is valid?  [True, True]
Translation: X:286.63, Y:0.02, Z:0.00
[[ 9.99481425e-01 -3.22006304e-02  0.00000000e+00  2.86628905e+02]
 [ 3.22006304e-02  9.99481425e-01  0.00000000e+00  1.55066086e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.186066493
Centerline is valid?  [True, True]
Translation: X:286.69, Y:0.02, Z:0.00
[[ 9.99533279e-01 -3.05487127e-02  0.00000000e+00  2.86690353e+02]
 [ 3.05487127e-02  9.99533279e-01  0.00000000e+00  2.34063385e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.246066493
Centerline is valid?  [True, True]
Translation: X:286.75, Y:0.03, Z:0.00
[[ 9.99555165e-01 -2.98240169e-02  0.00000000e+00  2.86753567e+02]
 [ 2.98240169e-02  9.99555165e-01  0.00000000e+00  2.61236530e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.306066493
Centerline is valid?  [True, True]
Translation: X:286.81, Y:0.03, Z:0.00
[[ 9.99611260e-01 -2.78806287e-02  0.00000000e+00  2.86814115e+02]
 [ 2.78806287e-02  9.99611260e-01  0.00000000e+00  2.90297947e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.366066493
Centerline is valid?  [True, True]
Translation: X:286.88, Y:0.04, Z:0.00
[[ 9.99771492e-01 -2.13767239e-02  0.00000000e+00  2.86875095e+02]
 [ 2.13767239e-02  9.99771492e-01  0.00000000e+00  3.69505437e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.426066493
Centerline is valid?  [True, True]
Translation: X:286.93, Y:0.04, Z:0.00
[[ 9.99894171e-01 -1.45480691e-02  0.00000000e+00  2.86934849e+02]
 [ 1.45480691e-02  9.99894171e-01  0.00000000e+00  3.96329977e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.486066493
Centerline is valid?  [True, True]
Translation: X:287.00, Y:0.04, Z:0.00
[[ 9.99999107e-01 -1.33654145e-03  0.00000000e+00  2.86995883e+02]
 [ 1.33654145e-03  9.99999107e-01  0.00000000e+00  4.43160767e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.546066493
Centerline is valid?  [True, True]
Translation: X:287.06, Y:0.05, Z:0.00
[[ 9.99884144e-01  1.52216663e-02  0.00000000e+00  2.87056861e+02]
 [-1.52216663e-02  9.99884144e-01  0.00000000e+00  4.72841149e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 285.606066493
Centerline is valid?  [True, True]
Translation: X:287.12, Y:0.05, Z:0.00
[[ 9.99715296e-01  2.38605579e-02  0.00000000e+00  2.87116876e+02]
 [-2.38605579e-02  9.99715296e-01  0.00000000e+00  4.74011600e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.666066493
Centerline is valid?  [True, True]
Translation: X:287.18, Y:0.04, Z:0.00
[[ 9.99453453e-01  3.30574518e-02  0.00000000e+00  2.87176346e+02]
 [-3.30574518e-02  9.99453453e-01  0.00000000e+00  4.19833598e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.726066493
Centerline is valid?  [True, True]
Translation: X:287.24, Y:0.04, Z:0.00
[[ 9.99291514e-01  3.76360169e-02  0.00000000e+00  2.87235324e+02]
 [-3.76360169e-02  9.99291514e-01  0.00000000e+00  3.68757467e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.786066493
Centerline is valid?  [True, True]
Translation: X:287.29, Y:0.03, Z:0.00
[[ 9.99254363e-01  3.86098271e-02  0.00000000e+00  2.87293486e+02]
 [-3.86098271e-02  9.99254363e-01  0.00000000e+00  3.04378819e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.846066493
Centerline is valid?  [True, True]
Translation: X:287.35, Y:0.02, Z:0.00
[[ 9.99199527e-01  4.00038141e-02  0.00000000e+00  2.87351870e+02]
 [-4.00038141e-02  9.99199527e-01  0.00000000e+00  2.08147888e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.906066493
Centerline is valid?  [True, True]
Translation: X:287.41, Y:0.01, Z:0.00
[[ 9.99138192e-01  4.15075190e-02  0.00000000e+00  2.87410077e+02]
 [-4.15075190e-02  9.99138192e-01  0.00000000e+00  8.44545029e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.966066493
Centerline is valid?  [True, True]
Translation: X:287.47, Y:-0.00, Z:0.00
[[ 9.99038082e-01  4.38510115e-02  0.00000000e+00  2.87467942e+02]
 [-4.38510115e-02  9.99038082e-01  0.00000000e+00 -2.17352031e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.02606649300003
Centerline is valid?  [True, True]
Translation: X:287.53, Y:-0.02, Z:0.00
[[ 9.99066247e-01  4.32045636e-02  0.00000000e+00  2.87526149e+02]
 [-4.32045636e-02  9.99066247e-01  0.00000000e+00 -2.00552442e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.08606649300003
Centerline is valid?  [True, True]
Translation: X:287.58, Y:-0.03, Z:0.00
[[ 9.99182001e-01  4.04392116e-02  0.00000000e+00  2.87584492e+02]
 [-4.04392116e-02  9.99182001e-01  0.00000000e+00 -3.35926778e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.14606649300003
Centerline is valid?  [True, True]
Translation: X:287.64, Y:-0.05, Z:0.00
[[ 9.99296824e-01  3.74947732e-02  0.00000000e+00  2.87642541e+02]
 [-3.74947732e-02  9.99296824e-01  0.00000000e+00 -5.25738403e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.20606649300004
Centerline is valid?  [True, True]
Translation: X:287.70, Y:-0.07, Z:0.00
[[ 9.99341551e-01  3.62831024e-02  0.00000000e+00  2.87701493e+02]
 [-3.62831024e-02  9.99341551e-01  0.00000000e+00 -6.70054385e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.26606649300004
Centerline is valid?  [True, True]
Translation: X:287.76, Y:-0.09, Z:0.00
[[ 9.99246135e-01  3.88221821e-02  0.00000000e+00  2.87760782e+02]
 [-3.88221821e-02  9.99246135e-01  0.00000000e+00 -8.66736246e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.32606649300004
Centerline is valid?  [True, True]
Translation: X:287.82, Y:-0.10, Z:0.00
[[ 9.99100237e-01  4.24112800e-02  0.00000000e+00  2.87820491e+02]
 [-4.24112800e-02  9.99100237e-01  0.00000000e+00 -9.60008835e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.386066493
Centerline is valid?  [True, True]
Translation: X:287.88, Y:-0.11, Z:0.00
[[ 9.98725265e-01  5.04761869e-02  0.00000000e+00  2.87880849e+02]
 [-5.04761869e-02  9.98725265e-01  0.00000000e+00 -1.13254100e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.446066493
Centerline is valid?  [True, True]
Translation: X:287.94, Y:-0.13, Z:0.00
[[ 9.98285110e-01  5.85392039e-02  0.00000000e+00  2.87940765e+02]
 [-5.85392039e-02  9.98285110e-01  0.00000000e+00 -1.27829820e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.506066493
Centerline is valid?  [True, True]
Translation: X:288.00, Y:-0.14, Z:0.00
[[ 9.98126957e-01  6.11766190e-02  0.00000000e+00  2.87998885e+02]
 [-6.11766190e-02  9.98126957e-01  0.00000000e+00 -1.36673718e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.566066493
Centerline is valid?  [True, True]
Translation: X:288.06, Y:-0.15, Z:0.00
[[ 9.98076904e-01  6.19878492e-02  0.00000000e+00  2.88058012e+02]
 [-6.19878492e-02  9.98076904e-01  0.00000000e+00 -1.51902556e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.626066493
Centerline is valid?  [True, True]
Translation: X:288.12, Y:-0.16, Z:0.00
[[ 9.98391749e-01  5.66913976e-02  0.00000000e+00  2.88117411e+02]
 [-5.66913976e-02  9.98391749e-01  0.00000000e+00 -1.63386809e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.686066493
Centerline is valid?  [True, True]
Translation: X:288.18, Y:-0.18, Z:0.00
[[ 9.99052391e-01  4.35237908e-02  0.00000000e+00  2.88177802e+02]
 [-4.35237908e-02  9.99052391e-01  0.00000000e+00 -1.83105674e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.746066493
Centerline is valid?  [True, True]
Translation: X:288.24, Y:-0.20, Z:0.00
[[ 9.99351080e-01  3.60196908e-02  0.00000000e+00  2.88237875e+02]
 [-3.60196908e-02  9.99351080e-01  0.00000000e+00 -1.98225357e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 286.806066493
Centerline is valid?  [True, True]
Translation: X:288.30, Y:-0.20, Z:0.00
[[ 9.99656626e-01  2.62036289e-02  0.00000000e+00  2.88298284e+02]
 [-2.62036289e-02  9.99656626e-01  0.00000000e+00 -2.04975335e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.866066493
Centerline is valid?  [True, True]
Translation: X:288.36, Y:-0.22, Z:0.00
[[ 9.99801238e-01  1.99370056e-02  0.00000000e+00  2.88356221e+02]
 [-1.99370056e-02  9.99801238e-01  0.00000000e+00 -2.15337879e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.926066493
Centerline is valid?  [True, True]
Translation: X:288.41, Y:-0.22, Z:0.00
[[ 9.99833286e-01  1.82592461e-02  0.00000000e+00  2.88414494e+02]
 [-1.82592461e-02  9.99833286e-01  0.00000000e+00 -2.24249577e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.986066493
Centerline is valid?  [True, True]
Translation: X:288.47, Y:-0.23, Z:0.00
[[ 9.99737384e-01  2.29164287e-02  0.00000000e+00  2.88473569e+02]
 [-2.29164287e-02  9.99737384e-01  0.00000000e+00 -2.32003728e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.046066493
Centerline is valid?  [True, True]
Translation: X:288.53, Y:-0.23, Z:0.00
[[ 9.99688245e-01  2.49682180e-02  0.00000000e+00  2.88531467e+02]
 [-2.49682180e-02  9.99688245e-01  0.00000000e+00 -2.34464551e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.106066493
Centerline is valid?  [True, True]
Translation: X:288.59, Y:-0.24, Z:0.00
[[ 9.99731471e-01  2.31729632e-02  0.00000000e+00  2.88589008e+02]
 [-2.31729632e-02  9.99731471e-01  0.00000000e+00 -2.42597849e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.166066493
Centerline is valid?  [True, True]
Translation: X:288.65, Y:-0.25, Z:0.00
[[ 9.99848624e-01  1.73990927e-02  0.00000000e+00  2.88649222e+02]
 [-1.73990927e-02  9.99848624e-01  0.00000000e+00 -2.47908204e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.226066493
Centerline is valid?  [True, True]
Translation: X:288.71, Y:-0.25, Z:0.00
[[ 9.99942147e-01  1.07565158e-02  0.00000000e+00  2.88708102e+02]
 [-1.07565158e-02  9.99942147e-01  0.00000000e+00 -2.54035392e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.286066493
Centerline is valid?  [True, True]
Translation: X:288.77, Y:-0.26, Z:0.00
[[ 9.99997469e-01  2.24983882e-03  0.00000000e+00  2.88767991e+02]
 [-2.24983882e-03  9.99997469e-01  0.00000000e+00 -2.57911060e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.346066493
Centerline is valid?  [True, True]
Translation: X:288.83, Y:-0.26, Z:0.00
[[ 9.99986894e-01 -5.11982221e-03  0.00000000e+00  2.88827348e+02]
 [ 5.11982221e-03  9.99986894e-01  0.00000000e+00 -2.60647732e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.406066493
Centerline is valid?  [True, True]
Translation: X:288.89, Y:-0.26, Z:0.00
[[ 9.99885590e-01 -1.51263872e-02  0.00000000e+00  2.88887243e+02]
 [ 1.51263872e-02  9.99885590e-01  0.00000000e+00 -2.61754670e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.466066493
Centerline is valid?  [True, True]
Translation: X:288.95, Y:-0.26, Z:0.00
[[ 9.99667149e-01 -2.57990719e-02  0.00000000e+00  2.88947801e+02]
 [ 2.57990719e-02  9.99667149e-01  0.00000000e+00 -2.59870593e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.52606649300003
Centerline is valid?  [True, True]
Translation: X:289.01, Y:-0.25, Z:0.00
[[ 9.99408969e-01 -3.43760623e-02  0.00000000e+00  2.89008390e+02]
 [ 3.43760623e-02  9.99408969e-01  0.00000000e+00 -2.54602446e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.58606649300003
Centerline is valid?  [True, True]
Translation: X:289.07, Y:-0.25, Z:0.00
[[ 9.99317703e-01 -3.69340968e-02  0.00000000e+00  2.89069959e+02]
 [ 3.69340968e-02  9.99317703e-01  0.00000000e+00 -2.52008730e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.64606649300003
Centerline is valid?  [True, True]
Translation: X:289.13, Y:-0.24, Z:0.00
[[ 9.98925841e-01 -4.63375056e-02  0.00000000e+00  2.89130775e+02]
 [ 4.63375056e-02  9.98925841e-01  0.00000000e+00 -2.36945854e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.70606649300004
Centerline is valid?  [True, True]
Translation: X:289.19, Y:-0.23, Z:0.00
[[ 9.99016970e-01 -4.43293881e-02  0.00000000e+00  2.89191341e+02]
 [ 4.43293881e-02  9.99016970e-01  0.00000000e+00 -2.29137693e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.76606649300004
Centerline is valid?  [True, True]
Translation: X:289.25, Y:-0.21, Z:0.00
[[ 9.99490198e-01 -3.19271736e-02  0.00000000e+00  2.89251005e+02]
 [ 3.19271736e-02  9.99490198e-01  0.00000000e+00 -2.09286414e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.82606649300004
Centerline is valid?  [True, True]
Translation: X:289.31, Y:-0.20, Z:0.00
[[ 9.99884394e-01 -1.52051943e-02  0.00000000e+00  2.89311673e+02]
 [ 1.52051943e-02  9.99884394e-01  0.00000000e+00 -2.04051388e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.886066493
Centerline is valid?  [True, True]
Translation: X:289.37, Y:-0.20, Z:0.00
[[ 9.99958585e-01  9.10096978e-03  0.00000000e+00  2.89372079e+02]
 [-9.10096978e-03  9.99958585e-01  0.00000000e+00 -1.95496060e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.946066493
Centerline is valid?  [True, True]
Translation: X:289.43, Y:-0.18, Z:0.00
[[ 9.99934109e-01  1.14794393e-02  0.00000000e+00  2.89430869e+02]
 [-1.14794393e-02  9.99934109e-01  0.00000000e+00 -1.81657027e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 288.006066493
Centerline is valid?  [True, True]
Translation: X:289.49, Y:-0.18, Z:0.00
[[ 9.99727418e-01  2.33471460e-02  0.00000000e+00  2.89488737e+02]
 [-2.33471460e-02  9.99727418e-01  0.00000000e+00 -1.81301673e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.066066493
Centerline is valid?  [True, True]
Translation: X:289.55, Y:-0.18, Z:0.00
[[ 9.99846786e-01  1.75044148e-02  0.00000000e+00  2.89547457e+02]
 [-1.75044148e-02  9.99846786e-01  0.00000000e+00 -1.78513894e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.126066493
Centerline is valid?  [True, True]
Translation: X:289.61, Y:-0.18, Z:0.00
[[ 9.99898791e-01  1.42269880e-02  0.00000000e+00  2.89605820e+02]
 [-1.42269880e-02  9.99898791e-01  0.00000000e+00 -1.80659168e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.186066493
Centerline is valid?  [True, True]
Translation: X:289.66, Y:-0.19, Z:0.00
[[ 9.99985108e-01  5.45739684e-03  0.00000000e+00  2.89664939e+02]
 [-5.45739684e-03  9.99985108e-01  0.00000000e+00 -1.87220386e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.246066493
Centerline is valid?  [True, True]
Translation: X:289.73, Y:-0.18, Z:0.00
[[ 9.99942954e-01 -1.06812351e-02  0.00000000e+00  2.89725575e+02]
 [ 1.06812351e-02  9.99942954e-01  0.00000000e+00 -1.81120584e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.306066493
Centerline is valid?  [True, True]
Translation: X:289.79, Y:-0.18, Z:0.00
[[ 9.99886872e-01 -1.50413873e-02  0.00000000e+00  2.89786905e+02]
 [ 1.50413873e-02  9.99886872e-01  0.00000000e+00 -1.81222774e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.366066493
Centerline is valid?  [True, True]
Translation: X:289.85, Y:-0.19, Z:0.00
[[ 9.99911710e-01 -1.32880538e-02  0.00000000e+00  2.89847961e+02]
 [ 1.32880538e-02  9.99911710e-01  0.00000000e+00 -1.85539247e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.426066493
Centerline is valid?  [True, True]
Translation: X:289.91, Y:-0.19, Z:0.00
[[ 9.99999007e-01  1.40930361e-03  0.00000000e+00  2.89908314e+02]
 [-1.40930361e-03  9.99999007e-01  0.00000000e+00 -1.92263601e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.486066493
Centerline is valid?  [True, True]
Translation: X:289.97, Y:-0.18, Z:0.00
[[ 9.99989887e-01 -4.49723916e-03  0.00000000e+00  2.89967326e+02]
 [ 4.49723916e-03  9.99989887e-01  0.00000000e+00 -1.79624167e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.546066493
Centerline is valid?  [True, True]
Translation: X:290.03, Y:-0.18, Z:0.00
[[ 9.99996238e-01  2.74309021e-03  0.00000000e+00  2.90026961e+02]
 [-2.74309021e-03  9.99996238e-01  0.00000000e+00 -1.80336611e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.606066493
Centerline is valid?  [True, True]
Translation: X:290.09, Y:-0.19, Z:0.00
[[ 9.99944843e-01  1.05029322e-02  0.00000000e+00  2.90087255e+02]
 [-1.05029322e-02  9.99944843e-01  0.00000000e+00 -1.85618058e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.666066493
Centerline is valid?  [True, True]
Translation: X:290.15, Y:-0.19, Z:0.00
[[ 9.99707219e-01  2.41965966e-02  0.00000000e+00  2.90145962e+02]
 [-2.41965966e-02  9.99707219e-01  0.00000000e+00 -1.94850848e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.726066493
Centerline is valid?  [True, True]
Translation: X:290.21, Y:-0.20, Z:0.00
[[ 9.99474282e-01  3.24215965e-02  0.00000000e+00  2.90205205e+02]
 [-3.24215965e-02  9.99474282e-01  0.00000000e+00 -1.95599797e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.786066493
Centerline is valid?  [True, True]
Translation: X:290.26, Y:-0.20, Z:0.00
[[ 9.99318407e-01  3.69150538e-02  0.00000000e+00  2.90264481e+02]
 [-3.69150538e-02  9.99318407e-01  0.00000000e+00 -1.98315991e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.846066493
Centerline is valid?  [True, True]
Translation: X:290.32, Y:-0.20, Z:0.00
[[ 9.99141027e-01  4.14392155e-02  0.00000000e+00  2.90324532e+02]
 [-4.14392155e-02  9.99141027e-01  0.00000000e+00 -2.02175711e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.906066493
Centerline is valid?  [True, True]
Translation: X:290.38, Y:-0.21, Z:0.00
[[ 9.99163749e-01  4.08876795e-02  0.00000000e+00  2.90382967e+02]
 [-4.08876795e-02  9.99163749e-01  0.00000000e+00 -2.06945493e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.966066493
Centerline is valid?  [True, True]
Translation: X:290.44, Y:-0.22, Z:0.00
[[ 9.99110568e-01  4.21671983e-02  0.00000000e+00  2.90442289e+02]
 [-4.21671983e-02  9.99110568e-01  0.00000000e+00 -2.19995652e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.02606649300003
Centerline is valid?  [True, True]
Translation: X:290.50, Y:-0.23, Z:0.00
[[ 9.99329141e-01  3.66233139e-02  0.00000000e+00  2.90502316e+02]
 [-3.66233139e-02  9.99329141e-01  0.00000000e+00 -2.27920110e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.08606649300003
Centerline is valid?  [True, True]
Translation: X:290.56, Y:-0.24, Z:0.00
[[ 9.99632320e-01  2.71150121e-02  0.00000000e+00  2.90561814e+02]
 [-2.71150121e-02  9.99632320e-01  0.00000000e+00 -2.44174982e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.14606649300003
Centerline is valid?  [True, True]
Translation: X:290.62, Y:-0.25, Z:0.00
[[ 9.99845832e-01  1.75588138e-02  0.00000000e+00  2.90621976e+02]
 [-1.75588138e-02  9.99845832e-01  0.00000000e+00 -2.51075059e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 289.20606649300004
Centerline is valid?  [True, True]
Translation: X:290.68, Y:-0.27, Z:0.00
[[ 9.99762047e-01  2.18139666e-02  0.00000000e+00  2.90681204e+02]
 [-2.18139666e-02  9.99762047e-01  0.00000000e+00 -2.68083685e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.26606649300004
Centerline is valid?  [True, True]
Translation: X:290.74, Y:-0.27, Z:0.00
[[ 9.99618086e-01  2.76347977e-02  0.00000000e+00  2.90741012e+02]
 [-2.76347977e-02  9.99618086e-01  0.00000000e+00 -2.72594009e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.32606649300004
Centerline is valid?  [True, True]
Translation: X:290.80, Y:-0.28, Z:0.00
[[ 9.99320205e-01  3.68663578e-02  0.00000000e+00  2.90800655e+02]
 [-3.68663578e-02  9.99320205e-01  0.00000000e+00 -2.81758344e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.386066493
Centerline is valid?  [True, True]
Translation: X:290.86, Y:-0.29, Z:0.00
[[ 9.99003796e-01  4.46252775e-02  0.00000000e+00  2.90861106e+02]
 [-4.46252775e-02  9.99003796e-01  0.00000000e+00 -2.88286321e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.446066493
Centerline is valid?  [True, True]
Translation: X:290.92, Y:-0.30, Z:0.00
[[ 9.98665625e-01  5.16427091e-02  0.00000000e+00  2.90920730e+02]
 [-5.16427091e-02  9.98665625e-01  0.00000000e+00 -2.99681111e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.506066493
Centerline is valid?  [True, True]
Translation: X:290.98, Y:-0.31, Z:0.00
[[ 9.98527001e-01  5.42570555e-02  0.00000000e+00  2.90979585e+02]
 [-5.42570555e-02  9.98527001e-01  0.00000000e+00 -3.11294910e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.566066493
Centerline is valid?  [True, True]
Translation: X:291.04, Y:-0.32, Z:0.00
[[ 9.98529639e-01  5.42084812e-02  0.00000000e+00  2.91037202e+02]
 [-5.42084812e-02  9.98529639e-01  0.00000000e+00 -3.24677851e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.626066493
Centerline is valid?  [True, True]
Translation: X:291.10, Y:-0.35, Z:0.00
[[ 9.98612243e-01  5.26648638e-02  0.00000000e+00  2.91095478e+02]
 [-5.26648638e-02  9.98612243e-01  0.00000000e+00 -3.45967511e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.686066493
Centerline is valid?  [True, True]
Translation: X:291.15, Y:-0.37, Z:0.00
[[ 9.98710082e-01  5.07756953e-02  0.00000000e+00  2.91153714e+02]
 [-5.07756953e-02  9.98710082e-01  0.00000000e+00 -3.67533893e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.746066493
Centerline is valid?  [True, True]
Translation: X:291.21, Y:-0.38, Z:0.00
[[ 9.98553697e-01  5.37635077e-02  0.00000000e+00  2.91213202e+02]
 [-5.37635077e-02  9.98553697e-01  0.00000000e+00 -3.77643317e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.806066493
Centerline is valid?  [True, True]
Translation: X:291.27, Y:-0.40, Z:0.00
[[ 9.98240581e-01  5.92937035e-02  0.00000000e+00  2.91272893e+02]
 [-5.92937035e-02  9.98240581e-01  0.00000000e+00 -4.00211804e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.866066493
Centerline is valid?  [True, True]
Translation: X:291.33, Y:-0.41, Z:0.00
[[ 9.97832194e-01  6.58096643e-02  0.00000000e+00  2.91331850e+02]
 [-6.58096643e-02  9.97832194e-01  0.00000000e+00 -4.14448673e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.926066493
Centerline is valid?  [True, True]
Translation: X:291.39, Y:-0.43, Z:0.00
[[ 9.97673160e-01  6.81781876e-02  0.00000000e+00  2.91391362e+02]
 [-6.81781876e-02  9.97673160e-01  0.00000000e+00 -4.28336103e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.986066493
Centerline is valid?  [True, True]
Translation: X:291.45, Y:-0.45, Z:0.00
[[ 9.97925201e-01  6.43839519e-02  0.00000000e+00  2.91450579e+02]
 [-6.43839519e-02  9.97925201e-01  0.00000000e+00 -4.50977428e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.046066493
Centerline is valid?  [True, True]
Translation: X:291.51, Y:-0.47, Z:0.00
[[ 9.98674709e-01  5.14667518e-02  0.00000000e+00  2.91510380e+02]
 [-5.14667518e-02  9.98674709e-01  0.00000000e+00 -4.71788365e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.106066493
Centerline is valid?  [True, True]
Translation: X:291.57, Y:-0.49, Z:0.00
[[ 9.99350093e-01  3.60470848e-02  0.00000000e+00  2.91571104e+02]
 [-3.60470848e-02  9.99350093e-01  0.00000000e+00 -4.86293473e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.166066493
Centerline is valid?  [True, True]
Translation: X:291.63, Y:-0.50, Z:0.00
[[ 9.99829496e-01  1.84656261e-02  0.00000000e+00  2.91630435e+02]
 [-1.84656261e-02  9.99829496e-01  0.00000000e+00 -4.97682727e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.226066493
Centerline is valid?  [True, True]
Translation: X:291.69, Y:-0.51, Z:0.00
[[ 9.99997108e-01 -2.40509756e-03  0.00000000e+00  2.91689932e+02]
 [ 2.40509756e-03  9.99997108e-01  0.00000000e+00 -5.08261682e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.286066493
Centerline is valid?  [True, True]
Translation: X:291.75, Y:-0.51, Z:0.00
[[ 9.99936773e-01 -1.12450065e-02  0.00000000e+00  2.91750335e+02]
 [ 1.12450065e-02  9.99936773e-01  0.00000000e+00 -5.12890071e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.346066493
Centerline is valid?  [True, True]
Translation: X:291.81, Y:-0.51, Z:0.00
[[ 9.99895410e-01 -1.44626679e-02  0.00000000e+00  2.91811515e+02]
 [ 1.44626679e-02  9.99895410e-01  0.00000000e+00 -5.12447786e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 290.406066493
Centerline is valid?  [True, True]
Translation: X:291.87, Y:-0.51, Z:0.00
[[ 9.99888766e-01 -1.49149489e-02  0.00000000e+00  2.91871148e+02]
 [ 1.49149489e-02  9.99888766e-01  0.00000000e+00 -5.07191354e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.466066493
Centerline is valid?  [True, True]
Translation: X:291.93, Y:-0.50, Z:0.00
[[ 9.99894096e-01 -1.45532444e-02  0.00000000e+00  2.91931443e+02]
 [ 1.45532444e-02  9.99894096e-01  0.00000000e+00 -4.96206515e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.52606649300003
Centerline is valid?  [True, True]
Translation: X:291.99, Y:-0.49, Z:0.00
[[ 9.99872405e-01 -1.59741810e-02  0.00000000e+00  2.91992642e+02]
 [ 1.59741810e-02  9.99872405e-01  0.00000000e+00 -4.88033025e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.58606649300003
Centerline is valid?  [True, True]
Translation: X:292.05, Y:-0.47, Z:0.00
[[ 9.99954946e-01 -9.49242944e-03  0.00000000e+00  2.92054624e+02]
 [ 9.49242944e-03  9.99954946e-01  0.00000000e+00 -4.74100279e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.64606649300003
Centerline is valid?  [True, True]
Translation: X:292.11, Y:-0.46, Z:0.00
[[ 9.99995431e-01 -3.02275755e-03  0.00000000e+00  2.92114833e+02]
 [ 3.02275755e-03  9.99995431e-01  0.00000000e+00 -4.64396884e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.70606649300004
Centerline is valid?  [True, True]
Translation: X:292.18, Y:-0.46, Z:0.00
[[ 9.99999831e-01  5.80764624e-04  0.00000000e+00  2.92176412e+02]
 [-5.80764624e-04  9.99999831e-01  0.00000000e+00 -4.59853728e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.76606649300004
Centerline is valid?  [True, True]
Translation: X:292.24, Y:-0.45, Z:0.00
[[ 9.99937650e-01  1.11667700e-02  0.00000000e+00  2.92235970e+02]
 [-1.11667700e-02  9.99937650e-01  0.00000000e+00 -4.45860429e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.82606649300004
Centerline is valid?  [True, True]
Translation: X:292.30, Y:-0.44, Z:0.00
[[ 9.99895265e-01  1.44727340e-02  0.00000000e+00  2.92295744e+02]
 [-1.44727340e-02  9.99895265e-01  0.00000000e+00 -4.36663455e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.886066493
Centerline is valid?  [True, True]
Translation: X:292.36, Y:-0.42, Z:0.00
[[ 9.99855493e-01  1.69998103e-02  0.00000000e+00  2.92356250e+02]
 [-1.69998103e-02  9.99855493e-01  0.00000000e+00 -4.22691253e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.946066493
Centerline is valid?  [True, True]
Translation: X:292.42, Y:-0.42, Z:0.00
[[ 9.99907037e-01  1.36351512e-02  0.00000000e+00  2.92415029e+02]
 [-1.36351512e-02  9.99907037e-01  0.00000000e+00 -4.18542978e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.006066493
Centerline is valid?  [True, True]
Translation: X:292.47, Y:-0.41, Z:0.00
[[ 9.99929082e-01  1.19092519e-02  0.00000000e+00  2.92474215e+02]
 [-1.19092519e-02  9.99929082e-01  0.00000000e+00 -4.13582642e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.066066493
Centerline is valid?  [True, True]
Translation: X:292.53, Y:-0.41, Z:0.00
[[ 9.99950805e-01  9.91905360e-03  0.00000000e+00  2.92534681e+02]
 [-9.91905360e-03  9.99950805e-01  0.00000000e+00 -4.09243273e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.126066493
Centerline is valid?  [True, True]
Translation: X:292.59, Y:-0.41, Z:0.00
[[ 9.99963123e-01  8.58792133e-03  0.00000000e+00  2.92594668e+02]
 [-8.58792133e-03  9.99963123e-01  0.00000000e+00 -4.05598848e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.186066493
Centerline is valid?  [True, True]
Translation: X:292.65, Y:-0.40, Z:0.00
[[ 9.99929186e-01  1.19005522e-02  0.00000000e+00  2.92653558e+02]
 [-1.19005522e-02  9.99929186e-01  0.00000000e+00 -4.02855473e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.246066493
Centerline is valid?  [True, True]
Translation: X:292.71, Y:-0.40, Z:0.00
[[ 9.99832808e-01  1.82854000e-02  0.00000000e+00  2.92711516e+02]
 [-1.82854000e-02  9.99832808e-01  0.00000000e+00 -3.97402277e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.306066493
Centerline is valid?  [True, True]
Translation: X:292.77, Y:-0.39, Z:0.00
[[ 9.99633892e-01  2.70569955e-02  0.00000000e+00  2.92770332e+02]
 [-2.70569955e-02  9.99633892e-01  0.00000000e+00 -3.94038174e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.366066493
Centerline is valid?  [True, True]
Translation: X:292.83, Y:-0.39, Z:0.00
[[ 9.99386105e-01  3.50344525e-02  0.00000000e+00  2.92830230e+02]
 [-3.50344525e-02  9.99386105e-01  0.00000000e+00 -3.93687935e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.426066493
Centerline is valid?  [True, True]
Translation: X:292.89, Y:-0.40, Z:0.00
[[ 9.98934660e-01  4.61469893e-02  0.00000000e+00  2.92890364e+02]
 [-4.61469893e-02  9.98934660e-01  0.00000000e+00 -3.97223180e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.486066493
Centerline is valid?  [True, True]
Translation: X:292.95, Y:-0.40, Z:0.00
[[ 9.98525898e-01  5.42773500e-02  0.00000000e+00  2.92950616e+02]
 [-5.42773500e-02  9.98525898e-01  0.00000000e+00 -4.00249514e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.546066493
Centerline is valid?  [True, True]
Translation: X:293.01, Y:-0.40, Z:0.00
[[ 9.98262421e-01  5.89248641e-02  0.00000000e+00  2.93010366e+02]
 [-5.89248641e-02  9.98262421e-01  0.00000000e+00 -4.04813754e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 291.606066493
Centerline is valid?  [True, True]
Translation: X:293.07, Y:-0.42, Z:0.00
[[ 9.98110720e-01  6.14409595e-02  0.00000000e+00  2.93070855e+02]
 [-6.14409595e-02  9.98110720e-01  0.00000000e+00 -4.15568962e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.666066493
Centerline is valid?  [True, True]
Translation: X:293.13, Y:-0.43, Z:0.00
[[ 9.97905267e-01  6.46921828e-02  0.00000000e+00  2.93130606e+02]
 [-6.46921828e-02  9.97905267e-01  0.00000000e+00 -4.29245660e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.726066493
Centerline is valid?  [True, True]
Translation: X:293.19, Y:-0.44, Z:0.00
[[ 9.97672994e-01  6.81806139e-02  0.00000000e+00  2.93189661e+02]
 [-6.81806139e-02  9.97672994e-01  0.00000000e+00 -4.39126537e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.786066493
Centerline is valid?  [True, True]
Translation: X:293.25, Y:-0.46, Z:0.00
[[ 9.97180380e-01  7.50419139e-02  0.00000000e+00  2.93249576e+02]
 [-7.50419139e-02  9.97180380e-01  0.00000000e+00 -4.57048761e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.846066493
Centerline is valid?  [True, True]
Translation: X:293.31, Y:-0.47, Z:0.00
[[ 9.97229367e-01  7.43880960e-02  0.00000000e+00  2.93308568e+02]
 [-7.43880960e-02  9.97229367e-01  0.00000000e+00 -4.68201017e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.906066493
Centerline is valid?  [True, True]
Translation: X:293.37, Y:-0.49, Z:0.00
[[ 9.97185401e-01  7.49751702e-02  0.00000000e+00  2.93367129e+02]
 [-7.49751702e-02  9.97185401e-01  0.00000000e+00 -4.88940931e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.966066493
Centerline is valid?  [True, True]
Translation: X:293.43, Y:-0.50, Z:0.00
[[ 9.97193080e-01  7.48729666e-02  0.00000000e+00  2.93427015e+02]
 [-7.48729666e-02  9.97193080e-01  0.00000000e+00 -5.04430483e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.02606649300003
Centerline is valid?  [True, True]
Translation: X:293.49, Y:-0.52, Z:0.00
[[ 9.97160299e-01  7.53082898e-02  0.00000000e+00  2.93485277e+02]
 [-7.53082898e-02  9.97160299e-01  0.00000000e+00 -5.24699033e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.08606649300003
Centerline is valid?  [True, True]
Translation: X:293.54, Y:-0.54, Z:0.00
[[ 9.97201418e-01  7.47618363e-02  0.00000000e+00  2.93544056e+02]
 [-7.47618363e-02  9.97201418e-01  0.00000000e+00 -5.38488612e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.14606649300003
Centerline is valid?  [True, True]
Translation: X:293.60, Y:-0.56, Z:0.00
[[ 9.97572844e-01  6.96305976e-02  0.00000000e+00  2.93604579e+02]
 [-6.96305976e-02  9.97572844e-01  0.00000000e+00 -5.59778200e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.20606649300004
Centerline is valid?  [True, True]
Translation: X:293.66, Y:-0.58, Z:0.00
[[ 9.98328415e-01  5.77959906e-02  0.00000000e+00  2.93664666e+02]
 [-5.77959906e-02  9.98328415e-01  0.00000000e+00 -5.84635605e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.26606649300004
Centerline is valid?  [True, True]
Translation: X:293.72, Y:-0.60, Z:0.00
[[ 9.98955349e-01  4.56969390e-02  0.00000000e+00  2.93724815e+02]
 [-4.56969390e-02  9.98955349e-01  0.00000000e+00 -6.00330389e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.32606649300004
Centerline is valid?  [True, True]
Translation: X:293.78, Y:-0.61, Z:0.00
[[ 9.99305833e-01  3.72538794e-02  0.00000000e+00  2.93784371e+02]
 [-3.72538794e-02  9.99305833e-01  0.00000000e+00 -6.10269934e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.386066493
Centerline is valid?  [True, True]
Translation: X:293.84, Y:-0.63, Z:0.00
[[ 9.99818066e-01  1.90744633e-02  0.00000000e+00  2.93844142e+02]
 [-1.90744633e-02  9.99818066e-01  0.00000000e+00 -6.29338659e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.446066493
Centerline is valid?  [True, True]
Translation: X:293.90, Y:-0.64, Z:0.00
[[ 9.99973911e-01  7.22342143e-03  0.00000000e+00  2.93903100e+02]
 [-7.22342143e-03  9.99973911e-01  0.00000000e+00 -6.41215586e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.506066493
Centerline is valid?  [True, True]
Translation: X:293.96, Y:-0.64, Z:0.00
[[ 9.99999681e-01  7.98430119e-04  0.00000000e+00  2.93963119e+02]
 [-7.98430119e-04  9.99999681e-01  0.00000000e+00 -6.39915578e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.566066493
Centerline is valid?  [True, True]
Translation: X:294.02, Y:-0.64, Z:0.00
[[ 9.99996164e-01 -2.77000146e-03  0.00000000e+00  2.94023607e+02]
 [ 2.77000146e-03  9.99996164e-01  0.00000000e+00 -6.40250481e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.626066493
Centerline is valid?  [True, True]
Translation: X:294.08, Y:-0.64, Z:0.00
[[ 9.99912794e-01 -1.32062547e-02  0.00000000e+00  2.94083520e+02]
 [ 1.32062547e-02  9.99912794e-01  0.00000000e+00 -6.36929362e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.686066493
Centerline is valid?  [True, True]
Translation: X:294.14, Y:-0.63, Z:0.00
[[ 9.99724762e-01 -2.34606236e-02  0.00000000e+00  2.94143623e+02]
 [ 2.34606236e-02  9.99724762e-01  0.00000000e+00 -6.29769607e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.746066493
Centerline is valid?  [True, True]
Translation: X:294.20, Y:-0.62, Z:0.00
[[ 9.99688198e-01 -2.49701314e-02  0.00000000e+00  2.94204784e+02]
 [ 2.49701314e-02  9.99688198e-01  0.00000000e+00 -6.17785841e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 292.806066493
Centerline is valid?  [True, True]
Translation: X:294.27, Y:-0.60, Z:0.00
[[ 9.99677483e-01 -2.53954791e-02  0.00000000e+00  2.94266666e+02]
 [ 2.53954791e-02  9.99677483e-01  0.00000000e+00 -5.96386676e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.866066493
Centerline is valid?  [True, True]
Translation: X:294.33, Y:-0.59, Z:0.00
[[ 9.99622619e-01 -2.74703319e-02  0.00000000e+00  2.94328566e+02]
 [ 2.74703319e-02  9.99622619e-01  0.00000000e+00 -5.85059055e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.926066493
Centerline is valid?  [True, True]
Translation: X:294.39, Y:-0.56, Z:0.00
[[ 9.99567608e-01 -2.94040382e-02  0.00000000e+00  2.94388342e+02]
 [ 2.94040382e-02  9.99567608e-01  0.00000000e+00 -5.63611207e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.986066493
Centerline is valid?  [True, True]
Translation: X:294.45, Y:-0.53, Z:0.00
[[ 9.99790992e-01 -2.04443708e-02  0.00000000e+00  2.94448442e+02]
 [ 2.04443708e-02  9.99790992e-01  0.00000000e+00 -5.33958300e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.046066493
Centerline is valid?  [True, True]
Translation: X:294.51, Y:-0.52, Z:0.00
[[ 9.99794612e-01 -2.02665723e-02  0.00000000e+00  2.94509542e+02]
 [ 2.02665723e-02  9.99794612e-01  0.00000000e+00 -5.22454391e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.106066493
Centerline is valid?  [True, True]
Translation: X:294.57, Y:-0.50, Z:0.00
[[ 9.99836547e-01 -1.80797933e-02  0.00000000e+00  2.94573185e+02]
 [ 1.80797933e-02  9.99836547e-01  0.00000000e+00 -4.99533363e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.166066493
Centerline is valid?  [True, True]
Translation: X:294.64, Y:-0.48, Z:0.00
[[ 9.99855088e-01 -1.70235918e-02  0.00000000e+00  2.94636457e+02]
 [ 1.70235918e-02  9.99855088e-01  0.00000000e+00 -4.78877460e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.226066493
Centerline is valid?  [True, True]
Translation: X:294.70, Y:-0.47, Z:0.00
[[ 9.99907676e-01 -1.35881926e-02  0.00000000e+00  2.94696999e+02]
 [ 1.35881926e-02  9.99907676e-01  0.00000000e+00 -4.66028506e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.286066493
Centerline is valid?  [True, True]
Translation: X:294.76, Y:-0.45, Z:0.00
[[ 9.99995648e-01 -2.95017575e-03  0.00000000e+00  2.94758047e+02]
 [ 2.95017575e-03  9.99995648e-01  0.00000000e+00 -4.48114815e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.346066493
Centerline is valid?  [True, True]
Translation: X:294.82, Y:-0.44, Z:0.00
[[ 9.99982844e-01  5.85770369e-03  0.00000000e+00  2.94818308e+02]
 [-5.85770369e-03  9.99982844e-01  0.00000000e+00 -4.36775394e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.406066493
Centerline is valid?  [True, True]
Translation: X:294.88, Y:-0.43, Z:0.00
[[ 9.99828279e-01  1.85313869e-02  0.00000000e+00  2.94878047e+02]
 [-1.85313869e-02  9.99828279e-01  0.00000000e+00 -4.26618163e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.466066493
Centerline is valid?  [True, True]
Translation: X:294.94, Y:-0.42, Z:0.00
[[ 9.99672738e-01  2.55815898e-02  0.00000000e+00  2.94937136e+02]
 [-2.55815898e-02  9.99672738e-01  0.00000000e+00 -4.20873482e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.52606649300003
Centerline is valid?  [True, True]
Translation: X:295.00, Y:-0.42, Z:0.00
[[ 9.99432181e-01  3.36944526e-02  0.00000000e+00  2.94997539e+02]
 [-3.36944526e-02  9.99432181e-01  0.00000000e+00 -4.15699407e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.58606649300003
Centerline is valid?  [True, True]
Translation: X:295.06, Y:-0.42, Z:0.00
[[ 9.99280968e-01  3.79150080e-02  0.00000000e+00  2.95056164e+02]
 [-3.79150080e-02  9.99280968e-01  0.00000000e+00 -4.15684023e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.64606649300003
Centerline is valid?  [True, True]
Translation: X:295.12, Y:-0.42, Z:0.00
[[ 9.99161934e-01  4.09320111e-02  0.00000000e+00  2.95115060e+02]
 [-4.09320111e-02  9.99161934e-01  0.00000000e+00 -4.15652100e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.70606649300004
Centerline is valid?  [True, True]
Translation: X:295.17, Y:-0.42, Z:0.00
[[ 9.99215418e-01  3.96049053e-02  0.00000000e+00  2.95173146e+02]
 [-3.96049053e-02  9.99215418e-01  0.00000000e+00 -4.18549429e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.76606649300004
Centerline is valid?  [True, True]
Translation: X:295.23, Y:-0.43, Z:0.00
[[ 9.99484283e-01  3.21118105e-02  0.00000000e+00  2.95233207e+02]
 [-3.21118105e-02  9.99484283e-01  0.00000000e+00 -4.27657217e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.82606649300004
Centerline is valid?  [True, True]
Translation: X:295.29, Y:-0.44, Z:0.00
[[ 9.99644828e-01  2.66499035e-02  0.00000000e+00  2.95293832e+02]
 [-2.66499035e-02  9.99644828e-01  0.00000000e+00 -4.35946396e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.886066493
Centerline is valid?  [True, True]
Translation: X:295.35, Y:-0.45, Z:0.00
[[ 9.99848336e-01  1.74156593e-02  0.00000000e+00  2.95351852e+02]
 [-1.74156593e-02  9.99848336e-01  0.00000000e+00 -4.47728512e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.946066493
Centerline is valid?  [True, True]
Translation: X:295.41, Y:-0.46, Z:0.00
[[ 9.99905997e-01  1.37112052e-02  0.00000000e+00  2.95410333e+02]
 [-1.37112052e-02  9.99905997e-01  0.00000000e+00 -4.55777466e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 294.006066493
Centerline is valid?  [True, True]
Translation: X:295.47, Y:-0.47, Z:0.00
[[ 9.99926898e-01  1.20912514e-02  0.00000000e+00  2.95467696e+02]
 [-1.20912514e-02  9.99926898e-01  0.00000000e+00 -4.66838752e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.066066493
Centerline is valid?  [True, True]
Translation: X:295.53, Y:-0.47, Z:0.00
[[ 9.99951086e-01  9.89064355e-03  0.00000000e+00  2.95527251e+02]
 [-9.89064355e-03  9.99951086e-01  0.00000000e+00 -4.74531426e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.126066493
Centerline is valid?  [True, True]
Translation: X:295.59, Y:-0.48, Z:0.00
[[ 9.99991956e-01  4.01087207e-03  0.00000000e+00  2.95586271e+02]
 [-4.01087207e-03  9.99991956e-01  0.00000000e+00 -4.83704305e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.186066493
Centerline is valid?  [True, True]
Translation: X:295.65, Y:-0.49, Z:0.00
[[ 9.99994420e-01 -3.34059673e-03  0.00000000e+00  2.95646387e+02]
 [ 3.34059673e-03  9.99994420e-01  0.00000000e+00 -4.89802935e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.246066493
Centerline is valid?  [True, True]
Translation: X:295.71, Y:-0.50, Z:0.00
[[ 9.99937693e-01 -1.11629240e-02  0.00000000e+00  2.95707103e+02]
 [ 1.11629240e-02  9.99937693e-01  0.00000000e+00 -4.95303332e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.306066493
Centerline is valid?  [True, True]
Translation: X:295.77, Y:-0.50, Z:0.00
[[ 9.99879649e-01 -1.55140996e-02  0.00000000e+00  2.95766331e+02]
 [ 1.55140996e-02  9.99879649e-01  0.00000000e+00 -4.98189403e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.366066493
Centerline is valid?  [True, True]
Translation: X:295.83, Y:-0.49, Z:0.00
[[ 9.99855297e-01 -1.70113490e-02  0.00000000e+00  2.95828007e+02]
 [ 1.70113490e-02  9.99855297e-01  0.00000000e+00 -4.93835048e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.426066493
Centerline is valid?  [True, True]
Translation: X:295.89, Y:-0.50, Z:0.00
[[ 9.99887036e-01 -1.50305016e-02  0.00000000e+00  2.95889816e+02]
 [ 1.50305016e-02  9.99887036e-01  0.00000000e+00 -4.95262725e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.486066493
Centerline is valid?  [True, True]
Translation: X:295.95, Y:-0.49, Z:0.00
[[ 9.99881411e-01 -1.54001470e-02  0.00000000e+00  2.95951991e+02]
 [ 1.54001470e-02  9.99881411e-01  0.00000000e+00 -4.93704763e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.546066493
Centerline is valid?  [True, True]
Translation: X:296.01, Y:-0.49, Z:0.00
[[ 9.99899860e-01 -1.41517024e-02  0.00000000e+00  2.96013244e+02]
 [ 1.41517024e-02  9.99899860e-01  0.00000000e+00 -4.88119985e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.606066493
Centerline is valid?  [True, True]
Translation: X:296.07, Y:-0.48, Z:0.00
[[ 9.99891206e-01 -1.47504958e-02  0.00000000e+00  2.96072831e+02]
 [ 1.47504958e-02  9.99891206e-01  0.00000000e+00 -4.80000546e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.666066493
Centerline is valid?  [True, True]
Translation: X:296.13, Y:-0.47, Z:0.00
[[ 9.99941876e-01 -1.07816894e-02  0.00000000e+00  2.96133059e+02]
 [ 1.07816894e-02  9.99941876e-01  0.00000000e+00 -4.73392270e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.726066493
Centerline is valid?  [True, True]
Translation: X:296.19, Y:-0.46, Z:0.00
[[ 9.99974891e-01 -7.08637260e-03  0.00000000e+00  2.96194856e+02]
 [ 7.08637260e-03  9.99974891e-01  0.00000000e+00 -4.62542395e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.786066493
Centerline is valid?  [True, True]
Translation: X:296.26, Y:-0.46, Z:0.00
[[ 9.99965205e-01 -8.34203655e-03  0.00000000e+00  2.96256147e+02]
 [ 8.34203655e-03  9.99965205e-01  0.00000000e+00 -4.57741348e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.846066493
Centerline is valid?  [True, True]
Translation: X:296.32, Y:-0.45, Z:0.00
[[ 9.99807747e-01 -1.96078586e-02  0.00000000e+00  2.96316018e+02]
 [ 1.96078586e-02  9.99807747e-01  0.00000000e+00 -4.49759813e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.906066493
Centerline is valid?  [True, True]
Translation: X:296.38, Y:-0.44, Z:0.00
[[ 9.99531218e-01 -3.06160765e-02  0.00000000e+00  2.96375622e+02]
 [ 3.06160765e-02  9.99531218e-01  0.00000000e+00 -4.42191528e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.966066493
Centerline is valid?  [True, True]
Translation: X:296.44, Y:-0.43, Z:0.00
[[ 9.99106555e-01 -4.22621850e-02  0.00000000e+00  2.96435891e+02]
 [ 4.22621850e-02  9.99106555e-01  0.00000000e+00 -4.31111258e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.02606649300003
Centerline is valid?  [True, True]
Translation: X:296.50, Y:-0.43, Z:0.00
[[ 9.99012059e-01 -4.44399186e-02  0.00000000e+00  2.96498604e+02]
 [ 4.44399186e-02  9.99012059e-01  0.00000000e+00 -4.25329766e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.08606649300003
Centerline is valid?  [True, True]
Translation: X:296.56, Y:-0.41, Z:0.00
[[ 9.99239422e-01 -3.89945770e-02  0.00000000e+00  2.96558678e+02]
 [ 3.89945770e-02  9.99239422e-01  0.00000000e+00 -4.08079608e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.14606649300003
Centerline is valid?  [True, True]
Translation: X:296.62, Y:-0.39, Z:0.00
[[ 9.99507841e-01 -3.13699908e-02  0.00000000e+00  2.96619851e+02]
 [ 3.13699908e-02  9.99507841e-01  0.00000000e+00 -3.94454643e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 295.20606649300004
Centerline is valid?  [True, True]
Translation: X:296.68, Y:-0.38, Z:0.00
[[ 9.99716202e-01 -2.38225954e-02  0.00000000e+00  2.96680434e+02]
 [ 2.38225954e-02  9.99716202e-01  0.00000000e+00 -3.82808462e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.26606649300004
Centerline is valid?  [True, True]
Translation: X:296.74, Y:-0.36, Z:0.00
[[ 9.99877610e-01 -1.56449475e-02  0.00000000e+00  2.96740083e+02]
 [ 1.56449475e-02  9.99877610e-01  0.00000000e+00 -3.62608962e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.32606649300004
Centerline is valid?  [True, True]
Translation: X:296.80, Y:-0.35, Z:0.00
[[ 9.99942443e-01 -1.07290030e-02  0.00000000e+00  2.96801582e+02]
 [ 1.07290030e-02  9.99942443e-01  0.00000000e+00 -3.50717691e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.386066493
Centerline is valid?  [True, True]
Translation: X:296.86, Y:-0.34, Z:0.00
[[ 9.99992937e-01 -3.75836755e-03  0.00000000e+00  2.96862856e+02]
 [ 3.75836755e-03  9.99992937e-01  0.00000000e+00 -3.35692683e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.446066493
Centerline is valid?  [True, True]
Translation: X:296.92, Y:-0.33, Z:0.00
[[ 9.99998329e-01  1.82818424e-03  0.00000000e+00  2.96923690e+02]
 [-1.82818424e-03  9.99998329e-01  0.00000000e+00 -3.27466061e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.506066493
Centerline is valid?  [True, True]
Translation: X:296.98, Y:-0.32, Z:0.00
[[ 9.99908425e-01  1.35329759e-02  0.00000000e+00  2.96983123e+02]
 [-1.35329759e-02  9.99908425e-01  0.00000000e+00 -3.17891088e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.566066493
Centerline is valid?  [True, True]
Translation: X:297.04, Y:-0.31, Z:0.00
[[ 9.99780498e-01  2.09512897e-02  0.00000000e+00  2.97040974e+02]
 [-2.09512897e-02  9.99780498e-01  0.00000000e+00 -3.11354733e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.626066493
Centerline is valid?  [True, True]
Translation: X:297.10, Y:-0.30, Z:0.00
[[ 9.99524399e-01  3.08378860e-02  0.00000000e+00  2.97100137e+02]
 [-3.08378860e-02  9.99524399e-01  0.00000000e+00 -3.03838309e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.686066493
Centerline is valid?  [True, True]
Translation: X:297.16, Y:-0.31, Z:0.00
[[ 9.99435717e-01  3.35893866e-02  0.00000000e+00  2.97160555e+02]
 [-3.35893866e-02  9.99435717e-01  0.00000000e+00 -3.05722977e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.746066493
Centerline is valid?  [True, True]
Translation: X:297.22, Y:-0.30, Z:0.00
[[ 9.99268991e-01  3.82293443e-02  0.00000000e+00  2.97221236e+02]
 [-3.82293443e-02  9.99268991e-01  0.00000000e+00 -3.03080860e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.806066493
Centerline is valid?  [True, True]
Translation: X:297.28, Y:-0.31, Z:0.00
[[ 9.99329619e-01  3.66102808e-02  0.00000000e+00  2.97279843e+02]
 [-3.66102808e-02  9.99329619e-01  0.00000000e+00 -3.06163481e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.866066493
Centerline is valid?  [True, True]
Translation: X:297.34, Y:-0.32, Z:0.00
[[ 9.99659412e-01  2.60971120e-02  0.00000000e+00  2.97340012e+02]
 [-2.60971120e-02  9.99659412e-01  0.00000000e+00 -3.15359912e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.926066493
Centerline is valid?  [True, True]
Translation: X:297.40, Y:-0.32, Z:0.00
[[ 9.99815463e-01  1.92104271e-02  0.00000000e+00  2.97399120e+02]
 [-1.92104271e-02  9.99815463e-01  0.00000000e+00 -3.21883066e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.986066493
Centerline is valid?  [True, True]
Translation: X:297.46, Y:-0.33, Z:0.00
[[ 9.99900032e-01  1.41395099e-02  0.00000000e+00  2.97458869e+02]
 [-1.41395099e-02  9.99900032e-01  0.00000000e+00 -3.30039308e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.046066493
Centerline is valid?  [True, True]
Translation: X:297.52, Y:-0.34, Z:0.00
[[ 9.99949442e-01  1.00554981e-02  0.00000000e+00  2.97518108e+02]
 [-1.00554981e-02  9.99949442e-01  0.00000000e+00 -3.39258935e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.106066493
Centerline is valid?  [True, True]
Translation: X:297.58, Y:-0.35, Z:0.00
[[ 9.99966343e-01  8.20440364e-03  0.00000000e+00  2.97575757e+02]
 [-8.20440364e-03  9.99966343e-01  0.00000000e+00 -3.46697142e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.166066493
Centerline is valid?  [True, True]
Translation: X:297.64, Y:-0.35, Z:0.00
[[ 9.99991824e-01  4.04382621e-03  0.00000000e+00  2.97635471e+02]
 [-4.04382621e-03  9.99991824e-01  0.00000000e+00 -3.51012872e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.226066493
Centerline is valid?  [True, True]
Translation: X:297.69, Y:-0.36, Z:0.00
[[ 9.99999920e-01 -4.00620234e-04  0.00000000e+00  2.97694801e+02]
 [ 4.00620234e-04  9.99999920e-01  0.00000000e+00 -3.57524489e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.286066493
Centerline is valid?  [True, True]
Translation: X:297.76, Y:-0.36, Z:0.00
[[ 9.99962068e-01 -8.70985672e-03  0.00000000e+00  2.97755378e+02]
 [ 8.70985672e-03  9.99962068e-01  0.00000000e+00 -3.62350669e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.346066493
Centerline is valid?  [True, True]
Translation: X:297.82, Y:-0.36, Z:0.00
[[ 9.99939670e-01 -1.09843861e-02  0.00000000e+00  2.97817348e+02]
 [ 1.09843861e-02  9.99939670e-01  0.00000000e+00 -3.63142806e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 296.406066493
Centerline is valid?  [True, True]
Translation: X:297.88, Y:-0.37, Z:0.00
[[ 9.99942848e-01 -1.06911473e-02  0.00000000e+00  2.97879968e+02]
 [ 1.06911473e-02  9.99942848e-01  0.00000000e+00 -3.65101138e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.466066493
Centerline is valid?  [True, True]
Translation: X:297.94, Y:-0.36, Z:0.00
[[ 9.99969819e-01 -7.76917925e-03  0.00000000e+00  2.97941283e+02]
 [ 7.76917925e-03  9.99969819e-01  0.00000000e+00 -3.62745002e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.52606649300003
Centerline is valid?  [True, True]
Translation: X:298.00, Y:-0.36, Z:0.00
[[ 9.99968970e-01 -7.87776830e-03  0.00000000e+00  2.98003732e+02]
 [ 7.87776830e-03  9.99968970e-01  0.00000000e+00 -3.60720543e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.58606649300003
Centerline is valid?  [True, True]
Translation: X:298.06, Y:-0.36, Z:0.00
[[ 9.99947784e-01 -1.02190842e-02  0.00000000e+00  2.98064857e+02]
 [ 1.02190842e-02  9.99947784e-01  0.00000000e+00 -3.58071056e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.64606649300003
Centerline is valid?  [True, True]
Translation: X:298.12, Y:-0.35, Z:0.00
[[ 9.99690445e-01 -2.48800108e-02  0.00000000e+00  2.98124608e+02]
 [ 2.48800108e-02  9.99690445e-01  0.00000000e+00 -3.54047966e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.70606649300004
Centerline is valid?  [True, True]
Translation: X:298.19, Y:-0.35, Z:0.00
[[ 9.99277709e-01 -3.80007900e-02  0.00000000e+00  2.98185701e+02]
 [ 3.80007900e-02  9.99277709e-01  0.00000000e+00 -3.51451221e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.76606649300004
Centerline is valid?  [True, True]
Translation: X:298.25, Y:-0.35, Z:0.00
[[ 9.98907284e-01 -4.67358314e-02  0.00000000e+00  2.98245758e+02]
 [ 4.67358314e-02  9.98907284e-01  0.00000000e+00 -3.47635669e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.82606649300004
Centerline is valid?  [True, True]
Translation: X:298.31, Y:-0.34, Z:0.00
[[ 9.99051846e-01 -4.35362975e-02  0.00000000e+00  2.98305974e+02]
 [ 4.35362975e-02  9.99051846e-01  0.00000000e+00 -3.38060629e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.886066493
Centerline is valid?  [True, True]
Translation: X:298.37, Y:-0.32, Z:0.00
[[ 9.99196430e-01 -4.00810875e-02  0.00000000e+00  2.98366745e+02]
 [ 4.00810875e-02  9.99196430e-01  0.00000000e+00 -3.24840895e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.946066493
Centerline is valid?  [True, True]
Translation: X:298.43, Y:-0.32, Z:0.00
[[ 9.99299862e-01 -3.74137171e-02  0.00000000e+00  2.98429384e+02]
 [ 3.74137171e-02  9.99299862e-01  0.00000000e+00 -3.15737417e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.006066493
Centerline is valid?  [True, True]
Translation: X:298.49, Y:-0.30, Z:0.00
[[ 9.99285462e-01 -3.77963584e-02  0.00000000e+00  2.98491703e+02]
 [ 3.77963584e-02  9.99285462e-01  0.00000000e+00 -3.02091791e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.066066493
Centerline is valid?  [True, True]
Translation: X:298.55, Y:-0.29, Z:0.00
[[ 9.99272175e-01 -3.81460276e-02  0.00000000e+00  2.98552508e+02]
 [ 3.81460276e-02  9.99272175e-01  0.00000000e+00 -2.87734379e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.126066493
Centerline is valid?  [True, True]
Translation: X:298.61, Y:-0.28, Z:0.00
[[ 9.99056047e-01 -4.34397958e-02  0.00000000e+00  2.98613357e+02]
 [ 4.34397958e-02  9.99056047e-01  0.00000000e+00 -2.76253779e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.186066493
Centerline is valid?  [True, True]
Translation: X:298.67, Y:-0.26, Z:0.00
[[ 9.98812950e-01 -4.87102724e-02  0.00000000e+00  2.98673684e+02]
 [ 4.87102724e-02  9.98812950e-01  0.00000000e+00 -2.62280916e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.246066493
Centerline is valid?  [True, True]
Translation: X:298.73, Y:-0.25, Z:0.00
[[ 9.98473676e-01 -5.52296951e-02  0.00000000e+00  2.98734183e+02]
 [ 5.52296951e-02  9.98473676e-01  0.00000000e+00 -2.51156137e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.306066493
Centerline is valid?  [True, True]
Translation: X:298.80, Y:-0.23, Z:0.00
[[ 9.98330908e-01 -5.77529121e-02  0.00000000e+00  2.98795833e+02]
 [ 5.77529121e-02  9.98330908e-01  0.00000000e+00 -2.34580609e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.366066493
Centerline is valid?  [True, True]
Translation: X:298.86, Y:-0.22, Z:0.00
[[ 9.98453352e-01 -5.55959004e-02  0.00000000e+00  2.98857020e+02]
 [ 5.55959004e-02  9.98453352e-01  0.00000000e+00 -2.18168749e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.426066493
Centerline is valid?  [True, True]
Translation: X:298.92, Y:-0.21, Z:0.00
[[ 9.98817207e-01 -4.86229104e-02  0.00000000e+00  2.98917476e+02]
 [ 4.86229104e-02  9.98817207e-01  0.00000000e+00 -2.08503552e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.486066493
Centerline is valid?  [True, True]
Translation: X:298.98, Y:-0.19, Z:0.00
[[ 9.99318567e-01 -3.69107165e-02  0.00000000e+00  2.98977961e+02]
 [ 3.69107165e-02  9.99318567e-01  0.00000000e+00 -1.87690550e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.546066493
Centerline is valid?  [True, True]
Translation: X:299.04, Y:-0.18, Z:0.00
[[ 9.99561693e-01 -2.96044235e-02  0.00000000e+00  2.99038040e+02]
 [ 2.96044235e-02  9.99561693e-01  0.00000000e+00 -1.75736752e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 297.606066493
Centerline is valid?  [True, True]
Translation: X:299.10, Y:-0.16, Z:0.00
[[ 9.99678351e-01 -2.53612943e-02  0.00000000e+00  2.99098358e+02]
 [ 2.53612943e-02  9.99678351e-01  0.00000000e+00 -1.59436248e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.666066493
Centerline is valid?  [True, True]
Translation: X:299.16, Y:-0.15, Z:0.00
[[ 9.99750951e-01 -2.23167073e-02  0.00000000e+00  2.99161153e+02]
 [ 2.23167073e-02  9.99750951e-01  0.00000000e+00 -1.53157571e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.726066493
Centerline is valid?  [True, True]
Translation: X:299.22, Y:-0.15, Z:0.00
[[ 9.99761306e-01 -2.18478906e-02  0.00000000e+00  2.99223678e+02]
 [ 2.18478906e-02  9.99761306e-01  0.00000000e+00 -1.47959826e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.786066493
Centerline is valid?  [True, True]
Translation: X:299.29, Y:-0.14, Z:0.00
[[ 9.99698321e-01 -2.45614846e-02  0.00000000e+00  2.99286318e+02]
 [ 2.45614846e-02  9.99698321e-01  0.00000000e+00 -1.40681302e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.846066493
Centerline is valid?  [True, True]
Translation: X:299.35, Y:-0.13, Z:0.00
[[ 9.99560260e-01 -2.96527525e-02  0.00000000e+00  2.99345524e+02]
 [ 2.96527525e-02  9.99560260e-01  0.00000000e+00 -1.31893523e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.906066493
Centerline is valid?  [True, True]
Translation: X:299.41, Y:-0.13, Z:0.00
[[ 9.99454642e-01 -3.30214986e-02  0.00000000e+00  2.99406339e+02]
 [ 3.30214986e-02  9.99454642e-01  0.00000000e+00 -1.30103477e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.966066493
Centerline is valid?  [True, True]
Translation: X:299.47, Y:-0.13, Z:0.00
[[ 9.99347290e-01 -3.61246906e-02  0.00000000e+00  2.99467927e+02]
 [ 3.61246906e-02  9.99347290e-01  0.00000000e+00 -1.28833817e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.02606649300003
Centerline is valid?  [True, True]
Translation: X:299.53, Y:-0.13, Z:0.00
[[ 9.99060599e-01 -4.33349752e-02  0.00000000e+00  2.99528609e+02]
 [ 4.33349752e-02  9.99060599e-01  0.00000000e+00 -1.26835605e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.08606649300003
Centerline is valid?  [True, True]
Translation: X:299.59, Y:-0.12, Z:0.00
[[ 9.98937265e-01 -4.60905711e-02  0.00000000e+00  2.99588553e+02]
 [ 4.60905711e-02  9.98937265e-01  0.00000000e+00 -1.22388335e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.14606649300003
Centerline is valid?  [True, True]
Translation: X:299.65, Y:-0.11, Z:0.00
[[ 9.99118525e-01 -4.19782441e-02  0.00000000e+00  2.99649130e+02]
 [ 4.19782441e-02  9.99118525e-01  0.00000000e+00 -1.14992710e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.20606649300004
Centerline is valid?  [True, True]
Translation: X:299.71, Y:-0.11, Z:0.00
[[ 9.99194874e-01 -4.01198570e-02  0.00000000e+00  2.99709804e+02]
 [ 4.01198570e-02  9.99194874e-01  0.00000000e+00 -1.11351778e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.26606649300004
Centerline is valid?  [True, True]
Translation: X:299.77, Y:-0.10, Z:0.00
[[ 9.99489308e-01 -3.19550200e-02  0.00000000e+00  2.99770992e+02]
 [ 3.19550200e-02  9.99489308e-01  0.00000000e+00 -1.04478729e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.32606649300004
Centerline is valid?  [True, True]
Translation: X:299.83, Y:-0.10, Z:0.00
[[ 9.99551846e-01 -2.99350492e-02  0.00000000e+00  2.99830388e+02]
 [ 2.99350492e-02  9.99551846e-01  0.00000000e+00 -1.02613815e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.386066493
Centerline is valid?  [True, True]
Translation: X:299.89, Y:-0.10, Z:0.00
[[ 9.99536405e-01 -3.04462562e-02  0.00000000e+00  2.99891434e+02]
 [ 3.04462562e-02  9.99536405e-01  0.00000000e+00 -9.74040438e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.446066493
Centerline is valid?  [True, True]
Translation: X:299.95, Y:-0.09, Z:0.00
[[ 9.99551106e-01 -2.99597432e-02  0.00000000e+00  2.99953790e+02]
 [ 2.99597432e-02  9.99551106e-01  0.00000000e+00 -9.42266095e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.506066493
Centerline is valid?  [True, True]
Translation: X:300.01, Y:-0.08, Z:0.00
[[ 9.99432541e-01 -3.36837572e-02  0.00000000e+00  3.00014827e+02]
 [ 3.36837572e-02  9.99432541e-01  0.00000000e+00 -8.27206699e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.566066493
Centerline is valid?  [True, True]
Translation: X:300.08, Y:-0.08, Z:0.00
[[ 9.99341709e-01 -3.62787733e-02  0.00000000e+00  3.00075160e+02]
 [ 3.62787733e-02  9.99341709e-01  0.00000000e+00 -7.82852563e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.626066493
Centerline is valid?  [True, True]
Translation: X:300.14, Y:-0.08, Z:0.00
[[ 9.99266954e-01 -3.82825702e-02  0.00000000e+00  3.00137439e+02]
 [ 3.82825702e-02  9.99266954e-01  0.00000000e+00 -8.06402530e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.686066493
Centerline is valid?  [True, True]
Translation: X:300.20, Y:-0.08, Z:0.00
[[ 9.99030402e-01 -4.40256220e-02  0.00000000e+00  3.00198282e+02]
 [ 4.40256220e-02  9.99030402e-01  0.00000000e+00 -7.84459716e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.746066493
Centerline is valid?  [True, True]
Translation: X:300.26, Y:-0.08, Z:0.00
[[ 9.98385003e-01 -5.68100907e-02  0.00000000e+00  3.00258392e+02]
 [ 5.68100907e-02  9.98385003e-01  0.00000000e+00 -7.50711101e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 298.806066493
Centerline is valid?  [True, True]
Translation: X:300.32, Y:-0.07, Z:0.00
[[ 9.97940876e-01 -6.41405272e-02  0.00000000e+00  3.00319644e+02]
 [ 6.41405272e-02  9.97940876e-01  0.00000000e+00 -7.23044107e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.866066493
Centerline is valid?  [True, True]
Translation: X:300.38, Y:-0.06, Z:0.00
[[ 9.97869840e-01 -6.52363655e-02  0.00000000e+00  3.00381793e+02]
 [ 6.52363655e-02  9.97869840e-01  0.00000000e+00 -6.46884877e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.926066493
Centerline is valid?  [True, True]
Translation: X:300.44, Y:-0.06, Z:0.00
[[ 9.98225455e-01 -5.95478063e-02  0.00000000e+00  3.00442200e+02]
 [ 5.95478063e-02  9.98225455e-01  0.00000000e+00 -5.98954585e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.986066493
Centerline is valid?  [True, True]
Translation: X:300.50, Y:-0.05, Z:0.00
[[ 9.98669398e-01 -5.15696898e-02  0.00000000e+00  3.00501568e+02]
 [ 5.15696898e-02  9.98669398e-01  0.00000000e+00 -5.30031317e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.046066493
Centerline is valid?  [True, True]
Translation: X:300.56, Y:-0.04, Z:0.00
[[ 9.99302077e-01 -3.73544900e-02  0.00000000e+00  3.00562163e+02]
 [ 3.73544900e-02  9.99302077e-01  0.00000000e+00 -4.13404123e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.106066493
Centerline is valid?  [True, True]
Translation: X:300.62, Y:-0.04, Z:0.00
[[ 9.99647376e-01 -2.65541661e-02  0.00000000e+00  3.00621638e+02]
 [ 2.65541661e-02  9.99647376e-01  0.00000000e+00 -3.56729789e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.166066493
Centerline is valid?  [True, True]
Translation: X:300.68, Y:-0.03, Z:0.00
[[ 9.99921466e-01 -1.25324054e-02  0.00000000e+00  3.00681530e+02]
 [ 1.25324054e-02  9.99921466e-01  0.00000000e+00 -2.63807291e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.226066493
Centerline is valid?  [True, True]
Translation: X:300.74, Y:-0.02, Z:0.00
[[ 9.99992944e-01 -3.75663902e-03  0.00000000e+00  3.00741821e+02]
 [ 3.75663902e-03  9.99992944e-01  0.00000000e+00 -2.09851194e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.286066493
Centerline is valid?  [True, True]
Translation: X:300.80, Y:-0.02, Z:0.00
[[ 9.99984859e-01  5.50281336e-03  0.00000000e+00  3.00803056e+02]
 [-5.50281336e-03  9.99984859e-01  0.00000000e+00 -1.60402759e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.346066493
Centerline is valid?  [True, True]
Translation: X:300.86, Y:-0.01, Z:0.00
[[ 9.99938096e-01  1.11267506e-02  0.00000000e+00  3.00862295e+02]
 [-1.11267506e-02  9.99938096e-01  0.00000000e+00 -1.46344746e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.406066493
Centerline is valid?  [True, True]
Translation: X:300.92, Y:-0.01, Z:0.00
[[ 9.99825642e-01  1.86731326e-02  0.00000000e+00  3.00921088e+02]
 [-1.86731326e-02  9.99825642e-01  0.00000000e+00 -1.32252529e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.466066493
Centerline is valid?  [True, True]
Translation: X:300.98, Y:-0.02, Z:0.00
[[ 9.99716620e-01  2.38050549e-02  0.00000000e+00  3.00981643e+02]
 [-2.38050549e-02  9.99716620e-01  0.00000000e+00 -1.63635981e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.52606649300003
Centerline is valid?  [True, True]
Translation: X:301.04, Y:-0.02, Z:0.00
[[ 9.99778871e-01  2.10287566e-02  0.00000000e+00  3.01041823e+02]
 [-2.10287566e-02  9.99778871e-01  0.00000000e+00 -2.28189348e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.58606649300003
Centerline is valid?  [True, True]
Translation: X:301.10, Y:-0.03, Z:0.00
[[ 9.99852607e-01  1.71687058e-02  0.00000000e+00  3.01099457e+02]
 [-1.71687058e-02  9.99852607e-01  0.00000000e+00 -3.01816901e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.64606649300003
Centerline is valid?  [True, True]
Translation: X:301.16, Y:-0.04, Z:0.00
[[ 9.99918984e-01  1.27288870e-02  0.00000000e+00  3.01159142e+02]
 [-1.27288870e-02  9.99918984e-01  0.00000000e+00 -3.75300152e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.70606649300004
Centerline is valid?  [True, True]
Translation: X:301.22, Y:-0.04, Z:0.00
[[ 9.99998673e-01  1.62891702e-03  0.00000000e+00  3.01217687e+02]
 [-1.62891702e-03  9.99998673e-01  0.00000000e+00 -4.13578698e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.76606649300004
Centerline is valid?  [True, True]
Translation: X:301.28, Y:-0.05, Z:0.00
[[ 9.99998643e-01 -1.64734869e-03  0.00000000e+00  3.01275940e+02]
 [ 1.64734869e-03  9.99998643e-01  0.00000000e+00 -5.08755874e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.82606649300004
Centerline is valid?  [True, True]
Translation: X:301.34, Y:-0.07, Z:0.00
[[ 9.99999748e-01 -7.10581371e-04  0.00000000e+00  3.01336631e+02]
 [ 7.10581371e-04  9.99999748e-01  0.00000000e+00 -6.76558443e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.886066493
Centerline is valid?  [True, True]
Translation: X:301.40, Y:-0.07, Z:0.00
[[ 9.99997095e-01 -2.41047799e-03  0.00000000e+00  3.01398067e+02]
 [ 2.41047799e-03  9.99997095e-01  0.00000000e+00 -7.32480477e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.946066493
Centerline is valid?  [True, True]
Translation: X:301.46, Y:-0.08, Z:0.00
[[ 9.99997712e-01 -2.13929278e-03  0.00000000e+00  3.01458887e+02]
 [ 2.13929278e-03  9.99997712e-01  0.00000000e+00 -7.84097954e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 300.006066493
Centerline is valid?  [True, True]
Translation: X:301.52, Y:-0.09, Z:0.00
[[ 9.99998616e-01  1.66349995e-03  0.00000000e+00  3.01519893e+02]
 [-1.66349995e-03  9.99998616e-01  0.00000000e+00 -8.98943504e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.066066493
Centerline is valid?  [True, True]
Translation: X:301.58, Y:-0.09, Z:0.00
[[ 9.99997171e-01  2.37860009e-03  0.00000000e+00  3.01579579e+02]
 [-2.37860009e-03  9.99997171e-01  0.00000000e+00 -9.39431707e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.126066493
Centerline is valid?  [True, True]
Translation: X:301.64, Y:-0.10, Z:0.00
[[ 9.99986328e-01  5.22913642e-03  0.00000000e+00  3.01639517e+02]
 [-5.22913642e-03  9.99986328e-01  0.00000000e+00 -9.66028095e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.186066493
Centerline is valid?  [True, True]
Translation: X:301.70, Y:-0.10, Z:0.00
[[ 9.99941073e-01  1.08558541e-02  0.00000000e+00  3.01697829e+02]
 [-1.08558541e-02  9.99941073e-01  0.00000000e+00 -9.97862361e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.246066493
Centerline is valid?  [True, True]
Translation: X:301.76, Y:-0.11, Z:0.00
[[ 9.99781858e-01  2.08862746e-02  0.00000000e+00  3.01757157e+02]
 [-2.08862746e-02  9.99781858e-01  0.00000000e+00 -1.05669976e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.306066493
Centerline is valid?  [True, True]
Translation: X:301.82, Y:-0.11, Z:0.00
[[ 9.99325571e-01  3.67206072e-02  0.00000000e+00  3.01816853e+02]
 [-3.67206072e-02  9.99325571e-01  0.00000000e+00 -1.13052974e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.366066493
Centerline is valid?  [True, True]
Translation: X:301.88, Y:-0.12, Z:0.00
[[ 9.99140019e-01  4.14635161e-02  0.00000000e+00  3.01877357e+02]
 [-4.14635161e-02  9.99140019e-01  0.00000000e+00 -1.16423122e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.426066493
Centerline is valid?  [True, True]
Translation: X:301.94, Y:-0.13, Z:0.00
[[ 9.98892955e-01  4.70410961e-02  0.00000000e+00  3.01937052e+02]
 [-4.70410961e-02  9.98892955e-01  0.00000000e+00 -1.31105745e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.486066493
Centerline is valid?  [True, True]
Translation: X:302.00, Y:-0.14, Z:0.00
[[ 9.99054814e-01  4.34681228e-02  0.00000000e+00  3.01997055e+02]
 [-4.34681228e-02  9.99054814e-01  0.00000000e+00 -1.41074976e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.546066493
Centerline is valid?  [True, True]
Translation: X:302.06, Y:-0.16, Z:0.00
[[ 9.99281833e-01  3.78921849e-02  0.00000000e+00  3.02056071e+02]
 [-3.78921849e-02  9.99281833e-01  0.00000000e+00 -1.60250036e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.606066493
Centerline is valid?  [True, True]
Translation: X:302.12, Y:-0.17, Z:0.00
[[ 9.99495276e-01  3.17677972e-02  0.00000000e+00  3.02116323e+02]
 [-3.17677972e-02  9.99495276e-01  0.00000000e+00 -1.72316198e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.666066493
Centerline is valid?  [True, True]
Translation: X:302.18, Y:-0.18, Z:0.00
[[ 9.99681290e-01  2.52451562e-02  0.00000000e+00  3.02176271e+02]
 [-2.52451562e-02  9.99681290e-01  0.00000000e+00 -1.84580889e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.726066493
Centerline is valid?  [True, True]
Translation: X:302.24, Y:-0.20, Z:0.00
[[ 9.99812683e-01  1.93545736e-02  0.00000000e+00  3.02236441e+02]
 [-1.93545736e-02  9.99812683e-01  0.00000000e+00 -2.04362587e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.786066493
Centerline is valid?  [True, True]
Translation: X:302.29, Y:-0.21, Z:0.00
[[ 9.99890573e-01  1.47933241e-02  0.00000000e+00  3.02294809e+02]
 [-1.47933241e-02  9.99890573e-01  0.00000000e+00 -2.14726480e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.846066493
Centerline is valid?  [True, True]
Translation: X:302.35, Y:-0.23, Z:0.00
[[ 9.99965361e-01  8.32326325e-03  0.00000000e+00  3.02353781e+02]
 [-8.32326325e-03  9.99965361e-01  0.00000000e+00 -2.30004951e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.906066493
Centerline is valid?  [True, True]
Translation: X:302.41, Y:-0.24, Z:0.00
[[ 9.99999927e-01 -3.81909073e-04  0.00000000e+00  3.02413278e+02]
 [ 3.81909073e-04  9.99999927e-01  0.00000000e+00 -2.35702106e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.966066493
Centerline is valid?  [True, True]
Translation: X:302.47, Y:-0.24, Z:0.00
[[ 9.99924493e-01 -1.22885427e-02  0.00000000e+00  3.02473738e+02]
 [ 1.22885427e-02  9.99924493e-01  0.00000000e+00 -2.44069378e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.02606649300003
Centerline is valid?  [True, True]
Translation: X:302.53, Y:-0.25, Z:0.00
[[ 9.99648728e-01 -2.65032033e-02  0.00000000e+00  3.02534286e+02]
 [ 2.65032033e-02  9.99648728e-01  0.00000000e+00 -2.46209541e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.08606649300003
Centerline is valid?  [True, True]
Translation: X:302.60, Y:-0.25, Z:0.00
[[ 9.99579668e-01 -2.89911461e-02  0.00000000e+00  3.02596916e+02]
 [ 2.89911461e-02  9.99579668e-01  0.00000000e+00 -2.52003262e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.14606649300003
Centerline is valid?  [True, True]
Translation: X:302.66, Y:-0.25, Z:0.00
[[ 9.99544697e-01 -3.01728090e-02  0.00000000e+00  3.02659066e+02]
 [ 3.01728090e-02  9.99544697e-01  0.00000000e+00 -2.52610120e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 301.20606649300004
Centerline is valid?  [True, True]
Translation: X:302.72, Y:-0.25, Z:0.00
[[ 9.99467937e-01 -3.26166127e-02  0.00000000e+00  3.02720633e+02]
 [ 3.26166127e-02  9.99467937e-01  0.00000000e+00 -2.47192956e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.26606649300004
Centerline is valid?  [True, True]
Translation: X:302.78, Y:-0.24, Z:0.00
[[ 9.99455144e-01 -3.30062886e-02  0.00000000e+00  3.02782632e+02]
 [ 3.30062886e-02  9.99455144e-01  0.00000000e+00 -2.42671752e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.32606649300004
Centerline is valid?  [True, True]
Translation: X:302.84, Y:-0.24, Z:0.00
[[ 9.99343436e-01 -3.62311668e-02  0.00000000e+00  3.02842643e+02]
 [ 3.62311668e-02  9.99343436e-01  0.00000000e+00 -2.35509500e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.386066493
Centerline is valid?  [True, True]
Translation: X:302.90, Y:-0.23, Z:0.00
[[ 9.99056615e-01 -4.34267193e-02  0.00000000e+00  3.02904113e+02]
 [ 4.34267193e-02  9.99056615e-01  0.00000000e+00 -2.25644876e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.446066493
Centerline is valid?  [True, True]
Translation: X:302.97, Y:-0.22, Z:0.00
[[ 9.98828986e-01 -4.83803240e-02  0.00000000e+00  3.02965447e+02]
 [ 4.83803240e-02  9.98828986e-01  0.00000000e+00 -2.20819943e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.506066493
Centerline is valid?  [True, True]
Translation: X:303.03, Y:-0.21, Z:0.00
[[ 9.98481188e-01 -5.50937044e-02  0.00000000e+00  3.03025364e+02]
 [ 5.50937044e-02  9.98481188e-01  0.00000000e+00 -2.07881151e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.566066493
Centerline is valid?  [True, True]
Translation: X:303.09, Y:-0.20, Z:0.00
[[ 9.98366726e-01 -5.71303729e-02  0.00000000e+00  3.03087575e+02]
 [ 5.71303729e-02  9.98366726e-01  0.00000000e+00 -1.97244079e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.626066493
Centerline is valid?  [True, True]
Translation: X:303.15, Y:-0.19, Z:0.00
[[ 9.98403028e-01 -5.64924128e-02  0.00000000e+00  3.03150701e+02]
 [ 5.64924128e-02  9.98403028e-01  0.00000000e+00 -1.86657610e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.686066493
Centerline is valid?  [True, True]
Translation: X:303.21, Y:-0.17, Z:0.00
[[ 9.98503181e-01 -5.46936745e-02  0.00000000e+00  3.03211629e+02]
 [ 5.46936745e-02  9.98503181e-01  0.00000000e+00 -1.68133856e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.746066493
Centerline is valid?  [True, True]
Translation: X:303.27, Y:-0.16, Z:0.00
[[ 9.98708025e-01 -5.08161526e-02  0.00000000e+00  3.03272604e+02]
 [ 5.08161526e-02  9.98708025e-01  0.00000000e+00 -1.56347743e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.806066493
Centerline is valid?  [True, True]
Translation: X:303.33, Y:-0.14, Z:0.00
[[ 9.99036393e-01 -4.38894634e-02  0.00000000e+00  3.03333042e+02]
 [ 4.38894634e-02  9.99036393e-01  0.00000000e+00 -1.37243081e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.866066493
Centerline is valid?  [True, True]
Translation: X:303.39, Y:-0.13, Z:0.00
[[ 9.99215003e-01 -3.96153838e-02  0.00000000e+00  3.03394299e+02]
 [ 3.96153838e-02  9.99215003e-01  0.00000000e+00 -1.27529396e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.926066493
Centerline is valid?  [True, True]
Translation: X:303.45, Y:-0.11, Z:0.00
[[ 9.99247178e-01 -3.87953299e-02  0.00000000e+00  3.03454307e+02]
 [ 3.87953299e-02  9.99247178e-01  0.00000000e+00 -1.10403733e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.986066493
Centerline is valid?  [True, True]
Translation: X:303.51, Y:-0.10, Z:0.00
[[ 9.99274006e-01 -3.80980565e-02  0.00000000e+00  3.03514971e+02]
 [ 3.80980565e-02  9.99274006e-01  0.00000000e+00 -9.89066574e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.046066493
Centerline is valid?  [True, True]
Translation: X:303.58, Y:-0.09, Z:0.00
[[ 9.99295152e-01 -3.75392903e-02  0.00000000e+00  3.03575592e+02]
 [ 3.75392903e-02  9.99295152e-01  0.00000000e+00 -9.05269706e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.106066493
Centerline is valid?  [True, True]
Translation: X:303.64, Y:-0.08, Z:0.00
[[ 9.99411113e-01 -3.43136543e-02  0.00000000e+00  3.03635741e+02]
 [ 3.43136543e-02  9.99411113e-01  0.00000000e+00 -7.81122250e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.166066493
Centerline is valid?  [True, True]
Translation: X:303.70, Y:-0.07, Z:0.00
[[ 9.99488246e-01 -3.19882155e-02  0.00000000e+00  3.03697279e+02]
 [ 3.19882155e-02  9.99488246e-01  0.00000000e+00 -7.49698776e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.226066493
Centerline is valid?  [True, True]
Translation: X:303.76, Y:-0.06, Z:0.00
[[ 9.99660028e-01 -2.60735163e-02  0.00000000e+00  3.03757521e+02]
 [ 2.60735163e-02  9.99660028e-01  0.00000000e+00 -6.17338062e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.286066493
Centerline is valid?  [True, True]
Translation: X:303.82, Y:-0.05, Z:0.00
[[ 9.99755851e-01 -2.20961230e-02  0.00000000e+00  3.03819680e+02]
 [ 2.20961230e-02  9.99755851e-01  0.00000000e+00 -5.40165411e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.346066493
Centerline is valid?  [True, True]
Translation: X:303.88, Y:-0.05, Z:0.00
[[ 9.99720016e-01 -2.36620005e-02  0.00000000e+00  3.03881348e+02]
 [ 2.36620005e-02  9.99720016e-01  0.00000000e+00 -4.82343564e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 302.406066493
Centerline is valid?  [True, True]
Translation: X:303.94, Y:-0.04, Z:0.00
[[ 9.99624141e-01 -2.74148834e-02  0.00000000e+00  3.03942486e+02]
 [ 2.74148834e-02  9.99624141e-01  0.00000000e+00 -4.33731124e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.466066493
Centerline is valid?  [True, True]
Translation: X:304.00, Y:-0.04, Z:0.00
[[ 9.99536457e-01 -3.04445460e-02  0.00000000e+00  3.04003192e+02]
 [ 3.04445460e-02  9.99536457e-01  0.00000000e+00 -3.64449710e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.52606649300003
Centerline is valid?  [True, True]
Translation: X:304.06, Y:-0.03, Z:0.00
[[ 9.99451389e-01 -3.31197926e-02  0.00000000e+00  3.04062900e+02]
 [ 3.31197926e-02  9.99451389e-01  0.00000000e+00 -3.06075840e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.58606649300003
Centerline is valid?  [True, True]
Translation: X:304.12, Y:-0.03, Z:0.00
[[ 9.99442556e-01 -3.33852842e-02  0.00000000e+00  3.04124845e+02]
 [ 3.33852842e-02  9.99442556e-01  0.00000000e+00 -2.74969159e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.64606649300003
Centerline is valid?  [True, True]
Translation: X:304.19, Y:-0.02, Z:0.00
[[ 9.99465009e-01 -3.27061992e-02  0.00000000e+00  3.04186337e+02]
 [ 3.27061992e-02  9.99465009e-01  0.00000000e+00 -2.13406983e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.70606649300004
Centerline is valid?  [True, True]
Translation: X:304.25, Y:-0.02, Z:0.00
[[ 9.99536645e-01 -3.04383809e-02  0.00000000e+00  3.04247755e+02]
 [ 3.04383809e-02  9.99536645e-01  0.00000000e+00 -1.69512766e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.76606649300004
Centerline is valid?  [True, True]
Translation: X:304.31, Y:-0.01, Z:0.00
[[ 9.99605102e-01 -2.81005474e-02  0.00000000e+00  3.04309229e+02]
 [ 2.81005474e-02  9.99605102e-01  0.00000000e+00 -1.12734874e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.82606649300004
Centerline is valid?  [True, True]
Translation: X:304.37, Y:-0.01, Z:0.00
[[ 9.99641452e-01 -2.67762617e-02  0.00000000e+00  3.04370494e+02]
 [ 2.67762617e-02  9.99641452e-01  0.00000000e+00 -8.24877876e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.886066493
Centerline is valid?  [True, True]
Translation: X:304.43, Y:-0.01, Z:0.00
[[ 9.99650721e-01 -2.64279518e-02  0.00000000e+00  3.04433030e+02]
 [ 2.64279518e-02  9.99650721e-01  0.00000000e+00 -5.00195984e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.946066493
Centerline is valid?  [True, True]
Translation: X:304.49, Y:0.00, Z:0.00
[[ 9.99683930e-01 -2.51404219e-02  0.00000000e+00  3.04493725e+02]
 [ 2.51404219e-02  9.99683930e-01  0.00000000e+00  4.69381323e-06]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.006066493
Centerline is valid?  [True, True]
Translation: X:304.55, Y:0.00, Z:0.00
[[ 9.99755886e-01 -2.20945428e-02  0.00000000e+00  3.04554785e+02]
 [ 2.20945428e-02  9.99755886e-01  0.00000000e+00  3.58011597e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.066066493
Centerline is valid?  [True, True]
Translation: X:304.62, Y:0.01, Z:0.00
[[ 9.99765794e-01 -2.16415575e-02  0.00000000e+00  3.04616409e+02]
 [ 2.16415575e-02  9.99765794e-01  0.00000000e+00  6.39004898e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.126066493
Centerline is valid?  [True, True]
Translation: X:304.68, Y:0.01, Z:0.00
[[ 9.99755903e-01 -2.20937730e-02  0.00000000e+00  3.04678612e+02]
 [ 2.20937730e-02  9.99755903e-01  0.00000000e+00  7.73397840e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.186066493
Centerline is valid?  [True, True]
Translation: X:304.74, Y:0.01, Z:0.00
[[ 9.99748880e-01 -2.24093214e-02  0.00000000e+00  3.04740883e+02]
 [ 2.24093214e-02  9.99748880e-01  0.00000000e+00  8.22541801e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.246066493
Centerline is valid?  [True, True]
Translation: X:304.80, Y:0.01, Z:0.00
[[ 9.99791906e-01 -2.03996480e-02  0.00000000e+00  3.04800998e+02]
 [ 2.03996480e-02  9.99791906e-01  0.00000000e+00  8.63072927e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.306066493
Centerline is valid?  [True, True]
Translation: X:304.86, Y:0.01, Z:0.00
[[ 9.99780956e-01 -2.09293968e-02  0.00000000e+00  3.04862972e+02]
 [ 2.09293968e-02  9.99780956e-01  0.00000000e+00  8.10624697e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.366066493
Centerline is valid?  [True, True]
Translation: X:304.92, Y:0.01, Z:0.00
[[ 9.99779519e-01 -2.09979522e-02  0.00000000e+00  3.04924075e+02]
 [ 2.09979522e-02  9.99779519e-01  0.00000000e+00  7.80744229e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.426066493
Centerline is valid?  [True, True]
Translation: X:304.99, Y:0.01, Z:0.00
[[ 9.99811741e-01 -1.94031438e-02  0.00000000e+00  3.04986341e+02]
 [ 1.94031438e-02  9.99811741e-01  0.00000000e+00  5.58782983e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.486066493
Centerline is valid?  [True, True]
Translation: X:305.05, Y:0.00, Z:0.00
[[ 9.99810108e-01 -1.94871159e-02  0.00000000e+00  3.05047261e+02]
 [ 1.94871159e-02  9.99810108e-01  0.00000000e+00  3.49083727e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.546066493
Centerline is valid?  [True, True]
Translation: X:305.11, Y:0.00, Z:0.00
[[ 9.99812715e-01 -1.93529178e-02  0.00000000e+00  3.05107808e+02]
 [ 1.93529178e-02  9.99812715e-01  0.00000000e+00  2.80393515e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 303.606066493
Centerline is valid?  [True, True]
Translation: X:305.17, Y:0.00, Z:0.00
[[ 9.99804666e-01 -1.97643369e-02  0.00000000e+00  3.05168712e+02]
 [ 1.97643369e-02  9.99804666e-01  0.00000000e+00  1.87934899e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.666066493
Centerline is valid?  [True, True]
Translation: X:305.23, Y:-0.00, Z:0.00
[[ 9.99835164e-01 -1.81560999e-02  0.00000000e+00  3.05228532e+02]
 [ 1.81560999e-02  9.99835164e-01  0.00000000e+00 -8.99149338e-04]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.726066493
Centerline is valid?  [True, True]
Translation: X:305.29, Y:-0.00, Z:0.00
[[ 9.99911882e-01 -1.32751154e-02  0.00000000e+00  3.05289619e+02]
 [ 1.32751154e-02  9.99911882e-01  0.00000000e+00 -1.81653027e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.786066493
Centerline is valid?  [True, True]
Translation: X:305.35, Y:-0.00, Z:0.00
[[ 9.99970805e-01 -7.64122608e-03  0.00000000e+00  3.05348966e+02]
 [ 7.64122608e-03  9.99970805e-01  0.00000000e+00 -2.74158830e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.846066493
Centerline is valid?  [True, True]
Translation: X:305.41, Y:-0.01, Z:0.00
[[ 9.99999941e-01  3.42812753e-04  0.00000000e+00  3.05410171e+02]
 [-3.42812753e-04  9.99999941e-01  0.00000000e+00 -5.43206603e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.906066493
Centerline is valid?  [True, True]
Translation: X:305.47, Y:-0.01, Z:0.00
[[ 9.99981972e-01  6.00465795e-03  0.00000000e+00  3.05470206e+02]
 [-6.00465795e-03  9.99981972e-01  0.00000000e+00 -7.96643331e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.966066493
Centerline is valid?  [True, True]
Translation: X:305.53, Y:-0.01, Z:0.00
[[ 9.99831122e-01  1.83773479e-02  0.00000000e+00  3.05529126e+02]
 [-1.83773479e-02  9.99831122e-01  0.00000000e+00 -9.88564741e-03]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.02606649300003
Centerline is valid?  [True, True]
Translation: X:305.59, Y:-0.01, Z:0.00
[[ 9.99752379e-01  2.22526572e-02  0.00000000e+00  3.05587932e+02]
 [-2.22526572e-02  9.99752379e-01  0.00000000e+00 -1.13775717e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.08606649300003
Centerline is valid?  [True, True]
Translation: X:305.65, Y:-0.01, Z:0.00
[[ 9.99534970e-01  3.04933333e-02  0.00000000e+00  3.05646977e+02]
 [-3.04933333e-02  9.99534970e-01  0.00000000e+00 -1.46474263e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.14606649300003
Centerline is valid?  [True, True]
Translation: X:305.71, Y:-0.02, Z:0.00
[[ 9.99271561e-01  3.81621167e-02  0.00000000e+00  3.05707366e+02]
 [-3.81621167e-02  9.99271561e-01  0.00000000e+00 -2.15230154e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.20606649300004
Centerline is valid?  [True, True]
Translation: X:305.77, Y:-0.03, Z:0.00
[[ 9.99203559e-01  3.99029823e-02  0.00000000e+00  3.05766283e+02]
 [-3.99029823e-02  9.99203559e-01  0.00000000e+00 -2.90127483e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.26606649300004
Centerline is valid?  [True, True]
Translation: X:305.82, Y:-0.04, Z:0.00
[[ 9.99356624e-01  3.58655470e-02  0.00000000e+00  3.05824927e+02]
 [-3.58655470e-02  9.99356624e-01  0.00000000e+00 -4.19134760e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.32606649300004
Centerline is valid?  [True, True]
Translation: X:305.88, Y:-0.05, Z:0.00
[[ 9.99549232e-01  3.00221938e-02  0.00000000e+00  3.05884477e+02]
 [-3.00221938e-02  9.99549232e-01  0.00000000e+00 -5.22765967e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.38606649300004
Centerline is valid?  [True, True]
Translation: X:305.94, Y:-0.07, Z:0.00
[[ 9.99867020e-01  1.63077160e-02  0.00000000e+00  3.05944634e+02]
 [-1.63077160e-02  9.99867020e-01  0.00000000e+00 -6.79955376e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.446066493
Centerline is valid?  [True, True]
Translation: X:306.00, Y:-0.08, Z:0.00
[[ 9.99999996e-01  8.64006839e-05  0.00000000e+00  3.06002625e+02]
 [-8.64006839e-05  9.99999996e-01  0.00000000e+00 -8.32824000e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.506066493
Centerline is valid?  [True, True]
Translation: X:306.06, Y:-0.09, Z:0.00
[[ 9.99960759e-01 -8.85890194e-03  0.00000000e+00  3.06063061e+02]
 [ 8.85890194e-03  9.99960759e-01  0.00000000e+00 -9.16109259e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.566066493
Centerline is valid?  [True, True]
Translation: X:306.12, Y:-0.10, Z:0.00
[[ 9.99911540e-01 -1.33008002e-02  0.00000000e+00  3.06121999e+02]
 [ 1.33008002e-02  9.99911540e-01  0.00000000e+00 -1.02601386e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.626066493
Centerline is valid?  [True, True]
Translation: X:306.18, Y:-0.11, Z:0.00
[[ 9.99949048e-01 -1.00945983e-02  0.00000000e+00  3.06183448e+02]
 [ 1.00945983e-02  9.99949048e-01  0.00000000e+00 -1.05582369e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.686066493
Centerline is valid?  [True, True]
Translation: X:306.24, Y:-0.11, Z:0.00
[[ 9.99999668e-01  8.14406681e-04  0.00000000e+00  3.06242935e+02]
 [-8.14406681e-04  9.99999668e-01  0.00000000e+00 -1.10143295e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.746066493
Centerline is valid?  [True, True]
Translation: X:306.30, Y:-0.11, Z:0.00
[[ 9.99973874e-01  7.22856080e-03  0.00000000e+00  3.06302591e+02]
 [-7.22856080e-03  9.99973874e-01  0.00000000e+00 -1.10790163e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 304.806066493
Centerline is valid?  [True, True]
Translation: X:306.36, Y:-0.12, Z:0.00
[[ 9.99893612e-01  1.45864824e-02  0.00000000e+00  3.06362647e+02]
 [-1.45864824e-02  9.99893612e-01  0.00000000e+00 -1.15486928e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.866066493
Centerline is valid?  [True, True]
Translation: X:306.42, Y:-0.12, Z:0.00
[[ 9.99882976e-01  1.52981831e-02  0.00000000e+00  3.06421652e+02]
 [-1.52981831e-02  9.99882976e-01  0.00000000e+00 -1.19152409e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.926066493
Centerline is valid?  [True, True]
Translation: X:306.48, Y:-0.12, Z:0.00
[[ 9.99982538e-01  5.90968557e-03  0.00000000e+00  3.06479543e+02]
 [-5.90968557e-03  9.99982538e-01  0.00000000e+00 -1.22935296e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.986066493
Centerline is valid?  [True, True]
Translation: X:306.54, Y:-0.13, Z:0.00
[[ 9.99989838e-01 -4.50809252e-03  0.00000000e+00  3.06540050e+02]
 [ 4.50809252e-03  9.99989838e-01  0.00000000e+00 -1.28162114e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.046066493
Centerline is valid?  [True, True]
Translation: X:306.60, Y:-0.13, Z:0.00
[[ 9.99757471e-01 -2.20226966e-02  0.00000000e+00  3.06600733e+02]
 [ 2.20226966e-02  9.99757471e-01  0.00000000e+00 -1.34848283e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.106066493
Centerline is valid?  [True, True]
Translation: X:306.66, Y:-0.14, Z:0.00
[[ 9.99464009e-01 -3.27367439e-02  0.00000000e+00  3.06661721e+02]
 [ 3.27367439e-02  9.99464009e-01  0.00000000e+00 -1.36650101e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.166066493
Centerline is valid?  [True, True]
Translation: X:306.72, Y:-0.14, Z:0.00
[[ 9.98872037e-01 -4.74831875e-02  0.00000000e+00  3.06721681e+02]
 [ 4.74831875e-02  9.98872037e-01  0.00000000e+00 -1.35975390e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.226066493
Centerline is valid?  [True, True]
Translation: X:306.78, Y:-0.13, Z:0.00
[[ 9.98620119e-01 -5.25153199e-02  0.00000000e+00  3.06782405e+02]
 [ 5.25153199e-02  9.98620119e-01  0.00000000e+00 -1.33040653e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.286066493
Centerline is valid?  [True, True]
Translation: X:306.84, Y:-0.13, Z:0.00
[[ 9.98795702e-01 -4.90626644e-02  0.00000000e+00  3.06843121e+02]
 [ 4.90626644e-02  9.98795702e-01  0.00000000e+00 -1.27399130e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.346066493
Centerline is valid?  [True, True]
Translation: X:306.90, Y:-0.12, Z:0.00
[[ 9.99286160e-01 -3.77779034e-02  0.00000000e+00  3.06904071e+02]
 [ 3.77779034e-02  9.99286160e-01  0.00000000e+00 -1.17507856e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.406066493
Centerline is valid?  [True, True]
Translation: X:306.96, Y:-0.11, Z:0.00
[[ 9.99594562e-01 -2.84730101e-02  0.00000000e+00  3.06964030e+02]
 [ 2.84730101e-02  9.99594562e-01  0.00000000e+00 -1.12519230e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.466066493
Centerline is valid?  [True, True]
Translation: X:307.03, Y:-0.10, Z:0.00
[[ 9.99898044e-01 -1.42794456e-02  0.00000000e+00  3.07025215e+02]
 [ 1.42794456e-02  9.99898044e-01  0.00000000e+00 -1.04589765e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.52606649300003
Centerline is valid?  [True, True]
Translation: X:307.09, Y:-0.10, Z:0.00
[[ 9.99984382e-01 -5.58889670e-03  0.00000000e+00  3.07085489e+02]
 [ 5.58889670e-03  9.99984382e-01  0.00000000e+00 -1.04982187e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.58606649300003
Centerline is valid?  [True, True]
Translation: X:307.15, Y:-0.10, Z:0.00
[[ 9.99990986e-01  4.24588987e-03  0.00000000e+00  3.07146245e+02]
 [-4.24588987e-03  9.99990986e-01  0.00000000e+00 -9.50229016e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.64606649300003
Centerline is valid?  [True, True]
Translation: X:307.21, Y:-0.09, Z:0.00
[[ 9.99933645e-01  1.15197881e-02  0.00000000e+00  3.07205359e+02]
 [-1.15197881e-02  9.99933645e-01  0.00000000e+00 -9.16921827e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.70606649300004
Centerline is valid?  [True, True]
Translation: X:307.27, Y:-0.09, Z:0.00
[[ 9.99859630e-01  1.67547383e-02  0.00000000e+00  3.07265333e+02]
 [-1.67547383e-02  9.99859630e-01  0.00000000e+00 -9.08966998e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.76606649300004
Centerline is valid?  [True, True]
Translation: X:307.32, Y:-0.09, Z:0.00
[[ 9.99874721e-01  1.58285392e-02  0.00000000e+00  3.07323217e+02]
 [-1.58285392e-02  9.99874721e-01  0.00000000e+00 -9.19625430e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.82606649300004
Centerline is valid?  [True, True]
Translation: X:307.38, Y:-0.09, Z:0.00
[[ 9.99958410e-01  9.12023787e-03  0.00000000e+00  3.07381699e+02]
 [-9.12023787e-03  9.99958410e-01  0.00000000e+00 -9.31261622e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.88606649300004
Centerline is valid?  [True, True]
Translation: X:307.44, Y:-0.10, Z:0.00
[[ 9.99985641e-01  5.35898312e-03  0.00000000e+00  3.07441657e+02]
 [-5.35898312e-03  9.99985641e-01  0.00000000e+00 -9.78449448e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.946066493
Centerline is valid?  [True, True]
Translation: X:307.50, Y:-0.10, Z:0.00
[[ 9.99999918e-01 -4.04910326e-04  0.00000000e+00  3.07500866e+02]
 [ 4.04910326e-04  9.99999918e-01  0.00000000e+00 -1.01082758e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 306.006066493
Centerline is valid?  [True, True]
Translation: X:307.56, Y:-0.11, Z:0.00
[[ 9.99991241e-01 -4.18550804e-03  0.00000000e+00  3.07560536e+02]
 [ 4.18550804e-03  9.99991241e-01  0.00000000e+00 -1.05160572e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.066066493
Centerline is valid?  [True, True]
Translation: X:307.62, Y:-0.11, Z:0.00
[[ 9.99946813e-01 -1.03136593e-02  0.00000000e+00  3.07622511e+02]
 [ 1.03136593e-02  9.99946813e-01  0.00000000e+00 -1.12649016e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.126066493
Centerline is valid?  [True, True]
Translation: X:307.68, Y:-0.11, Z:0.00
[[ 9.99876745e-01 -1.57001616e-02  0.00000000e+00  3.07682685e+02]
 [ 1.57001616e-02  9.99876745e-01  0.00000000e+00 -1.13695658e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.186066493
Centerline is valid?  [True, True]
Translation: X:307.74, Y:-0.12, Z:0.00
[[ 9.99766857e-01 -2.15924127e-02  0.00000000e+00  3.07742736e+02]
 [ 2.15924127e-02  9.99766857e-01  0.00000000e+00 -1.18431819e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.246066493
Centerline is valid?  [True, True]
Translation: X:307.80, Y:-0.12, Z:0.00
[[ 9.99672098e-01 -2.56065613e-02  0.00000000e+00  3.07804276e+02]
 [ 2.56065613e-02  9.99672098e-01  0.00000000e+00 -1.19540593e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.306066493
Centerline is valid?  [True, True]
Translation: X:307.86, Y:-0.12, Z:0.00
[[ 9.99528983e-01 -3.06889457e-02  0.00000000e+00  3.07864661e+02]
 [ 3.06889457e-02  9.99528983e-01  0.00000000e+00 -1.22612034e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.366066493
Centerline is valid?  [True, True]
Translation: X:307.92, Y:-0.12, Z:0.00
[[ 9.99455868e-01 -3.29843506e-02  0.00000000e+00  3.07924778e+02]
 [ 3.29843506e-02  9.99455868e-01  0.00000000e+00 -1.23202942e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.426066493
Centerline is valid?  [True, True]
Translation: X:307.98, Y:-0.12, Z:0.00
[[ 9.99237365e-01 -3.90472585e-02  0.00000000e+00  3.07984179e+02]
 [ 3.90472585e-02  9.99237365e-01  0.00000000e+00 -1.16903524e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.486066493
Centerline is valid?  [True, True]
Translation: X:308.05, Y:-0.12, Z:0.00
[[ 9.99210958e-01 -3.97172667e-02  0.00000000e+00  3.08047821e+02]
 [ 3.97172667e-02  9.99210958e-01  0.00000000e+00 -1.16357327e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.546066493
Centerline is valid?  [True, True]
Translation: X:308.11, Y:-0.11, Z:0.00
[[ 9.99285701e-01 -3.77900556e-02  0.00000000e+00  3.08109401e+02]
 [ 3.77900556e-02  9.99285701e-01  0.00000000e+00 -1.10111581e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.606066493
Centerline is valid?  [True, True]
Translation: X:308.17, Y:-0.11, Z:0.00
[[ 9.99441636e-01 -3.34128012e-02  0.00000000e+00  3.08170080e+02]
 [ 3.34128012e-02  9.99441636e-01  0.00000000e+00 -1.06992475e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.666066493
Centerline is valid?  [True, True]
Translation: X:308.23, Y:-0.10, Z:0.00
[[ 9.99576268e-01 -2.91081362e-02  0.00000000e+00  3.08229688e+02]
 [ 2.91081362e-02  9.99576268e-01  0.00000000e+00 -1.03473187e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.726066493
Centerline is valid?  [True, True]
Translation: X:308.29, Y:-0.10, Z:0.00
[[ 9.99729359e-01 -2.32638885e-02  0.00000000e+00  3.08289485e+02]
 [ 2.32638885e-02  9.99729359e-01  0.00000000e+00 -9.79293778e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.786066493
Centerline is valid?  [True, True]
Translation: X:308.35, Y:-0.10, Z:0.00
[[ 9.99821157e-01 -1.89117651e-02  0.00000000e+00  3.08349939e+02]
 [ 1.89117651e-02  9.99821157e-01  0.00000000e+00 -9.51317055e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.846066493
Centerline is valid?  [True, True]
Translation: X:308.41, Y:-0.09, Z:0.00
[[ 9.99887042e-01 -1.50300592e-02  0.00000000e+00  3.08411570e+02]
 [ 1.50300592e-02  9.99887042e-01  0.00000000e+00 -8.98288946e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.906066493
Centerline is valid?  [True, True]
Translation: X:308.47, Y:-0.09, Z:0.00
[[ 9.99909029e-01 -1.34882718e-02  0.00000000e+00  3.08474637e+02]
 [ 1.34882718e-02  9.99909029e-01  0.00000000e+00 -8.82447872e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.966066493
Centerline is valid?  [True, True]
Translation: X:308.54, Y:-0.09, Z:0.00
[[ 9.99875444e-01 -1.57828215e-02  0.00000000e+00  3.08535747e+02]
 [ 1.57828215e-02  9.99875444e-01  0.00000000e+00 -8.59818540e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.02606649300003
Centerline is valid?  [True, True]
Translation: X:308.60, Y:-0.09, Z:0.00
[[ 9.99788452e-01 -2.05682235e-02  0.00000000e+00  3.08597953e+02]
 [ 2.05682235e-02  9.99788452e-01  0.00000000e+00 -8.68009726e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.08606649300003
Centerline is valid?  [True, True]
Translation: X:308.66, Y:-0.09, Z:0.00
[[ 9.99466912e-01 -3.26480119e-02  0.00000000e+00  3.08657135e+02]
 [ 3.26480119e-02  9.99466912e-01  0.00000000e+00 -8.57174992e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.14606649300003
Centerline is valid?  [True, True]
Translation: X:308.72, Y:-0.08, Z:0.00
[[ 9.99298841e-01 -3.74409718e-02  0.00000000e+00  3.08716422e+02]
 [ 3.74409718e-02  9.99298841e-01  0.00000000e+00 -8.43004881e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 307.20606649300004
Centerline is valid?  [True, True]
Translation: X:308.78, Y:-0.08, Z:0.00
[[ 9.99276611e-01 -3.80296510e-02  0.00000000e+00  3.08778654e+02]
 [ 3.80296510e-02  9.99276611e-01  0.00000000e+00 -8.01506560e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.26606649300004
Centerline is valid?  [True, True]
Translation: X:308.84, Y:-0.08, Z:0.00
[[ 9.99271025e-01 -3.81761452e-02  0.00000000e+00  3.08840471e+02]
 [ 3.81761452e-02  9.99271025e-01  0.00000000e+00 -7.71418448e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.32606649300004
Centerline is valid?  [True, True]
Translation: X:308.90, Y:-0.07, Z:0.00
[[ 9.99383719e-01 -3.51024580e-02  0.00000000e+00  3.08900648e+02]
 [ 3.51024580e-02  9.99383719e-01  0.00000000e+00 -7.42897702e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.38606649300004
Centerline is valid?  [True, True]
Translation: X:308.96, Y:-0.07, Z:0.00
[[ 9.99385932e-01 -3.50393881e-02  0.00000000e+00  3.08960805e+02]
 [ 3.50393881e-02  9.99385932e-01  0.00000000e+00 -7.16367361e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.446066493
Centerline is valid?  [True, True]
Translation: X:309.02, Y:-0.07, Z:0.00
[[ 9.99491889e-01 -3.18741837e-02  0.00000000e+00  3.09021638e+02]
 [ 3.18741837e-02  9.99491889e-01  0.00000000e+00 -6.73512510e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.506066493
Centerline is valid?  [True, True]
Translation: X:309.08, Y:-0.06, Z:0.00
[[ 9.99670293e-01 -2.56769551e-02  0.00000000e+00  3.09082154e+02]
 [ 2.56769551e-02  9.99670293e-01  0.00000000e+00 -6.33691691e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.566066493
Centerline is valid?  [True, True]
Translation: X:309.14, Y:-0.06, Z:0.00
[[ 9.99819601e-01 -1.89938085e-02  0.00000000e+00  3.09142898e+02]
 [ 1.89938085e-02  9.99819601e-01  0.00000000e+00 -6.14100800e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.626066493
Centerline is valid?  [True, True]
Translation: X:309.20, Y:-0.06, Z:0.00
[[ 9.99942474e-01 -1.07260384e-02  0.00000000e+00  3.09203150e+02]
 [ 1.07260384e-02  9.99942474e-01  0.00000000e+00 -5.70379952e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.686066493
Centerline is valid?  [True, True]
Translation: X:309.26, Y:-0.05, Z:0.00
[[ 9.99988448e-01 -4.80668387e-03  0.00000000e+00  3.09264047e+02]
 [ 4.80668387e-03  9.99988448e-01  0.00000000e+00 -5.43895586e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.746066493
Centerline is valid?  [True, True]
Translation: X:309.32, Y:-0.05, Z:0.00
[[ 9.99986229e-01  5.24808023e-03  0.00000000e+00  3.09324483e+02]
 [-5.24808023e-03  9.99986229e-01  0.00000000e+00 -5.32522937e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.806066493
Centerline is valid?  [True, True]
Translation: X:309.38, Y:-0.05, Z:0.00
[[ 9.99973692e-01  7.25357436e-03  0.00000000e+00  3.09383909e+02]
 [-7.25357436e-03  9.99973692e-01  0.00000000e+00 -5.35027981e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.866066493
Centerline is valid?  [True, True]
Translation: X:309.44, Y:-0.06, Z:0.00
[[ 9.99881240e-01  1.54112524e-02  0.00000000e+00  3.09442496e+02]
 [-1.54112524e-02  9.99881240e-01  0.00000000e+00 -5.52214580e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.926066493
Centerline is valid?  [True, True]
Translation: X:309.50, Y:-0.06, Z:0.00
[[ 9.99832343e-01  1.83108292e-02  0.00000000e+00  3.09501809e+02]
 [-1.83108292e-02  9.99832343e-01  0.00000000e+00 -5.88619100e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.986066493
Centerline is valid?  [True, True]
Translation: X:309.56, Y:-0.07, Z:0.00
[[ 9.99675712e-01  2.54650948e-02  0.00000000e+00  3.09561461e+02]
 [-2.54650948e-02  9.99675712e-01  0.00000000e+00 -6.50370138e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.046066493
Centerline is valid?  [True, True]
Translation: X:309.62, Y:-0.07, Z:0.00
[[ 9.99580331e-01  2.89682838e-02  0.00000000e+00  3.09621386e+02]
 [-2.89682838e-02  9.99580331e-01  0.00000000e+00 -7.26404374e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.106066493
Centerline is valid?  [True, True]
Translation: X:309.68, Y:-0.08, Z:0.00
[[ 9.99547709e-01  3.00728778e-02  0.00000000e+00  3.09681553e+02]
 [-3.00728778e-02  9.99547709e-01  0.00000000e+00 -8.49795689e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.166066493
Centerline is valid?  [True, True]
Translation: X:309.74, Y:-0.10, Z:0.00
[[ 9.99599176e-01  2.83105472e-02  0.00000000e+00  3.09740604e+02]
 [-2.83105472e-02  9.99599176e-01  0.00000000e+00 -1.04761717e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.226066493
Centerline is valid?  [True, True]
Translation: X:309.80, Y:-0.11, Z:0.00
[[ 9.99734953e-01  2.30222634e-02  0.00000000e+00  3.09800517e+02]
 [-2.30222634e-02  9.99734953e-01  0.00000000e+00 -1.13584573e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.286066493
Centerline is valid?  [True, True]
Translation: X:309.86, Y:-0.13, Z:0.00
[[ 9.99918138e-01  1.27951987e-02  0.00000000e+00  3.09860665e+02]
 [-1.27951987e-02  9.99918138e-01  0.00000000e+00 -1.26625294e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.346066493
Centerline is valid?  [True, True]
Translation: X:309.92, Y:-0.13, Z:0.00
[[ 9.99968384e-01  7.95183931e-03  0.00000000e+00  3.09919492e+02]
 [-7.95183931e-03  9.99968384e-01  0.00000000e+00 -1.33157380e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 308.406066493
Centerline is valid?  [True, True]
Translation: X:309.98, Y:-0.15, Z:0.00
[[ 9.99980777e-01  6.20039778e-03  0.00000000e+00  3.09977388e+02]
 [-6.20039778e-03  9.99980777e-01  0.00000000e+00 -1.47053968e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.466066493
Centerline is valid?  [True, True]
Translation: X:310.04, Y:-0.15, Z:0.00
[[ 9.99965758e-01  8.27542310e-03  0.00000000e+00  3.10037602e+02]
 [-8.27542310e-03  9.99965758e-01  0.00000000e+00 -1.54410776e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.52606649300003
Centerline is valid?  [True, True]
Translation: X:310.09, Y:-0.16, Z:0.00
[[ 9.99946035e-01  1.03888247e-02  0.00000000e+00  3.10094507e+02]
 [-1.03888247e-02  9.99946035e-01  0.00000000e+00 -1.61742662e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.58606649300003
Centerline is valid?  [True, True]
Translation: X:310.15, Y:-0.17, Z:0.00
[[ 9.99869553e-01  1.61516851e-02  0.00000000e+00  3.10154109e+02]
 [-1.61516851e-02  9.99869553e-01  0.00000000e+00 -1.71302847e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.64606649300003
Centerline is valid?  [True, True]
Translation: X:310.21, Y:-0.18, Z:0.00
[[ 9.99815981e-01  1.91834405e-02  0.00000000e+00  3.10212355e+02]
 [-1.91834405e-02  9.99815981e-01  0.00000000e+00 -1.75665582e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.70606649300004
Centerline is valid?  [True, True]
Translation: X:310.27, Y:-0.18, Z:0.00
[[ 9.99678530e-01  2.53542074e-02  0.00000000e+00  3.10271994e+02]
 [-2.53542074e-02  9.99678530e-01  0.00000000e+00 -1.84444434e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.76606649300004
Centerline is valid?  [True, True]
Translation: X:310.33, Y:-0.19, Z:0.00
[[ 9.99597472e-01  2.83706400e-02  0.00000000e+00  3.10329615e+02]
 [-2.83706400e-02  9.99597472e-01  0.00000000e+00 -1.93497276e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.82606649300004
Centerline is valid?  [True, True]
Translation: X:310.39, Y:-0.20, Z:0.00
[[ 9.99569753e-01  2.93310361e-02  0.00000000e+00  3.10387257e+02]
 [-2.93310361e-02  9.99569753e-01  0.00000000e+00 -2.02791551e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.88606649300004
Centerline is valid?  [True, True]
Translation: X:310.45, Y:-0.21, Z:0.00
[[ 9.99565554e-01  2.94737668e-02  0.00000000e+00  3.10447094e+02]
 [-2.94737668e-02  9.99565554e-01  0.00000000e+00 -2.11860308e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.946066493
Centerline is valid?  [True, True]
Translation: X:310.51, Y:-0.22, Z:0.00
[[ 9.99711315e-01  2.40267746e-02  0.00000000e+00  3.10505129e+02]
 [-2.40267746e-02  9.99711315e-01  0.00000000e+00 -2.22204953e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.006066493
Centerline is valid?  [True, True]
Translation: X:310.57, Y:-0.23, Z:0.00
[[ 9.99791290e-01  2.04297881e-02  0.00000000e+00  3.10565409e+02]
 [-2.04297881e-02  9.99791290e-01  0.00000000e+00 -2.30602479e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.066066493
Centerline is valid?  [True, True]
Translation: X:310.62, Y:-0.24, Z:0.00
[[ 9.99934155e-01  1.14754359e-02  0.00000000e+00  3.10624565e+02]
 [-1.14754359e-02  9.99934155e-01  0.00000000e+00 -2.38930438e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.126066493
Centerline is valid?  [True, True]
Translation: X:310.68, Y:-0.25, Z:0.00
[[ 9.99992828e-01  3.78725870e-03  0.00000000e+00  3.10682884e+02]
 [-3.78725870e-03  9.99992828e-01  0.00000000e+00 -2.46131759e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.186066493
Centerline is valid?  [True, True]
Translation: X:310.74, Y:-0.26, Z:0.00
[[ 9.99926396e-01 -1.21327041e-02  0.00000000e+00  3.10743327e+02]
 [ 1.21327041e-02  9.99926396e-01  0.00000000e+00 -2.56001282e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.246066493
Centerline is valid?  [True, True]
Translation: X:310.80, Y:-0.26, Z:0.00
[[ 9.99528156e-01 -3.07158847e-02  0.00000000e+00  3.10802880e+02]
 [ 3.07158847e-02  9.99528156e-01  0.00000000e+00 -2.61962277e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.306066493
Centerline is valid?  [True, True]
Translation: X:310.86, Y:-0.26, Z:0.00
[[ 9.99231707e-01 -3.91917764e-02  0.00000000e+00  3.10862691e+02]
 [ 3.91917764e-02  9.99231707e-01  0.00000000e+00 -2.62863053e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.366066493
Centerline is valid?  [True, True]
Translation: X:310.92, Y:-0.26, Z:0.00
[[ 9.99130159e-01 -4.17004190e-02  0.00000000e+00  3.10924787e+02]
 [ 4.17004190e-02  9.99130159e-01  0.00000000e+00 -2.60112586e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.426066493
Centerline is valid?  [True, True]
Translation: X:310.98, Y:-0.26, Z:0.00
[[ 9.99273768e-01 -3.81042944e-02  0.00000000e+00  3.10984292e+02]
 [ 3.81042944e-02  9.99273768e-01  0.00000000e+00 -2.59226723e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.486066493
Centerline is valid?  [True, True]
Translation: X:311.04, Y:-0.25, Z:0.00
[[ 9.99480072e-01 -3.22425960e-02  0.00000000e+00  3.11043693e+02]
 [ 3.22425960e-02  9.99480072e-01  0.00000000e+00 -2.51244966e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.546066493
Centerline is valid?  [True, True]
Translation: X:311.10, Y:-0.24, Z:0.00
[[ 9.99685671e-01 -2.50710790e-02  0.00000000e+00  3.11103972e+02]
 [ 2.50710790e-02  9.99685671e-01  0.00000000e+00 -2.40866242e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 309.606066493
Centerline is valid?  [True, True]
Translation: X:311.16, Y:-0.24, Z:0.00
[[ 9.99717913e-01 -2.37506644e-02  0.00000000e+00  3.11164615e+02]
 [ 2.37506644e-02  9.99717913e-01  0.00000000e+00 -2.35544972e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.666066493
Centerline is valid?  [True, True]
Translation: X:311.23, Y:-0.23, Z:0.00
[[ 9.99708425e-01 -2.41467418e-02  0.00000000e+00  3.11226856e+02]
 [ 2.41467418e-02  9.99708425e-01  0.00000000e+00 -2.26294705e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.726066493
Centerline is valid?  [True, True]
Translation: X:311.29, Y:-0.22, Z:0.00
[[ 9.99593472e-01 -2.85112353e-02  0.00000000e+00  3.11286237e+02]
 [ 2.85112353e-02  9.99593472e-01  0.00000000e+00 -2.20348720e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.786066493
Centerline is valid?  [True, True]
Translation: X:311.35, Y:-0.22, Z:0.00
[[ 9.99527312e-01 -3.07433184e-02  0.00000000e+00  3.11347527e+02]
 [ 3.07433184e-02  9.99527312e-01  0.00000000e+00 -2.19979685e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.846066493
Centerline is valid?  [True, True]
Translation: X:311.41, Y:-0.21, Z:0.00
[[ 9.99187493e-01 -4.03032793e-02  0.00000000e+00  3.11408398e+02]
 [ 4.03032793e-02  9.99187493e-01  0.00000000e+00 -2.12891136e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.906066493
Centerline is valid?  [True, True]
Translation: X:311.47, Y:-0.20, Z:0.00
[[ 9.99061365e-01 -4.33173061e-02  0.00000000e+00  3.11469572e+02]
 [ 4.33173061e-02  9.99061365e-01  0.00000000e+00 -2.04333764e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.966066493
Centerline is valid?  [True, True]
Translation: X:311.53, Y:-0.20, Z:0.00
[[ 9.99147504e-01 -4.12827478e-02  0.00000000e+00  3.11532086e+02]
 [ 4.12827478e-02  9.99147504e-01  0.00000000e+00 -1.98862281e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.02606649300003
Centerline is valid?  [True, True]
Translation: X:311.59, Y:-0.19, Z:0.00
[[ 9.99374030e-01 -3.53772223e-02  0.00000000e+00  3.11591921e+02]
 [ 3.53772223e-02  9.99374030e-01  0.00000000e+00 -1.88707178e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.08606649300003
Centerline is valid?  [True, True]
Translation: X:311.65, Y:-0.18, Z:0.00
[[ 9.99524105e-01 -3.08474296e-02  0.00000000e+00  3.11652807e+02]
 [ 3.08474296e-02  9.99524105e-01  0.00000000e+00 -1.83210680e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.14606649300003
Centerline is valid?  [True, True]
Translation: X:311.71, Y:-0.18, Z:0.00
[[ 9.99647621e-01 -2.65449556e-02  0.00000000e+00  3.11713956e+02]
 [ 2.65449556e-02  9.99647621e-01  0.00000000e+00 -1.75413510e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.20606649300004
Centerline is valid?  [True, True]
Translation: X:311.78, Y:-0.17, Z:0.00
[[ 9.99678510e-01 -2.53550268e-02  0.00000000e+00  3.11776421e+02]
 [ 2.53550268e-02  9.99678510e-01  0.00000000e+00 -1.67813365e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.26606649300004
Centerline is valid?  [True, True]
Translation: X:311.84, Y:-0.16, Z:0.00
[[ 9.99633942e-01 -2.70551724e-02  0.00000000e+00  3.11837545e+02]
 [ 2.70551724e-02  9.99633942e-01  0.00000000e+00 -1.58984984e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.32606649300004
Centerline is valid?  [True, True]
Translation: X:311.90, Y:-0.15, Z:0.00
[[ 9.99413732e-01 -3.42373060e-02  0.00000000e+00  3.11898395e+02]
 [ 3.42373060e-02  9.99413732e-01  0.00000000e+00 -1.53315825e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.38606649300004
Centerline is valid?  [True, True]
Translation: X:311.96, Y:-0.15, Z:0.00
[[ 9.99238079e-01 -3.90289787e-02  0.00000000e+00  3.11958405e+02]
 [ 3.90289787e-02  9.99238079e-01  0.00000000e+00 -1.48977009e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.446066493
Centerline is valid?  [True, True]
Translation: X:312.02, Y:-0.14, Z:0.00
[[ 9.98997631e-01 -4.47630727e-02  0.00000000e+00  3.12019730e+02]
 [ 4.47630727e-02  9.98997631e-01  0.00000000e+00 -1.42888805e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.506066493
Centerline is valid?  [True, True]
Translation: X:312.08, Y:-0.14, Z:0.00
[[ 9.98852879e-01 -4.78844993e-02  0.00000000e+00  3.12080619e+02]
 [ 4.78844993e-02  9.98852879e-01  0.00000000e+00 -1.38352016e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.566066493
Centerline is valid?  [True, True]
Translation: X:312.14, Y:-0.13, Z:0.00
[[ 9.98769981e-01 -4.95835164e-02  0.00000000e+00  3.12140356e+02]
 [ 4.95835164e-02  9.98769981e-01  0.00000000e+00 -1.30795324e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.626066493
Centerline is valid?  [True, True]
Translation: X:312.20, Y:-0.12, Z:0.00
[[ 9.98728285e-01 -5.04163851e-02  0.00000000e+00  3.12203080e+02]
 [ 5.04163851e-02  9.98728285e-01  0.00000000e+00 -1.21944978e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.686066493
Centerline is valid?  [True, True]
Translation: X:312.27, Y:-0.12, Z:0.00
[[ 9.98807307e-01 -4.88258505e-02  0.00000000e+00  3.12265061e+02]
 [ 4.88258505e-02  9.98807307e-01  0.00000000e+00 -1.15761615e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.746066493
Centerline is valid?  [True, True]
Translation: X:312.32, Y:-0.11, Z:0.00
[[ 9.98971070e-01 -4.53519738e-02  0.00000000e+00  3.12324583e+02]
 [ 4.53519738e-02  9.98971070e-01  0.00000000e+00 -1.06185389e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 310.806066493
Centerline is valid?  [True, True]
Translation: X:312.39, Y:-0.10, Z:0.00
[[ 9.99098660e-01 -4.24484150e-02  0.00000000e+00  3.12385100e+02]
 [ 4.24484150e-02  9.99098660e-01  0.00000000e+00 -9.99067814e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.866066493
Centerline is valid?  [True, True]
Translation: X:312.45, Y:-0.09, Z:0.00
[[ 9.99179133e-01 -4.05099966e-02  0.00000000e+00  3.12446023e+02]
 [ 4.05099966e-02  9.99179133e-01  0.00000000e+00 -9.43851254e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.926066493
Centerline is valid?  [True, True]
Translation: X:312.51, Y:-0.08, Z:0.00
[[ 9.99376616e-01 -3.53040989e-02  0.00000000e+00  3.12507234e+02]
 [ 3.53040989e-02  9.99376616e-01  0.00000000e+00 -8.49922279e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.986066493
Centerline is valid?  [True, True]
Translation: X:312.57, Y:-0.07, Z:0.00
[[ 9.99669127e-01 -2.57222816e-02  0.00000000e+00  3.12567822e+02]
 [ 2.57222816e-02  9.99669127e-01  0.00000000e+00 -7.47327331e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.046066493
Centerline is valid?  [True, True]
Translation: X:312.63, Y:-0.07, Z:0.00
[[ 9.99879359e-01 -1.55327778e-02  0.00000000e+00  3.12627262e+02]
 [ 1.55327778e-02  9.99879359e-01  0.00000000e+00 -6.77262054e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.106066493
Centerline is valid?  [True, True]
Translation: X:312.69, Y:-0.06, Z:0.00
[[ 9.99995885e-01  2.86879282e-03  0.00000000e+00  3.12688110e+02]
 [-2.86879282e-03  9.99995885e-01  0.00000000e+00 -5.99327566e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.166066493
Centerline is valid?  [True, True]
Translation: X:312.75, Y:-0.05, Z:0.00
[[ 9.99888687e-01  1.49202583e-02  0.00000000e+00  3.12748071e+02]
 [-1.49202583e-02  9.99888687e-01  0.00000000e+00 -5.37194309e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.226066493
Centerline is valid?  [True, True]
Translation: X:312.81, Y:-0.05, Z:0.00
[[ 9.99572968e-01  2.92212636e-02  0.00000000e+00  3.12807927e+02]
 [-2.92212636e-02  9.99572968e-01  0.00000000e+00 -5.02332514e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.286066493
Centerline is valid?  [True, True]
Translation: X:312.87, Y:-0.06, Z:0.00
[[ 9.99358966e-01  3.58002357e-02  0.00000000e+00  3.12867709e+02]
 [-3.58002357e-02  9.99358966e-01  0.00000000e+00 -5.55428041e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.346066493
Centerline is valid?  [True, True]
Translation: X:312.93, Y:-0.06, Z:0.00
[[ 9.99208787e-01  3.97718510e-02  0.00000000e+00  3.12926493e+02]
 [-3.97718510e-02  9.99208787e-01  0.00000000e+00 -6.19007953e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.406066493
Centerline is valid?  [True, True]
Translation: X:312.99, Y:-0.07, Z:0.00
[[ 9.99067457e-01  4.31765798e-02  0.00000000e+00  3.12985575e+02]
 [-4.31765798e-02  9.99067457e-01  0.00000000e+00 -7.02026185e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.466066493
Centerline is valid?  [True, True]
Translation: X:313.04, Y:-0.08, Z:0.00
[[ 9.99053676e-01  4.34942732e-02  0.00000000e+00  3.13043818e+02]
 [-4.34942732e-02  9.99053676e-01  0.00000000e+00 -7.65424984e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.52606649300003
Centerline is valid?  [True, True]
Translation: X:313.10, Y:-0.09, Z:0.00
[[ 9.99058096e-01  4.33926460e-02  0.00000000e+00  3.13101988e+02]
 [-4.33926460e-02  9.99058096e-01  0.00000000e+00 -9.04144678e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.58606649300003
Centerline is valid?  [True, True]
Translation: X:313.16, Y:-0.10, Z:0.00
[[ 9.99218702e-01  3.95219539e-02  0.00000000e+00  3.13161146e+02]
 [-3.95219539e-02  9.99218702e-01  0.00000000e+00 -9.96576333e-02]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.64606649300003
Centerline is valid?  [True, True]
Translation: X:313.22, Y:-0.11, Z:0.00
[[ 9.99366947e-01  3.55767617e-02  0.00000000e+00  3.13221694e+02]
 [-3.55767617e-02  9.99366947e-01  0.00000000e+00 -1.08829797e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.70606649300004
Centerline is valid?  [True, True]
Translation: X:313.28, Y:-0.12, Z:0.00
[[ 9.99498307e-01  3.16722969e-02  0.00000000e+00  3.13280443e+02]
 [-3.16722969e-02  9.99498307e-01  0.00000000e+00 -1.19257331e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.76606649300004
Centerline is valid?  [True, True]
Translation: X:313.34, Y:-0.13, Z:0.00
[[ 9.99631693e-01  2.71381503e-02  0.00000000e+00  3.13339535e+02]
 [-2.71381503e-02  9.99631693e-01  0.00000000e+00 -1.32834285e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.82606649300004
Centerline is valid?  [True, True]
Translation: X:313.40, Y:-0.15, Z:0.00
[[ 9.99656121e-01  2.62229021e-02  0.00000000e+00  3.13398314e+02]
 [-2.62229021e-02  9.99656121e-01  0.00000000e+00 -1.46511346e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.88606649300004
Centerline is valid?  [True, True]
Translation: X:313.45, Y:-0.17, Z:0.00
[[ 9.99593538e-01  2.85089299e-02  0.00000000e+00  3.13454703e+02]
 [-2.85089299e-02  9.99593538e-01  0.00000000e+00 -1.67735250e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.946066493
Centerline is valid?  [True, True]
Translation: X:313.51, Y:-0.17, Z:0.00
[[ 9.99613664e-01  2.77942966e-02  0.00000000e+00  3.13512897e+02]
 [-2.77942966e-02  9.99613664e-01  0.00000000e+00 -1.72526639e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 312.006066493
Centerline is valid?  [True, True]
Translation: X:313.57, Y:-0.19, Z:0.00
[[ 9.99413395e-01  3.42471321e-02  0.00000000e+00  3.13572450e+02]
 [-3.42471321e-02  9.99413395e-01  0.00000000e+00 -1.90201808e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.066066493
Centerline is valid?  [True, True]
Translation: X:313.63, Y:-0.20, Z:0.00
[[ 9.99202492e-01  3.99296815e-02  0.00000000e+00  3.13632203e+02]
 [-3.99296815e-02  9.99202492e-01  0.00000000e+00 -2.01282010e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.126066493
Centerline is valid?  [True, True]
Translation: X:313.69, Y:-0.22, Z:0.00
[[ 9.98817121e-01  4.86246800e-02  0.00000000e+00  3.13691984e+02]
 [-4.86246800e-02  9.98817121e-01  0.00000000e+00 -2.15294833e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.186066493
Centerline is valid?  [True, True]
Translation: X:313.75, Y:-0.23, Z:0.00
[[ 9.98670386e-01  5.15505668e-02  0.00000000e+00  3.13751715e+02]
 [-5.15505668e-02  9.98670386e-01  0.00000000e+00 -2.32381195e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.246066493
Centerline is valid?  [True, True]
Translation: X:313.81, Y:-0.25, Z:0.00
[[ 9.98903438e-01  4.68179655e-02  0.00000000e+00  3.13812171e+02]
 [-4.68179655e-02  9.98903438e-01  0.00000000e+00 -2.46757236e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.306066493
Centerline is valid?  [True, True]
Translation: X:313.87, Y:-0.26, Z:0.00
[[ 9.99208061e-01  3.97900903e-02  0.00000000e+00  3.13872582e+02]
 [-3.97900903e-02  9.99208061e-01  0.00000000e+00 -2.64658269e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.366066493
Centerline is valid?  [True, True]
Translation: X:313.93, Y:-0.28, Z:0.00
[[ 9.99412688e-01  3.42677529e-02  0.00000000e+00  3.13932268e+02]
 [-3.42677529e-02  9.99412688e-01  0.00000000e+00 -2.75719863e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.426066493
Centerline is valid?  [True, True]
Translation: X:313.99, Y:-0.29, Z:0.00
[[ 9.99667073e-01  2.58020154e-02  0.00000000e+00  3.13989407e+02]
 [-2.58020154e-02  9.99667073e-01  0.00000000e+00 -2.91656878e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.486066493
Centerline is valid?  [True, True]
Translation: X:314.05, Y:-0.30, Z:0.00
[[ 9.99799375e-01  2.00302148e-02  0.00000000e+00  3.14049146e+02]
 [-2.00302148e-02  9.99799375e-01  0.00000000e+00 -3.04557437e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.546066493
Centerline is valid?  [True, True]
Translation: X:314.11, Y:-0.31, Z:0.00
[[ 9.99834971e-01  1.81667641e-02  0.00000000e+00  3.14108342e+02]
 [-1.81667641e-02  9.99834971e-01  0.00000000e+00 -3.13080248e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.606066493
Centerline is valid?  [True, True]
Translation: X:314.17, Y:-0.33, Z:0.00
[[ 9.99794603e-01  2.02670254e-02  0.00000000e+00  3.14167475e+02]
 [-2.02670254e-02  9.99794603e-01  0.00000000e+00 -3.25235596e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.666066493
Centerline is valid?  [True, True]
Translation: X:314.23, Y:-0.33, Z:0.00
[[ 9.99711282e-01  2.40281607e-02  0.00000000e+00  3.14226494e+02]
 [-2.40281607e-02  9.99711282e-01  0.00000000e+00 -3.31385517e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.726066493
Centerline is valid?  [True, True]
Translation: X:314.28, Y:-0.34, Z:0.00
[[ 9.99622708e-01  2.74670926e-02  0.00000000e+00  3.14284457e+02]
 [-2.74670926e-02  9.99622708e-01  0.00000000e+00 -3.39168381e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.786066493
Centerline is valid?  [True, True]
Translation: X:314.34, Y:-0.35, Z:0.00
[[ 9.99675030e-01  2.54918620e-02  0.00000000e+00  3.14343559e+02]
 [-2.54918620e-02  9.99675030e-01  0.00000000e+00 -3.48939693e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.846066493
Centerline is valid?  [True, True]
Translation: X:314.40, Y:-0.36, Z:0.00
[[ 9.99869731e-01  1.61406403e-02  0.00000000e+00  3.14403827e+02]
 [-1.61406403e-02  9.99869731e-01  0.00000000e+00 -3.55722851e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.906066493
Centerline is valid?  [True, True]
Translation: X:314.46, Y:-0.36, Z:0.00
[[ 9.99967646e-01  8.04402074e-03  0.00000000e+00  3.14463125e+02]
 [-8.04402074e-03  9.99967646e-01  0.00000000e+00 -3.58396546e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.966066493
Centerline is valid?  [True, True]
Translation: X:314.52, Y:-0.36, Z:0.00
[[ 9.99963554e-01 -8.53755757e-03  0.00000000e+00  3.14523654e+02]
 [ 8.53755757e-03  9.99963554e-01  0.00000000e+00 -3.58776408e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.02606649300003
Centerline is valid?  [True, True]
Translation: X:314.58, Y:-0.36, Z:0.00
[[ 9.99878600e-01 -1.55815554e-02  0.00000000e+00  3.14584250e+02]
 [ 1.55815554e-02  9.99878600e-01  0.00000000e+00 -3.63639969e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.08606649300003
Centerline is valid?  [True, True]
Translation: X:314.64, Y:-0.36, Z:0.00
[[ 9.99759936e-01 -2.19104888e-02  0.00000000e+00  3.14644936e+02]
 [ 2.19104888e-02  9.99759936e-01  0.00000000e+00 -3.63137460e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.14606649300003
Centerline is valid?  [True, True]
Translation: X:314.71, Y:-0.36, Z:0.00
[[ 9.99567785e-01 -2.93980158e-02  0.00000000e+00  3.14705564e+02]
 [ 2.93980158e-02  9.99567785e-01  0.00000000e+00 -3.58677335e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 313.20606649300004
Centerline is valid?  [True, True]
Translation: X:314.77, Y:-0.35, Z:0.00
[[ 9.99463617e-01 -3.27487216e-02  0.00000000e+00  3.14767768e+02]
 [ 3.27487216e-02  9.99463617e-01  0.00000000e+00 -3.53428055e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.26606649300004
Centerline is valid?  [True, True]
Translation: X:314.83, Y:-0.35, Z:0.00
[[ 9.99325270e-01 -3.67287882e-02  0.00000000e+00  3.14828427e+02]
 [ 3.67287882e-02  9.99325270e-01  0.00000000e+00 -3.46169057e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.32606649300004
Centerline is valid?  [True, True]
Translation: X:314.89, Y:-0.33, Z:0.00
[[ 9.99285820e-01 -3.77869094e-02  0.00000000e+00  3.14890584e+02]
 [ 3.77869094e-02  9.99285820e-01  0.00000000e+00 -3.32996392e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.38606649300004
Centerline is valid?  [True, True]
Translation: X:314.95, Y:-0.32, Z:0.00
[[ 9.99356622e-01 -3.58656200e-02  0.00000000e+00  3.14952755e+02]
 [ 3.58656200e-02  9.99356622e-01  0.00000000e+00 -3.20608644e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.446066493
Centerline is valid?  [True, True]
Translation: X:315.01, Y:-0.31, Z:0.00
[[ 9.99434766e-01 -3.36176901e-02  0.00000000e+00  3.15014041e+02]
 [ 3.36176901e-02  9.99434766e-01  0.00000000e+00 -3.12388625e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.506066493
Centerline is valid?  [True, True]
Translation: X:315.07, Y:-0.30, Z:0.00
[[ 9.99587912e-01 -2.87055106e-02  0.00000000e+00  3.15074488e+02]
 [ 2.87055106e-02  9.99587912e-01  0.00000000e+00 -2.97830976e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.566066493
Centerline is valid?  [True, True]
Translation: X:315.14, Y:-0.29, Z:0.00
[[ 9.99622973e-01 -2.74574729e-02  0.00000000e+00  3.15137067e+02]
 [ 2.74574729e-02  9.99622973e-01  0.00000000e+00 -2.93059288e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.626066493
Centerline is valid?  [True, True]
Translation: X:315.20, Y:-0.28, Z:0.00
[[ 9.99690307e-01 -2.48855543e-02  0.00000000e+00  3.15197884e+02]
 [ 2.48855543e-02  9.99690307e-01  0.00000000e+00 -2.82388353e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.686066493
Centerline is valid?  [True, True]
Translation: X:315.26, Y:-0.27, Z:0.00
[[ 9.99725567e-01 -2.34263030e-02  0.00000000e+00  3.15260606e+02]
 [ 2.34263030e-02  9.99725567e-01  0.00000000e+00 -2.73475507e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.746066493
Centerline is valid?  [True, True]
Translation: X:315.32, Y:-0.26, Z:0.00
[[ 9.99712898e-01 -2.39608327e-02  0.00000000e+00  3.15322138e+02]
 [ 2.39608327e-02  9.99712898e-01  0.00000000e+00 -2.60548786e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.806066493
Centerline is valid?  [True, True]
Translation: X:315.38, Y:-0.25, Z:0.00
[[ 9.99688902e-01 -2.49419161e-02  0.00000000e+00  3.15383635e+02]
 [ 2.49419161e-02  9.99688902e-01  0.00000000e+00 -2.52295763e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.866066493
Centerline is valid?  [True, True]
Translation: X:315.44, Y:-0.24, Z:0.00
[[ 9.99538163e-01 -3.03884918e-02  0.00000000e+00  3.15444149e+02]
 [ 3.03884918e-02  9.99538163e-01  0.00000000e+00 -2.42747063e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.926066493
Centerline is valid?  [True, True]
Translation: X:315.50, Y:-0.24, Z:0.00
[[ 9.99368470e-01 -3.55339536e-02  0.00000000e+00  3.15504878e+02]
 [ 3.55339536e-02  9.99368470e-01  0.00000000e+00 -2.37763206e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.986066493
Centerline is valid?  [True, True]
Translation: X:315.57, Y:-0.23, Z:0.00
[[ 9.98860532e-01 -4.77246114e-02  0.00000000e+00  3.15565201e+02]
 [ 4.77246114e-02  9.98860532e-01  0.00000000e+00 -2.29646773e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.046066493
Centerline is valid?  [True, True]
Translation: X:315.62, Y:-0.23, Z:0.00
[[ 9.98635359e-01 -5.22247032e-02  0.00000000e+00  3.15624831e+02]
 [ 5.22247032e-02  9.98635359e-01  0.00000000e+00 -2.25380569e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.106066493
Centerline is valid?  [True, True]
Translation: X:315.69, Y:-0.22, Z:0.00
[[ 9.98698492e-01 -5.10031555e-02  0.00000000e+00  3.15686669e+02]
 [ 5.10031555e-02  9.98698492e-01  0.00000000e+00 -2.15409913e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.166066493
Centerline is valid?  [True, True]
Translation: X:315.75, Y:-0.20, Z:0.00
[[ 9.99071987e-01 -4.30716198e-02  0.00000000e+00  3.15746545e+02]
 [ 4.30716198e-02  9.99071987e-01  0.00000000e+00 -2.01470468e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.226066493
Centerline is valid?  [True, True]
Translation: X:315.81, Y:-0.19, Z:0.00
[[ 9.99312549e-01 -3.70732991e-02  0.00000000e+00  3.15807771e+02]
 [ 3.70732991e-02  9.99312549e-01  0.00000000e+00 -1.93776440e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.286066493
Centerline is valid?  [True, True]
Translation: X:315.87, Y:-0.18, Z:0.00
[[ 9.99597672e-01 -2.83636099e-02  0.00000000e+00  3.15867172e+02]
 [ 2.83636099e-02  9.99597672e-01  0.00000000e+00 -1.84367836e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.346066493
Centerline is valid?  [True, True]
Translation: X:315.93, Y:-0.18, Z:0.00
[[ 9.99765652e-01 -2.16481341e-02  0.00000000e+00  3.15928267e+02]
 [ 2.16481341e-02  9.99765652e-01  0.00000000e+00 -1.79167155e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 314.406066493
Centerline is valid?  [True, True]
Translation: X:315.99, Y:-0.17, Z:0.00
[[ 9.99914976e-01 -1.30399970e-02  0.00000000e+00  3.15987863e+02]
 [ 1.30399970e-02  9.99914976e-01  0.00000000e+00 -1.72506141e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.466066493
Centerline is valid?  [True, True]
Translation: X:316.05, Y:-0.17, Z:0.00
[[ 9.99989247e-01 -4.63752350e-03  0.00000000e+00  3.16048613e+02]
 [ 4.63752350e-03  9.99989247e-01  0.00000000e+00 -1.66178699e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.52606649300003
Centerline is valid?  [True, True]
Translation: X:316.11, Y:-0.17, Z:0.00
[[ 9.99994145e-01  3.42188775e-03  0.00000000e+00  3.16110847e+02]
 [-3.42188775e-03  9.99994145e-01  0.00000000e+00 -1.65330597e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.58606649300003
Centerline is valid?  [True, True]
Translation: X:316.17, Y:-0.16, Z:0.00
[[ 9.99964150e-01  8.46756003e-03  0.00000000e+00  3.16169165e+02]
 [-8.46756003e-03  9.99964150e-01  0.00000000e+00 -1.64336125e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.64606649300003
Centerline is valid?  [True, True]
Translation: X:316.23, Y:-0.17, Z:0.00
[[ 9.99913757e-01  1.31330932e-02  0.00000000e+00  3.16226751e+02]
 [-1.31330932e-02  9.99913757e-01  0.00000000e+00 -1.66229331e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.70606649300004
Centerline is valid?  [True, True]
Translation: X:316.29, Y:-0.17, Z:0.00
[[ 9.99923972e-01  1.23308621e-02  0.00000000e+00  3.16286029e+02]
 [-1.23308621e-02  9.99923972e-01  0.00000000e+00 -1.68880977e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.76606649300004
Centerline is valid?  [True, True]
Translation: X:316.34, Y:-0.18, Z:0.00
[[ 9.99931919e-01  1.16686737e-02  0.00000000e+00  3.16344971e+02]
 [-1.16686737e-02  9.99931919e-01  0.00000000e+00 -1.75227412e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.82606649300004
Centerline is valid?  [True, True]
Translation: X:316.40, Y:-0.18, Z:0.00
[[ 9.99922980e-01  1.24110729e-02  0.00000000e+00  3.16404534e+02]
 [-1.24110729e-02  9.99922980e-01  0.00000000e+00 -1.79947499e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.88606649300004
Centerline is valid?  [True, True]
Translation: X:316.46, Y:-0.19, Z:0.00
[[ 9.99908162e-01  1.35523912e-02  0.00000000e+00  3.16462693e+02]
 [-1.35523912e-02  9.99908162e-01  0.00000000e+00 -1.89138141e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.946066493
Centerline is valid?  [True, True]
Translation: X:316.52, Y:-0.20, Z:0.00
[[ 9.99860119e-01  1.67255195e-02  0.00000000e+00  3.16522251e+02]
 [-1.67255195e-02  9.99860119e-01  0.00000000e+00 -1.98531866e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.006066493
Centerline is valid?  [True, True]
Translation: X:316.58, Y:-0.21, Z:0.00
[[ 9.99774999e-01  2.12120638e-02  0.00000000e+00  3.16582126e+02]
 [-2.12120638e-02  9.99774999e-01  0.00000000e+00 -2.06263647e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.066066493
Centerline is valid?  [True, True]
Translation: X:316.64, Y:-0.22, Z:0.00
[[ 9.99684551e-01  2.51157195e-02  0.00000000e+00  3.16640650e+02]
 [-2.51157195e-02  9.99684551e-01  0.00000000e+00 -2.17464463e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.126066493
Centerline is valid?  [True, True]
Translation: X:316.70, Y:-0.23, Z:0.00
[[ 9.99597824e-01  2.83582648e-02  0.00000000e+00  3.16701179e+02]
 [-2.83582648e-02  9.99597824e-01  0.00000000e+00 -2.26473042e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.186066493
Centerline is valid?  [True, True]
Translation: X:316.76, Y:-0.24, Z:0.00
[[ 9.99529107e-01  3.06849144e-02  0.00000000e+00  3.16760161e+02]
 [-3.06849144e-02  9.99529107e-01  0.00000000e+00 -2.38126504e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.246066493
Centerline is valid?  [True, True]
Translation: X:316.82, Y:-0.25, Z:0.00
[[ 9.99472344e-01  3.24812657e-02  0.00000000e+00  3.16820737e+02]
 [-3.24812657e-02  9.99472344e-01  0.00000000e+00 -2.48602873e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.306066493
Centerline is valid?  [True, True]
Translation: X:316.88, Y:-0.26, Z:0.00
[[ 9.99467546e-01  3.26285824e-02  0.00000000e+00  3.16880905e+02]
 [-3.26285824e-02  9.99467546e-01  0.00000000e+00 -2.60937601e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.366066493
Centerline is valid?  [True, True]
Translation: X:316.94, Y:-0.27, Z:0.00
[[ 9.99341274e-01  3.62907379e-02  0.00000000e+00  3.16941099e+02]
 [-3.62907379e-02  9.99341274e-01  0.00000000e+00 -2.70848578e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.426066493
Centerline is valid?  [True, True]
Translation: X:317.00, Y:-0.28, Z:0.00
[[ 9.99191449e-01  4.02050888e-02  0.00000000e+00  3.17001095e+02]
 [-4.02050888e-02  9.99191449e-01  0.00000000e+00 -2.82797222e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.486066493
Centerline is valid?  [True, True]
Translation: X:317.06, Y:-0.30, Z:0.00
[[ 9.99000599e-01  4.46967826e-02  0.00000000e+00  3.17061729e+02]
 [-4.46967826e-02  9.99000599e-01  0.00000000e+00 -3.02165442e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.546066493
Centerline is valid?  [True, True]
Translation: X:317.12, Y:-0.32, Z:0.00
[[ 9.99182996e-01  4.04146174e-02  0.00000000e+00  3.17121663e+02]
 [-4.04146174e-02  9.99182996e-01  0.00000000e+00 -3.20744104e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 315.606066493
Centerline is valid?  [True, True]
Translation: X:317.18, Y:-0.33, Z:0.00
[[ 9.99293679e-01  3.75785006e-02  0.00000000e+00  3.17179922e+02]
 [-3.75785006e-02  9.99293679e-01  0.00000000e+00 -3.34988468e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.666066493
Centerline is valid?  [True, True]
Translation: X:317.24, Y:-0.35, Z:0.00
[[ 9.99454731e-01  3.30187881e-02  0.00000000e+00  3.17238769e+02]
 [-3.30187881e-02  9.99454731e-01  0.00000000e+00 -3.53137004e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.726066493
Centerline is valid?  [True, True]
Translation: X:317.30, Y:-0.37, Z:0.00
[[ 9.99411395e-01  3.43054397e-02  0.00000000e+00  3.17297487e+02]
 [-3.43054397e-02  9.99411395e-01  0.00000000e+00 -3.70226389e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.786066493
Centerline is valid?  [True, True]
Translation: X:317.36, Y:-0.39, Z:0.00
[[ 9.99217966e-01  3.95405626e-02  0.00000000e+00  3.17358204e+02]
 [-3.95405626e-02  9.99217966e-01  0.00000000e+00 -3.86665676e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.846066493
Centerline is valid?  [True, True]
Translation: X:317.42, Y:-0.40, Z:0.00
[[ 9.99011184e-01  4.44595766e-02  0.00000000e+00  3.17418137e+02]
 [-4.44595766e-02  9.99011184e-01  0.00000000e+00 -3.97313281e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.906066493
Centerline is valid?  [True, True]
Translation: X:317.48, Y:-0.41, Z:0.00
[[ 9.98844231e-01  4.80645642e-02  0.00000000e+00  3.17478462e+02]
 [-4.80645642e-02  9.98844231e-01  0.00000000e+00 -4.13020829e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.966066493
Centerline is valid?  [True, True]
Translation: X:317.54, Y:-0.43, Z:0.00
[[ 9.98823616e-01  4.84910829e-02  0.00000000e+00  3.17537375e+02]
 [-4.84910829e-02  9.98823616e-01  0.00000000e+00 -4.33402425e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.02606649300003
Centerline is valid?  [True, True]
Translation: X:317.60, Y:-0.45, Z:0.00
[[ 9.99090526e-01  4.26394387e-02  0.00000000e+00  3.17597998e+02]
 [-4.26394387e-02  9.99090526e-01  0.00000000e+00 -4.51589834e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.08606649300003
Centerline is valid?  [True, True]
Translation: X:317.66, Y:-0.47, Z:0.00
[[ 9.99585009e-01  2.88064167e-02  0.00000000e+00  3.17658436e+02]
 [-2.88064167e-02  9.99585009e-01  0.00000000e+00 -4.71912649e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.14606649300003
Centerline is valid?  [True, True]
Translation: X:317.72, Y:-0.49, Z:0.00
[[ 9.99866118e-01  1.63629277e-02  0.00000000e+00  3.17717509e+02]
 [-1.63629277e-02  9.99866118e-01  0.00000000e+00 -4.86762147e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.20606649300004
Centerline is valid?  [True, True]
Translation: X:317.78, Y:-0.50, Z:0.00
[[ 9.99994161e-01  3.41728263e-03  0.00000000e+00  3.17775642e+02]
 [-3.41728263e-03  9.99994161e-01  0.00000000e+00 -5.00926047e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.26606649300004
Centerline is valid?  [True, True]
Translation: X:317.83, Y:-0.51, Z:0.00
[[ 9.99983239e-01 -5.78975385e-03  0.00000000e+00  3.17833781e+02]
 [ 5.78975385e-03  9.99983239e-01  0.00000000e+00 -5.10144485e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.32606649300004
Centerline is valid?  [True, True]
Translation: X:317.90, Y:-0.52, Z:0.00
[[ 9.99970087e-01 -7.73468290e-03  0.00000000e+00  3.17895676e+02]
 [ 7.73468290e-03  9.99970087e-01  0.00000000e+00 -5.16465099e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.38606649300004
Centerline is valid?  [True, True]
Translation: X:317.96, Y:-0.52, Z:0.00
[[ 9.99968318e-01 -7.96011213e-03  0.00000000e+00  3.17957144e+02]
 [ 7.96011213e-03  9.99968318e-01  0.00000000e+00 -5.21246497e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.446066493
Centerline is valid?  [True, True]
Translation: X:318.02, Y:-0.52, Z:0.00
[[ 9.99903109e-01 -1.39202499e-02  0.00000000e+00  3.18018166e+02]
 [ 1.39202499e-02  9.99903109e-01  0.00000000e+00 -5.19172701e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.506066493
Centerline is valid?  [True, True]
Translation: X:318.08, Y:-0.52, Z:0.00
[[ 9.99893082e-01 -1.46227339e-02  0.00000000e+00  3.18079669e+02]
 [ 1.46227339e-02  9.99893082e-01  0.00000000e+00 -5.20242398e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.566066493
Centerline is valid?  [True, True]
Translation: X:318.14, Y:-0.51, Z:0.00
[[ 9.99916633e-01 -1.29122533e-02  0.00000000e+00  3.18141244e+02]
 [ 1.29122533e-02  9.99916633e-01  0.00000000e+00 -5.13717839e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.626066493
Centerline is valid?  [True, True]
Translation: X:318.20, Y:-0.51, Z:0.00
[[ 9.99972965e-01 -7.35322276e-03  0.00000000e+00  3.18202385e+02]
 [ 7.35322276e-03  9.99972965e-01  0.00000000e+00 -5.06042117e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.686066493
Centerline is valid?  [True, True]
Translation: X:318.26, Y:-0.50, Z:0.00
[[ 9.99992947e-01 -3.75568055e-03  0.00000000e+00  3.18264676e+02]
 [ 3.75568055e-03  9.99992947e-01  0.00000000e+00 -4.98513779e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.746066493
Centerline is valid?  [True, True]
Translation: X:318.33, Y:-0.49, Z:0.00
[[ 9.99986831e-01  5.13206816e-03  0.00000000e+00  3.18326406e+02]
 [-5.13206816e-03  9.99986831e-01  0.00000000e+00 -4.88807872e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 316.806066493
Centerline is valid?  [True, True]
Translation: X:318.39, Y:-0.48, Z:0.00
[[ 9.99897178e-01  1.43399234e-02  0.00000000e+00  3.18385047e+02]
 [-1.43399234e-02  9.99897178e-01  0.00000000e+00 -4.83871263e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.866066493
Centerline is valid?  [True, True]
Translation: X:318.44, Y:-0.48, Z:0.00
[[ 9.99596353e-01  2.84100449e-02  0.00000000e+00  3.18443617e+02]
 [-2.84100449e-02  9.99596353e-01  0.00000000e+00 -4.78172467e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.926066493
Centerline is valid?  [True, True]
Translation: X:318.50, Y:-0.47, Z:0.00
[[ 9.99321917e-01  3.68199240e-02  0.00000000e+00  3.18503708e+02]
 [-3.68199240e-02  9.99321917e-01  0.00000000e+00 -4.74225500e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.986066493
Centerline is valid?  [True, True]
Translation: X:318.56, Y:-0.48, Z:0.00
[[ 9.99327340e-01  3.66724411e-02  0.00000000e+00  3.18562395e+02]
 [-3.66724411e-02  9.99327340e-01  0.00000000e+00 -4.78125635e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.046066493
Centerline is valid?  [True, True]
Translation: X:318.62, Y:-0.49, Z:0.00
[[ 9.99705635e-01  2.42619752e-02  0.00000000e+00  3.18622198e+02]
 [-2.42619752e-02  9.99705635e-01  0.00000000e+00 -4.85318913e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.106066493
Centerline is valid?  [True, True]
Translation: X:318.68, Y:-0.49, Z:0.00
[[ 9.99883177e-01  1.52850181e-02  0.00000000e+00  3.18680657e+02]
 [-1.52850181e-02  9.99883177e-01  0.00000000e+00 -4.87543002e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.166066493
Centerline is valid?  [True, True]
Translation: X:318.74, Y:-0.49, Z:0.00
[[ 9.99998478e-01  1.74496377e-03  0.00000000e+00  3.18739048e+02]
 [-1.74496377e-03  9.99998478e-01  0.00000000e+00 -4.93740502e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.226066493
Centerline is valid?  [True, True]
Translation: X:318.80, Y:-0.50, Z:0.00
[[ 9.99913632e-01 -1.31426087e-02  0.00000000e+00  3.18799580e+02]
 [ 1.31426087e-02  9.99913632e-01  0.00000000e+00 -4.97815043e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.286066493
Centerline is valid?  [True, True]
Translation: X:318.86, Y:-0.50, Z:0.00
[[ 9.99753578e-01 -2.21987211e-02  0.00000000e+00  3.18860201e+02]
 [ 2.21987211e-02  9.99753578e-01  0.00000000e+00 -4.96583504e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.346066493
Centerline is valid?  [True, True]
Translation: X:318.92, Y:-0.49, Z:0.00
[[ 9.99637926e-01 -2.69075493e-02  0.00000000e+00  3.18920070e+02]
 [ 2.69075493e-02  9.99637926e-01  0.00000000e+00 -4.93219646e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.406066493
Centerline is valid?  [True, True]
Translation: X:318.98, Y:-0.49, Z:0.00
[[ 9.99666727e-01 -2.58153965e-02  0.00000000e+00  3.18982344e+02]
 [ 2.58153965e-02  9.99666727e-01  0.00000000e+00 -4.91876107e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.466066493
Centerline is valid?  [True, True]
Translation: X:319.04, Y:-0.48, Z:0.00
[[ 9.99906207e-01 -1.36958734e-02  0.00000000e+00  3.19042929e+02]
 [ 1.36958734e-02  9.99906207e-01  0.00000000e+00 -4.83430025e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.52606649300003
Centerline is valid?  [True, True]
Translation: X:319.10, Y:-0.48, Z:0.00
[[ 9.99994387e-01  3.35041484e-03  0.00000000e+00  3.19102336e+02]
 [-3.35041484e-03  9.99994387e-01  0.00000000e+00 -4.77020150e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.58606649300003
Centerline is valid?  [True, True]
Translation: X:319.16, Y:-0.47, Z:0.00
[[ 9.99973313e-01  7.30564895e-03  0.00000000e+00  3.19162639e+02]
 [-7.30564895e-03  9.99973313e-01  0.00000000e+00 -4.71606477e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.64606649300003
Centerline is valid?  [True, True]
Translation: X:319.22, Y:-0.47, Z:0.00
[[ 9.99967027e-01  8.12059172e-03  0.00000000e+00  3.19221586e+02]
 [-8.12059172e-03  9.99967027e-01  0.00000000e+00 -4.68114817e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.70606649300004
Centerline is valid?  [True, True]
Translation: X:319.28, Y:-0.46, Z:0.00
[[ 9.99992771e-01  3.80246732e-03  0.00000000e+00  3.19281140e+02]
 [-3.80246732e-03  9.99992771e-01  0.00000000e+00 -4.64545950e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.76606649300004
Centerline is valid?  [True, True]
Translation: X:319.34, Y:-0.46, Z:0.00
[[ 9.99999036e-01  1.38848913e-03  0.00000000e+00  3.19339934e+02]
 [-1.38848913e-03  9.99999036e-01  0.00000000e+00 -4.60781403e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.82606649300004
Centerline is valid?  [True, True]
Translation: X:319.40, Y:-0.46, Z:0.00
[[ 9.99996003e-01 -2.82741759e-03  0.00000000e+00  3.19399735e+02]
 [ 2.82741759e-03  9.99996003e-01  0.00000000e+00 -4.59021796e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.88606649300004
Centerline is valid?  [True, True]
Translation: X:319.46, Y:-0.46, Z:0.00
[[ 9.99906598e-01 -1.36672747e-02  0.00000000e+00  3.19459703e+02]
 [ 1.36672747e-02  9.99906598e-01  0.00000000e+00 -4.55948999e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.946066493
Centerline is valid?  [True, True]
Translation: X:319.52, Y:-0.45, Z:0.00
[[ 9.99709463e-01 -2.41037389e-02  0.00000000e+00  3.19520507e+02]
 [ 2.41037389e-02  9.99709463e-01  0.00000000e+00 -4.53167434e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 318.006066493
Centerline is valid?  [True, True]
Translation: X:319.58, Y:-0.44, Z:0.00
[[ 9.99679146e-01 -2.53299285e-02  0.00000000e+00  3.19582231e+02]
 [ 2.53299285e-02  9.99679146e-01  0.00000000e+00 -4.43761182e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.066066493
Centerline is valid?  [True, True]
Translation: X:319.64, Y:-0.44, Z:0.00
[[ 9.99876169e-01 -1.57367946e-02  0.00000000e+00  3.19642247e+02]
 [ 1.57367946e-02  9.99876169e-01  0.00000000e+00 -4.37917132e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.126066493
Centerline is valid?  [True, True]
Translation: X:319.70, Y:-0.43, Z:0.00
[[ 9.99938139e-01 -1.11228732e-02  0.00000000e+00  3.19704389e+02]
 [ 1.11228732e-02  9.99938139e-01  0.00000000e+00 -4.30087809e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.186066493
Centerline is valid?  [True, True]
Translation: X:319.77, Y:-0.42, Z:0.00
[[ 9.99992099e-01  3.97514358e-03  0.00000000e+00  3.19766611e+02]
 [-3.97514358e-03  9.99992099e-01  0.00000000e+00 -4.21727225e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.246066493
Centerline is valid?  [True, True]
Translation: X:319.83, Y:-0.41, Z:0.00
[[ 9.99871837e-01  1.60096548e-02  0.00000000e+00  3.19825230e+02]
 [-1.60096548e-02  9.99871837e-01  0.00000000e+00 -4.13526380e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.306066493
Centerline is valid?  [True, True]
Translation: X:319.88, Y:-0.41, Z:0.00
[[ 9.99767012e-01  2.15852373e-02  0.00000000e+00  3.19884383e+02]
 [-2.15852373e-02  9.99767012e-01  0.00000000e+00 -4.12094091e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.366066493
Centerline is valid?  [True, True]
Translation: X:319.94, Y:-0.41, Z:0.00
[[ 9.99685857e-01  2.50636650e-02  0.00000000e+00  3.19943121e+02]
 [-2.50636650e-02  9.99685857e-01  0.00000000e+00 -4.09567379e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.426066493
Centerline is valid?  [True, True]
Translation: X:320.00, Y:-0.41, Z:0.00
[[ 9.99748821e-01  2.24119204e-02  0.00000000e+00  3.20001062e+02]
 [-2.24119204e-02  9.99748821e-01  0.00000000e+00 -4.09980090e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.486066493
Centerline is valid?  [True, True]
Translation: X:320.06, Y:-0.41, Z:0.00
[[ 9.99871373e-01  1.60386226e-02  0.00000000e+00  3.20059697e+02]
 [-1.60386226e-02  9.99871373e-01  0.00000000e+00 -4.12898716e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.546066493
Centerline is valid?  [True, True]
Translation: X:320.12, Y:-0.42, Z:0.00
[[ 9.99937350e-01  1.11935651e-02  0.00000000e+00  3.20119020e+02]
 [-1.11935651e-02  9.99937350e-01  0.00000000e+00 -4.16352676e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.606066493
Centerline is valid?  [True, True]
Translation: X:320.18, Y:-0.42, Z:0.00
[[ 9.99961292e-01  8.79860666e-03  0.00000000e+00  3.20178666e+02]
 [-8.79860666e-03  9.99961292e-01  0.00000000e+00 -4.20128851e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.666066493
Centerline is valid?  [True, True]
Translation: X:320.24, Y:-0.43, Z:0.00
[[ 9.99984710e-01  5.52993546e-03  0.00000000e+00  3.20237938e+02]
 [-5.52993546e-03  9.99984710e-01  0.00000000e+00 -4.25454776e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.726066493
Centerline is valid?  [True, True]
Translation: X:320.30, Y:-0.43, Z:0.00
[[ 9.99995559e-01 -2.98016818e-03  0.00000000e+00  3.20297976e+02]
 [ 2.98016818e-03  9.99995559e-01  0.00000000e+00 -4.29542893e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.786066493
Centerline is valid?  [True, True]
Translation: X:320.36, Y:-0.43, Z:0.00
[[ 9.99984578e-01 -5.55366875e-03  0.00000000e+00  3.20359115e+02]
 [ 5.55366875e-03  9.99984578e-01  0.00000000e+00 -4.32532043e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.846066493
Centerline is valid?  [True, True]
Translation: X:320.42, Y:-0.43, Z:0.00
[[ 9.99983260e-01 -5.78618797e-03  0.00000000e+00  3.20421739e+02]
 [ 5.78618797e-03  9.99983260e-01  0.00000000e+00 -4.31125643e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.906066493
Centerline is valid?  [True, True]
Translation: X:320.48, Y:-0.42, Z:0.00
[[ 9.99981838e-01 -6.02699347e-03  0.00000000e+00  3.20483282e+02]
 [ 6.02699347e-03  9.99981838e-01  0.00000000e+00 -4.24807128e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.966066493
Centerline is valid?  [True, True]
Translation: X:320.55, Y:-0.42, Z:0.00
[[ 9.99994618e-01 -3.28085360e-03  0.00000000e+00  3.20545331e+02]
 [ 3.28085360e-03  9.99994618e-01  0.00000000e+00 -4.21427435e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.02606649300003
Centerline is valid?  [True, True]
Translation: X:320.61, Y:-0.42, Z:0.00
[[ 9.99999785e-01 -6.55698755e-04  0.00000000e+00  3.20606139e+02]
 [ 6.55698755e-04  9.99999785e-01  0.00000000e+00 -4.18306367e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.08606649300003
Centerline is valid?  [True, True]
Translation: X:320.67, Y:-0.41, Z:0.00
[[ 9.99996831e-01  2.51772573e-03  0.00000000e+00  3.20666398e+02]
 [-2.51772573e-03  9.99996831e-01  0.00000000e+00 -4.12079794e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.14606649300003
Centerline is valid?  [True, True]
Translation: X:320.73, Y:-0.41, Z:0.00
[[ 9.99991846e-01  4.03839630e-03  0.00000000e+00  3.20725306e+02]
 [-4.03839630e-03  9.99991846e-01  0.00000000e+00 -4.08548694e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 319.20606649300004
Centerline is valid?  [True, True]
Translation: X:320.79, Y:-0.41, Z:0.00
[[ 9.99986919e-01  5.11495088e-03  0.00000000e+00  3.20785169e+02]
 [-5.11495088e-03  9.99986919e-01  0.00000000e+00 -4.06661745e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.26606649300004
Centerline is valid?  [True, True]
Translation: X:320.84, Y:-0.41, Z:0.00
[[ 9.99991002e-01  4.24217686e-03  0.00000000e+00  3.20843675e+02]
 [-4.24217686e-03  9.99991002e-01  0.00000000e+00 -4.05824257e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.32606649300004
Centerline is valid?  [True, True]
Translation: X:320.90, Y:-0.40, Z:0.00
[[ 9.99984643e-01 -5.54203564e-03  0.00000000e+00  3.20903056e+02]
 [ 5.54203564e-03  9.99984643e-01  0.00000000e+00 -4.02887251e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.38606649300004
Centerline is valid?  [True, True]
Translation: X:320.96, Y:-0.40, Z:0.00
[[ 9.99903369e-01 -1.39015358e-02  0.00000000e+00  3.20963708e+02]
 [ 1.39015358e-02  9.99903369e-01  0.00000000e+00 -4.02746987e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.446066493
Centerline is valid?  [True, True]
Translation: X:321.02, Y:-0.40, Z:0.00
[[ 9.99589163e-01 -2.86619037e-02  0.00000000e+00  3.21024634e+02]
 [ 2.86619037e-02  9.99589163e-01  0.00000000e+00 -4.00379582e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.506066493
Centerline is valid?  [True, True]
Translation: X:321.09, Y:-0.40, Z:0.00
[[ 9.99343000e-01 -3.62431937e-02  0.00000000e+00  3.21085288e+02]
 [ 3.62431937e-02  9.99343000e-01  0.00000000e+00 -3.97105621e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.566066493
Centerline is valid?  [True, True]
Translation: X:321.15, Y:-0.39, Z:0.00
[[ 9.99191065e-01 -4.02146200e-02  0.00000000e+00  3.21146241e+02]
 [ 4.02146200e-02  9.99191065e-01  0.00000000e+00 -3.90365798e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.626066493
Centerline is valid?  [True, True]
Translation: X:321.21, Y:-0.38, Z:0.00
[[ 9.99381863e-01 -3.51552514e-02  0.00000000e+00  3.21207424e+02]
 [ 3.51552514e-02  9.99381863e-01  0.00000000e+00 -3.80679064e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.686066493
Centerline is valid?  [True, True]
Translation: X:321.27, Y:-0.37, Z:0.00
[[ 9.99660085e-01 -2.60713244e-02  0.00000000e+00  3.21268644e+02]
 [ 2.60713244e-02  9.99660085e-01  0.00000000e+00 -3.73416987e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.746066493
Centerline is valid?  [True, True]
Translation: X:321.33, Y:-0.36, Z:0.00
[[ 9.99950357e-01 -9.96414422e-03  0.00000000e+00  3.21329208e+02]
 [ 9.96414422e-03  9.99950357e-01  0.00000000e+00 -3.61485690e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.806066493
Centerline is valid?  [True, True]
Translation: X:321.39, Y:-0.36, Z:0.00
[[ 1.00000000e+00 -5.68059325e-06  0.00000000e+00  3.21390408e+02]
 [ 5.68059325e-06  1.00000000e+00  0.00000000e+00 -3.55356919e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.866066493
Centerline is valid?  [True, True]
Translation: X:321.45, Y:-0.35, Z:0.00
[[ 9.99916859e-01  1.28947723e-02  0.00000000e+00  3.21449997e+02]
 [-1.28947723e-02  9.99916859e-01  0.00000000e+00 -3.47608865e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.926066493
Centerline is valid?  [True, True]
Translation: X:321.51, Y:-0.34, Z:0.00
[[ 9.99629723e-01  2.72105919e-02  0.00000000e+00  3.21510359e+02]
 [-2.72105919e-02  9.99629723e-01  0.00000000e+00 -3.44964386e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.986066493
Centerline is valid?  [True, True]
Translation: X:321.57, Y:-0.35, Z:0.00
[[ 9.99261584e-01  3.84224888e-02  0.00000000e+00  3.21570952e+02]
 [-3.84224888e-02  9.99261584e-01  0.00000000e+00 -3.45021023e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.046066493
Centerline is valid?  [True, True]
Translation: X:321.63, Y:-0.35, Z:0.00
[[ 9.98810740e-01  4.87555620e-02  0.00000000e+00  3.21630734e+02]
 [-4.87555620e-02  9.98810740e-01  0.00000000e+00 -3.48334642e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.106066493
Centerline is valid?  [True, True]
Translation: X:321.69, Y:-0.35, Z:0.00
[[ 9.98608577e-01  5.27343427e-02  0.00000000e+00  3.21690256e+02]
 [-5.27343427e-02  9.98608577e-01  0.00000000e+00 -3.50673118e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.166066493
Centerline is valid?  [True, True]
Translation: X:321.75, Y:-0.36, Z:0.00
[[ 9.98558390e-01  5.36762600e-02  0.00000000e+00  3.21749790e+02]
 [-5.36762600e-02  9.98558390e-01  0.00000000e+00 -3.58336758e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.226066493
Centerline is valid?  [True, True]
Translation: X:321.81, Y:-0.37, Z:0.00
[[ 9.98776595e-01  4.94501144e-02  0.00000000e+00  3.21809851e+02]
 [-4.94501144e-02  9.98776595e-01  0.00000000e+00 -3.66586619e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.286066493
Centerline is valid?  [True, True]
Translation: X:321.87, Y:-0.38, Z:0.00
[[ 9.99282983e-01  3.78618421e-02  0.00000000e+00  3.21869299e+02]
 [-3.78618421e-02  9.99282983e-01  0.00000000e+00 -3.81242112e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.346066493
Centerline is valid?  [True, True]
Translation: X:321.93, Y:-0.39, Z:0.00
[[ 9.99519067e-01  3.10102421e-02  0.00000000e+00  3.21928846e+02]
 [-3.10102421e-02  9.99519067e-01  0.00000000e+00 -3.90177156e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 320.406066493
Centerline is valid?  [True, True]
Translation: X:321.99, Y:-0.41, Z:0.00
[[ 9.99787265e-01  2.06258029e-02  0.00000000e+00  3.21987653e+02]
 [-2.06258029e-02  9.99787265e-01  0.00000000e+00 -4.05567325e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.466066493
Centerline is valid?  [True, True]
Translation: X:322.05, Y:-0.42, Z:0.00
[[ 9.99907530e-01  1.35989531e-02  0.00000000e+00  3.22046288e+02]
 [-1.35989531e-02  9.99907530e-01  0.00000000e+00 -4.20597699e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.52606649300003
Centerline is valid?  [True, True]
Translation: X:322.11, Y:-0.43, Z:0.00
[[ 9.99944251e-01  1.05591109e-02  0.00000000e+00  3.22105142e+02]
 [-1.05591109e-02  9.99944251e-01  0.00000000e+00 -4.27542113e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.58606649300003
Centerline is valid?  [True, True]
Translation: X:322.16, Y:-0.43, Z:0.00
[[ 9.99965222e-01  8.33991154e-03  0.00000000e+00  3.22164222e+02]
 [-8.33991154e-03  9.99965222e-01  0.00000000e+00 -4.34338868e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.64606649300003
Centerline is valid?  [True, True]
Translation: X:322.22, Y:-0.44, Z:0.00
[[ 9.99967372e-01  8.07799883e-03  0.00000000e+00  3.22222844e+02]
 [-8.07799883e-03  9.99967372e-01  0.00000000e+00 -4.40155220e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.70606649300004
Centerline is valid?  [True, True]
Translation: X:322.28, Y:-0.45, Z:0.00
[[ 9.99979339e-01  6.42821156e-03  0.00000000e+00  3.22281373e+02]
 [-6.42821156e-03  9.99979339e-01  0.00000000e+00 -4.46265008e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.76606649300004
Centerline is valid?  [True, True]
Translation: X:322.34, Y:-0.45, Z:0.00
[[ 1.00000000e+00 -1.25725736e-06  0.00000000e+00  3.22341239e+02]
 [ 1.25725736e-06  1.00000000e+00  0.00000000e+00 -4.49445914e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.82606649300004
Centerline is valid?  [True, True]
Translation: X:322.40, Y:-0.45, Z:0.00
[[ 9.99908348e-01 -1.35386510e-02  0.00000000e+00  3.22402209e+02]
 [ 1.35386510e-02  9.99908348e-01  0.00000000e+00 -4.54518823e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.88606649300004
Centerline is valid?  [True, True]
Translation: X:322.46, Y:-0.46, Z:0.00
[[ 9.99730732e-01 -2.32048034e-02  0.00000000e+00  3.22463153e+02]
 [ 2.32048034e-02  9.99730732e-01  0.00000000e+00 -4.56733959e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.946066493
Centerline is valid?  [True, True]
Translation: X:322.52, Y:-0.46, Z:0.00
[[ 9.99583089e-01 -2.88729576e-02  0.00000000e+00  3.22523979e+02]
 [ 2.88729576e-02  9.99583089e-01  0.00000000e+00 -4.56355745e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.006066493
Centerline is valid?  [True, True]
Translation: X:322.58, Y:-0.45, Z:0.00
[[ 9.99419741e-01 -3.40614394e-02  0.00000000e+00  3.22584599e+02]
 [ 3.40614394e-02  9.99419741e-01  0.00000000e+00 -4.53267898e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.066066493
Centerline is valid?  [True, True]
Translation: X:322.65, Y:-0.45, Z:0.00
[[ 9.99386961e-01 -3.50100346e-02  0.00000000e+00  3.22646046e+02]
 [ 3.50100346e-02  9.99386961e-01  0.00000000e+00 -4.49291454e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.126066493
Centerline is valid?  [True, True]
Translation: X:322.71, Y:-0.44, Z:0.00
[[ 9.99487166e-01 -3.20219385e-02  0.00000000e+00  3.22707783e+02]
 [ 3.20219385e-02  9.99487166e-01  0.00000000e+00 -4.40494188e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.186066493
Centerline is valid?  [True, True]
Translation: X:322.77, Y:-0.44, Z:0.00
[[ 9.99542401e-01 -3.02487740e-02  0.00000000e+00  3.22769409e+02]
 [ 3.02487740e-02  9.99542401e-01  0.00000000e+00 -4.37528126e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.246066493
Centerline is valid?  [True, True]
Translation: X:322.83, Y:-0.43, Z:0.00
[[ 9.99737264e-01 -2.29216880e-02  0.00000000e+00  3.22828831e+02]
 [ 2.29216880e-02  9.99737264e-01  0.00000000e+00 -4.27881784e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.306066493
Centerline is valid?  [True, True]
Translation: X:322.89, Y:-0.42, Z:0.00
[[ 9.99864568e-01 -1.64573946e-02  0.00000000e+00  3.22888586e+02]
 [ 1.64573946e-02  9.99864568e-01  0.00000000e+00 -4.20673241e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.366066493
Centerline is valid?  [True, True]
Translation: X:322.95, Y:-0.41, Z:0.00
[[ 9.99977461e-01 -6.71392138e-03  0.00000000e+00  3.22950436e+02]
 [ 6.71392138e-03  9.99977461e-01  0.00000000e+00 -4.10031814e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.426066493
Centerline is valid?  [True, True]
Translation: X:323.01, Y:-0.40, Z:0.00
[[ 9.99996809e-01 -2.52644154e-03  0.00000000e+00  3.23010722e+02]
 [ 2.52644154e-03  9.99996809e-01  0.00000000e+00 -4.03765857e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.486066493
Centerline is valid?  [True, True]
Translation: X:323.07, Y:-0.39, Z:0.00
[[ 9.99992534e-01  3.86406788e-03  0.00000000e+00  3.23071218e+02]
 [-3.86406788e-03  9.99992534e-01  0.00000000e+00 -3.94766943e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.546066493
Centerline is valid?  [True, True]
Translation: X:323.13, Y:-0.39, Z:0.00
[[ 9.99975944e-01  6.93627311e-03  0.00000000e+00  3.23129848e+02]
 [-6.93627311e-03  9.99975944e-01  0.00000000e+00 -3.90861914e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 321.606066493
Centerline is valid?  [True, True]
Translation: X:323.19, Y:-0.39, Z:0.00
[[ 9.99952659e-01  9.73035579e-03  0.00000000e+00  3.23188462e+02]
 [-9.73035579e-03  9.99952659e-01  0.00000000e+00 -3.87257869e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.666066493
Centerline is valid?  [True, True]
Translation: X:323.25, Y:-0.38, Z:0.00
[[ 9.99925611e-01  1.21972214e-02  0.00000000e+00  3.23247414e+02]
 [-1.21972214e-02  9.99925611e-01  0.00000000e+00 -3.84277350e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.726066493
Centerline is valid?  [True, True]
Translation: X:323.31, Y:-0.38, Z:0.00
[[ 9.99837882e-01  1.80058118e-02  0.00000000e+00  3.23306310e+02]
 [-1.80058118e-02  9.99837882e-01  0.00000000e+00 -3.81717101e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.786066493
Centerline is valid?  [True, True]
Translation: X:323.36, Y:-0.38, Z:0.00
[[ 9.99733678e-01  2.30775497e-02  0.00000000e+00  3.23364789e+02]
 [-2.30775497e-02  9.99733678e-01  0.00000000e+00 -3.81947493e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.846066493
Centerline is valid?  [True, True]
Translation: X:323.42, Y:-0.38, Z:0.00
[[ 9.99614149e-01  2.77768357e-02  0.00000000e+00  3.23423005e+02]
 [-2.77768357e-02  9.99614149e-01  0.00000000e+00 -3.82377690e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.906066493
Centerline is valid?  [True, True]
Translation: X:323.48, Y:-0.39, Z:0.00
[[ 9.99513790e-01  3.11798526e-02  0.00000000e+00  3.23482100e+02]
 [-3.11798526e-02  9.99513790e-01  0.00000000e+00 -3.85323463e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.966066493
Centerline is valid?  [True, True]
Translation: X:323.54, Y:-0.39, Z:0.00
[[ 9.99482424e-01  3.21696258e-02  0.00000000e+00  3.23541866e+02]
 [-3.21696258e-02  9.99482424e-01  0.00000000e+00 -3.93131422e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.02606649300003
Centerline is valid?  [True, True]
Translation: X:323.60, Y:-0.40, Z:0.00
[[ 9.99369233e-01  3.55124896e-02  0.00000000e+00  3.23602274e+02]
 [-3.55124896e-02  9.99369233e-01  0.00000000e+00 -3.97897449e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.08606649300003
Centerline is valid?  [True, True]
Translation: X:323.66, Y:-0.41, Z:0.00
[[ 9.99105099e-01  4.22965956e-02  0.00000000e+00  3.23661326e+02]
 [-4.22965956e-02  9.99105099e-01  0.00000000e+00 -4.09014122e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.14606649300003
Centerline is valid?  [True, True]
Translation: X:323.72, Y:-0.42, Z:0.00
[[ 9.98734250e-01  5.02980805e-02  0.00000000e+00  3.23721794e+02]
 [-5.02980805e-02  9.98734250e-01  0.00000000e+00 -4.20225925e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.20606649300004
Centerline is valid?  [True, True]
Translation: X:323.78, Y:-0.43, Z:0.00
[[ 9.98600337e-01  5.28901453e-02  0.00000000e+00  3.23780993e+02]
 [-5.28901453e-02  9.98600337e-01  0.00000000e+00 -4.27091663e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.26606649300004
Centerline is valid?  [True, True]
Translation: X:323.84, Y:-0.44, Z:0.00
[[ 9.98350733e-01  5.74091757e-02  0.00000000e+00  3.23840717e+02]
 [-5.74091757e-02  9.98350733e-01  0.00000000e+00 -4.39005721e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.32606649300004
Centerline is valid?  [True, True]
Translation: X:323.90, Y:-0.45, Z:0.00
[[ 9.98452898e-01  5.56040580e-02  0.00000000e+00  3.23899956e+02]
 [-5.56040580e-02  9.98452898e-01  0.00000000e+00 -4.53293857e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.38606649300004
Centerline is valid?  [True, True]
Translation: X:323.96, Y:-0.46, Z:0.00
[[ 9.98343129e-01  5.75412533e-02  0.00000000e+00  3.23960084e+02]
 [-5.75412533e-02  9.98343129e-01  0.00000000e+00 -4.63006909e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.446066493
Centerline is valid?  [True, True]
Translation: X:324.02, Y:-0.48, Z:0.00
[[ 9.98388671e-01  5.67455819e-02  0.00000000e+00  3.24019182e+02]
 [-5.67455819e-02  9.98388671e-01  0.00000000e+00 -4.81508441e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.506066493
Centerline is valid?  [True, True]
Translation: X:324.08, Y:-0.49, Z:0.00
[[ 9.98288974e-01  5.84732774e-02  0.00000000e+00  3.24079442e+02]
 [-5.84732774e-02  9.98288974e-01  0.00000000e+00 -4.94064927e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.566066493
Centerline is valid?  [True, True]
Translation: X:324.14, Y:-0.52, Z:0.00
[[ 9.98632190e-01  5.22852620e-02  0.00000000e+00  3.24138857e+02]
 [-5.22852620e-02  9.98632190e-01  0.00000000e+00 -5.16257392e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.626066493
Centerline is valid?  [True, True]
Translation: X:324.20, Y:-0.53, Z:0.00
[[ 9.98739326e-01  5.01971987e-02  0.00000000e+00  3.24198933e+02]
 [-5.01971987e-02  9.98739326e-01  0.00000000e+00 -5.30287160e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.686066493
Centerline is valid?  [True, True]
Translation: X:324.26, Y:-0.55, Z:0.00
[[ 9.99003582e-01  4.46300742e-02  0.00000000e+00  3.24257931e+02]
 [-4.46300742e-02  9.99003582e-01  0.00000000e+00 -5.51586294e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.746066493
Centerline is valid?  [True, True]
Translation: X:324.32, Y:-0.56, Z:0.00
[[ 9.99182096e-01  4.04368598e-02  0.00000000e+00  3.24316759e+02]
 [-4.04368598e-02  9.99182096e-01  0.00000000e+00 -5.63945736e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 322.806066493
Centerline is valid?  [True, True]
Translation: X:324.38, Y:-0.58, Z:0.00
[[ 9.99393623e-01  3.48193510e-02  0.00000000e+00  3.24376422e+02]
 [-3.48193510e-02  9.99393623e-01  0.00000000e+00 -5.79673509e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.866066493
Centerline is valid?  [True, True]
Translation: X:324.44, Y:-0.59, Z:0.00
[[ 9.99512147e-01  3.12324846e-02  0.00000000e+00  3.24435726e+02]
 [-3.12324846e-02  9.99512147e-01  0.00000000e+00 -5.91016111e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.926066493
Centerline is valid?  [True, True]
Translation: X:324.50, Y:-0.60, Z:0.00
[[ 9.99734787e-01  2.30294526e-02  0.00000000e+00  3.24495238e+02]
 [-2.30294526e-02  9.99734787e-01  0.00000000e+00 -6.02422873e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.986066493
Centerline is valid?  [True, True]
Translation: X:324.55, Y:-0.61, Z:0.00
[[ 9.99830898e-01  1.83895495e-02  0.00000000e+00  3.24554388e+02]
 [-1.83895495e-02  9.99830898e-01  0.00000000e+00 -6.07529981e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.046066493
Centerline is valid?  [True, True]
Translation: X:324.61, Y:-0.61, Z:0.00
[[ 9.99947879e-01  1.02097746e-02  0.00000000e+00  3.24611896e+02]
 [-1.02097746e-02  9.99947879e-01  0.00000000e+00 -6.14543629e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.106066493
Centerline is valid?  [True, True]
Translation: X:324.67, Y:-0.62, Z:0.00
[[ 9.99976429e-01  6.86602796e-03  0.00000000e+00  3.24671739e+02]
 [-6.86602796e-03  9.99976429e-01  0.00000000e+00 -6.16689279e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.166066493
Centerline is valid?  [True, True]
Translation: X:324.73, Y:-0.62, Z:0.00
[[ 9.99999998e-01  5.99778559e-05  0.00000000e+00  3.24729355e+02]
 [-5.99778559e-05  9.99999998e-01  0.00000000e+00 -6.18852944e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.226066493
Centerline is valid?  [True, True]
Translation: X:324.79, Y:-0.62, Z:0.00
[[ 9.99893854e-01 -1.45698713e-02  0.00000000e+00  3.24789054e+02]
 [ 1.45698713e-02  9.99893854e-01  0.00000000e+00 -6.21761606e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.286066493
Centerline is valid?  [True, True]
Translation: X:324.85, Y:-0.62, Z:0.00
[[ 9.99521012e-01 -3.09474765e-02  0.00000000e+00  3.24849837e+02]
 [ 3.09474765e-02  9.99521012e-01  0.00000000e+00 -6.16976609e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.346066493
Centerline is valid?  [True, True]
Translation: X:324.91, Y:-0.61, Z:0.00
[[ 9.99235557e-01 -3.90935000e-02  0.00000000e+00  3.24910678e+02]
 [ 3.90935000e-02  9.99235557e-01  0.00000000e+00 -6.14293750e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.406066493
Centerline is valid?  [True, True]
Translation: X:324.97, Y:-0.60, Z:0.00
[[ 9.98951342e-01 -4.57844446e-02  0.00000000e+00  3.24971692e+02]
 [ 4.57844446e-02  9.98951342e-01  0.00000000e+00 -6.03795904e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.466066493
Centerline is valid?  [True, True]
Translation: X:325.03, Y:-0.59, Z:0.00
[[ 9.98973423e-01 -4.53001171e-02  0.00000000e+00  3.25033896e+02]
 [ 4.53001171e-02  9.98973423e-01  0.00000000e+00 -5.93516689e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.52606649300003
Centerline is valid?  [True, True]
Translation: X:325.09, Y:-0.57, Z:0.00
[[ 9.99158886e-01 -4.10063560e-02  0.00000000e+00  3.25094877e+02]
 [ 4.10063560e-02  9.99158886e-01  0.00000000e+00 -5.73343551e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.58606649300003
Centerline is valid?  [True, True]
Translation: X:325.16, Y:-0.56, Z:0.00
[[ 9.99391778e-01 -3.48722404e-02  0.00000000e+00  3.25155362e+02]
 [ 3.48722404e-02  9.99391778e-01  0.00000000e+00 -5.61548159e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.64606649300003
Centerline is valid?  [True, True]
Translation: X:325.22, Y:-0.55, Z:0.00
[[ 9.99495356e-01 -3.17652975e-02  0.00000000e+00  3.25215881e+02]
 [ 3.17652975e-02  9.99495356e-01  0.00000000e+00 -5.47686424e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.70606649300004
Centerline is valid?  [True, True]
Translation: X:325.28, Y:-0.53, Z:0.00
[[ 9.99469623e-01 -3.25649033e-02  0.00000000e+00  3.25276519e+02]
 [ 3.25649033e-02  9.99469623e-01  0.00000000e+00 -5.27059913e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.76606649300004
Centerline is valid?  [True, True]
Translation: X:325.34, Y:-0.52, Z:0.00
[[ 9.99399799e-01 -3.46416196e-02  0.00000000e+00  3.25340140e+02]
 [ 3.46416196e-02  9.99399799e-01  0.00000000e+00 -5.15853564e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.82606649300004
Centerline is valid?  [True, True]
Translation: X:325.40, Y:-0.50, Z:0.00
[[ 9.99206196e-01 -3.98368985e-02  0.00000000e+00  3.25400819e+02]
 [ 3.98368985e-02  9.99206196e-01  0.00000000e+00 -4.99943406e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.88606649300004
Centerline is valid?  [True, True]
Translation: X:325.46, Y:-0.48, Z:0.00
[[ 9.98848024e-01 -4.79856646e-02  0.00000000e+00  3.25461104e+02]
 [ 4.79856646e-02  9.98848024e-01  0.00000000e+00 -4.82202012e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.946066493
Centerline is valid?  [True, True]
Translation: X:325.52, Y:-0.47, Z:0.00
[[ 9.98739012e-01 -5.02034524e-02  0.00000000e+00  3.25522220e+02]
 [ 5.02034524e-02  9.98739012e-01  0.00000000e+00 -4.70982206e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 324.006066493
Centerline is valid?  [True, True]
Translation: X:325.58, Y:-0.45, Z:0.00
[[ 9.98650065e-01 -5.19427279e-02  0.00000000e+00  3.25583048e+02]
 [ 5.19427279e-02  9.98650065e-01  0.00000000e+00 -4.53783031e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.066066493
Centerline is valid?  [True, True]
Translation: X:325.64, Y:-0.44, Z:0.00
[[ 9.98493983e-01 -5.48613424e-02  0.00000000e+00  3.25644271e+02]
 [ 5.48613424e-02  9.98493983e-01  0.00000000e+00 -4.41250316e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.126066493
Centerline is valid?  [True, True]
Translation: X:325.70, Y:-0.42, Z:0.00
[[ 9.98376516e-01 -5.69590380e-02  0.00000000e+00  3.25704354e+02]
 [ 5.69590380e-02  9.98376516e-01  0.00000000e+00 -4.19893252e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.186066493
Centerline is valid?  [True, True]
Translation: X:325.77, Y:-0.41, Z:0.00
[[ 9.98443738e-01 -5.57682869e-02  0.00000000e+00  3.25766618e+02]
 [ 5.57682869e-02  9.98443738e-01  0.00000000e+00 -4.05925014e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.246066493
Centerline is valid?  [True, True]
Translation: X:325.83, Y:-0.39, Z:0.00
[[ 9.98726646e-01 -5.04488484e-02  0.00000000e+00  3.25826368e+02]
 [ 5.04488484e-02  9.98726646e-01  0.00000000e+00 -3.90147227e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.306066493
Centerline is valid?  [True, True]
Translation: X:325.89, Y:-0.37, Z:0.00
[[ 9.99049338e-01 -4.35938150e-02  0.00000000e+00  3.25887250e+02]
 [ 4.35938150e-02  9.99049338e-01  0.00000000e+00 -3.71640914e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.366066493
Centerline is valid?  [True, True]
Translation: X:325.95, Y:-0.36, Z:0.00
[[ 9.99256505e-01 -3.85543297e-02  0.00000000e+00  3.25947312e+02]
 [ 3.85543297e-02  9.99256505e-01  0.00000000e+00 -3.61826017e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.426066493
Centerline is valid?  [True, True]
Translation: X:326.01, Y:-0.35, Z:0.00
[[ 9.99505606e-01 -3.14411130e-02  0.00000000e+00  3.26008382e+02]
 [ 3.14411130e-02  9.99505606e-01  0.00000000e+00 -3.49380961e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.486066493
Centerline is valid?  [True, True]
Translation: X:326.07, Y:-0.34, Z:0.00
[[ 9.99658170e-01 -2.61446501e-02  0.00000000e+00  3.26069169e+02]
 [ 2.61446501e-02  9.99658170e-01  0.00000000e+00 -3.40858250e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.546066493
Centerline is valid?  [True, True]
Translation: X:326.13, Y:-0.34, Z:0.00
[[ 9.99766614e-01 -2.16036550e-02  0.00000000e+00  3.26130681e+02]
 [ 2.16036550e-02  9.99766614e-01  0.00000000e+00 -3.35215467e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.606066493
Centerline is valid?  [True, True]
Translation: X:326.19, Y:-0.32, Z:0.00
[[ 9.99841582e-01 -1.77991757e-02  0.00000000e+00  3.26190468e+02]
 [ 1.77991757e-02  9.99841582e-01  0.00000000e+00 -3.21579295e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.666066493
Centerline is valid?  [True, True]
Translation: X:326.25, Y:-0.32, Z:0.00
[[ 9.99844942e-01 -1.76094427e-02  0.00000000e+00  3.26253020e+02]
 [ 1.76094427e-02  9.99844942e-01  0.00000000e+00 -3.18022099e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.726066493
Centerline is valid?  [True, True]
Translation: X:326.31, Y:-0.32, Z:0.00
[[ 9.99776877e-01 -2.11233573e-02  0.00000000e+00  3.26314945e+02]
 [ 2.11233573e-02  9.99776877e-01  0.00000000e+00 -3.15635094e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.786066493
Centerline is valid?  [True, True]
Translation: X:326.38, Y:-0.31, Z:0.00
[[ 9.99596205e-01 -2.84152692e-02  0.00000000e+00  3.26375037e+02]
 [ 2.84152692e-02  9.99596205e-01  0.00000000e+00 -3.13565676e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.846066493
Centerline is valid?  [True, True]
Translation: X:326.44, Y:-0.31, Z:0.00
[[ 9.99502857e-01 -3.15283661e-02  0.00000000e+00  3.26435616e+02]
 [ 3.15283661e-02  9.99502857e-01  0.00000000e+00 -3.11997887e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.906066493
Centerline is valid?  [True, True]
Translation: X:326.50, Y:-0.31, Z:0.00
[[ 9.99494566e-01 -3.17901204e-02  0.00000000e+00  3.26497060e+02]
 [ 3.17901204e-02  9.99494566e-01  0.00000000e+00 -3.08830666e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.966066493
Centerline is valid?  [True, True]
Translation: X:326.56, Y:-0.31, Z:0.00
[[ 9.99511046e-01 -3.12676973e-02  0.00000000e+00  3.26558240e+02]
 [ 3.12676973e-02  9.99511046e-01  0.00000000e+00 -3.08634697e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.02606649300003
Centerline is valid?  [True, True]
Translation: X:326.62, Y:-0.31, Z:0.00
[[ 9.99536433e-01 -3.04453438e-02  0.00000000e+00  3.26619584e+02]
 [ 3.04453438e-02  9.99536433e-01  0.00000000e+00 -3.08266890e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.08606649300003
Centerline is valid?  [True, True]
Translation: X:326.68, Y:-0.30, Z:0.00
[[ 9.99598393e-01 -2.83381951e-02  0.00000000e+00  3.26682699e+02]
 [ 2.83381951e-02  9.99598393e-01  0.00000000e+00 -3.04871510e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.14606649300003
Centerline is valid?  [True, True]
Translation: X:326.74, Y:-0.30, Z:0.00
[[ 9.99707801e-01 -2.41725798e-02  0.00000000e+00  3.26743267e+02]
 [ 2.41725798e-02  9.99707801e-01  0.00000000e+00 -3.00376723e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 325.20606649300004
Centerline is valid?  [True, True]
Translation: X:326.80, Y:-0.30, Z:0.00
[[ 9.99802392e-01 -1.98790632e-02  0.00000000e+00  3.26804163e+02]
 [ 1.98790632e-02  9.99802392e-01  0.00000000e+00 -3.00341187e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.26606649300004
Centerline is valid?  [True, True]
Translation: X:326.87, Y:-0.29, Z:0.00
[[ 9.99844051e-01 -1.76599633e-02  0.00000000e+00  3.26866612e+02]
 [ 1.76599633e-02  9.99844051e-01  0.00000000e+00 -2.94547439e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.32606649300004
Centerline is valid?  [True, True]
Translation: X:326.93, Y:-0.29, Z:0.00
[[ 9.99838669e-01 -1.79620527e-02  0.00000000e+00  3.26928697e+02]
 [ 1.79620527e-02  9.99838669e-01  0.00000000e+00 -2.94090548e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.38606649300004
Centerline is valid?  [True, True]
Translation: X:326.99, Y:-0.29, Z:0.00
[[ 9.99796681e-01 -2.01642311e-02  0.00000000e+00  3.26989519e+02]
 [ 2.01642311e-02  9.99796681e-01  0.00000000e+00 -2.93905469e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.446066493
Centerline is valid?  [True, True]
Translation: X:327.05, Y:-0.29, Z:0.00
[[ 9.99735590e-01 -2.29945875e-02  0.00000000e+00  3.27050202e+02]
 [ 2.29945875e-02  9.99735590e-01  0.00000000e+00 -2.92448693e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.506066493
Centerline is valid?  [True, True]
Translation: X:327.11, Y:-0.29, Z:0.00
[[ 9.99676186e-01 -2.54464836e-02  0.00000000e+00  3.27111116e+02]
 [ 2.54464836e-02  9.99676186e-01  0.00000000e+00 -2.93080375e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.566066493
Centerline is valid?  [True, True]
Translation: X:327.17, Y:-0.29, Z:0.00
[[ 9.99591295e-01 -2.85874447e-02  0.00000000e+00  3.27170714e+02]
 [ 2.85874447e-02  9.99591295e-01  0.00000000e+00 -2.92100405e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.626066493
Centerline is valid?  [True, True]
Translation: X:327.23, Y:-0.29, Z:0.00
[[ 9.99520312e-01 -3.09700716e-02  0.00000000e+00  3.27231625e+02]
 [ 3.09700716e-02  9.99520312e-01  0.00000000e+00 -2.88748473e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.686066493
Centerline is valid?  [True, True]
Translation: X:327.29, Y:-0.29, Z:0.00
[[ 9.99587620e-01 -2.87156849e-02  0.00000000e+00  3.27293105e+02]
 [ 2.87156849e-02  9.99587620e-01  0.00000000e+00 -2.86852100e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.746066493
Centerline is valid?  [True, True]
Translation: X:327.35, Y:-0.28, Z:0.00
[[ 9.99728980e-01 -2.32801661e-02  0.00000000e+00  3.27352802e+02]
 [ 2.32801661e-02  9.99728980e-01  0.00000000e+00 -2.83396862e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.806066493
Centerline is valid?  [True, True]
Translation: X:327.41, Y:-0.28, Z:0.00
[[ 9.99830568e-01 -1.84075057e-02  0.00000000e+00  3.27413770e+02]
 [ 1.84075057e-02  9.99830568e-01  0.00000000e+00 -2.79680522e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.866066493
Centerline is valid?  [True, True]
Translation: X:327.47, Y:-0.28, Z:0.00
[[ 9.99927954e-01 -1.20036198e-02  0.00000000e+00  3.27473416e+02]
 [ 1.20036198e-02  9.99927954e-01  0.00000000e+00 -2.76240609e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.926066493
Centerline is valid?  [True, True]
Translation: X:327.53, Y:-0.27, Z:0.00
[[ 9.99999822e-01 -5.96898480e-04  0.00000000e+00  3.27534020e+02]
 [ 5.96898480e-04  9.99999822e-01  0.00000000e+00 -2.70599771e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.986066493
Centerline is valid?  [True, True]
Translation: X:327.59, Y:-0.27, Z:0.00
[[ 9.99933195e-01  1.15587670e-02  0.00000000e+00  3.27594466e+02]
 [-1.15587670e-02  9.99933195e-01  0.00000000e+00 -2.67945444e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.046066493
Centerline is valid?  [True, True]
Translation: X:327.65, Y:-0.27, Z:0.00
[[ 9.99820096e-01  1.89677642e-02  0.00000000e+00  3.27653420e+02]
 [-1.89677642e-02  9.99820096e-01  0.00000000e+00 -2.66249910e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.106066493
Centerline is valid?  [True, True]
Translation: X:327.71, Y:-0.27, Z:0.00
[[ 9.99759323e-01  2.19384513e-02  0.00000000e+00  3.27712261e+02]
 [-2.19384513e-02  9.99759323e-01  0.00000000e+00 -2.65203894e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.166066493
Centerline is valid?  [True, True]
Translation: X:327.77, Y:-0.27, Z:0.00
[[ 9.99737699e-01  2.29027051e-02  0.00000000e+00  3.27770535e+02]
 [-2.29027051e-02  9.99737699e-01  0.00000000e+00 -2.66843110e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.226066493
Centerline is valid?  [True, True]
Translation: X:327.83, Y:-0.27, Z:0.00
[[ 9.99752438e-01  2.22500265e-02  0.00000000e+00  3.27828785e+02]
 [-2.22500265e-02  9.99752438e-01  0.00000000e+00 -2.74205570e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.286066493
Centerline is valid?  [True, True]
Translation: X:327.89, Y:-0.28, Z:0.00
[[ 9.99718038e-01  2.37454105e-02  0.00000000e+00  3.27888828e+02]
 [-2.37454105e-02  9.99718038e-01  0.00000000e+00 -2.77142580e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.346066493
Centerline is valid?  [True, True]
Translation: X:327.95, Y:-0.29, Z:0.00
[[ 9.99574484e-01  2.91693342e-02  0.00000000e+00  3.27946891e+02]
 [-2.91693342e-02  9.99574484e-01  0.00000000e+00 -2.85381135e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 326.406066493
Centerline is valid?  [True, True]
Translation: X:328.01, Y:-0.29, Z:0.00
[[ 9.99466440e-01  3.26624418e-02  0.00000000e+00  3.28006395e+02]
 [-3.26624418e-02  9.99466440e-01  0.00000000e+00 -2.92120643e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.466066493
Centerline is valid?  [True, True]
Translation: X:328.07, Y:-0.30, Z:0.00
[[ 9.99382747e-01  3.51301178e-02  0.00000000e+00  3.28067167e+02]
 [-3.51301178e-02  9.99382747e-01  0.00000000e+00 -3.03480465e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.52606649300003
Centerline is valid?  [True, True]
Translation: X:328.13, Y:-0.31, Z:0.00
[[ 9.99416947e-01  3.41433213e-02  0.00000000e+00  3.28127424e+02]
 [-3.41433213e-02  9.99416947e-01  0.00000000e+00 -3.13212665e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.58606649300003
Centerline is valid?  [True, True]
Translation: X:328.19, Y:-0.33, Z:0.00
[[ 9.99617732e-01  2.76476146e-02  0.00000000e+00  3.28186174e+02]
 [-2.76476146e-02  9.99617732e-01  0.00000000e+00 -3.30501159e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.64606649300003
Centerline is valid?  [True, True]
Translation: X:328.24, Y:-0.34, Z:0.00
[[ 9.99674919e-01  2.54961913e-02  0.00000000e+00  3.28244641e+02]
 [-2.54961913e-02  9.99674919e-01  0.00000000e+00 -3.42786205e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.70606649300004
Centerline is valid?  [True, True]
Translation: X:328.30, Y:-0.36, Z:0.00
[[ 9.99832518e-01  1.83012814e-02  0.00000000e+00  3.28304395e+02]
 [-1.83012814e-02  9.99832518e-01  0.00000000e+00 -3.55678901e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.76606649300004
Centerline is valid?  [True, True]
Translation: X:328.36, Y:-0.37, Z:0.00
[[ 9.99884119e-01  1.52232796e-02  0.00000000e+00  3.28363434e+02]
 [-1.52232796e-02  9.99884119e-01  0.00000000e+00 -3.66719577e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.82606649300004
Centerline is valid?  [True, True]
Translation: X:328.42, Y:-0.38, Z:0.00
[[ 9.99976687e-01  6.82828033e-03  0.00000000e+00  3.28421985e+02]
 [-6.82828033e-03  9.99976687e-01  0.00000000e+00 -3.80029019e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.88606649300004
Centerline is valid?  [True, True]
Translation: X:328.48, Y:-0.38, Z:0.00
[[ 9.99993287e-01  3.66402163e-03  0.00000000e+00  3.28480304e+02]
 [-3.66402163e-03  9.99993287e-01  0.00000000e+00 -3.84659241e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.946066493
Centerline is valid?  [True, True]
Translation: X:328.54, Y:-0.39, Z:0.00
[[ 9.99988879e-01 -4.71618539e-03  0.00000000e+00  3.28540653e+02]
 [ 4.71618539e-03  9.99988879e-01  0.00000000e+00 -3.94130343e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.006066493
Centerline is valid?  [True, True]
Translation: X:328.60, Y:-0.40, Z:0.00
[[ 9.99939505e-01 -1.09993668e-02  0.00000000e+00  3.28601590e+02]
 [ 1.09993668e-02  9.99939505e-01  0.00000000e+00 -4.00366742e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.066066493
Centerline is valid?  [True, True]
Translation: X:328.66, Y:-0.41, Z:0.00
[[ 9.99851754e-01 -1.72182993e-02  0.00000000e+00  3.28662416e+02]
 [ 1.72182993e-02  9.99851754e-01  0.00000000e+00 -4.07259075e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.126066493
Centerline is valid?  [True, True]
Translation: X:328.72, Y:-0.41, Z:0.00
[[ 9.99836554e-01 -1.80794224e-02  0.00000000e+00  3.28723186e+02]
 [ 1.80794224e-02  9.99836554e-01  0.00000000e+00 -4.06082288e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.186066493
Centerline is valid?  [True, True]
Translation: X:328.78, Y:-0.41, Z:0.00
[[ 9.99679069e-01 -2.53329552e-02  0.00000000e+00  3.28783490e+02]
 [ 2.53329552e-02  9.99679069e-01  0.00000000e+00 -4.06802493e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.246066493
Centerline is valid?  [True, True]
Translation: X:328.84, Y:-0.41, Z:0.00
[[ 9.99595389e-01 -2.84439433e-02  0.00000000e+00  3.28844665e+02]
 [ 2.84439433e-02  9.99595389e-01  0.00000000e+00 -4.07227632e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.306066493
Centerline is valid?  [True, True]
Translation: X:328.90, Y:-0.41, Z:0.00
[[ 9.99339031e-01 -3.63524502e-02  0.00000000e+00  3.28904672e+02]
 [ 3.63524502e-02  9.99339031e-01  0.00000000e+00 -4.06198090e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.366066493
Centerline is valid?  [True, True]
Translation: X:328.96, Y:-0.40, Z:0.00
[[ 9.98879620e-01 -4.73234082e-02  0.00000000e+00  3.28964858e+02]
 [ 4.73234082e-02  9.98879620e-01  0.00000000e+00 -3.98894577e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.426066493
Centerline is valid?  [True, True]
Translation: X:329.03, Y:-0.39, Z:0.00
[[ 9.98536610e-01 -5.40799330e-02  0.00000000e+00  3.29025640e+02]
 [ 5.40799330e-02  9.98536610e-01  0.00000000e+00 -3.91398854e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.486066493
Centerline is valid?  [True, True]
Translation: X:329.09, Y:-0.39, Z:0.00
[[ 9.98619869e-01 -5.25200582e-02  0.00000000e+00  3.29087415e+02]
 [ 5.25200582e-02  9.98619869e-01  0.00000000e+00 -3.86669594e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.546066493
Centerline is valid?  [True, True]
Translation: X:329.15, Y:-0.37, Z:0.00
[[ 9.98555079e-01 -5.37378217e-02  0.00000000e+00  3.29148969e+02]
 [ 5.37378217e-02  9.98555079e-01  0.00000000e+00 -3.73488068e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 327.606066493
Centerline is valid?  [True, True]
Translation: X:329.21, Y:-0.37, Z:0.00
[[ 9.98617702e-01 -5.25612568e-02  0.00000000e+00  3.29210320e+02]
 [ 5.25612568e-02  9.98617702e-01  0.00000000e+00 -3.69216378e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.666066493
Centerline is valid?  [True, True]
Translation: X:329.27, Y:-0.35, Z:0.00
[[ 9.98681501e-01 -5.13347830e-02  0.00000000e+00  3.29270835e+02]
 [ 5.13347830e-02  9.98681501e-01  0.00000000e+00 -3.54292100e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.726066493
Centerline is valid?  [True, True]
Translation: X:329.33, Y:-0.34, Z:0.00
[[ 9.98697456e-01 -5.10234378e-02  0.00000000e+00  3.29331937e+02]
 [ 5.10234378e-02  9.98697456e-01  0.00000000e+00 -3.41143950e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.786066493
Centerline is valid?  [True, True]
Translation: X:329.39, Y:-0.33, Z:0.00
[[ 9.98833916e-01 -4.82784388e-02  0.00000000e+00  3.29392561e+02]
 [ 4.82784388e-02  9.98833916e-01  0.00000000e+00 -3.30123066e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.846066493
Centerline is valid?  [True, True]
Translation: X:329.45, Y:-0.32, Z:0.00
[[ 9.98623078e-01 -5.24590213e-02  0.00000000e+00  3.29453490e+02]
 [ 5.24590213e-02  9.98623078e-01  0.00000000e+00 -3.19148351e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.906066493
Centerline is valid?  [True, True]
Translation: X:329.51, Y:-0.31, Z:0.00
[[ 9.98595474e-01 -5.29818769e-02  0.00000000e+00  3.29514685e+02]
 [ 5.29818769e-02  9.98595474e-01  0.00000000e+00 -3.11014596e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.966066493
Centerline is valid?  [True, True]
Translation: X:329.58, Y:-0.30, Z:0.00
[[ 9.98794527e-01 -4.90865916e-02  0.00000000e+00  3.29575308e+02]
 [ 4.90865916e-02  9.98794527e-01  0.00000000e+00 -2.97572840e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.02606649300003
Centerline is valid?  [True, True]
Translation: X:329.64, Y:-0.28, Z:0.00
[[ 9.98843485e-01 -4.80800563e-02  0.00000000e+00  3.29637005e+02]
 [ 4.80800563e-02  9.98843485e-01  0.00000000e+00 -2.84508996e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.08606649300003
Centerline is valid?  [True, True]
Translation: X:329.70, Y:-0.27, Z:0.00
[[ 9.99178260e-01 -4.05315206e-02  0.00000000e+00  3.29696862e+02]
 [ 4.05315206e-02  9.99178260e-01  0.00000000e+00 -2.74779985e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.14606649300003
Centerline is valid?  [True, True]
Translation: X:329.76, Y:-0.26, Z:0.00
[[ 9.99561973e-01 -2.95949803e-02  0.00000000e+00  3.29757956e+02]
 [ 2.95949803e-02  9.99561973e-01  0.00000000e+00 -2.64129702e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.20606649300004
Centerline is valid?  [True, True]
Translation: X:329.82, Y:-0.26, Z:0.00
[[ 9.99820764e-01 -1.89325133e-02  0.00000000e+00  3.29818395e+02]
 [ 1.89325133e-02  9.99820764e-01  0.00000000e+00 -2.55712778e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.26606649300004
Centerline is valid?  [True, True]
Translation: X:329.88, Y:-0.25, Z:0.00
[[ 9.99959125e-01 -9.04149625e-03  0.00000000e+00  3.29878198e+02]
 [ 9.04149625e-03  9.99959125e-01  0.00000000e+00 -2.45889729e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.32606649300004
Centerline is valid?  [True, True]
Translation: X:329.94, Y:-0.24, Z:0.00
[[ 9.99987886e-01  4.92208887e-03  0.00000000e+00  3.29938460e+02]
 [-4.92208887e-03  9.99987886e-01  0.00000000e+00 -2.38657243e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.38606649300004
Centerline is valid?  [True, True]
Translation: X:330.00, Y:-0.23, Z:0.00
[[ 9.99945986e-01  1.03935164e-02  0.00000000e+00  3.29998386e+02]
 [-1.03935164e-02  9.99945986e-01  0.00000000e+00 -2.34887163e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.446066493
Centerline is valid?  [True, True]
Translation: X:330.06, Y:-0.23, Z:0.00
[[ 9.99843148e-01  1.77110223e-02  0.00000000e+00  3.30057359e+02]
 [-1.77110223e-02  9.99843148e-01  0.00000000e+00 -2.31837269e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.506066493
Centerline is valid?  [True, True]
Translation: X:330.12, Y:-0.23, Z:0.00
[[ 9.99720566e-01  2.36387346e-02  0.00000000e+00  3.30116434e+02]
 [-2.36387346e-02  9.99720566e-01  0.00000000e+00 -2.31882524e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.566066493
Centerline is valid?  [True, True]
Translation: X:330.18, Y:-0.23, Z:0.00
[[ 9.99624304e-01  2.74089387e-02  0.00000000e+00  3.30176920e+02]
 [-2.74089387e-02  9.99624304e-01  0.00000000e+00 -2.34697546e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.626066493
Centerline is valid?  [True, True]
Translation: X:330.24, Y:-0.24, Z:0.00
[[ 9.99522619e-01  3.08955384e-02  0.00000000e+00  3.30236695e+02]
 [-3.08955384e-02  9.99522619e-01  0.00000000e+00 -2.35526084e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.686066493
Centerline is valid?  [True, True]
Translation: X:330.30, Y:-0.24, Z:0.00
[[ 9.99661799e-01  2.60055218e-02  0.00000000e+00  3.30296180e+02]
 [-2.60055218e-02  9.99661799e-01  0.00000000e+00 -2.43298193e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.746066493
Centerline is valid?  [True, True]
Translation: X:330.35, Y:-0.25, Z:0.00
[[ 9.99712877e-01  2.39616913e-02  0.00000000e+00  3.30354672e+02]
 [-2.39616913e-02  9.99712877e-01  0.00000000e+00 -2.46462815e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992921 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997375 with order 1
Centerline goodness : 0.979740 with order 1
Centerline goodness : 0.983027 with order 1
Centerline goodness : 0.975080 with order 1
Centerline goodness : 0.988718 with order 1
SLAMing on frame at distance 328.806066493
Centerline is valid?  [True, True]
Translation: X:330.41, Y:-0.25, Z:0.00
[[ 9.99784998e-01  2.07354330e-02  0.00000000e+00  3.30413637e+02]
 [-2.07354330e-02  9.99784998e-01  0.00000000e+00 -2.48894024e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.866066493
Centerline is valid?  [True, True]
Translation: X:330.47, Y:-0.26, Z:0.00
[[ 9.99982187e-01  5.96871840e-03  0.00000000e+00  3.30473543e+02]
 [-5.96871840e-03  9.99982187e-01  0.00000000e+00 -2.62642395e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.926066493
Centerline is valid?  [True, True]
Translation: X:330.53, Y:-0.27, Z:0.00
[[ 9.99996486e-01  2.65120245e-03  0.00000000e+00  3.30531472e+02]
 [-2.65120245e-03  9.99996486e-01  0.00000000e+00 -2.65237543e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.986066493
Centerline is valid?  [True, True]
Translation: X:330.59, Y:-0.27, Z:0.00
[[ 9.99979805e-01 -6.35527405e-03  0.00000000e+00  3.30591973e+02]
 [ 6.35527405e-03  9.99979805e-01  0.00000000e+00 -2.72291843e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.046066493
Centerline is valid?  [True, True]
Translation: X:330.65, Y:-0.28, Z:0.00
[[ 9.99954505e-01 -9.53873783e-03  0.00000000e+00  3.30652638e+02]
 [ 9.53873783e-03  9.99954505e-01  0.00000000e+00 -2.75324990e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.106066493
Centerline is valid?  [True, True]
Translation: X:330.71, Y:-0.28, Z:0.00
[[ 9.99948402e-01 -1.01583660e-02  0.00000000e+00  3.30714633e+02]
 [ 1.01583660e-02  9.99948402e-01  0.00000000e+00 -2.77261483e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.166066493
Centerline is valid?  [True, True]
Translation: X:330.78, Y:-0.28, Z:0.00
[[ 9.99993084e-01 -3.71907644e-03  0.00000000e+00  3.30775201e+02]
 [ 3.71907644e-03  9.99993084e-01  0.00000000e+00 -2.76068561e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.226066493
Centerline is valid?  [True, True]
Translation: X:330.84, Y:-0.28, Z:0.00
[[ 9.99996337e-01  2.70675457e-03  0.00000000e+00  3.30836663e+02]
 [-2.70675457e-03  9.99996337e-01  0.00000000e+00 -2.75390483e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.286066493
Centerline is valid?  [True, True]
Translation: X:330.90, Y:-0.27, Z:0.00
[[ 9.99997301e-01  2.32328257e-03  0.00000000e+00  3.30895815e+02]
 [-2.32328257e-03  9.99997301e-01  0.00000000e+00 -2.74558571e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.346066493
Centerline is valid?  [True, True]
Translation: X:330.95, Y:-0.27, Z:0.00
[[ 9.99997526e-01 -2.22435937e-03  0.00000000e+00  3.30954454e+02]
 [ 2.22435937e-03  9.99997526e-01  0.00000000e+00 -2.74663106e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.406066493
Centerline is valid?  [True, True]
Translation: X:331.02, Y:-0.28, Z:0.00
[[ 9.99984130e-01 -5.63374762e-03  0.00000000e+00  3.31016306e+02]
 [ 5.63374762e-03  9.99984130e-01  0.00000000e+00 -2.77371865e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.466066493
Centerline is valid?  [True, True]
Translation: X:331.08, Y:-0.27, Z:0.00
[[ 9.99977475e-01 -6.71187439e-03  0.00000000e+00  3.31078737e+02]
 [ 6.71187439e-03  9.99977475e-01  0.00000000e+00 -2.71337285e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.52606649300003
Centerline is valid?  [True, True]
Translation: X:331.14, Y:-0.27, Z:0.00
[[ 9.99900914e-01 -1.40770204e-02  0.00000000e+00  3.31138624e+02]
 [ 1.40770204e-02  9.99900914e-01  0.00000000e+00 -2.70310490e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.58606649300003
Centerline is valid?  [True, True]
Translation: X:331.20, Y:-0.26, Z:0.00
[[ 9.99837713e-01 -1.80151789e-02  0.00000000e+00  3.31201139e+02]
 [ 1.80151789e-02  9.99837713e-01  0.00000000e+00 -2.63882411e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.64606649300003
Centerline is valid?  [True, True]
Translation: X:331.26, Y:-0.26, Z:0.00
[[ 9.99736721e-01 -2.29453513e-02  0.00000000e+00  3.31261154e+02]
 [ 2.29453513e-02  9.99736721e-01  0.00000000e+00 -2.57486546e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.70606649300004
Centerline is valid?  [True, True]
Translation: X:331.32, Y:-0.25, Z:0.00
[[ 9.99759248e-01 -2.19418889e-02  0.00000000e+00  3.31324023e+02]
 [ 2.19418889e-02  9.99759248e-01  0.00000000e+00 -2.51061642e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.76606649300004
Centerline is valid?  [True, True]
Translation: X:331.39, Y:-0.24, Z:0.00
[[ 9.99764368e-01 -2.17073162e-02  0.00000000e+00  3.31386764e+02]
 [ 2.17073162e-02  9.99764368e-01  0.00000000e+00 -2.43641231e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.82606649300004
Centerline is valid?  [True, True]
Translation: X:331.45, Y:-0.23, Z:0.00
[[ 9.99851092e-01 -1.72567266e-02  0.00000000e+00  3.31447670e+02]
 [ 1.72567266e-02  9.99851092e-01  0.00000000e+00 -2.33645012e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.88606649300004
Centerline is valid?  [True, True]
Translation: X:331.51, Y:-0.23, Z:0.00
[[ 9.99885779e-01 -1.51138883e-02  0.00000000e+00  3.31508997e+02]
 [ 1.51138883e-02  9.99885779e-01  0.00000000e+00 -2.29818934e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.946066493
Centerline is valid?  [True, True]
Translation: X:331.57, Y:-0.23, Z:0.00
[[ 9.99982771e-01 -5.87003365e-03  0.00000000e+00  3.31569773e+02]
 [ 5.87003365e-03  9.99982771e-01  0.00000000e+00 -2.27519033e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.000000 with order 1
Centerline goodness : 0.947906 with order 2
Centerline goodness : 0.969068 with order 1
Centerline goodness : 0.953249 with order 1
Centerline goodness : 0.948232 with order 2
Centerline goodness : 0.946688 with order 3
Centerline goodness : 0.966006 with order 1
Centerline goodness : 0.000000 with order 1
Centerline goodness : 0.957656 with order 1
Centerline goodness : 0.960966 with order 1
Centerline goodness : 0.950149 with order 1
SLAMing on frame at distance 330.006066493
Centerline is valid?  [True, True]
Translation: X:331.63, Y:-0.22, Z:0.00
[[ 9.99962830e-01  8.62203275e-03  0.00000000e+00  3.31630334e+02]
 [-8.62203275e-03  9.99962830e-01  0.00000000e+00 -2.22897934e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.066066493
Centerline is valid?  [True, True]
Translation: X:331.69, Y:-0.22, Z:0.00
[[ 9.99901767e-01  1.40163123e-02  0.00000000e+00  3.31689435e+02]
 [-1.40163123e-02  9.99901767e-01  0.00000000e+00 -2.21801432e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.126066493
Centerline is valid?  [True, True]
Translation: X:331.75, Y:-0.22, Z:0.00
[[ 9.99837160e-01  1.80458531e-02  0.00000000e+00  3.31748432e+02]
 [-1.80458531e-02  9.99837160e-01  0.00000000e+00 -2.22443820e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.186066493
Centerline is valid?  [True, True]
Translation: X:331.81, Y:-0.23, Z:0.00
[[ 9.99769464e-01  2.14713615e-02  0.00000000e+00  3.31806096e+02]
 [-2.14713615e-02  9.99769464e-01  0.00000000e+00 -2.25794996e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.246066493
Centerline is valid?  [True, True]
Translation: X:331.86, Y:-0.23, Z:0.00
[[ 9.99682839e-01  2.51837457e-02  0.00000000e+00  3.31864965e+02]
 [-2.51837457e-02  9.99682839e-01  0.00000000e+00 -2.26268675e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.306066493
Centerline is valid?  [True, True]
Translation: X:331.92, Y:-0.23, Z:0.00
[[ 9.99463966e-01  3.27380676e-02  0.00000000e+00  3.31924075e+02]
 [-3.27380676e-02  9.99463966e-01  0.00000000e+00 -2.33039574e-01]
 [ 0.00000000e+00  0.00000000e+00  1.00000000e+00  0.00000000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.366066493
Centerline is valid?  [True, False]
Translation: X:331.98, Y:-0.24, Z:0.00
[[ 9.99168238e-01  4.07777648e-02  8.36006140e-05  3.31980969e+02]
 [-4.07777466e-02  9.99168220e-01 -2.08465899e-04 -2.37649057e-01]
 [-9.20318501e-05  2.04883460e-04  9.99999975e-01  3.36138702e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.426066493
Centerline is valid?  [False, False]
Translation: X:332.06, Y:-0.25, Z:0.00
[[ 9.98781094e-01  4.92447488e-02  3.35858386e-03  3.32059429e+02]
 [-4.92446859e-02  9.98786739e-01 -1.01472082e-04 -2.48885823e-01]
 [-3.35950599e-03 -6.40440103e-05  9.99994355e-01  3.47400786e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.486066493
Centerline is valid?  [False, False]
Translation: X:332.13, Y:-0.27, Z:0.00
[[ 9.98763996e-01  4.92281043e-02  6.86105564e-03  3.32128575e+02]
 [-4.92233371e-02  9.98787425e-01 -8.62065106e-04 -2.65304193e-01]
 [-6.89517392e-03  5.23275536e-04  9.99976091e-01  7.99477646e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.546066493
Centerline is valid?  [False, False]
Translation: X:332.17, Y:-0.28, Z:-0.00
[[ 9.98979551e-01  4.45313767e-02  7.53741685e-03  3.32172096e+02]
 [-4.45195120e-02  9.99007009e-01 -1.73472586e-03 -2.78709373e-01]
 [-7.60718200e-03  1.39739354e-03  9.99970089e-01 -8.32160140e-05]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.606066493
Centerline is valid?  [False, False]
Translation: X:332.22, Y:-0.29, Z:-0.00
[[ 9.99235245e-01  3.85137888e-02  6.75368918e-03  3.32215460e+02]
 [-3.84996400e-02  9.99256164e-01 -2.21266895e-03 -2.93222982e-01]
 [-6.83388381e-03  1.95096220e-03  9.99974746e-01 -1.60239841e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]


 Total time of SLAM: 7245.59 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!

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Writing Lidar 2D slices PTD file in binary format...       Completed!